diff -r 9864f39319a5 -r 321eba07fafb examples/rtai/mini.c --- a/examples/rtai/mini.c Wed May 10 07:44:37 2006 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,255 +0,0 @@ -/****************************************************************************** - * - * m i n i . c - * - * Minimal module for EtherCAT. - * - * $Id$ - * - * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH - * - * This file is part of the IgH EtherCAT Master. - * - * The IgH EtherCAT Master is free software; you can redistribute it - * and/or modify it under the terms of the GNU General Public License - * as published by the Free Software Foundation; version 2 of the License. - * - * The IgH EtherCAT Master is distributed in the hope that it will be - * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with the IgH EtherCAT Master; if not, write to the Free Software - * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA - * - *****************************************************************************/ - -#include -#include -#include -#include -#include - -#include "../include/ecrt.h" // EtherCAT realtime interface - -#define ASYNC -#define FREQUENCY 100 - -/*****************************************************************************/ - -struct timer_list timer; - -// EtherCAT -ec_master_t *master = NULL; -ec_domain_t *domain1 = NULL; -spinlock_t master_lock = SPIN_LOCK_UNLOCKED; - -// data fields -//void *r_ssi_input, *r_ssi_status, *r_4102[3]; - -// channels -uint32_t k_pos; -uint8_t k_stat; - -ec_field_init_t domain1_fields[] = { - {NULL, "3", "Beckhoff", "EL5001", "InputValue", 0}, - {NULL, "2", "Beckhoff", "EL4132", "OutputValue", 0}, - {} -}; - -/*****************************************************************************/ - -void run(unsigned long data) -{ - static unsigned int counter = 0; - - spin_lock(&master_lock); - -#ifdef ASYNC - // receive - ecrt_master_async_receive(master); - ecrt_domain_process(domain1); -#else - // send and receive - ecrt_domain_queue(domain1); - ecrt_master_run(master); - ecrt_master_sync_io(master); - ecrt_domain_process(domain1); -#endif - - // process data - //k_pos = EC_READ_U32(r_ssi); - -#ifdef ASYNC - // send - ecrt_domain_queue(domain1); - ecrt_master_run(master); - ecrt_master_async_send(master); -#endif - - spin_unlock(&master_lock); - - if (counter) { - counter--; - } - else { - counter = FREQUENCY; - //printk(KERN_INFO "k_pos = %i\n", k_pos); - //printk(KERN_INFO "k_stat = 0x%02X\n", k_stat); - } - - // restart timer - timer.expires += HZ / FREQUENCY; - add_timer(&timer); -} - -/*****************************************************************************/ - -int request_lock(void *data) -{ - unsigned int tries = 0; - while (1) { - if (spin_trylock(&master_lock)) { - if (tries) printk(KERN_INFO "lock: %i tries needed.\n", tries); - return 1; - } - tries++; - } -} - -/*****************************************************************************/ - -void release_lock(void *data) -{ - spin_unlock(&master_lock); -} - -/*****************************************************************************/ - -int __init init_mini_module(void) -{ - printk(KERN_INFO "=== Starting Minimal EtherCAT environment... ===\n"); - - if ((master = ecrt_request_master(0)) == NULL) { - printk(KERN_ERR "Requesting master 0 failed!\n"); - goto out_return; - } - - ecrt_master_callbacks(master, request_lock, release_lock, NULL); - - printk(KERN_INFO "Registering domain...\n"); - if (!(domain1 = ecrt_master_create_domain(master))) - { - printk(KERN_ERR "Domain creation failed!\n"); - goto out_release_master; - } - - printk(KERN_INFO "Registering domain fields...\n"); - if (ecrt_domain_register_field_list(domain1, domain1_fields)) { - printk(KERN_ERR "Field registration failed!\n"); - goto out_release_master; - } - - printk(KERN_INFO "Activating master...\n"); - if (ecrt_master_activate(master)) { - printk(KERN_ERR "Failed to activate master!\n"); - goto out_release_master; - } - -#if 0 - if (ecrt_master_fetch_sdo_lists(master)) { - printk(KERN_ERR "Failed to fetch SDO lists!\n"); - goto out_deactivate; - } - ecrt_master_print(master, 2); -#else - ecrt_master_print(master, 0); -#endif - -#if 0 - if (!(slave = ecrt_master_get_slave(master, "5"))) { - printk(KERN_ERR "Failed to get slave 5!\n"); - goto out_deactivate; - } - - if (ecrt_slave_sdo_write_exp8(slave, 0x4061, 1, 0) || - ecrt_slave_sdo_write_exp8(slave, 0x4061, 2, 1) || - ecrt_slave_sdo_write_exp8(slave, 0x4061, 3, 1) || - ecrt_slave_sdo_write_exp8(slave, 0x4066, 0, 0) || - ecrt_slave_sdo_write_exp8(slave, 0x4067, 0, 4) || - ecrt_slave_sdo_write_exp8(slave, 0x4068, 0, 0) || - ecrt_slave_sdo_write_exp8(slave, 0x4069, 0, 25) || - ecrt_slave_sdo_write_exp8(slave, 0x406A, 0, 25) || - ecrt_slave_sdo_write_exp8(slave, 0x406B, 0, 50)) { - printk(KERN_ERR "Failed to configure SSI slave!\n"); - goto out_deactivate; - } -#endif - -#if 0 - printk(KERN_INFO "Writing alias...\n"); - if (ecrt_slave_sdo_write_exp16(slave, 0xBEEF)) { - printk(KERN_ERR "Failed to write alias!\n"); - goto out_deactivate; - } -#endif - -#ifdef ASYNC - // send once and wait... - ecrt_master_prepare_async_io(master); -#endif - -#if 1 - if (ecrt_master_start_eoe(master)) { - printk(KERN_ERR "Failed to start EoE processing!\n"); - goto out_deactivate; - } -#endif - - printk("Starting cyclic sample thread.\n"); - init_timer(&timer); - timer.function = run; - timer.expires = jiffies + 10; - add_timer(&timer); - - printk(KERN_INFO "=== Minimal EtherCAT environment started. ===\n"); - return 0; - -#if 1 - out_deactivate: - ecrt_master_deactivate(master); -#endif - out_release_master: - ecrt_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 master...\n"); - ecrt_master_deactivate(master); - ecrt_release_master(master); - } - - printk(KERN_INFO "=== Minimal EtherCAT environment stopped. ===\n"); -} - -/*****************************************************************************/ - -MODULE_LICENSE("GPL"); -MODULE_AUTHOR ("Florian Pose "); -MODULE_DESCRIPTION ("EtherCAT minimal test environment"); - -module_init(init_mini_module); -module_exit(cleanup_mini_module); - -/*****************************************************************************/ -