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@54: ec_master_t *master = NULL;
fp@64: ec_slave_t *s_in, *s_out, *s_ssi;
fp@22: 
fp@22: struct timer_list timer;
fp@22: 
fp@61: ec_slave_init_t slaves[] = {
fp@61:     // Zeiger, Index, Herstellername, Produktname, Domäne
fp@64:     {  &s_out, 2,     "Beckhoff",     "EL2004",    1      },
fp@64:     {  &s_in,  1,     "Beckhoff",     "EL3102",    1      },
fp@64:     {  &s_ssi, 7,     "Beckhoff",     "EL5001",    1      }
fp@61: };
fp@0: 
fp@61: #define SLAVE_COUNT (sizeof(slaves) / sizeof(ec_slave_init_t))
fp@22: 
fp@60: /*****************************************************************************/
fp@60: 
fp@60: void run(unsigned long data)
fp@5: {
fp@62:     // Klemmen-IO
fp@60:     EC_WRITE_EL20XX(s_out, 3, EC_READ_EL31XX(s_in, 0) < 0);
fp@42: 
fp@42:     // Prozessdaten lesen und schreiben
fp@57:     EtherCAT_rt_domain_xio(master, 1, 100);
fp@22: 
fp@62:     // Timer neu starten
fp@24:     timer.expires += HZ / 1000;
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@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@61:     if (EtherCAT_rt_register_slave_list(master, slaves, SLAVE_COUNT)) {
fp@60:         printk(KERN_ERR "Could not register slaves!\n");
fp@60:         goto out_release_master;
fp@60:     }
fp@36: 
fp@36:     printk("Activating all EtherCAT slaves.\n");
fp@36: 
fp@61:     if (EtherCAT_rt_activate_slaves(master)) {
fp@54:         printk(KERN_ERR "EtherCAT: Could not activate slaves!\n");
fp@54:         goto out_release_master;
fp@36:     }
fp@36: 
fp@64:     printk("Configuring EtherCAT slaves.\n");
fp@64: 
fp@64:     EtherCAT_rt_debug_level(master, 2);
fp@64: 
fp@64:     if (EtherCAT_rt_canopen_sdo_write(master, s_ssi, 0x4067, 2, 2)) {
fp@64:         printk(KERN_ERR "EtherCAT: Could not set SSI baud rate!\n");
fp@64:         goto out_release_master;
fp@64:     }
fp@64: 
fp@64:     EtherCAT_rt_debug_level(master, 0);
fp@64: 
fp@36:     printk("Starting cyclic sample thread.\n");
fp@36: 
fp@36:     init_timer(&timer);
fp@36: 
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@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: */