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@61: #include "../include/EtherCAT_rt.h" // Echtzeitschnittstelle
fp@61: #include "../include/EtherCAT_si.h" // Slave-Interface-Makros
fp@5: 
fp@42: /*****************************************************************************/
fp@5: 
fp@73: #define ABTASTFREQUENZ 1000
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@73: // Prozessdaten
fp@73: uint8_t *dig_out1;
fp@73: uint16_t *ssi_value;
fp@73: uint16_t *inc_value;
fp@73: 
fp@73: uint32_t angle0;
fp@73: 
fp@73: ec_field_init_t domain1_fields[] = {
fp@73:     {(void **) &dig_out1,    "2", "Beckhoff", "EL2004", ec_opvalue, 0, 1},
fp@73:     {(void **) &ssi_value,   "3", "Beckhoff", "EL5001", ec_ipvalue, 0, 1},
fp@73:     {(void **) &inc_value, "0:4", "Beckhoff", "EL5101", ec_ipvalue, 0, 1},
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@42:     // Prozessdaten lesen und schreiben
fp@73:     EtherCAT_rt_domain_xio(domain1);
fp@73: 
fp@73:     angle0 = (uint32_t) *inc_value;
fp@22: 
fp@68:     if (counter) {
fp@68:         counter--;
fp@68:     }
fp@68:     else {
fp@73:         counter = ABTASTFREQUENZ;
fp@73:         printk(KERN_INFO "angle0 = %i\n", angle0);
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@73:     const ec_field_init_t *field;
fp@73: 
fp@36:     printk(KERN_INFO "=== Starting Minimal EtherCAT environment... ===\n");
fp@36: 
fp@54:     if ((master = EtherCAT_rt_request_master(0)) == NULL) {
fp@73:         printk(KERN_ERR "Error requesting master 0!\n");
fp@36:         goto out_return;
fp@36:     }
fp@36: 
fp@73:     EtherCAT_rt_master_print(master);
fp@73: 
fp@73:     printk(KERN_INFO "Registering domain...\n");
fp@73: 
fp@73:     if (!(domain1 = EtherCAT_rt_master_register_domain(master, ec_sync, 100)))
fp@73:     {
fp@73:         printk(KERN_ERR "EtherCAT: Could not register domain!\n");
fp@60:         goto out_release_master;
fp@60:     }
fp@36: 
fp@73:     printk(KERN_INFO "Registering domain fields...\n");
fp@36: 
fp@73:     for (field = domain1_fields; field->data; field++)
fp@73:     {
fp@73:         if (!EtherCAT_rt_register_slave_field(domain1,
fp@73:                                               field->address,
fp@73:                                               field->vendor,
fp@73:                                               field->product,
fp@73:                                               field->data,
fp@73:                                               field->field_type,
fp@73:                                               field->field_index,
fp@73:                                               field->field_count)) {
fp@73:             printk(KERN_ERR "EtherCAT: Could not register field!\n");
fp@73:             goto out_release_master;
fp@73:         }
fp@36:     }
fp@36: 
fp@73:     printk(KERN_INFO "Activating master...\n");
fp@64: 
fp@73:     if (EtherCAT_rt_master_activate(master)) {
fp@73:         printk(KERN_ERR "EtherCAT: Could not activate master!\n");
fp@68:         goto out_release_master;
fp@68:     }
fp@64: 
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: 
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@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@54:     if (master)
fp@22:     {
fp@36:         del_timer_sync(&timer);
fp@22: 
fp@73:         printk(KERN_INFO "Deactivating master...\n");
fp@42: 
fp@73:         EtherCAT_rt_master_deactivate(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@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: */