| changeset 1171 | de880622f253 |
| parent 1082 | ff06c58e269c |
| child 1179 | c0e6adec1aee |
| 1170:af068174a630 | 1171:de880622f253 |
|---|---|
41 /*****************************************************************************/ |
41 /*****************************************************************************/ |
42 |
42 |
43 // Module parameters |
43 // Module parameters |
44 #define FREQUENCY 100 |
44 #define FREQUENCY 100 |
45 |
45 |
46 // Optional features (comment to disable) |
46 // Optional features |
47 #define CONFIGURE_PDOS |
47 #define CONFIGURE_PDOS 1 |
48 #define EXTERNAL_MEMORY |
48 #define EL3162_ALT_PDOS 0 |
49 #define SDO_ACCESS |
49 #define EXTERNAL_MEMORY 1 |
50 #define SDO_ACCESS 0 |
|
50 |
51 |
51 #define PFX "ec_mini: " |
52 #define PFX "ec_mini: " |
52 |
53 |
53 /*****************************************************************************/ |
54 /*****************************************************************************/ |
54 |
55 |
79 |
80 |
80 static unsigned int off_ana_in; // offsets for Pdo entries |
81 static unsigned int off_ana_in; // offsets for Pdo entries |
81 static unsigned int off_dig_out; |
82 static unsigned int off_dig_out; |
82 |
83 |
83 const static ec_pdo_entry_reg_t domain1_regs[] = { |
84 const static ec_pdo_entry_reg_t domain1_regs[] = { |
85 #if EL3162_ALT_PDOS |
|
86 {AnaInSlavePos, Beckhoff_EL3162, 0x6401, 2, &off_ana_in}, |
|
87 #else |
|
84 {AnaInSlavePos, Beckhoff_EL3162, 0x3101, 2, &off_ana_in}, |
88 {AnaInSlavePos, Beckhoff_EL3162, 0x3101, 2, &off_ana_in}, |
89 #endif |
|
85 {DigOutSlavePos, Beckhoff_EL2004, 0x3001, 1, &off_dig_out}, |
90 {DigOutSlavePos, Beckhoff_EL2004, 0x3001, 1, &off_dig_out}, |
86 {} |
91 {} |
87 }; |
92 }; |
88 |
93 |
89 static unsigned int counter = 0; |
94 static unsigned int counter = 0; |
90 static unsigned int blink = 0; |
95 static unsigned int blink = 0; |
91 |
96 |
92 /*****************************************************************************/ |
97 /*****************************************************************************/ |
93 |
98 |
94 #ifdef CONFIGURE_PDOS |
99 #if CONFIGURE_PDOS |
95 static ec_pdo_entry_info_t el3162_channel1[] = { |
100 |
96 {0x3101, 1, 8}, // status |
101 static ec_pdo_entry_info_t el3162_pdo_entries[] = { |
97 {0x3101, 2, 16} // value |
102 {0x3101, 1, 8}, // channel 1 status |
98 }; |
103 {0x3101, 2, 16}, // channel 1 value |
99 |
104 {0x3102, 1, 8}, // channel 2 status |
100 static ec_pdo_entry_info_t el3162_channel2[] = { |
105 {0x3102, 2, 16}, // channel 2 value |
101 {0x3102, 1, 8}, // status |
106 {0x6401, 1, 16}, // channel 1 value (alt.) |
102 {0x3102, 2, 16} // value |
107 {0x6401, 2, 16} // channel 2 value (alt.) |
103 }; |
108 }; |
104 |
109 |
110 #if EL3162_ALT_PDOS |
|
105 static ec_pdo_info_t el3162_pdos[] = { |
111 static ec_pdo_info_t el3162_pdos[] = { |
106 {0x1A00, 2, el3162_channel1}, |
112 {0x1A10, 2, el3162_pdo_entries + 4}, |
107 {0x1A01, 2, el3162_channel2} |
113 }; |
114 |
|
115 static ec_sync_info_t el3162_syncs[] = { |
|
116 {2, EC_DIR_OUTPUT}, |
|
117 {3, EC_DIR_INPUT, 1, el3162_pdos}, |
|
118 {0xff} |
|
119 }; |
|
120 #else |
|
121 static ec_pdo_info_t el3162_pdos[] = { |
|
122 {0x1A00, 2, el3162_pdo_entries}, |
|
123 {0x1A01, 2, el3162_pdo_entries + 2} |
|
108 }; |
124 }; |
109 |
125 |
110 static ec_sync_info_t el3162_syncs[] = { |
126 static ec_sync_info_t el3162_syncs[] = { |
111 {2, EC_DIR_OUTPUT}, |
127 {2, EC_DIR_OUTPUT}, |
112 {3, EC_DIR_INPUT, 2, el3162_pdos}, |
128 {3, EC_DIR_INPUT, 2, el3162_pdos}, |
113 {0xff} |
129 {0xff} |
114 }; |
130 }; |
131 #endif |
|
115 |
132 |
116 static ec_pdo_entry_info_t el2004_channels[] = { |
