Slave interface und Makefile ge?ndert.
/******************************************************************************
*
* 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" // Echtzeitschnittstelle
#include "../include/EtherCAT_si.h" // Slave-Interface-Makros
/*****************************************************************************/
ec_master_t *master = NULL;
ec_slave_t *s_in, *s_out, *s_ssi;
struct timer_list timer;
ec_slave_init_t slaves[] = {
// Zeiger, Index, Herstellername, Produktname, Domäne
{ &s_in, "1", "Beckhoff", "EL3102", 1 },
{ &s_out, "2", "Beckhoff", "EL2004", 1 },
{ &s_ssi, "3", "Beckhoff", "EL5001", 1 }
};
#define SLAVE_COUNT (sizeof(slaves) / sizeof(ec_slave_init_t))
/*****************************************************************************/
void run(unsigned long data)
{
static unsigned int counter;
// Klemmen-IO
EC_WRITE_EL20XX(s_out, 3, EC_READ_EL31XX(s_in, 0) < 0);
if (!counter) {
EtherCAT_rt_debug_level(master, 2);
}
// Prozessdaten lesen und schreiben
EtherCAT_rt_domain_xio(master, 1, 100);
if (counter) {
counter--;
}
else {
EtherCAT_rt_debug_level(master, 0);
printk("SSI status=%X value=%u\n",
EC_READ_EL5001_STATE(s_ssi), EC_READ_EL5001_VALUE(s_ssi));
counter = 1000;
}
// Timer neu starten
timer.expires += HZ / 1000;
add_timer(&timer);
}
/*****************************************************************************/
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;
}
if (EtherCAT_rt_register_slave_list(master, slaves, SLAVE_COUNT)) {
printk(KERN_ERR "Could not register slaves!\n");
goto out_release_master;
}
printk("Activating all EtherCAT slaves.\n");
if (EtherCAT_rt_activate_slaves(master)) {
printk(KERN_ERR "EtherCAT: Could not activate slaves!\n");
goto out_release_master;
}
printk("Configuring EtherCAT slaves.\n");
if (EtherCAT_rt_canopen_sdo_write(master, s_ssi, 0x4067, 0, 2, 2)) {
printk(KERN_ERR "EtherCAT: Could not set SSI baud rate!\n");
goto out_release_master;
}
if (EtherCAT_rt_canopen_sdo_write(master, s_ssi, 0x4061, 4, 1, 1)) {
printk(KERN_ERR "EtherCAT: Could not set SSI feature bit!\n");
goto out_release_master;
}
printk("Starting cyclic sample thread.\n");
init_timer(&timer);
timer.function = run;
timer.expires = jiffies + 10; // Das erste Mal sofort feuern
add_timer(&timer);
printk(KERN_INFO "=== Minimal EtherCAT environment started. ===\n");
return 0;
out_release_master:
EtherCAT_rt_release_master(master);
out_return:
return -1;
}
/*****************************************************************************/
void __exit cleanup_mini_module(void)
{
printk(KERN_INFO "=== Stopping Minimal EtherCAT environment... ===\n");
if (master)
{
del_timer_sync(&timer);
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: ***
*/