--- a/examples/mini/mini.c Fri Aug 10 15:08:44 2007 +0000
+++ b/examples/mini/mini.c Fri Aug 10 15:27:08 2007 +0000
@@ -39,30 +39,39 @@
#include "../../include/ecrt.h" // EtherCAT realtime interface
#include "../../include/ecdb.h" // EtherCAT slave database
+#define PFX "ec_mini: "
+
#define FREQUENCY 100
//#define KBUS
/*****************************************************************************/
-struct timer_list timer;
+static struct timer_list timer;
// EtherCAT
-ec_master_t *master = NULL;
-ec_domain_t *domain1 = NULL;
+static ec_master_t *master = NULL;
+static ec_domain_t *domain1 = NULL;
spinlock_t master_lock = SPIN_LOCK_UNLOCKED;
+static ec_master_status_t master_status, old_status = {};
// data fields
#ifdef KBUS
-void *r_inputs;
-void *r_outputs;
-#endif
-
-void *r_dig_out;
-
-#if 1
-ec_pdo_reg_t domain1_pdos[] = {
- {"4", Beckhoff_EL2004_Outputs, &r_dig_out},
+static void *r_inputs;
+static void *r_outputs;
+#endif
+
+static void *r_dig_out;
+static void *r_ana_out;
+static void *r_count;
+static void *r_freq;
+
+#if 1
+const static ec_pdo_reg_t domain1_pdo_regs[] = {
+ {"2", Beckhoff_EL2004_Outputs, &r_dig_out},
+ {"3", Beckhoff_EL4132_Output1, &r_ana_out},
+ {"#888:1", Beckhoff_EL5101_Value, &r_count},
+ {"4", Beckhoff_EL5101_Frequency, &r_freq},
{}
};
#endif
@@ -90,6 +99,26 @@
else {
counter = FREQUENCY;
blink = !blink;
+
+ spin_lock(&master_lock);
+ ecrt_master_get_status(master, &master_status);
+ spin_unlock(&master_lock);
+
+ if (master_status.bus_status != old_status.bus_status) {
+ printk(KERN_INFO PFX "bus status changed to %i.\n",
+ master_status.bus_status);
+ }
+ if (master_status.bus_tainted != old_status.bus_tainted) {
+ printk(KERN_INFO PFX "tainted flag changed to %u.\n",
+ master_status.bus_tainted);
+ }
+ if (master_status.slaves_responding !=
+ old_status.slaves_responding) {
+ printk(KERN_INFO PFX "slaves_responding changed to %u.\n",
+ master_status.slaves_responding);
+ }
+
+ old_status = master_status;
}
#ifdef KBUS
@@ -101,8 +130,6 @@
ecrt_domain_queue(domain1);
spin_unlock(&master_lock);
- ecrt_master_run(master);
-
spin_lock(&master_lock);
ecrt_master_send(master);
spin_unlock(&master_lock);
@@ -131,72 +158,90 @@
int __init init_mini_module(void)
{
+#if 1
+ ec_slave_t *slave;
+#endif
+
+ printk(KERN_INFO PFX "Starting...\n");
+
+ if (!(master = ecrt_request_master(0))) {
+ printk(KERN_ERR PFX "Requesting master 0 failed!\n");
+ goto out_return;
+ }
+
+ ecrt_master_callbacks(master, request_lock, release_lock, NULL);
+
+ printk(KERN_INFO PFX "Registering domain...\n");
+ if (!(domain1 = ecrt_master_create_domain(master))) {
+ printk(KERN_ERR PFX "Domain creation failed!\n");
+ goto out_release_master;
+ }
+
+#if 1
+ printk(KERN_INFO PFX "Configuring alternative PDO mapping...\n");
+ if (!(slave = ecrt_master_get_slave(master, "4", Beckhoff_EL5101)))
+ goto out_release_master;
+
+ if (ecrt_slave_pdo_mapping(slave, EC_DIR_INPUT, 2, 0x1A00, 0x1A02))
+ goto out_release_master;
+#endif
+
+ printk(KERN_INFO PFX "Registering PDOs...\n");
+#if 1
+ if (ecrt_domain_register_pdo_list(domain1, domain1_pdo_regs)) {
+ printk(KERN_ERR PFX "PDO registration failed!\n");
