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1 /****************************************************************************** |
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2 * |
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3 * $Id$ |
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4 * |
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5 * Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH |
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6 * |
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7 * This file is part of the IgH EtherCAT Master. |
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8 * |
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9 * The IgH EtherCAT Master is free software; you can redistribute it and/or |
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10 * modify it under the terms of the GNU General Public License version 2, as |
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11 * published by the Free Software Foundation. |
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12 * |
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13 * The IgH EtherCAT Master is distributed in the hope that it will be useful, |
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14 * but WITHOUT ANY WARRANTY; without even the implied warranty of |
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15 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General |
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16 * Public License for more details. |
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17 * |
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18 * You should have received a copy of the GNU General Public License along |
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19 * with the IgH EtherCAT Master; if not, write to the Free Software |
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20 * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
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21 * |
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22 * --- |
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23 * |
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24 * The license mentioned above concerns the source code only. Using the |
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25 * EtherCAT technology and brand is only permitted in compliance with the |
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26 * industrial property and similar rights of Beckhoff Automation GmbH. |
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27 * |
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28 *****************************************************************************/ |
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29 |
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30 #include <linux/version.h> |
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31 #include <linux/module.h> |
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32 #include <linux/timer.h> |
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33 #include <linux/interrupt.h> |
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34 #include <linux/err.h> |
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35 |
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36 #if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 27) |
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37 #include <linux/semaphore.h> |
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38 #else |
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39 #include <asm/semaphore.h> |
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40 #endif |
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41 |
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42 #include "../../include/ecrt.h" // EtherCAT realtime interface |
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43 |
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44 /*****************************************************************************/ |
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45 |
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46 // Module parameters |
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47 #define FREQUENCY 100 |
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48 |
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49 // Optional features |
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50 |
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51 #define PFX "ec_tty_example: " |
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52 |
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53 /*****************************************************************************/ |
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54 |
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55 // EtherCAT |
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56 static ec_master_t *master = NULL; |
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57 static ec_master_state_t master_state = {}; |
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58 struct semaphore master_sem; |
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59 |
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60 static ec_domain_t *domain1 = NULL; |
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61 static ec_domain_state_t domain1_state = {}; |
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62 |
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63 // Timer |
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64 static struct timer_list timer; |
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65 |
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66 /*****************************************************************************/ |
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67 |
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68 // process data |
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69 static uint8_t *domain1_pd; // process data memory |
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70 |
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71 #define BusCouplerPos 0, 0 |
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72 #define SerialPos 0, 1 |
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73 |
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74 #define Beckhoff_EK1100 0x00000002, 0x044c2c52 |
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75 #define Beckhoff_EL6002 0x00000002, 0x17723052 |
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76 |
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77 // offsets for PDO entries |
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78 static unsigned int off_ctrl; |
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79 static unsigned int off_tx; |
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80 static unsigned int off_status; |
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81 static unsigned int off_rx; |
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82 |
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83 const static ec_pdo_entry_reg_t domain1_regs[] = { |
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84 {SerialPos, Beckhoff_EL6002, 0x7001, 0x01, &off_ctrl}, |