133 static ec_pdo_entry_info_t el2004_channels[] = { |
117 {0x3001, 1, 1}, // Value 1 |
134 {0x3001, 1, 1}, // Value 1 |
118 {0x3001, 2, 1}, // Value 2 |
135 {0x3001, 2, 1}, // Value 2 |
119 {0x3001, 3, 1}, // Value 3 |
136 {0x3001, 3, 1}, // Value 3 |
134 }; |
151 }; |
135 #endif |
152 #endif |
136 |
153 |
137 /*****************************************************************************/ |
154 /*****************************************************************************/ |
138 |
155 |
139 #ifdef SDO_ACCESS |
156 #if SDO_ACCESS |
140 static ec_sdo_request_t *sdo; |
157 static ec_sdo_request_t *sdo; |
141 #endif |
158 #endif |
142 |
159 |
143 /*****************************************************************************/ |
160 /*****************************************************************************/ |
144 |
161 |
199 sc_ana_in_state = s; |
216 sc_ana_in_state = s; |
200 } |
217 } |
201 |
218 |
202 /*****************************************************************************/ |
219 /*****************************************************************************/ |
203 |
220 |
204 #ifdef SDO_ACCESS |
221 #if SDO_ACCESS |
205 void read_sdo(void) |
222 void read_sdo(void) |
206 { |
223 { |
207 switch (ecrt_sdo_request_state(sdo)) { |
224 switch (ecrt_sdo_request_state(sdo)) { |
208 case EC_SDO_REQUEST_UNUSED: // request was not used yet |
225 case EC_SDO_REQUEST_UNUSED: // request was not used yet |
209 ecrt_sdo_request_read(sdo); // trigger first read |
226 ecrt_sdo_request_read(sdo); // trigger first read |
249 check_master_state(); |
266 check_master_state(); |
250 |
267 |
251 // check for islave configuration state(s) (optional) |
268 // check for islave configuration state(s) (optional) |
252 check_slave_config_states(); |
269 check_slave_config_states(); |
253 |
270 |
254 #ifdef SDO_ACCESS |
271 #if SDO_ACCESS |
255 // read process data Sdo |
272 // read process data Sdo |
256 read_sdo(); |
273 read_sdo(); |
257 #endif |
274 #endif |
258 } |
275 } |
259 |
276 |
288 |
305 |
289 /*****************************************************************************/ |
306 /*****************************************************************************/ |
290 |
307 |
291 int __init init_mini_module(void) |
308 int __init init_mini_module(void) |
292 { |
309 { |
293 #ifdef CONFIGURE_PDOS |
310 #if CONFIGURE_PDOS |
294 ec_slave_config_t *sc; |
311 ec_slave_config_t *sc; |
295 #endif |
312 #endif |
296 #ifdef EXTERNAL_MEMORY |
313 #if EXTERNAL_MEMORY |
297 unsigned int size; |
314 unsigned int size; |
298 #endif |
315 #endif |
299 |
316 |
300 printk(KERN_INFO PFX "Starting...\n"); |
317 printk(KERN_INFO PFX "Starting...\n"); |
301 |
318 |
316 master, AnaInSlavePos, Beckhoff_EL3162))) { |
333 master, AnaInSlavePos, Beckhoff_EL3162))) { |
317 printk(KERN_ERR PFX "Failed to get slave configuration.\n"); |
334 printk(KERN_ERR PFX "Failed to get slave configuration.\n"); |
318 goto out_release_master; |
335 goto out_release_master; |
319 } |
336 } |
320 |
337 |
321 #ifdef CONFIGURE_PDOS |
338 #if CONFIGURE_PDOS |
322 printk(KERN_INFO PFX "Configuring Pdos...\n"); |
339 printk(KERN_INFO PFX "Configuring Pdos...\n"); |
323 if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3162_syncs)) { |
340 if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3162_syncs)) { |
324 printk(KERN_ERR PFX "Failed to configure Pdos.\n"); |
341 printk(KERN_ERR PFX "Failed to configure Pdos.\n"); |
325 goto out_release_master; |
342 goto out_release_master; |
326 } |
343 } |
335 printk(KERN_ERR PFX "Failed to configure Pdos.\n"); |
352 printk(KERN_ERR PFX "Failed to configure Pdos.\n"); |