+ goto out_release_master;
+ }
+#endif
+
+#ifdef KBUS
+ if (!(slave = ecrt_master_get_slave(master, "0", Beckhoff_BK1120)))
+ goto out_release_master;
+
+ if (!ecrt_domain_register_pdo_range(
+ domain1, slave, EC_DIR_OUTPUT, 0, 4, &r_outputs)) {
+ printk(KERN_ERR PFX "PDO registration failed!\n");
+ goto out_release_master;
+ }
+
+ if (!ecrt_domain_register_pdo_range(
+ domain1, slave, EC_DIR_INPUT, 0, 4, &r_inputs)) {
+ printk(KERN_ERR PFX "PDO registration failed!\n");
+ goto out_release_master;
+ }
+#endif
+
#if 0
- ec_slave_t *slave;
-#endif
-
- printk(KERN_INFO "=== Starting Minimal EtherCAT environment... ===\n");
-
- if (!(master = ecrt_request_master(0))) {
- printk(KERN_ERR "Requesting master 0 failed!\n");
- goto out_return;
- }
-
- ecrt_master_callbacks(master, request_lock, release_lock, NULL);
-
- printk(KERN_INFO "Registering domain...\n");
- if (!(domain1 = ecrt_master_create_domain(master))) {
- printk(KERN_ERR "Domain creation failed!\n");
- goto out_release_master;
- }
-
- printk(KERN_INFO "Registering PDOs...\n");
-#if 1
- if (ecrt_domain_register_pdo_list(domain1, domain1_pdos)) {
- printk(KERN_ERR "PDO registration failed!\n");
- goto out_release_master;
- }
-#endif
-
-#ifdef KBUS
- if (!ecrt_domain_register_pdo_range(domain1, "0", Beckhoff_BK1120,
- EC_DIR_OUTPUT, 0, 4, &r_outputs)) {
- printk(KERN_ERR "PDO registration failed!\n");
- goto out_release_master;
- }
- if (!ecrt_domain_register_pdo_range(domain1, "0", Beckhoff_BK1120,
- EC_DIR_INPUT, 0, 4, &r_inputs)) {
- printk(KERN_ERR "PDO registration failed!\n");
- goto out_release_master;
- }
-#endif
-
-#if 0
- if (!(slave = ecrt_master_get_slave(master, "2")))
+ if (!(slave = ecrt_master_get_slave(master, "4", Beckhoff_EL5001)))
goto out_release_master;
if (ecrt_slave_conf_sdo8(slave, 0x4061, 1, 0))
goto out_release_master;
#endif
- printk(KERN_INFO "Activating master...\n");
+#if 1
+#endif
+
+ printk(KERN_INFO PFX "Activating master...\n");
if (ecrt_master_activate(master)) {
- printk(KERN_ERR "Failed to activate master!\n");
- goto out_release_master;
- }
-
- printk("Starting cyclic sample thread.\n");
+ printk(KERN_ERR PFX "Failed to activate master!\n");
+ goto out_release_master;
+ }
+
+ printk(KERN_INFO PFX "Starting cyclic sample thread.\n");
init_timer(&timer);
timer.function = run;
timer.expires = jiffies + 10;
add_timer(&timer);
- printk(KERN_INFO "=== Minimal EtherCAT environment started. ===\n");
+ printk(KERN_INFO PFX "Started.\n");
return 0;
out_release_master:
+ printk(KERN_ERR PFX "Releasing master...\n");
ecrt_release_master(master);
out_return:
+ printk(KERN_ERR PFX "Failed to load. Aborting.\n");
return -1;
}
@@ -204,13 +249,13 @@
void __exit cleanup_mini_module(void)
{
- printk(KERN_INFO "=== Stopping Minimal EtherCAT environment... ===\n");
+ printk(KERN_INFO PFX "Stopping...\n");
del_timer_sync(&timer);
- printk(KERN_INFO "Releasing master...\n");
+ printk(KERN_INFO PFX "Releasing master...\n");
ecrt_release_master(master);
- printk(KERN_INFO "=== Minimal EtherCAT environment stopped. ===\n");
+ printk(KERN_INFO PFX "Unloading.\n");
}
/*****************************************************************************/