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85 {SerialPos, Beckhoff_EL6002, 0x7000, 0x11, &off_tx}, |
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86 {SerialPos, Beckhoff_EL6002, 0x6001, 0x01, &off_status}, |
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87 {SerialPos, Beckhoff_EL6002, 0x6000, 0x11, &off_rx}, |
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88 {} |
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89 }; |
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90 |
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91 static unsigned int counter = 0; |
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92 |
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93 typedef enum { |
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94 SER_REQUEST_INIT, |
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95 SER_WAIT_FOR_INIT_RESPONSE, |
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96 SER_READY |
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97 } serial_state_t; |
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98 |
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99 typedef struct { |
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100 size_t max_tx_data_size; |
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101 size_t max_rx_data_size; |
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102 |
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103 uint8_t *tx_data; |
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104 uint8_t tx_data_size; |
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105 |
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106 serial_state_t state; |
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107 |
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108 uint8_t tx_request_toggle; |
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109 uint8_t tx_accepted_toggle; |
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110 |
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111 uint8_t rx_request_toggle; |
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112 uint8_t rx_accepted_toggle; |
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113 |
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114 uint16_t control; |
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115 } serial_device_t; |
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116 |
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117 static serial_device_t *ser = NULL; |
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118 static char tx_data[] = "ATZ\r\n"; |
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119 static off_t tx_off = 0; |
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120 |
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121 /*****************************************************************************/ |
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122 |
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123 /* Slave 1, "EL6002" |
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124 * Vendor ID: 0x00000002 |
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125 * Product code: 0x17723052 |
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126 * Revision number: 0x00100000 |
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127 */ |
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128 |
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129 ec_pdo_entry_info_t slave_1_pdo_entries[] = { |
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130 {0x7001, 0x01, 16}, /* Ctrl */ |
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131 {0x7000, 0x11, 8}, /* Data Out 0 */ |
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132 {0x7000, 0x12, 8}, /* Data Out 1 */ |
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133 {0x7000, 0x13, 8}, /* Data Out 2 */ |
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134 {0x7000, 0x14, 8}, /* Data Out 3 */ |
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135 {0x7000, 0x15, 8}, /* Data Out 4 */ |
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136 {0x7000, 0x16, 8}, /* Data Out 5 */ |
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137 {0x7000, 0x17, 8}, /* Data Out 6 */ |
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138 {0x7000, 0x18, 8}, /* Data Out 7 */ |
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139 {0x7000, 0x19, 8}, /* Data Out 8 */ |
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140 {0x7000, 0x1a, 8}, /* Data Out 9 */ |
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141 {0x7000, 0x1b, 8}, /* Data Out 10 */ |
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142 {0x7000, 0x1c, 8}, /* Data Out 11 */ |
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143 {0x7000, 0x1d, 8}, /* Data Out 12 */ |
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144 {0x7000, 0x1e, 8}, /* Data Out 13 */ |
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145 {0x7000, 0x1f, 8}, /* Data Out 14 */ |
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146 {0x7000, 0x20, 8}, /* Data Out 15 */ |
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147 {0x7000, 0x21, 8}, /* Data Out 16 */ |
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148 {0x7000, 0x22, 8}, /* Data Out 17 */ |
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149 {0x7000, 0x23, 8}, /* Data Out 18 */ |
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150 {0x7000, 0x24, 8}, /* Data Out 19 */ |
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151 {0x7000, 0x25, 8}, /* Data Out 20 */ |
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152 {0x7000, 0x26, 8}, /* Data Out 21 */ |
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153 {0x7011, 0x01, 16}, /* Ctrl */ |
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154 {0x7010, 0x11, 8}, /* Data Out 0 */ |
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155 {0x7010, 0x12, 8}, /* Data Out 1 */ |
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156 {0x7010, 0x13, 8}, /* Data Out 2 */ |
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157 {0x7010, 0x14, 8}, /* Data Out 3 */ |
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158 {0x7010, 0x15, 8}, /* Data Out 4 */ |
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159 {0x7010, 0x16, 8}, /* Data Out 5 */ |
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160 {0x7010, 0x17, 8}, /* Data Out 6 */ |
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161 {0x7010, 0x18, 8}, /* Data Out 7 */ |
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162 {0x7010, 0x19, 8}, /* Data Out 8 */ |
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163 {0x7010, 0x1a, 8}, /* Data Out 9 */ |
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164 {0x7010, 0x1b, 8}, /* Data Out 10 */ |
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165 {0x7010, 0x1c, 8}, /* Data Out 11 */ |
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166 {0x7010, 0x1d, 8}, /* Data Out 12 */ |
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167 {0x7010, 0x1e, 8}, /* Data Out 13 */ |
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168 {0x7010, 0x1f, 8}, /* Data Out 14 */ |
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169 {0x7010, 0x20, 8}, /* Data Out 15 */ |
