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@104: #include "../include/ecrt.h" // Echtzeitschnittstelle
fp@104: 
fp@106: #define ASYNC
fp@5: 
fp@42: /*****************************************************************************/
fp@5: 
fp@98: #define ABTASTFREQUENZ 100
fp@22: 
fp@22: struct timer_list timer;
fp@22: 
fp@73: /*****************************************************************************/
fp@73: 
fp@73: // EtherCAT
fp@73: ec_master_t *master = NULL;
fp@73: ec_domain_t *domain1 = NULL;
fp@73: 
fp@83: // Datenfelder
fp@130: //void *r_ssi_input, *r_ssi_status, *r_4102[3];
fp@73: 
fp@83: // Kanäle
fp@104: uint32_t k_pos;
fp@111: uint8_t k_stat;
fp@73: 
fp@73: ec_field_init_t domain1_fields[] = {
fp@117:     {NULL, "1", "Beckhoff", "EL1014", "InputValue",  0},
fp@130:     {NULL, "2", "Beckhoff", "EL2004", "OutputValue", 0},
fp@130:     //{NULL, "3", "Beckhoff", "EL3162", "InputValue",  0},
fp@130:     {NULL, "4", "Beckhoff", "EL4132", "OutputValue",  0},
fp@130:     {NULL, "6", "Beckhoff", "EL5001", "InputValue", 0},
fp@73:     {}
fp@61: };
fp@0: 
fp@60: /*****************************************************************************/
fp@60: 
fp@60: void run(unsigned long data)
fp@5: {
fp@73:     static unsigned int counter = 0;
fp@68: 
fp@104: #ifdef ASYNC
fp@112:     // Prozessdaten empfangen
fp@104:     ecrt_master_async_receive(master);
fp@104:     ecrt_domain_process(domain1);
fp@73: 
fp@104:     // Prozessdaten verarbeiten
fp@117:     //k_pos   = EC_READ_U32(r_ssi_input);
fp@117:     //k_stat  = EC_READ_U8(r_ssi_status);
fp@22: 
fp@104:     // Prozessdaten senden
fp@104:     ecrt_domain_queue(domain1);
fp@104:     ecrt_master_async_send(master);
fp@104: #else
fp@112:     // Prozessdaten senden und empfangen
fp@104:     ecrt_domain_queue(domain1);
fp@104:     ecrt_master_sync_io(master);
fp@104:     ecrt_domain_process(domain1);
fp@104: 
fp@104:     // Prozessdaten verarbeiten
fp@117:     //k_pos   = EC_READ_U32(r_ssi_input);
fp@117:     //k_stat  = EC_READ_U8(r_ssi_status);
fp@104: #endif
fp@104: 
fp@68:     if (counter) {
fp@68:         counter--;
fp@68:     }
fp@68:     else {
fp@73:         counter = ABTASTFREQUENZ;
fp@117:         //printk(KERN_INFO "k_pos    = %i\n", k_pos);
fp@117:         //printk(KERN_INFO "k_stat   = 0x%02X\n", k_stat);
fp@68:     }
fp@68: 
fp@62:     // Timer neu starten
fp@73:     timer.expires += HZ / ABTASTFREQUENZ;
fp@22:     add_timer(&timer);
fp@0: }
fp@22: 
fp@60: /*****************************************************************************/
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@104:     if ((master = ecrt_request_master(0)) == NULL) {
fp@135:         printk(KERN_ERR "Requesting master 0 failed!\n");
fp@36:         goto out_return;
fp@36:     }
fp@36: 
fp@109:     ecrt_master_print(master);
fp@73: 
fp@73:     printk(KERN_INFO "Registering domain...\n");
fp@73: 
fp@104:     if (!(domain1 = ecrt_master_create_domain(master)))
fp@73:     {
fp@135:         printk(KERN_ERR "Domain creation failed!\n");
fp@60:         goto out_release_master;
fp@60:     }
fp@36: 
fp@73:     printk(KERN_INFO "Registering domain fields...\n");
