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mini/mini.c
changeset 111 9963537ec776
parent 109 c6766baead5e
child 112 eec7639c7be9
equal deleted inserted replaced
110:2346e2963087 111:9963537ec776 
    27 // EtherCAT
 
    27 // EtherCAT
 
    28 ec_master_t *master = NULL;
 
    28 ec_master_t *master = NULL;
 
    29 ec_domain_t *domain1 = NULL;
 
    29 ec_domain_t *domain1 = NULL;
 
    30 
    30 
    31 // Datenfelder
 
    31 // Datenfelder
 
       
    32 void *r_ssi_input, *r_ssi_status;
 
    32 void *r_field[9];
 
    33 void *r_field[9];
 
    33 void *r_4102[3];
 
    34 void *r_4102[3];
 
    34 
    35 
    35 // Kanäle
 
    36 // Kanäle
 
    36 uint32_t k_pos;
 
    37 uint32_t k_pos;
 
       
    38 uint8_t k_stat;
 
    37 
    39 
    38 ec_field_init_t domain1_fields[] = {
 
    40 ec_field_init_t domain1_fields[] = {
 
    39     {&r_field[0],   "1", "Beckhoff", "EL5001", "InputValue", 0, 1},
 
    41     {&r_ssi_input,  "1", "Beckhoff", "EL5001", "InputValue",  0, 1},
 
       
    42     {&r_ssi_status, "1", "Beckhoff", "EL5001", "Status",      0, 1},
 
    40     {&r_field[1],   "2", "Beckhoff", "EL4132", "OutputValue", 0, 1},
 
    43     {&r_field[1],   "2", "Beckhoff", "EL4132", "OutputValue", 0, 1},
 
    41     {&r_field[2],   "3", "Beckhoff", "EL3162", "InputValue", 0, 1},
 
    44     {&r_field[2],   "3", "Beckhoff", "EL3162", "InputValue",  0, 1},
 
    42     {r_4102,        "4", "Beckhoff", "EL4102", "OutputValue", 0, 3},
 
    45     {r_4102,        "4", "Beckhoff", "EL4102", "OutputValue", 0, 2},
 
    43     {&r_field[4],   "5", "Beckhoff", "EL5001", "InputValue", 0, 1},
 
    46     {&r_field[4],   "5", "Beckhoff", "EL5001", "InputValue",  0, 1},
 
    44     {&r_field[5],   "6", "Beckhoff", "EL1014", "InputValue", 0, 1},
 
    47     {&r_field[5],   "6", "Beckhoff", "EL1014", "InputValue",  0, 1},
 
    45     {&r_field[6],   "7", "Beckhoff", "EL2004", "OutputValue", 0, 1},
 
    48     {&r_field[6],   "7", "Beckhoff", "EL2004", "OutputValue", 0, 1},
 
    46     {&r_field[7],   "8", "Beckhoff", "EL4132", "OutputValue", 0, 1},
 
    49     {&r_field[7],   "8", "Beckhoff", "EL4132", "OutputValue", 0, 1},
 
    47     {&r_field[8],   "9", "Beckhoff", "EL4132", "OutputValue", 0, 1},
 
    50     {&r_field[8],   "9", "Beckhoff", "EL4132", "OutputValue", 0, 1},
 
    48     {}
 
    51     {}
 
    49 };
 
    52 };
 
    58     // Prozessdaten emfpangen
 
    61     // Prozessdaten emfpangen
 
    59     ecrt_master_async_receive(master);
 
    62     ecrt_master_async_receive(master);
 
    60     ecrt_domain_process(domain1);
 
    63     ecrt_domain_process(domain1);
 
    61 
    64 
    62     // Prozessdaten verarbeiten
 
    65     // Prozessdaten verarbeiten
 
    63     //  k_pos   = EC_READ_U32(r_ssi);
 
    66     k_pos   = EC_READ_U32(r_ssi_input);
 
       
    67     k_stat  = EC_READ_U8(r_ssi_status);
 
    64 
    68 
    65     // Prozessdaten senden
 
    69     // Prozessdaten senden
 
    66     ecrt_domain_queue(domain1);
 