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170 {0x7010, 0x21, 8}, /* Data Out 16 */ |
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171 {0x7010, 0x22, 8}, /* Data Out 17 */ |
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172 {0x7010, 0x23, 8}, /* Data Out 18 */ |
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173 {0x7010, 0x24, 8}, /* Data Out 19 */ |
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174 {0x7010, 0x25, 8}, /* Data Out 20 */ |
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175 {0x7010, 0x26, 8}, /* Data Out 21 */ |
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176 {0x6001, 0x01, 16}, /* Status */ |
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177 {0x6000, 0x11, 8}, /* Data In 0 */ |
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178 {0x6000, 0x12, 8}, /* Data In 1 */ |
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179 {0x6000, 0x13, 8}, /* Data In 2 */ |
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180 {0x6000, 0x14, 8}, /* Data In 3 */ |
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181 {0x6000, 0x15, 8}, /* Data In 4 */ |
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182 {0x6000, 0x16, 8}, /* Data In 5 */ |
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183 {0x6000, 0x17, 8}, /* Data In 6 */ |
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184 {0x6000, 0x18, 8}, /* Data In 7 */ |
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185 {0x6000, 0x19, 8}, /* Data In 8 */ |
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186 {0x6000, 0x1a, 8}, /* Data In 9 */ |
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187 {0x6000, 0x1b, 8}, /* Data In 10 */ |
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188 {0x6000, 0x1c, 8}, /* Data In 11 */ |
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189 {0x6000, 0x1d, 8}, /* Data In 12 */ |
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190 {0x6000, 0x1e, 8}, /* Data In 13 */ |
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191 {0x6000, 0x1f, 8}, /* Data In 14 */ |
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192 {0x6000, 0x20, 8}, /* Data In 15 */ |
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193 {0x6000, 0x21, 8}, /* Data In 16 */ |
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194 {0x6000, 0x22, 8}, /* Data In 17 */ |
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195 {0x6000, 0x23, 8}, /* Data In 18 */ |
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196 {0x6000, 0x24, 8}, /* Data In 19 */ |
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197 {0x6000, 0x25, 8}, /* Data In 20 */ |
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198 {0x6000, 0x26, 8}, /* Data In 21 */ |
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199 {0x6011, 0x01, 16}, /* Status */ |
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200 {0x6010, 0x11, 8}, /* Data In 0 */ |
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201 {0x6010, 0x12, 8}, /* Data In 1 */ |
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202 {0x6010, 0x13, 8}, /* Data In 2 */ |
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203 {0x6010, 0x14, 8}, /* Data In 3 */ |
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204 {0x6010, 0x15, 8}, /* Data In 4 */ |
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205 {0x6010, 0x16, 8}, /* Data In 5 */ |
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206 {0x6010, 0x17, 8}, /* Data In 6 */ |
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207 {0x6010, 0x18, 8}, /* Data In 7 */ |
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208 {0x6010, 0x19, 8}, /* Data In 8 */ |
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209 {0x6010, 0x1a, 8}, /* Data In 9 */ |
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210 {0x6010, 0x1b, 8}, /* Data In 10 */ |
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211 {0x6010, 0x1c, 8}, /* Data In 11 */ |
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212 {0x6010, 0x1d, 8}, /* Data In 12 */ |
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213 {0x6010, 0x1e, 8}, /* Data In 13 */ |
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214 {0x6010, 0x1f, 8}, /* Data In 14 */ |
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215 {0x6010, 0x20, 8}, /* Data In 15 */ |
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216 {0x6010, 0x21, 8}, /* Data In 16 */ |
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217 {0x6010, 0x22, 8}, /* Data In 17 */ |
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218 {0x6010, 0x23, 8}, /* Data In 18 */ |
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219 {0x6010, 0x24, 8}, /* Data In 19 */ |
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220 {0x6010, 0x25, 8}, /* Data In 20 */ |
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221 {0x6010, 0x26, 8}, /* Data In 21 */ |
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222 }; |
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223 |
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224 ec_pdo_info_t slave_1_pdos[] = { |
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225 {0x1604, 23, slave_1_pdo_entries + 0}, /* COM RxPDO-Map Outputs Ch.1 */ |
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226 {0x1605, 23, slave_1_pdo_entries + 23}, /* COM RxPDO-Map Outputs Ch.2 */ |
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227 {0x1a04, 23, slave_1_pdo_entries + 46}, /* COM TxPDO-Map Inputs Ch.1 */ |
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228 {0x1a05, 23, slave_1_pdo_entries + 69}, /* COM TxPDO-Map Inputs Ch.2 */ |
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229 }; |
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230 |
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231 ec_sync_info_t slave_1_syncs[] = { |
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232 {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, |
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233 {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, |
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234 {2, EC_DIR_OUTPUT, 2, slave_1_pdos + 0, EC_WD_DISABLE}, |
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235 {3, EC_DIR_INPUT, 2, slave_1_pdos + 2, EC_WD_DISABLE}, |
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236 {0xff} |
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237 }; |
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238 |
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239 /****************************************************************************/ |
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240 |
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241 int serial_init(serial_device_t *ser, size_t max_tx, size_t max_rx) |
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242 { |
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243 ser->max_tx_data_size = max_tx; |
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244 ser->max_rx_data_size = max_rx; |
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245 ser->tx_data = NULL; |
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246 ser->tx_data_size = 0; |
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247 ser->state = SER_REQUEST_INIT; |
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248 ser->tx_request_toggle = 0; |
