--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mini/ec_mini.c	Fri Oct 21 11:21:42 2005 +0000
@@ -0,0 +1,345 @@
+/******************************************************************************
+ *
+ * ec_mini.c
+ *
+ * Minimalmodul für EtherCAT
+ *           
+ * $Id$
+ *
+ ******************************************************************************/
+
+#include <linux/module.h>
+#include <linux/tqueue.h>
+#include <linux/slab.h>
+#include <linux/delay.h>
+
+#include "../drivers/ec_master.h"
+#include "../drivers/ec_device.h"
+#include "../drivers/ec_types.h"
+#include "../drivers/ec_dbg.h"
+
+extern EtherCAT_device_t rtl_ecat_dev;
+
+//static EtherCAT_master_t *ecat_master = NULL;
+
+#if 0
+static EtherCAT_slave_t ecat_slaves[] =
+{
+  // Block 1
+  ECAT_INIT_SLAVE(Beckhoff_EK1100),
+  ECAT_INIT_SLAVE(Beckhoff_EL4102),
+  ECAT_INIT_SLAVE(Beckhoff_EL3162),
+  ECAT_INIT_SLAVE(Beckhoff_EL1014),
+  ECAT_INIT_SLAVE(Beckhoff_EL2004),
+  ECAT_INIT_SLAVE(Beckhoff_EL3102),
+  ECAT_INIT_SLAVE(Beckhoff_EL4102),
+  ECAT_INIT_SLAVE(Beckhoff_EL4102),
+  ECAT_INIT_SLAVE(Beckhoff_EL4102),
+  ECAT_INIT_SLAVE(Beckhoff_EL3162),
+  ECAT_INIT_SLAVE(Beckhoff_EL3162),
+  ECAT_INIT_SLAVE(Beckhoff_EL3162),
+  ECAT_INIT_SLAVE(Beckhoff_EL3102),
+  ECAT_INIT_SLAVE(Beckhoff_EL3102),
+  ECAT_INIT_SLAVE(Beckhoff_EL2004),
+  ECAT_INIT_SLAVE(Beckhoff_EL2004),
+  ECAT_INIT_SLAVE(Beckhoff_EL2004),
+  ECAT_INIT_SLAVE(Beckhoff_EL2004),
+
+  // Block 2
+  ECAT_INIT_SLAVE(Beckhoff_EK1100),
+  ECAT_INIT_SLAVE(Beckhoff_EL4102),
+  ECAT_INIT_SLAVE(Beckhoff_EL1014),
+  ECAT_INIT_SLAVE(Beckhoff_EL3162),
+  ECAT_INIT_SLAVE(Beckhoff_EL2004),
+  ECAT_INIT_SLAVE(Beckhoff_EL3102),
+
+  // Block 3
+  ECAT_INIT_SLAVE(Beckhoff_EK1100),
+  ECAT_INIT_SLAVE(Beckhoff_EL1014),
+  ECAT_INIT_SLAVE(Beckhoff_EL1014),
+  ECAT_INIT_SLAVE(Beckhoff_EL1014),
+  ECAT_INIT_SLAVE(Beckhoff_EL1014),
+  ECAT_INIT_SLAVE(Beckhoff_EL1014),
+  ECAT_INIT_SLAVE(Beckhoff_EL2004),
+  ECAT_INIT_SLAVE(Beckhoff_EL2004),
+  ECAT_INIT_SLAVE(Beckhoff_EL2004),
+  ECAT_INIT_SLAVE(Beckhoff_EL2004),
+  ECAT_INIT_SLAVE(Beckhoff_EL1014),
+  ECAT_INIT_SLAVE(Beckhoff_EL1014),
+  ECAT_INIT_SLAVE(Beckhoff_EL1014)
+};
+
+#define ECAT_SLAVES_COUNT (sizeof(ecat_slaves) / sizeof(EtherCAT_slave_t))
+#endif
+
+double value;
+int dig1;
+
+/******************************************************************************
+ *
+ * Function: next2004
+ *
+ *****************************************************************************/
+
+#if 0
+static int next2004(int *wrap)
+{
+  static int i = 0;
+  unsigned int j = 0;
+
+  *wrap = 0;
+
+  for (j = 0; j < ECAT_SLAVES_COUNT; j++)
+  {
+    i++;
+
+    i %= ECAT_SLAVES_COUNT;
+
+    if (i == 0) *wrap = 1;
+
+    if (ecat_slaves[i].desc == Beckhoff_EL2004)
+    {
+      return i;
+    }
+  }
+
+  return -1;
+}
+#endif
+
+/******************************************************************************