    70     ecrt_domain_queue(domain1);
 
    67     ecrt_master_async_send(master);
 
    71     ecrt_master_async_send(master);
 
    68 #else
 
    72 #else
 
    78     if (counter) {
 
    82     if (counter) {
 
    79         counter--;
 
    83         counter--;
 
    80     }
 
    84     }
 
    81     else {
 
    85     else {
 
    82         counter = ABTASTFREQUENZ;
 
    86         counter = ABTASTFREQUENZ;
 
    83         printk(KERN_INFO "k_pos   = %i\n", k_pos);
 
    87         printk(KERN_INFO "k_pos    = %i\n", k_pos);
 
       
    88         printk(KERN_INFO "k_stat   = 0x%02X\n", k_stat);
 
    84     }
 
    89     }
 
    85 
    90 
    86     // Timer neu starten
 
    91     // Timer neu starten
 
    87     timer.expires += HZ / ABTASTFREQUENZ;
 
    92     timer.expires += HZ / ABTASTFREQUENZ;
 
    88     add_timer(&timer);
 
    93     add_timer(&timer);
 
   121     if (ecrt_master_activate(master)) {
 
   126     if (ecrt_master_activate(master)) {
 
   122         printk(KERN_ERR "EtherCAT: Could not activate master!\n");
 
   127         printk(KERN_ERR "EtherCAT: Could not activate master!\n");
 
   123         goto out_release_master;
 
   128         goto out_release_master;
 
   124     }
 
   129     }
 
   125 
   130 
       
   131     //ecrt_master_debug(master, 2);
 
       
   132 
       
   133     if (ecrt_master_sdo_write(master, "1", 0x4061, 1,  0, 1) ||
 
       
   134         ecrt_master_sdo_write(master, "1", 0x4061, 2,  1, 1) ||
 
       
   135         ecrt_master_sdo_write(master, "1", 0x4061, 3,  1, 1) ||
 
       
   136         ecrt_master_sdo_write(master, "1", 0x4066, 0,  0, 1) ||
 
       
   137         ecrt_master_sdo_write(master, "1", 0x4067, 0,  4, 1) ||
 
       
   138         ecrt_master_sdo_write(master, "1", 0x4068, 0,  0, 1) ||
 
       
   139         ecrt_master_sdo_write(master, "1", 0x4069, 0, 25, 1) ||
 
       
   140         ecrt_master_sdo_write(master, "1", 0x406A, 0, 25, 1) ||
 
       
   141         ecrt_master_sdo_write(master, "1", 0x406B, 0, 50, 1)) {
 
       
   142         printk(KERN_ERR "EtherCAT: Failed to configure SSI!\n");
 
       
   143         goto out_deactivate;
 
       
   144     }
 
       
   145 
       
   146     //ecrt_master_debug(master, 0);
 
       
   147 
   126 #ifdef ASYNC
 
   148 #ifdef ASYNC
 
   127     // Einmal senden und warten...
 
   149     // Einmal senden und warten...
 
   128     ecrt_master_prepare_async_io(master);
 
   150     ecrt_master_prepare_async_io(master);
 
   129 #endif
 
   151 #endif
 
   130 
   152 
   137 
   159 
   138     printk(KERN_INFO "=== Minimal EtherCAT environment started. ===\n");
 
   160     printk(KERN_INFO "=== Minimal EtherCAT environment started. ===\n");
 
   139 
   161 
   140     return 0;
 
   162     return 0;
 
   141 
   163 
       
   164  out_deactivate:
 
       
   165     ecrt_master_deactivate(master);
 
       
   166 
   142  out_release_master:
 
   167  out_release_master:
 
   143   ecrt_release_master(master);
 
   168     ecrt_release_master(master);
 
   144 
   169 
   145  out_return:
 
   170  out_return:
 
   146   return -1;
 
   171     return -1;
 
   147 }
 
   172 }
 
   148 
   173 
   149 /*****************************************************************************/
 
   174 /*****************************************************************************/
 
   150 
   175 
   151 void __exit cleanup_mini_module(void)
 
   176 void __exit cleanup_mini_module(void)
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