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249 ser->rx_accepted_toggle = 0; |
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250 ser->control = 0x0000; |
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251 |
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252 if (max_tx > 0) { |
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253 ser->tx_data = kmalloc(max_tx, GFP_KERNEL); |
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254 if (ser->tx_data == NULL) { |
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255 return -ENOMEM; |
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256 } |
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257 } |
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258 |
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259 return 0; |
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260 } |
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261 |
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262 /****************************************************************************/ |
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263 |
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264 void serial_clear(serial_device_t *ser) |
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265 { |
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266 if (ser->tx_data) { |
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267 kfree(ser->tx_data); |
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268 } |
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269 } |
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270 |
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271 /****************************************************************************/ |
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272 |
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273 void serial_run(serial_device_t *ser, uint16_t status, uint8_t *rx_data) |
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274 { |
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275 uint8_t tx_accepted_toggle, rx_request_toggle; |
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276 |
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277 switch (ser->state) { |
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278 case SER_READY: |
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279 |
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280 /* Send data */ |
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281 |
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282 tx_accepted_toggle = status & 0x0001; |
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283 if (tx_accepted_toggle != ser->tx_accepted_toggle) { // ready |
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284 // send new data |
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285 size_t rem = sizeof(tx_data) - tx_off; |
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286 if (rem > 0) { |
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287 if (rem < ser->max_tx_data_size) { |
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288 ser->tx_data_size = rem; |
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289 } else { |
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290 ser->tx_data_size = ser->max_tx_data_size; |
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291 } |
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292 printk(KERN_INFO PFX "Sending %u bytes.\n", ser->tx_data_size); |
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293 memcpy(ser->tx_data, tx_data, ser->tx_data_size); |
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294 tx_off += ser->tx_data_size; |
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295 ser->tx_request_toggle = !ser->tx_request_toggle; |
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296 ser->tx_accepted_toggle = tx_accepted_toggle; |
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297 } |
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298 } |
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299 |
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300 /* Receive data */ |
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301 |
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302 rx_request_toggle = status & 0x0002; |
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303 if (rx_request_toggle != ser->rx_request_toggle) { |
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304 uint8_t rx_data_size = status >> 8, i; |
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305 ser->rx_request_toggle = rx_request_toggle; |
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306 printk(KERN_INFO PFX "Received %u bytes:\n", rx_data_size); |
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307 for (i = 0; i < rx_data_size; i++) { |
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308 printk(KERN_INFO PFX "%02x\n", rx_data[i]); |
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309 } |
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310 ser->rx_accepted_toggle = !ser->rx_accepted_toggle; |
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311 } |
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312 |
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313 ser->control = |
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314 ser->tx_request_toggle | |
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315 ser->rx_accepted_toggle << 1 | |
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316 ser->tx_data_size << 8; |
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317 break; |
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318 |
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319 case SER_REQUEST_INIT: |
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320 if (status & (1 << 2)) { |
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321 ser->control = 0x0000; |
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322 ser->state = SER_WAIT_FOR_INIT_RESPONSE; |
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323 } else { |
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324 ser->control = 1 << 2; // CW.2, request initialization |
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325 } |
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326 break; |
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327 |
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328 case SER_WAIT_FOR_INIT_RESPONSE: |
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329 if (!(status & (1 << 2))) { |
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330 printk(KERN_INFO PFX "Init successful.\n"); |
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331 ser->tx_accepted_toggle = 1; |
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332 ser->control = 0x0000; |
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333 ser->state = SER_READY; |
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334 } |
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335 break; |
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336 } |
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337 |
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338 } |
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339 |