+ *
+ * Function: msr_controller
+ *
+ * Beschreibung: Zyklischer Prozess
+ *
+ *****************************************************************************/
+
+#if 0
+void msr_controller()
+{
+  static int ms = 0;
+  static int cnt = 0;
+  static unsigned long int k = 0;
+  static int firstrun = 1;
+  
+  static int klemme = 12;
+  static int kanal = 0;
+  static int up_down = 0;
+  int wrap = 0;
+
+  ms++;
+  ms %= 1000;
+
+#if 0
+  ecat_tx_delay = ((unsigned int) (100000 / HZ) * (ecat_master->dev->tx_time-k))
+    / (current_cpu_data.loops_per_jiffy / 10);  
+  ecat_rx_delay = ((unsigned int) (100000 / HZ) * (ecat_master->dev->rx_time-k))
+    / (current_cpu_data.loops_per_jiffy / 10);  
+  
+  rx_intr = ecat_master->dev->rx_intr_cnt;
+  tx_intr = ecat_master->dev->tx_intr_cnt;
+  total_intr = ecat_master->dev->intr_cnt;
+#endif
+
+  // Prozessdaten lesen
+  if (!firstrun)
+  {
+    EtherCAT_read_process_data(ecat_master);
+
+    // Daten lesen und skalieren
+    value = EtherCAT_read_value(&ecat_master->slaves[5], 0) / 3276.7;
+    dig1 = EtherCAT_read_value(&ecat_master->slaves[3], 0);
+  }
+
+  // Daten schreiben
+  EtherCAT_write_value(&ecat_master->slaves[4], 0, ms > 500 ? 1 : 0);
+  EtherCAT_write_value(&ecat_master->slaves[4], 1, ms > 500 ? 0 : 1);
+  EtherCAT_write_value(&ecat_master->slaves[4], 2, ms > 500 ? 0 : 1);
+  EtherCAT_write_value(&ecat_master->slaves[4], 3, ms > 500 ? 1 : 0);
+
+  if (cnt++ > 20)
+  {
+    cnt = 0;
+
+    if (++kanal > 3)
+    {
+      kanal = 0;
+      klemme = next2004(&wrap);
+
+      if (wrap == 1)
+      { 
+        if (up_down == 1) up_down = 0;
+        else up_down = 1;
+      }
+    }
+  }
+
+  if (klemme >= 0)
+    EtherCAT_write_value(&ecat_master->slaves[klemme], kanal,up_down);
+  
+  //EtherCAT_write_value(&ecat_master->slaves[13], 1, ms > 500 ? 0 : 1);
+  //EtherCAT_write_value(&ecat_master->slaves[14], 2, ms > 500 ? 0 : 1);
+  //EtherCAT_write_value(&ecat_master->slaves[15], 3, ms > 500 ? 1 : 0);
+  
+  // Prozessdaten schreiben
+  rdtscl(k);
+  EtherCAT_write_process_data(ecat_master);
+  firstrun = 0;
+}
+#endif
+
+/******************************************************************************
+*
+* Function: init
+*
+******************************************************************************/
+
+//#define ECAT_OPEN
+
+int init()
+{   
+#ifdef ECAT_OPEN
+  int rv = -1;
+#endif
+
+  EC_DBG(KERN_INFO "=== Starting Minimal EtherCAT environment... ===\n");
+
+  EtherCAT_device_debug(&rtl_ecat_dev);
+  //mdelay(5000);
+
+#ifdef ECAT_OPEN
+  EC_DBG("Opening EtherCAT device.\n");
+
+  // HIER PASSIERT DER FEHLER:
+  if (EtherCAT_device_open(&rtl_ecat_dev) < 0)
+  {
+    EC_DBG(KERN_ERR "msr_modul: Could not initialize EtherCAT NIC.\n");
+    goto out_nothing;
+  }
+
+  if (!rtl_ecat_dev.dev) // Es gibt kein EtherCAT-Device
+  {  
+    EC_DBG(KERN_ERR "msr_modul: No EtherCAT device!\n");
+    goto out_close;
