fp@0: /******************************************************************************
fp@0:  *
fp@54:  * m i n i . c
fp@0:  *
fp@0:  * Minimalmodul für EtherCAT
fp@13:  *
fp@0:  * $Id$
fp@0:  *
fp@42:  *****************************************************************************/
fp@0: 
fp@0: #include <linux/module.h>
fp@24: #include <linux/delay.h>
fp@22: #include <linux/timer.h>
fp@0: 
fp@54: #include "../include/EtherCAT_rt.h"
fp@0: 
fp@42: /*****************************************************************************/
fp@5: 
fp@27: // Auskommentieren, wenn keine zyklischen Daten erwuenscht
fp@5: #define ECAT_CYCLIC_DATA
fp@5: 
fp@42: /*****************************************************************************/
fp@5: 
fp@54: ec_master_t *master = NULL;
fp@22: 
fp@5: #ifdef ECAT_CYCLIC_DATA
fp@22: 
fp@24: int value;
fp@0: int dig1;
fp@22: 
fp@22: struct timer_list timer;
fp@22: unsigned long last_start_jiffies;
fp@22: 
fp@22: #endif // ECAT_CYCLIC_DATA
fp@0: 
fp@0: /******************************************************************************
fp@0:  *
fp@5:  * Function: run
fp@0:  *
fp@0:  * Beschreibung: Zyklischer Prozess
fp@0:  *
fp@0:  *****************************************************************************/
fp@0: 
fp@5: #ifdef ECAT_CYCLIC_DATA
fp@22: 
fp@22: static void run(unsigned long data)
fp@5: {
fp@42:   static int ms = 0;
fp@22:     static unsigned long int k = 0;
fp@22:     static int firstrun = 1;
fp@22: 
fp@22:     ms++;
fp@22:     ms %= 1000;
fp@0: 
fp@54: #if 0
fp@42:     if (klemme >= 0)
fp@42:         EtherCAT_write_value(&ecat_slaves[klemme], kanal, up_down);
fp@54: #endif
fp@42: 
fp@42:     // Prozessdaten lesen und schreiben
fp@22:     rdtscl(k);
fp@55:     EtherCAT_rt_exchange_io(master, 1, 100);
fp@22:     firstrun = 0;
fp@22: 
fp@24:     timer.expires += HZ / 1000;
fp@22:     add_timer(&timer);
fp@0: }
fp@22: 
fp@22: #endif // ECAT_CYCLIC_DATA
fp@0: 
fp@0: /******************************************************************************
fp@22:  *
fp@22:  * Function: init
fp@22:  *
fp@42:  *****************************************************************************/
fp@22: 
fp@54: int __init init_mini_module(void)
fp@5: {
fp@36:     printk(KERN_INFO "=== Starting Minimal EtherCAT environment... ===\n");
fp@36: 
fp@54:     if ((master = EtherCAT_rt_request_master(0)) == NULL) {
fp@36:         printk(KERN_ERR "EtherCAT master 0 not available!\n");
fp@36:         goto out_return;
fp@36:     }
fp@36: 
fp@54:     //check_slaves();
fp@36: 
fp@36:     printk("Activating all EtherCAT slaves.\n");
fp@36: 
fp@54:     if (EtherCAT_rt_activate_slaves(master) != 0) {
fp@54:         printk(KERN_ERR "EtherCAT: Could not activate slaves!\n");
fp@54:         goto out_release_master;
fp@36:     }
fp@36: 
fp@36: #ifdef ECAT_CYCLIC_DATA
fp@36:     printk("Starting cyclic sample thread.\n");
fp@36: 
fp@36:     init_timer(&timer);
fp@36: 
fp@36:     timer.function = run;
fp@36:     timer.data = 0;
fp@36:     timer.expires = jiffies+10; // Das erste Mal sofort feuern
fp@36:     last_start_jiffies = timer.expires;
fp@36:     add_timer(&timer);
fp@36: 
fp@36:     printk("Initialised sample thread.\n");
fp@36: #endif
fp@36: 
fp@36:     printk(KERN_INFO "=== Minimal EtherCAT environment started. ===\n");
fp@36: 
fp@36:     return 0;
fp@36: 
fp@36:  out_release_master:
fp@54:   EtherCAT_rt_release_master(master);
fp@36: 
fp@36:  out_return:
fp@36:   return -1;
fp@0: }
fp@0: 
fp@0: /******************************************************************************
fp@22:  *
fp@22:  * Function: cleanup
fp@22:  *
fp@42:  *****************************************************************************/
fp@22: 
fp@54: void __exit cleanup_mini_module(void)
fp@0: {
fp@26:     printk(KERN_INFO "=== Stopping Minimal EtherCAT environment... ===\n");
fp@0: 
fp@54:     if (master)
fp@22:     {
fp@27: #ifdef ECAT_CYCLIC_DATA
fp@36:         del_timer_sync(&timer);
fp@22: #endif // ECAT_CYCLIC_DATA
fp@22: 
fp@36:         printk(KERN_INFO "Deactivating slaves.\n");
fp@42: 
fp@54:         EtherCAT_rt_deactivate_slaves(master);
fp@54:         EtherCAT_rt_release_master(master);
fp@27:     }
fp@22: 
fp@26:     printk(KERN_INFO "=== Minimal EtherCAT environment stopped. ===\n");
fp@0: }
fp@0: 
fp@0: /*****************************************************************************/
fp@0: 
fp@0: MODULE_LICENSE("GPL");
fp@0: MODULE_AUTHOR ("Florian Pose <fp@igh-essen.com>");
fp@0: MODULE_DESCRIPTION ("Minimal EtherCAT environment");
fp@0: 
fp@54: module_init(init_mini_module);
fp@54: module_exit(cleanup_mini_module);
fp@0: 
fp@0: /*****************************************************************************/
fp@42: 
fp@42: /* Emacs-Konfiguration
fp@42: ;;; Local Variables: ***
fp@42: ;;; c-basic-offset:4 ***
fp@42: ;;; End: ***
fp@42: */