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340 /*****************************************************************************/ |
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341 |
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342 void check_domain1_state(void) |
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343 { |
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344 ec_domain_state_t ds; |
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345 |
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346 down(&master_sem); |
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347 ecrt_domain_state(domain1, &ds); |
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348 up(&master_sem); |
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349 |
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350 if (ds.working_counter != domain1_state.working_counter) |
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351 printk(KERN_INFO PFX "Domain1: WC %u.\n", ds.working_counter); |
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352 if (ds.wc_state != domain1_state.wc_state) |
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353 printk(KERN_INFO PFX "Domain1: State %u.\n", ds.wc_state); |
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354 |
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355 domain1_state = ds; |
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356 } |
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357 |
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358 /*****************************************************************************/ |
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359 |
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360 void check_master_state(void) |
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361 { |
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362 ec_master_state_t ms; |
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363 |
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364 down(&master_sem); |
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365 ecrt_master_state(master, &ms); |
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366 up(&master_sem); |
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367 |
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368 if (ms.slaves_responding != master_state.slaves_responding) |
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369 printk(KERN_INFO PFX "%u slave(s).\n", ms.slaves_responding); |
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370 if (ms.al_states != master_state.al_states) |
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371 printk(KERN_INFO PFX "AL states: 0x%02X.\n", ms.al_states); |
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372 if (ms.link_up != master_state.link_up) |
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373 printk(KERN_INFO PFX "Link is %s.\n", ms.link_up ? "up" : "down"); |
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374 |
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375 master_state = ms; |
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376 } |
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377 |
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378 /*****************************************************************************/ |
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379 |
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380 void cyclic_task(unsigned long data) |
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381 { |
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382 // receive process data |
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383 down(&master_sem); |
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384 ecrt_master_receive(master); |
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385 ecrt_domain_process(domain1); |
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386 up(&master_sem); |
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387 |
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388 // check process data state (optional) |
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389 check_domain1_state(); |
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390 |
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391 if (counter) { |
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392 counter--; |
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393 } else { // do this at 1 Hz |
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394 counter = FREQUENCY; |
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395 |
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396 // check for master state (optional) |
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397 check_master_state(); |
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398 |
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399 tx_off = 0; |
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400 } |
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401 |
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402 serial_run(ser, EC_READ_U16(domain1_pd + off_status), domain1_pd + off_rx); |
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403 EC_WRITE_U16(domain1_pd + off_ctrl, ser->control); |
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404 memcpy(domain1_pd + off_tx, ser->tx_data, 22); |
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405 |
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406 // send process data |
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407 down(&master_sem); |
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408 ecrt_domain_queue(domain1); |
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409 ecrt_master_send(master); |
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410 up(&master_sem); |
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411 |
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412 // restart timer |
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413 timer.expires += HZ / FREQUENCY; |
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414 add_timer(&timer); |
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415 } |
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416 |
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417 /*****************************************************************************/ |
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418 |
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419 void send_callback(void *cb_data) |
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420 { |
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421 ec_master_t *m = (ec_master_t *) cb_data; |
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422 down(&master_sem); |
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423 ecrt_master_send_ext(m); |
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424 up(&master_sem); |
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425 } |
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426 |
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427 /*****************************************************************************/ |
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428 |
