--- a/examples/rtai/rtai_sample.c Fri Aug 10 15:08:44 2007 +0000
+++ b/examples/rtai/rtai_sample.c Fri Aug 10 15:27:08 2007 +0000
@@ -47,27 +47,36 @@
/*****************************************************************************/
// RTAI task frequency in Hz
-#define FREQUENCY 4000
+#define FREQUENCY 2000
#define INHIBIT_TIME 20
#define TIMERTICKS (1000000000 / FREQUENCY)
+#define PFX "ec_rtai_sample: "
+
/*****************************************************************************/
// RTAI
-RT_TASK task;
-SEM master_sem;
-cycles_t t_last_cycle = 0, t_critical;
+static RT_TASK task;
+static SEM master_sem;
+static cycles_t t_last_cycle = 0, t_critical;
// EtherCAT
-ec_master_t *master = NULL;
-ec_domain_t *domain1 = NULL;
+static ec_master_t *master = NULL;
+static ec_domain_t *domain1 = NULL;
+static ec_master_status_t master_status, old_status = {};
// data fields
-void *r_dig_out;
-
-ec_pdo_reg_t domain1_pdos[] = {
- {"2", Beckhoff_EL2004_Outputs, &r_dig_out},
+static void *r_dig_out;
+static void *r_ana_out;
+static void *r_count;
+//static void *r_freq;
+
+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},
{}
};
@@ -91,7 +100,6 @@
rt_sem_wait(&master_sem);
ecrt_domain_queue(domain1);
- ecrt_master_run(master);
ecrt_master_send(master);
rt_sem_signal(&master_sem);
@@ -101,6 +109,26 @@
else {
counter = FREQUENCY;
blink = !blink;
+
+ rt_sem_wait(&master_sem);
+ ecrt_master_get_status(master, &master_status);
+ rt_sem_signal(&master_sem);
+
+ 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;
}
rt_task_wait_period();
@@ -132,55 +160,55 @@
{
RTIME tick_period, requested_ticks, now;
- printk(KERN_INFO "=== Starting EtherCAT RTAI sample module... ===\n");
+ printk(KERN_INFO PFX "Starting...\n");
rt_sem_init(&master_sem, 1);
t_critical = cpu_khz * 1000 / FREQUENCY - cpu_khz * INHIBIT_TIME / 1000;
if (!(master = ecrt_request_master(0))) {
- printk(KERN_ERR "Requesting master 0 failed!\n");
+ printk(KERN_ERR PFX "Requesting master 0 failed!\n");
goto out_return;
}
ecrt_master_callbacks(master, request_lock, release_lock, NULL);
- printk(KERN_INFO "Creating domain...\n");
+ printk(KERN_INFO PFX "Creating domain...\n");
if (!(domain1 = ecrt_master_create_domain(master))) {
- printk(KERN_ERR "Domain creation failed!\n");
+ printk(KERN_ERR PFX "Domain creation failed!\n");
goto out_release_master;
}
- printk(KERN_INFO "Registering PDOs...\n");
- if (ecrt_domain_register_pdo_list(domain1, domain1_pdos)) {
- printk(KERN_ERR "PDO registration failed!\n");
+ printk(KERN_INFO PFX "Registering PDOs...\n");
+ if (ecrt_domain_register_pdo_list(domain1, domain1_pdo_regs)) {
+ printk(KERN_ERR PFX "PDO registration failed!\n");
goto out_release_master;
}
- printk(KERN_INFO "Activating master...\n");
+ printk(KERN_INFO PFX "Activating master...\n");
if (ecrt_master_activate(master)) {
- printk(KERN_ERR "Failed to activate master!\n");
+ printk(KERN_ERR PFX "Failed to activate master!\n");
goto out_release_master;
}
- printk("Starting cyclic sample thread...\n");
+ printk(KERN_INFO PFX "Starting cyclic sample thread...\n");
requested_ticks = nano2count(TIMERTICKS);
tick_period = start_rt_timer(requested_ticks);
- printk(KERN_INFO "RT timer started with %i/%i ticks.\n",
+ printk(KERN_INFO PFX "RT timer started with %i/%i ticks.\n",
(int) tick_period, (int) requested_ticks);
if (rt_task_init(&task, run, 0, 2000, 0, 1, NULL)) {
- printk(KERN_ERR "Failed to init RTAI task!\n");
+ printk(KERN_ERR PFX "Failed to init RTAI task!\n");
goto out_stop_timer;
}
now = rt_get_time();
if (rt_task_make_periodic(&task, now + tick_period, tick_period)) {
- printk(KERN_ERR "Failed to run RTAI task!\n");
+ printk(KERN_ERR PFX "Failed to run RTAI task!\n");
goto out_stop_task;
}
- printk(KERN_INFO "=== EtherCAT RTAI sample module started. ===\n");
+ printk(KERN_INFO PFX "Initialized.\n");
return 0;
out_stop_task:
@@ -188,9 +216,11 @@
out_stop_timer:
stop_rt_timer();
out_release_master:
+ printk(KERN_ERR PFX "Releasing master...\n");
ecrt_release_master(master);
out_return:
rt_sem_delete(&master_sem);
+ printk(KERN_ERR PFX "Failed to load. Aborting.\n");
return -1;
}
@@ -198,14 +228,14 @@
void __exit cleanup_mod(void)
{
- printk(KERN_INFO "=== Stopping EtherCAT RTAI sample module... ===\n");
+ printk(KERN_INFO PFX "Stopping...\n");
rt_task_delete(&task);
stop_rt_timer();
ecrt_release_master(master);
rt_sem_delete(&master_sem);
- printk(KERN_INFO "=== EtherCAT RTAI sample module stopped. ===\n");
+ printk(KERN_INFO PFX "Unloading.\n");
}
/*****************************************************************************/