fp@36: 
fp@104:     if (ecrt_domain_register_field_list(domain1, domain1_fields)) {
fp@135:         printk(KERN_ERR "Field registration failed!\n");
fp@104:         goto out_release_master;
fp@36:     }
fp@36: 
fp@73:     printk(KERN_INFO "Activating master...\n");
fp@64: 
fp@104:     if (ecrt_master_activate(master)) {
fp@135:         printk(KERN_ERR "Failed to activate master!\n");
fp@68:         goto out_release_master;
fp@68:     }
fp@64: 
fp@135:     if (ecrt_master_fetch_sdo_lists(master)) {
fp@135:         printk(KERN_ERR "Failed to fetch SDO lists!\n");
fp@135:         goto out_deactivate;
fp@135:     }
fp@135: 
fp@111:     //ecrt_master_debug(master, 2);
fp@111: 
fp@130: #if 0
fp@138:     if (!(slave = ecrt_master_get_slave(master, "5"))) {
fp@138:         printk(KERN_ERR "Failed to get slave 5!\n");
fp@138:         goto out_deactivate;
fp@138:     }
fp@138: 
fp@138:     if (ecrt_slave_sdo_write_exp8(slave, 0x4061, 1,  0) ||
fp@138:         ecrt_slave_sdo_write_exp8(slave, 0x4061, 2,  1) ||
fp@138:         ecrt_slave_sdo_write_exp8(slave, 0x4061, 3,  1) ||
fp@138:         ecrt_slave_sdo_write_exp8(slave, 0x4066, 0,  0) ||
fp@138:         ecrt_slave_sdo_write_exp8(slave, 0x4067, 0,  4) ||
fp@138:         ecrt_slave_sdo_write_exp8(slave, 0x4068, 0,  0) ||
fp@138:         ecrt_slave_sdo_write_exp8(slave, 0x4069, 0, 25) ||
fp@138:         ecrt_slave_sdo_write_exp8(slave, 0x406A, 0, 25) ||
fp@138:         ecrt_slave_sdo_write_exp8(slave, 0x406B, 0, 50)) {
fp@135:         printk(KERN_ERR "Failed to configure SSI slave!\n");
fp@111:         goto out_deactivate;
fp@111:     }
fp@130: #endif
fp@111: 
fp@111:     //ecrt_master_debug(master, 0);
fp@111: 
fp@114: #if 0
fp@114:     printk(KERN_INFO "Writing alias...\n");
fp@138:     if (ecrt_slave_sdo_write_exp16(slave, 0xBEEF)) {
fp@135:         printk(KERN_ERR "Failed to write alias!\n");
fp@114:         goto out_deactivate;
fp@114:     }
fp@114: #endif
fp@114: 
fp@104: #ifdef ASYNC
fp@106:     // Einmal senden und warten...
fp@106:     ecrt_master_prepare_async_io(master);
fp@104: #endif
fp@104: 
fp@36:     printk("Starting cyclic sample thread.\n");
fp@36: 
fp@36:     init_timer(&timer);
fp@36:     timer.function = run;
fp@60:     timer.expires = jiffies + 10; // Das erste Mal sofort feuern
fp@36:     add_timer(&timer);
fp@36: 
fp@36:     printk(KERN_INFO "=== Minimal EtherCAT environment started. ===\n");
fp@36:     return 0;
fp@36: 
fp@111:  out_deactivate:
fp@111:     ecrt_master_deactivate(master);
fp@36:  out_release_master:
fp@111:     ecrt_release_master(master);
fp@36:  out_return:
fp@111:     return -1;
fp@0: }
fp@0: 
fp@60: /*****************************************************************************/
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@135:     if (master) {
fp@36:         del_timer_sync(&timer);
fp@73:         printk(KERN_INFO "Deactivating master...\n");
fp@104:         ecrt_master_deactivate(master);
fp@104:         ecrt_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@73: MODULE_DESCRIPTION ("EtherCAT minimal test 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: */