336 goto out_release_master; |
353 goto out_release_master; |
337 } |
354 } |
338 #endif |
355 #endif |
339 |
356 |
340 #ifdef SDO_ACCESS |
357 #if SDO_ACCESS |
341 printk(KERN_INFO PFX "Creating Sdo requests...\n"); |
358 printk(KERN_INFO PFX "Creating Sdo requests...\n"); |
342 if (!(sdo = ecrt_slave_config_create_sdo_request(sc_ana_in, 0x3102, 2, 2))) { |
359 if (!(sdo = ecrt_slave_config_create_sdo_request(sc_ana_in, 0x3102, 2, 2))) { |
343 printk(KERN_ERR PFX "Failed to create Sdo request.\n"); |
360 printk(KERN_ERR PFX "Failed to create Sdo request.\n"); |
344 goto out_release_master; |
361 goto out_release_master; |
345 } |
362 } |
350 if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) { |
367 if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) { |
351 printk(KERN_ERR PFX "Pdo entry registration failed!\n"); |
368 printk(KERN_ERR PFX "Pdo entry registration failed!\n"); |
352 goto out_release_master; |
369 goto out_release_master; |
353 } |
370 } |
354 |
371 |
355 #ifdef EXTERNAL_MEMORY |
372 #if EXTERNAL_MEMORY |
356 if ((size = ecrt_domain_size(domain1))) { |
373 if ((size = ecrt_domain_size(domain1))) { |
357 if (!(domain1_pd = (uint8_t *) kmalloc(size, GFP_KERNEL))) { |
374 if (!(domain1_pd = (uint8_t *) kmalloc(size, GFP_KERNEL))) { |
358 printk(KERN_ERR PFX "Failed to allocate %u bytes of process data" |
375 printk(KERN_ERR PFX "Failed to allocate %u bytes of process data" |
359 " memory!\n", size); |
376 " memory!\n", size); |
360 goto out_release_master; |
377 goto out_release_master; |
364 #endif |
381 #endif |
365 |
382 |
366 printk(KERN_INFO PFX "Activating master...\n"); |
383 printk(KERN_INFO PFX "Activating master...\n"); |
367 if (ecrt_master_activate(master)) { |
384 if (ecrt_master_activate(master)) { |
368 printk(KERN_ERR PFX "Failed to activate master!\n"); |
385 printk(KERN_ERR PFX "Failed to activate master!\n"); |
369 #ifdef EXTERNAL_MEMORY |
386 #if EXTERNAL_MEMORY |
370 goto out_free_process_data; |
387 goto out_free_process_data; |
371 #else |
388 #else |
372 goto out_release_master; |
389 goto out_release_master; |
373 #endif |
390 #endif |
374 } |
391 } |
375 |
392 |
376 #ifndef EXTERNAL_MEMORY |
393 #if !EXTERNAL_MEMORY |
377 // Get internal process data for domain |
394 // Get internal process data for domain |
378 domain1_pd = ecrt_domain_data(domain1); |
395 domain1_pd = ecrt_domain_data(domain1); |
379 #endif |
396 #endif |
380 |
397 |
381 printk(KERN_INFO PFX "Starting cyclic sample thread.\n"); |
398 printk(KERN_INFO PFX "Starting cyclic sample thread.\n"); |
385 add_timer(&timer); |
402 add_timer(&timer); |
386 |
403 |
387 printk(KERN_INFO PFX "Started.\n"); |
404 printk(KERN_INFO PFX "Started.\n"); |
388 return 0; |
405 return 0; |
389 |
406 |
390 #ifdef EXTERNAL_MEMORY |
407 #if EXTERNAL_MEMORY |
391 out_free_process_data: |
408 out_free_process_data: |
392 kfree(domain1_pd); |
409 kfree(domain1_pd); |
393 #endif |
410 #endif |
394 out_release_master: |
411 out_release_master: |
395 printk(KERN_ERR PFX "Releasing master...\n"); |
412 printk(KERN_ERR PFX "Releasing master...\n"); |
405 { |
422 { |
406 printk(KERN_INFO PFX "Stopping...\n"); |
423 printk(KERN_INFO PFX "Stopping...\n"); |
407 |
424 |
408 del_timer_sync(&timer); |
425 del_timer_sync(&timer); |
409 |
426 |
410 #ifdef EXTERNAL_MEMORY |
427 #if EXTERNAL_MEMORY |
411 kfree(domain1_pd); |
428 kfree(domain1_pd); |
412 #endif |
429 #endif |
413 |
430 |
414 printk(KERN_INFO PFX "Releasing master...\n"); |
431 printk(KERN_INFO PFX "Releasing master...\n"); |
415 ecrt_release_master(master); |
432 ecrt_release_master(master); |