54 ec_master_t *master = NULL; |
54 ec_master_t *master = NULL; |
55 ec_domain_t *domain1 = NULL; |
55 ec_domain_t *domain1 = NULL; |
56 spinlock_t master_lock = SPIN_LOCK_UNLOCKED; |
56 spinlock_t master_lock = SPIN_LOCK_UNLOCKED; |
57 |
57 |
58 // data fields |
58 // data fields |
59 //void *r_ssi_input, *r_ssi_status, *r_4102[3]; |
59 void *r_ana_out; |
60 void *r_kbus_in, *r_kbus_out; |
|
61 |
60 |
62 // channels |
61 // channels |
63 uint32_t k_pos; |
62 uint32_t k_pos; |
64 uint8_t k_stat; |
63 uint8_t k_stat; |
65 |
64 |
66 ec_field_init_t domain1_fields[] = { |
65 ec_pdo_reg_t domain1_pdos[] = { |
67 //{&r_kbus_out, "0", "Beckhoff", "BK1120", "Outputs", 0}, |
66 {"1", Beckhoff_EL4132_Output1, &r_ana_out}, |
68 //{&r_kbus_in, "0", "Beckhoff", "BK1120", "Inputs", 0}, |
|
69 {} |
67 {} |
70 }; |
68 }; |
71 |
69 |
72 /*****************************************************************************/ |
70 /*****************************************************************************/ |
73 |
71 |
74 void run(unsigned long data) |
72 void run(unsigned long data) |
75 { |
73 { |
76 static unsigned int counter = 0; |
74 static unsigned int counter = 0; |
77 unsigned int i; |
|
78 |
75 |
79 spin_lock(&master_lock); |
76 spin_lock(&master_lock); |
80 |
77 |
81 #ifdef ASYNC |
|
82 // receive |
78 // receive |
83 ecrt_master_async_receive(master); |
79 ecrt_master_receive(master); |
84 ecrt_domain_process(domain1); |
80 ecrt_domain_process(domain1); |
85 #else |
|
86 // send and receive |
|
87 ecrt_domain_queue(domain1); |
|
88 ecrt_master_run(master); |
|
89 ecrt_master_sync_io(master); |
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90 ecrt_domain_process(domain1); |
|
91 #endif |
|
92 |
81 |
93 // process data |
82 // process data |
94 //k_pos = EC_READ_U32(r_ssi); |
83 //k_pos = EC_READ_U32(r_ssi); |
95 |
84 |
96 #ifdef ASYNC |
|
97 // send |
85 // send |
98 ecrt_domain_queue(domain1); |
|
99 ecrt_master_run(master); |
86 ecrt_master_run(master); |
100 ecrt_master_async_send(master); |
87 ecrt_master_send(master); |
101 #endif |
|
102 |
88 |
103 spin_unlock(&master_lock); |
89 spin_unlock(&master_lock); |
104 |
90 |
105 if (counter) { |
91 if (counter) { |
106 counter--; |
92 counter--; |
107 } |
93 } |
108 else { |
94 else { |
109 counter = FREQUENCY; |
95 counter = FREQUENCY; |
110 printk(KERN_INFO "input = "); |
96 //printk(KERN_INFO "input = "); |
111 for (i = 0; i < 22; i++) printk("%02X ", *((uint8_t *) r_kbus_in + i)); |
97 //for (i = 0; i < 22; i++) |
112 printk("\n"); |
98 // printk("%02X ", *((uint8_t *) r_kbus_in + i)); |
|
99 //printk("\n"); |
113 } |
100 } |
114 |
101 |
115 // restart timer |
102 // restart timer |
116 timer.expires += HZ / FREQUENCY; |
103 timer.expires += HZ / FREQUENCY; |
117 add_timer(&timer); |
104 add_timer(&timer); |
152 { |
137 { |
153 printk(KERN_ERR "Domain creation failed!\n"); |
138 printk(KERN_ERR "Domain creation failed!\n"); |
154 goto out_release_master; |
139 goto out_release_master; |
155 } |
140 } |
156 |
141 |
157 printk(KERN_INFO "Registering domain fields...\n"); |
142 printk(KERN_INFO "Registering PDOs...\n"); |
158 if (ecrt_domain_register_field_list(domain1, domain1_fields)) { |
143 if (ecrt_domain_register_pdo_list(domain1, domain1_pdos)) { |
159 printk(KERN_ERR "Field registration failed!\n"); |
144 printk(KERN_ERR "PDO registration failed!\n"); |
