diff -r 6b3b8acb71b5 -r 7506e67dd122 mini/ec_mini.c --- a/mini/ec_mini.c Fri Jan 13 15:47:44 2006 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,289 +0,0 @@ -/****************************************************************************** - * - * ec_mini.c - * - * Minimalmodul für EtherCAT - * - * $Id$ - * - *****************************************************************************/ - -#include -#include -#include - -#include "../drivers/ec_master.h" -#include "../drivers/ec_device.h" -#include "../drivers/ec_types.h" -#include "../drivers/ec_module.h" - -/*****************************************************************************/ - -// Auskommentieren, wenn keine zyklischen Daten erwuenscht -#define ECAT_CYCLIC_DATA - -/*****************************************************************************/ - -static EtherCAT_master_t *ecat_master = NULL; - -static EtherCAT_slave_t ecat_slaves[] = -{ -#if 0 - // Block 1 - ECAT_INIT_SLAVE(Beckhoff_EK1100, 1), - ECAT_INIT_SLAVE(Beckhoff_EL4102, 1), - ECAT_INIT_SLAVE(Beckhoff_EL3162, 1), - ECAT_INIT_SLAVE(Beckhoff_EL1014, 1), - - ECAT_INIT_SLAVE(Beckhoff_EL4102, 1), - ECAT_INIT_SLAVE(Beckhoff_EL4102, 1), - ECAT_INIT_SLAVE(Beckhoff_EL4102, 1), - - ECAT_INIT_SLAVE(Beckhoff_EL3162, 1), - ECAT_INIT_SLAVE(Beckhoff_EL3162, 1), - ECAT_INIT_SLAVE(Beckhoff_EL3162, 1), - ECAT_INIT_SLAVE(Beckhoff_EL3102, 1), - ECAT_INIT_SLAVE(Beckhoff_EL3102, 1), - ECAT_INIT_SLAVE(Beckhoff_EL3102, 1), - -#endif - -#if 1 - // Block 2 - ECAT_INIT_SLAVE(Beckhoff_EK1100, 1), - ECAT_INIT_SLAVE(Beckhoff_EL4102, 1), - ECAT_INIT_SLAVE(Beckhoff_EL1014, 1), - ECAT_INIT_SLAVE(Beckhoff_EL3162, 1), - ECAT_INIT_SLAVE(Beckhoff_EL2004, 1), - ECAT_INIT_SLAVE(Beckhoff_EL3102, 1), - ECAT_INIT_SLAVE(Beckhoff_EL2004, 1), - ECAT_INIT_SLAVE(Beckhoff_EL2004, 1), - ECAT_INIT_SLAVE(Beckhoff_EL2004, 1), - ECAT_INIT_SLAVE(Beckhoff_EL2004, 1), - ECAT_INIT_SLAVE(Beckhoff_EL2004, 1), - - // Block 3 - ECAT_INIT_SLAVE(Beckhoff_EK1100, 1), - ECAT_INIT_SLAVE(Beckhoff_EL1014, 1), - ECAT_INIT_SLAVE(Beckhoff_EL1014, 1), - ECAT_INIT_SLAVE(Beckhoff_EL1014, 1), - ECAT_INIT_SLAVE(Beckhoff_EL1014, 1), - ECAT_INIT_SLAVE(Beckhoff_EL1014, 1), - ECAT_INIT_SLAVE(Beckhoff_EL2004, 1), - ECAT_INIT_SLAVE(Beckhoff_EL2004, 1), - ECAT_INIT_SLAVE(Beckhoff_EL2004, 1), - ECAT_INIT_SLAVE(Beckhoff_EL2004, 1), - ECAT_INIT_SLAVE(Beckhoff_EL1014, 1), - ECAT_INIT_SLAVE(Beckhoff_EL1014, 1), - ECAT_INIT_SLAVE(Beckhoff_EL1014, 1) -#endif -}; - -#define ECAT_SLAVES_COUNT (sizeof(ecat_slaves) / sizeof(EtherCAT_slave_t)) - -#ifdef ECAT_CYCLIC_DATA - -int value; -int dig1; - -struct timer_list timer; -unsigned long last_start_jiffies; - -#endif // ECAT_CYCLIC_DATA - -/****************************************************************************** - * - * Function: next2004 - * - *****************************************************************************/ - -#ifdef ECAT_CYCLIC_DATA - -static int next2004(int *wrap) -{ - static int i = 0; - unsigned int j = 0; - - *wrap = 0; - - for (j = 0; j < ECAT_SLAVES_COUNT; j++) - { - i++; - - i %= ECAT_SLAVES_COUNT; - - if (i == 0) *wrap = 1; - - if (ecat_slaves[i].desc == Beckhoff_EL2004) - { - return i; - } - } - - return -1; -} -#endif - -/****************************************************************************** - * - * Function: run - * - * Beschreibung: Zyklischer Prozess - * - *****************************************************************************/ - -#ifdef ECAT_CYCLIC_DATA - -static void run(unsigned long data) -{ - static int ms = 0; - static int cnt = 0; - static unsigned long int k = 0; - static int firstrun = 1; - - static int klemme = 0; - static int kanal = 0; - static int up_down = 0; - int wrap = 0; - - ms++; - ms %= 1000; - - if (firstrun) klemme = next2004(&wrap); - - if (cnt++ > 20) - { - cnt = 0; - - if (++kanal > 3) - { - kanal = 0; - klemme = next2004(&wrap); - - if (wrap == 1) - { - if (up_down == 1) up_down = 0; - else up_down = 1; - } - } - } - - if (klemme >= 0) - EtherCAT_write_value(&ecat_slaves[klemme], kanal, up_down); - - // Prozessdaten lesen und schreiben - rdtscl(k); - EtherCAT_process_data_cycle(ecat_master, 1, 100); - firstrun = 0; - - timer.expires += HZ / 1000; - add_timer(&timer); -} - -#endif // ECAT_CYCLIC_DATA - -/****************************************************************************** - * - * Function: init - * - *****************************************************************************/ - -int __init init_module() -{ - unsigned int i; - - printk(KERN_INFO "=== Starting Minimal EtherCAT environment... ===\n"); - - if ((ecat_master = EtherCAT_request(0)) == NULL) { - printk(KERN_ERR "EtherCAT master 0 not available!\n"); - goto out_return; - } - - printk("Checking EtherCAT slaves.\n"); - - if (EtherCAT_check_slaves(ecat_master, ecat_slaves, - ECAT_SLAVES_COUNT) != 0) { - printk(KERN_ERR "EtherCAT: Could not init slaves!\n"); - goto out_release_master; - } - - printk("Activating all EtherCAT slaves.\n"); - - for (i = 0; i < ECAT_SLAVES_COUNT; i++) { - if (EtherCAT_activate_slave(ecat_master, &ecat_slaves[i]) != 0) { - printk(KERN_ERR "EtherCAT: Could not activate slave %i!\n", i); - goto out_release_master; - } - } - -#ifdef ECAT_CYCLIC_DATA - printk("Starting cyclic sample thread.\n"); - - init_timer(&timer); - - timer.function = run; - timer.data = 0; - timer.expires = jiffies+10; // Das erste Mal sofort feuern - last_start_jiffies = timer.expires; - add_timer(&timer); - - printk("Initialised sample thread.\n"); -#endif - - printk(KERN_INFO "=== Minimal EtherCAT environment started. ===\n"); - - return 0; - - out_release_master: - EtherCAT_release(ecat_master); - - out_return: - return -1; -} - -/****************************************************************************** - * - * Function: cleanup - * - *****************************************************************************/ - -void __exit cleanup_module() -{ - unsigned int i; - - printk(KERN_INFO "=== Stopping Minimal EtherCAT environment... ===\n"); - - if (ecat_master) - { -#ifdef ECAT_CYCLIC_DATA - del_timer_sync(&timer); -#endif // ECAT_CYCLIC_DATA - - printk(KERN_INFO "Deactivating slaves.\n"); - - for (i = 0; i < ECAT_SLAVES_COUNT; i++) { - EtherCAT_deactivate_slave(ecat_master, &ecat_slaves[i]); - } - - EtherCAT_release(ecat_master); - } - - printk(KERN_INFO "=== Minimal EtherCAT environment stopped. ===\n"); -} - -/*****************************************************************************/ - -MODULE_LICENSE("GPL"); -MODULE_AUTHOR ("Florian Pose "); -MODULE_DESCRIPTION ("Minimal EtherCAT environment"); - -module_init(init_module); -module_exit(cleanup_module); - -/*****************************************************************************/ - -/* Emacs-Konfiguration -;;; Local Variables: *** -;;; c-basic-offset:4 *** -;;; End: *** -*/