Code-Dokumentation mit Doxygen aufgearbeitet.
/******************************************************************************
*
* m i n i . c
*
* Minimalmodul für EtherCAT
*
* $Id$
*
*****************************************************************************/
#include <linux/module.h>
#include <linux/delay.h>
#include <linux/timer.h>
#include "../include/EtherCAT_rt.h"
/*****************************************************************************/
// Auskommentieren, wenn keine zyklischen Daten erwuenscht
#define ECAT_CYCLIC_DATA
/*****************************************************************************/
ec_master_t *master = NULL;
#ifdef ECAT_CYCLIC_DATA
int value;
int dig1;
struct timer_list timer;
unsigned long last_start_jiffies;
#endif // ECAT_CYCLIC_DATA
/******************************************************************************
*
* Function: run
*
* Beschreibung: Zyklischer Prozess
*
*****************************************************************************/
#ifdef ECAT_CYCLIC_DATA
static void run(unsigned long data)
{
static int ms = 0;
static unsigned long int k = 0;
static int firstrun = 1;
ms++;
ms %= 1000;
#if 0
if (klemme >= 0)
EtherCAT_write_value(&ecat_slaves[klemme], kanal, up_down);
#endif
// Prozessdaten lesen und schreiben
rdtscl(k);
EtherCAT_rt_domain_xio(master, 1, 100);
firstrun = 0;
timer.expires += HZ / 1000;
add_timer(&timer);
}
#endif // ECAT_CYCLIC_DATA
/******************************************************************************
*
* Function: init
*
*****************************************************************************/
int __init init_mini_module(void)
{
printk(KERN_INFO "=== Starting Minimal EtherCAT environment... ===\n");
if ((master = EtherCAT_rt_request_master(0)) == NULL) {
printk(KERN_ERR "EtherCAT master 0 not available!\n");
goto out_return;
}
//check_slaves();
printk("Activating all EtherCAT slaves.\n");
if (EtherCAT_rt_activate_slaves(master) != 0) {
printk(KERN_ERR "EtherCAT: Could not activate slaves!\n");
goto out_release_master;
}
#ifdef ECAT_CYCLIC_DATA
printk("Starting cyclic sample thread.\n");
init_timer(&timer);
timer.function = run;
timer.data = 0;
timer.expires = jiffies+10; // Das erste Mal sofort feuern
last_start_jiffies = timer.expires;
add_timer(&timer);
printk("Initialised sample thread.\n");
#endif
printk(KERN_INFO "=== Minimal EtherCAT environment started. ===\n");
return 0;
out_release_master:
EtherCAT_rt_release_master(master);
out_return:
return -1;
}
/******************************************************************************
*
* Function: cleanup
*
*****************************************************************************/
void __exit cleanup_mini_module(void)
{
printk(KERN_INFO "=== Stopping Minimal EtherCAT environment... ===\n");
if (master)
{
#ifdef ECAT_CYCLIC_DATA
del_timer_sync(&timer);
#endif // ECAT_CYCLIC_DATA
printk(KERN_INFO "Deactivating slaves.\n");
EtherCAT_rt_deactivate_slaves(master);
EtherCAT_rt_release_master(master);
}
printk(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_mini_module);
module_exit(cleanup_mini_module);
/*****************************************************************************/
/* Emacs-Konfiguration
;;; Local Variables: ***
;;; c-basic-offset:4 ***
;;; End: ***
*/