--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/msr/msr_sample.c Mon May 29 09:08:56 2006 +0000
@@ -0,0 +1,307 @@
+/******************************************************************************
+ *
+ * Sample module for use with IgH MSR library.
+ *
+ * $Id$
+ *
+ * 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>
+#include "msr_param.h"
+
+// EtherCAT
+#include "../../include/ecrt.h"
+
+#define ASYNC
+
+#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_ssi;
+void *r_ssi_st;
+
+// Channels
+uint32_t k_ssi;
+uint32_t k_ssi_st;
+
+ec_field_init_t domain1_fields[] = {
+ {&r_ssi, "0:3", "Beckhoff", "EL5001", "InputValue", 0},
+ {&r_ssi_st, "0:3", "Beckhoff", "EL5001", "Status", 0},
+ {}
+};
+
+/*****************************************************************************/
+
+void msr_controller_run(void)
+{
+ rt_sem_wait(&master_sem);
+
+#ifdef ASYNC
+ // Empfangen
+ ecrt_master_async_receive(master);
+ ecrt_domain_process(domain1);
+#else
+ // Senden und empfangen
+ ecrt_domain_queue(domain1);
+ ecrt_master_run(master);
+ ecrt_master_sync_io(master);
+ ecrt_domain_process(domain1);
+#endif
+
+ // Prozessdaten verarbeiten
+ k_ssi = EC_READ_U32(r_ssi);
+ k_ssi_st = EC_READ_U8 (r_ssi_st);
+
+#ifdef ASYNC
+ // Senden
+ ecrt_domain_queue(domain1);
+ ecrt_master_run(master);
+ ecrt_master_async_send(master);
+#endif
+
+ 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("/ssi_position", "", &k_ssi, TUINT);
+ msr_reg_kanal("/ssi_status", "", &k_ssi_st, TUINT);
+ 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;
+#if 0
+ ec_slave_t *slave;
+#endif
+
+ 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)) == NULL) {
+ 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 domain fields...\n");
+ if (ecrt_domain_register_field_list(domain1, domain1_fields)) {
+ printk(KERN_ERR "Failed to register domain fields.\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;
+ }
+
+#if 0
+ if (ecrt_master_fetch_sdo_lists(master)) {
+ printk(KERN_ERR "Failed to fetch SDO lists!\n");
+ goto out_deactivate;
+ }
+ ecrt_master_print(master, 2);
+#else
+ ecrt_master_print(master, 0);
+#endif
+
+#if 0
+ if (!(slave = ecrt_master_get_slave(master, "0:3"))) {
+ printk(KERN_ERR "Failed to get slave!\n");
+ goto out_deactivate;
+ }
+
+ if (
+ ecrt_slave_sdo_write_exp8(slave, 0x4061, 1, 1) || // disable frame error bit
+ ecrt_slave_sdo_write_exp8(slave, 0x4061, 2, 0) || // power failure bit
+ ecrt_slave_sdo_write_exp8(slave, 0x4061, 3, 1) || // inhibit time
+ ecrt_slave_sdo_write_exp8(slave, 0x4061, 4, 0) || // test mode
+ ecrt_slave_sdo_write_exp8(slave, 0x4066, 0, 0) || // graycode
+ ecrt_slave_sdo_write_exp8(slave, 0x4067, 0, 5) || // 125kbaud
+ ecrt_slave_sdo_write_exp8(slave, 0x4068, 0, 0) || // single-turn
+ ecrt_slave_sdo_write_exp8(slave, 0x4069, 0, 25) || // frame size
+ ecrt_slave_sdo_write_exp8(slave, 0x406A, 0, 25) || // data length
+ ecrt_slave_sdo_write_exp16(slave, 0x406B, 0, 50) // inhibit time in us
+ ) {
+ printk(KERN_ERR "Failed to configure SSI slave!\n");
+ goto out_deactivate;
+ }
+#endif
+
+#if 0
+ if (!(slave = ecrt_master_get_slave(master, "1:0"))) {
+ printk(KERN_ERR "Failed to get slave!\n");
+ goto out_deactivate;
+ }
+ if (ecrt_slave_write_alias(slave, 0x5678)) {
+ printk(KERN_ERR "Failed to write alias!\n");
+ goto out_deactivate;
+ }
+#endif
+
+#ifdef ASYNC
+ // Einmal senden und warten...
+ ecrt_master_prepare_async_io(master);
+#endif
+
+ if (ecrt_master_start_eoe(master)) {
+ printk(KERN_ERR "Failed to start EoE processing!\n");
+ goto out_deactivate;
+ }
+
+ 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_deactivate:
+ ecrt_master_deactivate(master);
+ 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_master_deactivate(master);
+ 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);
+
+/*****************************************************************************/