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429 void receive_callback(void *cb_data) |
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430 { |
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431 ec_master_t *m = (ec_master_t *) cb_data; |
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432 down(&master_sem); |
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433 ecrt_master_receive(m); |
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434 up(&master_sem); |
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435 } |
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436 |
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437 /*****************************************************************************/ |
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438 |
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439 int __init init_mini_module(void) |
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440 { |
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441 int ret = -1; |
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442 ec_slave_config_t *sc; |
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443 |
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444 printk(KERN_INFO PFX "Starting...\n"); |
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445 |
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446 ser = kmalloc(sizeof(*ser), GFP_KERNEL); |
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447 if (ser == NULL) { |
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448 printk(KERN_ERR PFX "Failed to allocate serial device object.\n"); |
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449 return -ENOMEM; |
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450 } |
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451 ret = serial_init(ser, 22, 22); |
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452 if (ret) { |
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453 printk(KERN_ERR PFX "Failed to init serial device object.\n"); |
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454 return ret; |
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455 } |
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456 |
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457 master = ecrt_request_master(0); |
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458 if (!master) { |
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459 ret = -EBUSY; |
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460 printk(KERN_ERR PFX "Requesting master 0 failed.\n"); |
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461 goto out_return; |
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462 } |
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463 |
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464 init_MUTEX(&master_sem); |
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465 ecrt_master_callbacks(master, send_callback, receive_callback, master); |
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466 |
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467 printk(KERN_INFO PFX "Registering domain...\n"); |
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468 if (!(domain1 = ecrt_master_create_domain(master))) { |
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469 printk(KERN_ERR PFX "Domain creation failed!\n"); |
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470 goto out_release_master; |
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471 } |
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472 |
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473 // Create configuration for bus coupler |
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474 sc = ecrt_master_slave_config(master, BusCouplerPos, Beckhoff_EK1100); |
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475 if (!sc) |
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476 return -1; |
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477 |
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478 if (!(sc = ecrt_master_slave_config( |
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479 master, SerialPos, Beckhoff_EL6002))) { |
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480 printk(KERN_ERR PFX "Failed to get slave configuration.\n"); |
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481 return -1; |
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482 } |
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483 |
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484 printk("Configuring PDOs...\n"); |
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485 if (ecrt_slave_config_pdos(sc, EC_END, slave_1_syncs)) { |
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486 printk(KERN_ERR PFX "Failed to configure PDOs.\n"); |
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487 return -1; |
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488 } |
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489 |
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490 if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) { |
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491 printk(KERN_ERR PFX "PDO entry registration failed!\n"); |
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492 return -1; |
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493 } |
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494 |
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495 printk(KERN_INFO PFX "Activating master...\n"); |
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496 if (ecrt_master_activate(master)) { |
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497 printk(KERN_ERR PFX "Failed to activate master!\n"); |
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498 goto out_release_master; |
|
499 } |
|
500 |
|
501 // Get internal process data for domain |
|
502 domain1_pd = ecrt_domain_data(domain1); |
|
503 |
|
504 printk(KERN_INFO PFX "Starting cyclic sample thread.\n"); |
|
505 init_timer(&timer); |
|
506 timer.function = cyclic_task; |
|
507 timer.expires = jiffies + 10; |
|
508 add_timer(&timer); |
|
509 |
|
510 printk(KERN_INFO PFX "Started.\n"); |
|
511 return 0; |
|
512 |
|
513 out_release_master: |
|
514 printk(KERN_ERR PFX "Releasing master...\n"); |
|
515 ecrt_release_master(master); |
|
516 out_return: |
|
517 printk(KERN_ERR PFX "Failed to load. Aborting.\n"); |
|
518 return ret; |
|
519 } |
|
520 |
|
521 /*****************************************************************************/ |
|
522 |
|
523 void __exit cleanup_mini_module(void) |
|
524 { |
|
525 printk(KERN_INFO PFX "Stopping...\n"); |
|
526 |
|
527 del_timer_sync(&timer); |
|
528 |
|
529 printk(KERN_INFO PFX "Releasing master...\n"); |
|
530 ecrt_release_master(master); |
|
531 |
|
532 printk(KERN_INFO PFX "Unloading.\n"); |
|
533 } |
|
534 |
|
535 /*****************************************************************************/ |
|
536 |
|
537 MODULE_LICENSE("GPL"); |
|
538 MODULE_AUTHOR("Florian Pose <fp@igh-essen.com>"); |
|
539 MODULE_DESCRIPTION("EtherCAT minimal test environment"); |
|
540 |
|
541 module_init(init_mini_module); |
|
542 module_exit(cleanup_mini_module); |
|
543 |
|
544 /*****************************************************************************/ |