# HG changeset patch # User Florian Pose # Date 1147260790 0 # Node ID 9e8150db6fc8a3faad32925d8cf3e1afc1f59140 # Parent 4828e5e419bf13bdfcc465a705072eb641c7f4fb Applied RTAI interface to RTAI example. diff -r 4828e5e419bf -r 9e8150db6fc8 examples/rtai/Makefile --- a/examples/rtai/Makefile Wed May 10 07:58:41 2006 +0000 +++ b/examples/rtai/Makefile Wed May 10 11:33:10 2006 +0000 @@ -35,6 +35,8 @@ ec_rtai_sample-objs := rtai_sample.o +EXTRA_CFLAGS := -I/usr/realtime/include + #------------------------------------------------------------------------------ else diff -r 4828e5e419bf -r 9e8150db6fc8 examples/rtai/rtai_sample.c --- a/examples/rtai/rtai_sample.c Wed May 10 07:58:41 2006 +0000 +++ b/examples/rtai/rtai_sample.c Wed May 10 11:33:10 2006 +0000 @@ -1,8 +1,6 @@ /****************************************************************************** * - * m i n i . c - * - * Minimal module for EtherCAT. + * RTAI sample for the IgH EtherCAT master. * * $Id$ * @@ -28,22 +26,26 @@ #include #include #include -#include #include +#include "rtai.h" +#include "rtai_sched.h" +#include "rtai_sem.h" + #include "../../include/ecrt.h" // EtherCAT realtime interface #define ASYNC -#define FREQUENCY 100 - -/*****************************************************************************/ - -struct timer_list timer; +#define TIMERTICKS 1000000 + +/*****************************************************************************/ + +// RTAI +RT_TASK task; +SEM master_sem; // 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]; @@ -60,76 +62,63 @@ /*****************************************************************************/ -void run(unsigned long data) -{ - static unsigned int counter = 0; - - spin_lock(&master_lock); +void run(long data) +{ + while (1) { + rt_sem_wait(&master_sem); #ifdef ASYNC - // receive - ecrt_master_async_receive(master); - ecrt_domain_process(domain1); + // 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); + // 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); + // send + ecrt_domain_queue(domain1); + ecrt_master_run(master); + ecrt_master_async_send(master); +#endif + + rt_sem_signal(&master_sem); + + rt_task_wait_period(); + } } /*****************************************************************************/ 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++; - } + rt_sem_wait(&master_sem); + return 0; } /*****************************************************************************/ void release_lock(void *data) { - spin_unlock(&master_lock); -} - -/*****************************************************************************/ - -int __init init_mini_module(void) -{ - printk(KERN_INFO "=== Starting Minimal EtherCAT environment... ===\n"); + rt_sem_signal(&master_sem); +} + +/*****************************************************************************/ + +int __init init_mod(void) +{ + RTIME tick_period, requested_ticks, now; + + printk(KERN_INFO "=== Starting EtherCAT RTAI sample module... ===\n"); + + rt_sem_init(&master_sem, 1); if ((master = ecrt_request_master(0)) == NULL) { printk(KERN_ERR "Requesting master 0 failed!\n"); @@ -200,56 +189,71 @@ ecrt_master_prepare_async_io(master); #endif -#if 1 +#if 0 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"); + printk("Starting cyclic sample thread...\n"); + requested_ticks = nano2count(TIMERTICKS); + tick_period = start_rt_timer(requested_ticks); + printk(KERN_INFO "RT timer started with %i/%i ticks.\n", + (int) tick_period, (int) requested_ticks); + + if (rt_task_init(&task, run, 0, 2000, 0, 1, NULL)) { + printk(KERN_ERR "Failed to init RTAI task!\n"); + goto out_stop_timer; + } + + now = rt_get_time(); + if (rt_task_make_periodic(&task, now + tick_period, tick_period)) { + printk(KERN_ERR "Failed to run RTAI task!\n"); + goto out_stop_task; + } + + printk(KERN_INFO "=== EtherCAT RTAI sample module started. ===\n"); return 0; -#if 1 + out_stop_task: + rt_task_delete(&task); + out_stop_timer: + stop_rt_timer(); out_deactivate: ecrt_master_deactivate(master); -#endif out_release_master: ecrt_release_master(master); out_return: + rt_sem_delete(&master_sem); 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"); +void __exit cleanup_mod(void) +{ + printk(KERN_INFO "=== Stopping EtherCAT RTAI sample module... ===\n"); + + printk(KERN_INFO "Stopping RT task...\n"); + rt_task_delete(&task); + stop_rt_timer(); + printk(KERN_INFO "Deactivating EtherCAT master...\n"); + ecrt_master_deactivate(master); + ecrt_release_master(master); + rt_sem_delete(&master_sem); + + printk(KERN_INFO "=== EtherCAT RTAI sample module 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); - -/*****************************************************************************/ - +MODULE_DESCRIPTION ("EtherCAT RTAI sample module"); + +module_init(init_mod); +module_exit(cleanup_mod); + +/*****************************************************************************/ +