1 /****************************************************************************** |
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2 * |
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3 * m s r _ r t . c |
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4 * |
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5 * Kernelmodul für 2.6 Kernel zur Meßdatenerfassung, Steuerung und Regelung. |
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6 * |
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7 * $Id$ |
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8 * |
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9 * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH |
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10 * |
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11 * This file is part of the IgH EtherCAT Master. |
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12 * |
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13 * The IgH EtherCAT Master is free software; you can redistribute it |
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14 * and/or modify it under the terms of the GNU General Public License |
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15 * as published by the Free Software Foundation; version 2 of the License. |
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16 * |
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17 * The IgH EtherCAT Master is distributed in the hope that it will be |
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18 * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of |
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19 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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20 * GNU General Public License for more details. |
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21 * |
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22 * You should have received a copy of the GNU General Public License |
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23 * along with the IgH EtherCAT Master; if not, write to the Free Software |
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24 * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
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25 * |
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26 *****************************************************************************/ |
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27 |
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28 // Linux |
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29 #include <linux/module.h> |
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30 #include <linux/ipipe.h> |
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31 #include <linux/slab.h> |
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32 #include <linux/vmalloc.h> |
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33 #include <linux/delay.h> |
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34 |
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35 // RT_lib |
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36 #include <msr_main.h> |
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37 #include <msr_utils.h> |
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38 #include <msr_messages.h> |
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39 #include <msr_float.h> |
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40 #include <msr_reg.h> |
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41 #include <msr_time.h> |
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42 #include "msr_param.h" |
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43 |
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44 // EtherCAT |
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45 #include "../include/ecrt.h" |
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46 |
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47 #define ASYNC |
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48 |
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49 // Defines/Makros |
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50 #define HZREDUCTION (MSR_ABTASTFREQUENZ / HZ) |
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51 |
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52 /*****************************************************************************/ |
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53 /* Globale Variablen */ |
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54 |
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55 // Adeos |
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56 static struct ipipe_domain this_domain; |
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57 static struct ipipe_sysinfo sys_info; |
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58 |
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59 // EtherCAT |
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60 ec_master_t *master = NULL; |
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61 ec_domain_t *domain1 = NULL; |
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62 |
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63 // Prozessdaten |
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64 void *r_ssi; |
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65 void *r_ssi_st; |
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66 |
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67 // Kanäle |
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68 uint32_t k_ssi; |
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69 uint32_t k_ssi_st; |
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70 |
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71 ec_field_init_t domain1_fields[] = { |
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72 {&r_ssi, "0:3", "Beckhoff", "EL5001", "InputValue", 0}, |
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73 {&r_ssi_st, "0:3", "Beckhoff", "EL5001", "Status", 0}, |
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74 {} |
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75 }; |
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76 |
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77 /*****************************************************************************/ |
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78 |
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79 static void msr_controller_run(void) |
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80 { |
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81 #ifdef ASYNC |
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82 // Empfangen |
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83 ecrt_master_async_receive(master); |
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84 ecrt_domain_process(domain1); |
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85 #else |
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86 // Senden und empfangen |
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87 ecrt_domain_queue(domain1); |
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88 ecrt_master_run(master); |
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89 ecrt_master_sync_io(master); |
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90 ecrt_domain_process(domain1); |
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91 #endif |
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92 |
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93 // Prozessdaten verarbeiten |
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94 k_ssi = EC_READ_U32(r_ssi); |
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95 k_ssi_st = EC_READ_U8 (r_ssi_st); |
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96 |
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97 #ifdef ASYNC |
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98 // Senden |
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99 ecrt_domain_queue(domain1); |
