1 /****************************************************************************** |
1 /****************************************************************************** |
2 * |
2 * |
3 * m i n i . c |
3 * m i n i . c |
4 * |
4 * |
5 * Minimalmodul für EtherCAT |
5 * Minimal module for EtherCAT. |
6 * |
6 * |
7 * $Id$ |
7 * $Id$ |
8 * |
8 * |
9 *****************************************************************************/ |
9 *****************************************************************************/ |
10 |
10 |
11 #include <linux/module.h> |
11 #include <linux/module.h> |
12 #include <linux/delay.h> |
12 #include <linux/delay.h> |
13 #include <linux/timer.h> |
13 #include <linux/timer.h> |
14 |
14 |
15 #include "../include/ecrt.h" // Echtzeitschnittstelle |
15 #include "../include/ecrt.h" // EtherCAT realtime interface |
16 |
16 |
17 #define ASYNC |
17 #define ASYNC |
18 |
18 #define FREQUENCY 100 |
19 /*****************************************************************************/ |
19 |
20 |
20 /*****************************************************************************/ |
21 #define ABTASTFREQUENZ 100 |
|
22 |
21 |
23 struct timer_list timer; |
22 struct timer_list timer; |
24 |
|
25 /*****************************************************************************/ |
|
26 |
23 |
27 // EtherCAT |
24 // EtherCAT |
28 ec_master_t *master = NULL; |
25 ec_master_t *master = NULL; |
29 ec_domain_t *domain1 = NULL; |
26 ec_domain_t *domain1 = NULL; |
30 |
27 |
31 // Datenfelder |
28 // data fields |
32 //void *r_ssi_input, *r_ssi_status, *r_4102[3]; |
29 //void *r_ssi_input, *r_ssi_status, *r_4102[3]; |
33 |
30 |
34 // Kanäle |
31 // channels |
35 uint32_t k_pos; |
32 uint32_t k_pos; |
36 uint8_t k_stat; |
33 uint8_t k_stat; |
37 |
34 |
38 ec_field_init_t domain1_fields[] = { |
35 ec_field_init_t domain1_fields[] = { |
39 {NULL, "1", "Beckhoff", "EL5001", "InputValue", 0}, |
36 {NULL, "1", "Beckhoff", "EL5001", "InputValue", 0}, |
40 {NULL, "2", "Beckhoff", "EL4132", "OutputValue", 0}, |
37 {NULL, "2", "Beckhoff", "EL4132", "OutputValue", 0}, |
41 {} |
38 {} |
42 }; |
39 }; |
43 |
40 |
44 /*****************************************************************************/ |
41 /*****************************************************************************/ |
46 void run(unsigned long data) |
43 void run(unsigned long data) |
47 { |
44 { |
48 static unsigned int counter = 0; |
45 static unsigned int counter = 0; |
49 |
46 |
50 #ifdef ASYNC |
47 #ifdef ASYNC |
51 // Empfangen |
48 // receive |
52 ecrt_master_async_receive(master); |
49 ecrt_master_async_receive(master); |
53 ecrt_domain_process(domain1); |
50 ecrt_domain_process(domain1); |
54 #else |
51 #else |
55 // Senden und empfangen |
52 // send and receive |
56 ecrt_domain_queue(domain1); |
53 ecrt_domain_queue(domain1); |
57 ecrt_master_run(master); |
54 ecrt_master_run(master); |
58 ecrt_master_sync_io(master); |
55 ecrt_master_sync_io(master); |
59 ecrt_domain_process(domain1); |
56 ecrt_domain_process(domain1); |
60 #endif |
57 #endif |
61 |
58 |
62 // Prozessdaten verarbeiten |
59 // process data |
63 //k_pos = EC_READ_U32(r_ssi); |
60 //k_pos = EC_READ_U32(r_ssi); |
64 |
61 |
65 #ifdef ASYNC |
62 #ifdef ASYNC |
66 // Senden |
63 // send |
67 ecrt_domain_queue(domain1); |
64 ecrt_domain_queue(domain1); |
68 ecrt_master_run(master); |
65 ecrt_master_run(master); |
69 ecrt_master_async_send(master); |
66 ecrt_master_async_send(master); |
70 #endif |
67 #endif |
71 |
68 |
72 if (counter) { |
69 if (counter) { |
73 counter--; |
70 counter--; |
74 } |
71 } |
75 else { |
72 else { |
76 counter = ABTASTFREQUENZ; |
73 counter = FREQUENCY; |
77 //printk(KERN_INFO "k_pos = %i\n", k_pos); |
74 //printk(KERN_INFO "k_pos = %i\n", k_pos); |
78 //printk(KERN_INFO "k_stat = 0x%02X\n", k_stat); |
75 //printk(KERN_INFO "k_stat = 0x%02X\n", k_stat); |
79 } |
76 } |
80 |
77 |
81 // Timer neu starten |
78 // restart timer |
82 timer.expires += HZ / ABTASTFREQUENZ; |
79 timer.expires += HZ / FREQUENCY; |
83 add_timer(&timer); |
80 add_timer(&timer); |
84 } |
81 } |
85 |
82 |
86 /*****************************************************************************/ |
83 /*****************************************************************************/ |
87 |
84 |
151 goto out_deactivate; |
148 goto out_deactivate; |
152 } |
149 } |
153 #endif |
150 #endif |
154 |
151 |
155 #ifdef ASYNC |
152 #ifdef ASYNC |
156 // Einmal senden und warten... |
153 // send once and wait... |
157 ecrt_master_prepare_async_io(master); |
154 ecrt_master_prepare_async_io(master); |
158 #endif |
155 #endif |
159 |
156 |
160 printk("Starting cyclic sample thread.\n"); |
157 printk("Starting cyclic sample thread.\n"); |
161 init_timer(&timer); |
158 init_timer(&timer); |
162 timer.function = run; |
159 timer.function = run; |
163 timer.expires = jiffies + 10; // Das erste Mal sofort feuern |
160 timer.expires = jiffies + 10; |
164 add_timer(&timer); |
161 add_timer(&timer); |
165 |
162 |
166 printk(KERN_INFO "=== Minimal EtherCAT environment started. ===\n"); |
163 printk(KERN_INFO "=== Minimal EtherCAT environment started. ===\n"); |
167 return 0; |
164 return 0; |
168 |
165 |