--- a/examples/msr/msr_sample.c Wed Jul 02 11:26:51 2008 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,230 +0,0 @@
-/******************************************************************************
- *
- * $Id$
- *
- * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
- *
- * This file is part of the IgH EtherCAT Master.
- *
- * The IgH EtherCAT Master is free software; you can redistribute it
- * and/or modify it under the terms of the GNU General Public License
- * as published by the Free Software Foundation; either version 2 of the
- * License, or (at your option) any later version.
- *
- * The IgH EtherCAT Master is distributed in the hope that it will be
- * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with the IgH EtherCAT Master; if not, write to the Free Software
- * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
- *
- * The right to use EtherCAT Technology is granted and comes free of
- * charge under condition of compatibility of product made by
- * Licensee. People intending to distribute/sell products based on the
- * code, have to sign an agreement to guarantee that products using
- * software based on IgH EtherCAT master stay compatible with the actual
- * EtherCAT specification (which are released themselves as an open
- * standard) as the (only) precondition to have the right to use EtherCAT
- * Technology, IP and trade marks.
- *
- *****************************************************************************/
-
-// Linux
-#include <linux/module.h>
-
-// RTAI
-#include "rtai_sched.h"
-#include "rtai_sem.h"
-
-// RT_lib
-#include <msr_main.h>
-#include <msr_reg.h>
-#include <msr_time.h>
-
-// EtherCAT
-#include "../../include/ecrt.h"
-#include "../../include/ecdb.h"
-
-#define MSR_ABTASTFREQUENZ 1000
-
-#define HZREDUCTION (MSR_ABTASTFREQUENZ / HZ)
-#define TIMERTICKS (1000000000 / MSR_ABTASTFREQUENZ)
-
-/*****************************************************************************/
-
-// RTAI
-RT_TASK task;
-SEM master_sem;
-cycles_t t_start = 0, t_critical;
-
-// EtherCAT
-ec_master_t *master = NULL;
-ec_domain_t *domain1 = NULL;
-
-// raw process data
-void *r_ana_out;
-
-// channels
-double k_ana_out;
-
-ec_pdo_reg_t domain1_pdos[] = {
- {"3", Beckhoff_EL4132_Output1, &r_ana_out},
- {}
-};
-
-/*****************************************************************************/
-
-void msr_controller_run(void)
-{
- // receive
- rt_sem_wait(&master_sem);
- ecrt_master_receive(master);
- ecrt_domain_process(domain1);
- rt_sem_signal(&master_sem);
-
- // Process data
- EC_WRITE_S16(r_ana_out, k_ana_out / 10.0 * 0x7FFF);
-
- // Send
- rt_sem_wait(&master_sem);
- ecrt_domain_queue(domain1);
- ecrt_master_run(master);
- ecrt_master_send(master);
- rt_sem_signal(&master_sem);
-
- msr_write_kanal_list();
-}
-
-/*****************************************************************************/
-
-void msr_run(long data)
-{
- while (1) {
- t_start = get_cycles();
- MSR_RTAITHREAD_CODE(msr_controller_run(););
- rt_task_wait_period();
- }
-}
-
-/*****************************************************************************/
-
-int msr_reg(void)
-{
- msr_reg_kanal("/ana_out", "", &k_ana_out, TDBL);
- return 0;
-}
-
-/*****************************************************************************/
-
-int request_lock(void *data)
-{
- // too close to the next RT cycle: deny access...
- if (get_cycles() - t_start > t_critical) return -1;
-
- // allow access
- rt_sem_wait(&master_sem);
- return 0;
-}
-
-/*****************************************************************************/
-
-void release_lock(void *data)
-{
- rt_sem_signal(&master_sem);
-}
-
-/*****************************************************************************/
-
-int __init init_mod(void)
-{
- RTIME ticks;
-
- printk(KERN_INFO "=== Starting EtherCAT RTAI MSR sample module... ===\n");
-
- rt_sem_init(&master_sem, 1);
- t_critical = cpu_khz * 800 / MSR_ABTASTFREQUENZ; // ticks for 80%
-
- if (msr_rtlib_init(1, MSR_ABTASTFREQUENZ, 10, &msr_reg) < 0) {
- printk(KERN_ERR "Failed to initialize rtlib!\n");
- goto out_return;
- }
-
- if (!(master = ecrt_request_master(0))) {
- printk(KERN_ERR "Failed to request master 0!\n");
- goto out_msr_cleanup;
- }
-
- ecrt_master_callbacks(master, request_lock, release_lock, NULL);
-
- printk(KERN_INFO "Creating domains...\n");
- if (!(domain1 = ecrt_master_create_domain(master))) {
- printk(KERN_ERR "Failed to create domains!\n");
- goto out_release_master;
- }
-
- printk(KERN_INFO "Registering Pdos...\n");
- if (ecrt_domain_register_pdo_list(domain1, domain1_pdos)) {
- printk(KERN_ERR "Failed to register Pdos.\n");
- goto out_release_master;
- }
-
- printk(KERN_INFO "Activating master...\n");
- if (ecrt_master_activate(master)) {
- printk(KERN_ERR "Could not activate master!\n");
- goto out_release_master;
- }
-
- printk("Starting cyclic sample thread...\n");
- ticks = start_rt_timer(nano2count(TIMERTICKS));
- if (rt_task_init(&task, msr_run, 0, 2000, 0, 1, NULL)) {
- printk(KERN_ERR "Failed to init RTAI task!\n");
- goto out_stop_timer;
- }
- if (rt_task_make_periodic(&task, rt_get_time() + ticks, ticks)) {
- printk(KERN_ERR "Failed to run RTAI task!\n");
- goto out_stop_task;
- }
-
- printk(KERN_INFO "=== EtherCAT RTAI MSR sample module started. ===\n");
- return 0;
-
- out_stop_task:
- rt_task_delete(&task);
- out_stop_timer:
- stop_rt_timer();
- out_release_master:
- ecrt_release_master(master);
- out_msr_cleanup:
- msr_rtlib_cleanup();
- out_return:
- rt_sem_delete(&master_sem);
- return -1;
-}
-
-/*****************************************************************************/
-
-void __exit cleanup_mod(void)
-{
- printk(KERN_INFO "=== Unloading EtherCAT RTAI MSR sample module... ===\n");
-
- rt_task_delete(&task);
- stop_rt_timer();
- ecrt_release_master(master);
- rt_sem_delete(&master_sem);
- msr_rtlib_cleanup();
-
- printk(KERN_INFO "=== EtherCAT RTAI MSR sample module unloaded. ===\n");
-}
-
-/*****************************************************************************/
-
-MODULE_LICENSE("GPL");
-MODULE_AUTHOR("Florian Pose <fp@igh-essen.com>");
-MODULE_DESCRIPTION("EtherCAT RTAI MSR sample module");
-
-module_init(init_mod);
-module_exit(cleanup_mod);
-
-/*****************************************************************************/