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100 ecrt_master_run(master); |
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101 ecrt_master_async_send(master); |
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102 #endif |
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103 } |
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104 |
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105 /*****************************************************************************/ |
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106 |
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107 int msr_globals_register(void) |
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108 { |
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109 msr_reg_kanal("/ssi_position", "", &k_ssi, TUINT); |
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110 msr_reg_kanal("/ssi_status", "", &k_ssi_st, TUINT); |
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111 return 0; |
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112 } |
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113 |
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114 /*****************************************************************************/ |
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115 |
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116 void msr_run(unsigned irq) |
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117 { |
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118 static int counter = 0; |
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119 |
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120 MSR_ADEOS_INTERRUPT_CODE(msr_controller_run(); msr_write_kanal_list();); |
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121 |
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122 ipipe_control_irq(irq, 0, IPIPE_ENABLE_MASK); // Interrupt bestätigen |
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123 if (++counter >= HZREDUCTION) { |
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124 ipipe_propagate_irq(irq); // und weiterreichen |
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125 counter = 0; |
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126 } |
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127 } |
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128 |
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129 /*****************************************************************************/ |
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130 |
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131 void domain_entry(void) |
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132 { |
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133 printk("Domain %s started.\n", ipipe_current_domain->name); |
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134 |
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135 ipipe_get_sysinfo(&sys_info); |
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136 ipipe_virtualize_irq(ipipe_current_domain,sys_info.archdep.tmirq, |
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137 &msr_run, NULL, IPIPE_HANDLE_MASK); |
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138 |
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139 ipipe_tune_timer(1000000000UL / MSR_ABTASTFREQUENZ, 0); |
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140 } |
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141 |
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142 /*****************************************************************************/ |
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143 |
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144 int __init init_rt_module(void) |
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145 { |
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146 struct ipipe_domain_attr attr; //ipipe |
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147 #if 1 |
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148 ec_slave_t *slave; |
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149 #endif |
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150 |
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151 // Als allererstes die RT-Lib initialisieren |
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152 if (msr_rtlib_init(1, MSR_ABTASTFREQUENZ, 10, &msr_globals_register) < 0) { |
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153 printk(KERN_ERR "Failed to initialize rtlib!\n"); |
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154 goto out_return; |
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155 } |
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156 |
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157 if ((master = ecrt_request_master(0)) == NULL) { |
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158 printk(KERN_ERR "Failed to request master 0!\n"); |
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159 goto out_msr_cleanup; |
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160 } |
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161 |
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162 //ecrt_master_print(master, 2); |
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163 |
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164 printk(KERN_INFO "Creating domains...\n"); |
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165 if (!(domain1 = ecrt_master_create_domain(master))) { |
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166 printk(KERN_ERR "Failed to create domains!\n"); |
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167 goto out_release_master; |
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168 } |
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169 |
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170 printk(KERN_INFO "Registering domain fields...\n"); |
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171 if (ecrt_domain_register_field_list(domain1, domain1_fields)) { |
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172 printk(KERN_ERR "Failed to register domain fields.\n"); |
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173 goto out_release_master; |
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174 } |
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175 |
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176 printk(KERN_INFO "Activating master...\n"); |
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177 if (ecrt_master_activate(master)) { |
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178 printk(KERN_ERR "Could not activate master!\n"); |
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179 goto out_release_master; |
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180 } |
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181 |
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182 #if 0 |
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183 if (ecrt_master_fetch_sdo_lists(master)) { |
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184 printk(KERN_ERR "Failed to fetch SDO lists!\n"); |
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185 goto out_deactivate; |
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186 } |
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187 ecrt_master_print(master, 2); |
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188 #else |
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189 ecrt_master_print(master, 0); |
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190 #endif |
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191 |
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192 #if 1 |
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193 if (!(slave = ecrt_master_get_slave(master, "0:3"))) { |
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194 printk(KERN_ERR "Failed to get slave!\n"); |
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195 goto out_deactivate; |
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196 } |