160 goto out_release_master; |
145 goto out_release_master; |
161 } |
146 } |
162 |
|
163 #if 1 |
|
164 printk(KERN_INFO "Setting variable data field sizes...\n"); |
|
165 if (!(slave = ecrt_master_get_slave(master, "0"))) { |
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166 printk(KERN_ERR "Failed to get slave!\n"); |
|
167 goto out_deactivate; |
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168 } |
|
169 ecrt_slave_field_size(slave, "Outputs", 0, 0x16); |
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170 ecrt_slave_field_size(slave, "Inputs", 0, 0x16); |
|
171 #endif |
|
172 |
147 |
173 printk(KERN_INFO "Activating master...\n"); |
148 printk(KERN_INFO "Activating master...\n"); |
174 if (ecrt_master_activate(master)) { |
149 if (ecrt_master_activate(master)) { |
175 printk(KERN_ERR "Failed to activate master!\n"); |
150 printk(KERN_ERR "Failed to activate master!\n"); |
176 goto out_release_master; |
151 goto out_release_master; |
177 } |
152 } |
178 |
153 |
179 #if 1 |
154 ecrt_master_prepare(master); |
180 if (ecrt_master_fetch_sdo_lists(master)) { |
|
181 printk(KERN_ERR "Failed to fetch SDO lists!\n"); |
|
182 goto out_deactivate; |
|
183 } |
|
184 ecrt_master_print(master, 2); |
|
185 #else |
|
186 ecrt_master_print(master, 0); |
|
187 #endif |
|
188 |
|
189 #if 0 |
|
190 if (!(slave = ecrt_master_get_slave(master, "5"))) { |
|
191 printk(KERN_ERR "Failed to get slave 5!\n"); |
|
192 goto out_deactivate; |
|
193 } |
|
194 |
|
195 if (ecrt_slave_sdo_write_exp8(slave, 0x4061, 1, 0) || |
|
196 ecrt_slave_sdo_write_exp8(slave, 0x4061, 2, 1) || |
|
197 ecrt_slave_sdo_write_exp8(slave, 0x4061, 3, 1) || |
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198 ecrt_slave_sdo_write_exp8(slave, 0x4066, 0, 0) || |
|
199 ecrt_slave_sdo_write_exp8(slave, 0x4067, 0, 4) || |
|
200 ecrt_slave_sdo_write_exp8(slave, 0x4068, 0, 0) || |
|
201 ecrt_slave_sdo_write_exp8(slave, 0x4069, 0, 25) || |
|
202 ecrt_slave_sdo_write_exp8(slave, 0x406A, 0, 25) || |
|
203 ecrt_slave_sdo_write_exp8(slave, 0x406B, 0, 50)) { |
|
204 printk(KERN_ERR "Failed to configure SSI slave!\n"); |
|
205 goto out_deactivate; |
|
206 } |
|
207 #endif |
|
208 |
|
209 #ifdef ASYNC |
|
210 // send once and wait... |
|
211 ecrt_master_prepare_async_io(master); |
|
212 #endif |
|
213 |
|
214 #if 1 |
|
215 if (ecrt_master_start_eoe(master)) { |
|
216 printk(KERN_ERR "Failed to start EoE processing!\n"); |
|
217 goto out_deactivate; |
|
218 } |
|
219 #endif |
|
220 |
155 |
221 printk("Starting cyclic sample thread.\n"); |
156 printk("Starting cyclic sample thread.\n"); |
222 init_timer(&timer); |
157 init_timer(&timer); |
223 timer.function = run; |
158 timer.function = run; |
224 timer.expires = jiffies + 10; |
159 timer.expires = jiffies + 10; |
225 add_timer(&timer); |
160 add_timer(&timer); |
226 |
161 |
227 printk(KERN_INFO "=== Minimal EtherCAT environment started. ===\n"); |
162 printk(KERN_INFO "=== Minimal EtherCAT environment started. ===\n"); |
228 return 0; |
163 return 0; |
229 |
164 |
230 #if 1 |
|
231 out_deactivate: |
|
232 ecrt_master_deactivate(master); |
|
233 #endif |
|
234 out_release_master: |
165 out_release_master: |
235 ecrt_release_master(master); |
166 ecrt_release_master(master); |
236 out_return: |
167 out_return: |
237 return -1; |
168 return -1; |
238 } |
169 } |