+  }
+#endif
+
+#if 0
+  // EtherCAT-Master und Slaves initialisieren
+  EC_DBG("Initialising EtherCAT master\n");
+
+  if ((ecat_master = (EtherCAT_master_t *) kmalloc(sizeof(EtherCAT_master_t), GFP_KERNEL)) == 0)
+  {
+    EC_DBG(KERN_ERR "msr_modul: Could not alloc memory for EtherCAT master!\n");
+    goto out_close;
+  }
+
+  if (EtherCAT_master_init(ecat_master, &rtl_ecat_dev) < 0)
+  {
+    EC_DBG(KERN_ERR "EtherCAT could not init master!\n");
+    goto out_master;
+  }
+#endif
+
+#if 0
+  EC_DBG("Checking EtherCAT slaves.\n");
+
+  if (EtherCAT_check_slaves(ecat_master, ecat_slaves, ECAT_SLAVES_COUNT) != 0)
+  {
+    EC_DBG(KERN_ERR "EtherCAT: Could not init slaves!\n");
+    goto out_masterclear;
+  }
+
+  EC_DBG("Activating all EtherCAT slaves.\n");
+
+  if (EtherCAT_activate_all_slaves(ecat_master) != 0)
+  {
+    EC_DBG(KERN_ERR "EtherCAT: Could not activate slaves!\n");
+    goto out_masterclear;
+  }
+
+  // Zyklischen Aufruf starten
+
+  EC_DBG("Starting cyclic sample thread.\n");
+
+  EtherCAT_write_process_data(ecat_master);
+
+  EC_DBG("Initialised sample thread.\n");
+#endif
+
+  EC_DBG(KERN_INFO "=== Minimal EtherCAT environment started. ===\n");
+
+  return 0;
+
+#if 0
+ out_masterclear:
+  EC_DBG(KERN_INFO "Clearing EtherCAT master.\n");
+  EtherCAT_master_clear(ecat_master);
+#endif
+
+#if 0
+ out_master:
+  EC_DBG(KERN_INFO "Freeing EtherCAT master.\n");
+  kfree(ecat_master);
+#endif
+
+#ifdef ECAT_OPEN
+ out_close:
+  EC_DBG(KERN_INFO "Closing device.\n");
+  EtherCAT_device_close(&rtl_ecat_dev);
+
+ out_nothing:
+  return rv;
+#endif
+}
+
+/******************************************************************************
+*
+* Function: cleanup
+*
+******************************************************************************/
+
+void cleanup()
+{
+  EC_DBG(KERN_INFO "=== Stopping Minimal EtherCAT environment... ===\n");
+
+  // Noch einmal lesen
+  //EC_DBG(KERN_INFO "Reading process data.\n");
+  //EtherCAT_read_process_data(ecat_master);
+
+#if 0
+  if (ecat_master)
+  {
+#if 0
+    EC_DBG(KERN_INFO "Deactivating slaves.\n");
+    EtherCAT_deactivate_all_slaves(ecat_master);
+#endif
+
+    EC_DBG(KERN_INFO "Clearing EtherCAT master.\n");
+    EtherCAT_master_clear(ecat_master);
+
+    EC_DBG(KERN_INFO "Freeing EtherCAT master.\n");
+    kfree(ecat_master);
+    ecat_master = NULL;
+  }
+#endif
+
+#ifdef ECAT_OPEN
+  EC_DBG(KERN_INFO "Closing device.\n");
+  EtherCAT_device_close(&rtl_ecat_dev);
+#endif
+
+  EC_DBG(KERN_INFO "=== Minimal EtherCAT environment stopped. ===\n");
+}
+
+/*****************************************************************************/
+
+MODULE_LICENSE("GPL");
+MODULE_AUTHOR ("Florian Pose <fp@igh-essen.com>");
+MODULE_DESCRIPTION ("Minimal EtherCAT environment");
+
+module_init(init);
+module_exit(cleanup);
+
+/*****************************************************************************/