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197 |
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198 if ( |
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199 ecrt_slave_sdo_write_exp8(slave, 0x4061, 1, 1) || // disable frame error bit |
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200 ecrt_slave_sdo_write_exp8(slave, 0x4061, 2, 0) || // power failure bit |
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201 ecrt_slave_sdo_write_exp8(slave, 0x4061, 3, 1) || // inhibit time |
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202 ecrt_slave_sdo_write_exp8(slave, 0x4061, 4, 0) || // test mode |
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203 ecrt_slave_sdo_write_exp8(slave, 0x4066, 0, 1) || // dualcode |
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204 ecrt_slave_sdo_write_exp8(slave, 0x4067, 0, 5) || // 125kbaud |
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205 ecrt_slave_sdo_write_exp8(slave, 0x4068, 0, 0) || // single-turn |
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206 ecrt_slave_sdo_write_exp8(slave, 0x4069, 0, 25) || // frame size |
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207 ecrt_slave_sdo_write_exp8(slave, 0x406A, 0, 25) || // data length |
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208 ecrt_slave_sdo_write_exp16(slave, 0x406B, 0, 30000) // inhibit time in us |
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209 ) { |
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210 printk(KERN_ERR "Failed to configure SSI slave!\n"); |
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211 goto out_deactivate; |
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212 } |
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213 #endif |
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214 |
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215 #if 0 |
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216 if (!(slave = ecrt_master_get_slave(master, "1:0"))) { |
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217 printk(KERN_ERR "Failed to get slave!\n"); |
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218 goto out_deactivate; |
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219 } |
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220 if (ecrt_slave_write_alias(slave, 0x5678)) { |
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221 printk(KERN_ERR "Failed to write alias!\n"); |
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222 goto out_deactivate; |
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223 } |
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224 #endif |
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225 |
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226 #ifdef ASYNC |
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227 // Einmal senden und warten... |
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228 ecrt_master_prepare_async_io(master); |
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229 #endif |
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230 |
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231 ipipe_init_attr(&attr); |
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232 attr.name = "IPIPE-MSR-MODULE"; |
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233 attr.priority = IPIPE_ROOT_PRIO + 1; |
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234 attr.entry = &domain_entry; |
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235 ipipe_register_domain(&this_domain, &attr); |
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236 return 0; |
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237 |
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238 #if 1 |
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239 out_deactivate: |
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240 ecrt_master_deactivate(master); |
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241 #endif |
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242 out_release_master: |
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243 ecrt_release_master(master); |
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244 out_msr_cleanup: |
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245 msr_rtlib_cleanup(); |
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246 out_return: |
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247 return -1; |
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248 } |
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249 |
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250 /*****************************************************************************/ |
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251 |
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252 void __exit cleanup_rt_module(void) |
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253 { |
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254 printk(KERN_INFO "Cleanign up rt module...\n"); |
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255 |
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256 ipipe_tune_timer(1000000000UL / HZ, 0); // Alten Timertakt wiederherstellen |
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257 ipipe_unregister_domain(&this_domain); |
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258 |
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259 printk(KERN_INFO "=== Stopping EtherCAT environment... ===\n"); |
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260 ecrt_master_deactivate(master); |
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261 ecrt_release_master(master); |
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262 printk(KERN_INFO "=== EtherCAT environment stopped. ===\n"); |
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263 |
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264 msr_rtlib_cleanup(); |
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265 } |
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266 |
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267 /*****************************************************************************/ |
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268 |
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269 #define EC_LIT(X) #X |
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270 #define EC_STR(X) EC_LIT(X) |
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271 #define COMPILE_INFO "Revision " EC_STR(SVNREV) \ |
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272 ", compiled by " EC_STR(USER) \ |
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273 " at " __DATE__ " " __TIME__ |
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274 |
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275 MODULE_LICENSE("GPL"); |
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276 MODULE_AUTHOR ("Florian Pose <fp@igh-essen.com>"); |
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277 MODULE_DESCRIPTION ("EtherCAT real-time test environment"); |
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278 MODULE_VERSION(COMPILE_INFO); |
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279 |
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280 module_init(init_rt_module); |
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281 module_exit(cleanup_rt_module); |
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282 |
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283 /*****************************************************************************/ |
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284 |
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285 /* Emacs-Konfiguration |
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286 ;;; Local Variables: *** |
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287 ;;; c-basic-offset:4 *** |
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288 ;;; End: *** |
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289 */ |
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