# HG changeset patch # User Patrick Bruenn # Date 1399389813 -7200 # Node ID f7b06b264646b19778090f5ff0a334c9dd958665 # Parent 4839e81d2bdd875e58a89088903d1a9fbcdd7178 - restored examples/user/ - removed /devices/ccat/COPYING - replaced DRV_NAME with KBUILD_MODNAME diff -r 4839e81d2bdd -r f7b06b264646 devices/ccat/COPYING --- a/devices/ccat/COPYING Fri Apr 25 17:32:49 2014 +0200 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,339 +0,0 @@ - GNU GENERAL PUBLIC LICENSE - Version 2, June 1991 - - Copyright (C) 1989, 1991 Free Software Foundation, Inc., - 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA - Everyone is permitted to copy and distribute verbatim copies - of this license document, but changing it is not allowed. - - Preamble - - The licenses for most software are designed to take away your -freedom to share and change it. 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See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License along - with this program; if not, write to the Free Software Foundation, Inc., - 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. - -Also add information on how to contact you by electronic and paper mail. - -If the program is interactive, make it output a short notice like this -when it starts in an interactive mode: - - Gnomovision version 69, Copyright (C) year name of author - Gnomovision comes with ABSOLUTELY NO WARRANTY; for details type `show w'. - This is free software, and you are welcome to redistribute it - under certain conditions; type `show c' for details. - -The hypothetical commands `show w' and `show c' should show the appropriate -parts of the General Public License. Of course, the commands you use may -be called something other than `show w' and `show c'; they could even be -mouse-clicks or menu items--whatever suits your program. - -You should also get your employer (if you work as a programmer) or your -school, if any, to sign a "copyright disclaimer" for the program, if -necessary. Here is a sample; alter the names: - - Yoyodyne, Inc., hereby disclaims all copyright interest in the program - `Gnomovision' (which makes passes at compilers) written by James Hacker. - - , 1 April 1989 - Ty Coon, President of Vice - -This General Public License does not permit incorporating your program into -proprietary programs. If your program is a subroutine library, you may -consider it more useful to permit linking proprietary applications with the -library. If this is what you want to do, use the GNU Lesser General -Public License instead of this License. diff -r 4839e81d2bdd -r f7b06b264646 devices/ccat/Makefile.am --- a/devices/ccat/Makefile.am Fri Apr 25 17:32:49 2014 +0200 +++ b/devices/ccat/Makefile.am Tue May 06 17:23:33 2014 +0200 @@ -28,7 +28,6 @@ #------------------------------------------------------------------------------ EXTRA_DIST = \ - COPYING \ Kbuild.in \ module.h \ netdev.h \ diff -r 4839e81d2bdd -r f7b06b264646 devices/ccat/module.c --- a/devices/ccat/module.c Fri Apr 25 17:32:49 2014 +0200 +++ b/devices/ccat/module.c Tue May 06 17:23:33 2014 +0200 @@ -66,7 +66,7 @@ return -EIO; } - res = request_mem_region(bar->start, bar->len, DRV_NAME); + res = request_mem_region(bar->start, bar->len, KBUILD_MODNAME); if (!res) { pr_info("allocate mem_region failed.\n"); return -EIO; @@ -127,7 +127,7 @@ return -1; } - if (request_dma(channel, DRV_NAME)) { + if (request_dma(channel, KBUILD_MODNAME)) { pr_info("request dma channel %llu failed\n", (uint64_t) channel); ccat_dma_free(dma); @@ -283,7 +283,7 @@ MODULE_DEVICE_TABLE(pci, pci_ids); static struct pci_driver pci_driver = { - .name = DRV_NAME, + .name = KBUILD_MODNAME, .id_table = pci_ids, .probe = ccat_probe, .remove = ccat_remove, diff -r 4839e81d2bdd -r f7b06b264646 devices/ccat/module.h --- a/devices/ccat/module.h Fri Apr 25 17:32:49 2014 +0200 +++ b/devices/ccat/module.h Tue May 06 17:23:33 2014 +0200 @@ -27,9 +27,8 @@ #include "CCatDefinitions.h" #include "../ecdev.h" -#define DRV_NAME "ec_ccat" #define DRV_EXTRAVERSION "-ec" -#define DRV_VERSION "0.8" DRV_EXTRAVERSION +#define DRV_VERSION "0.9" DRV_EXTRAVERSION #define DRV_DESCRIPTION "Beckhoff CCAT Ethernet/EtherCAT Network Driver" #undef pr_fmt diff -r 4839e81d2bdd -r f7b06b264646 devices/ccat/netdev.c --- a/devices/ccat/netdev.c Fri Apr 25 17:32:49 2014 +0200 +++ b/devices/ccat/netdev.c Tue May 06 17:23:33 2014 +0200 @@ -344,8 +344,8 @@ return NULL; } pr_info("registered %s as network device.\n", netdev->name); - priv->rx_thread = kthread_run(run_rx_thread, netdev, "%s_rx", DRV_NAME); - priv->tx_thread = kthread_run(run_tx_thread, netdev, "%s_tx", DRV_NAME); + priv->rx_thread = kthread_run(run_rx_thread, netdev, "%s_rx", KBUILD_MODNAME); + priv->tx_thread = kthread_run(run_tx_thread, netdev, "%s_tx", KBUILD_MODNAME); return priv; } @@ -368,7 +368,7 @@ struct ccat_eth_priv *const priv = netdev_priv(dev); priv->carrier_off(dev); priv->poll_thread = - kthread_run(run_poll_thread, dev, "%s_poll", DRV_NAME); + kthread_run(run_poll_thread, dev, "%s_poll", KBUILD_MODNAME); //TODO return 0; diff -r 4839e81d2bdd -r f7b06b264646 devices/ccat/update.c --- a/devices/ccat/update.c Fri Apr 25 17:32:49 2014 +0200 +++ b/devices/ccat/update.c Tue May 06 17:23:33 2014 +0200 @@ -402,7 +402,7 @@ goto cleanup; } - if (alloc_chrdev_region(&update->dev, 0, 1, DRV_NAME)) { + if (alloc_chrdev_region(&update->dev, 0, 1, KBUILD_MODNAME)) { pr_warn("alloc_chrdev_region() failed\n"); goto cleanup; } diff -r 4839e81d2bdd -r f7b06b264646 examples/user/main.c --- a/examples/user/main.c Fri Apr 25 17:32:49 2014 +0200 +++ b/examples/user/main.c Tue May 06 17:23:33 2014 +0200 @@ -44,7 +44,11 @@ // Application parameters #define FREQUENCY 100 -#define PRIORITY 0 +#define PRIORITY 1 + +// Optional features +#define CONFIGURE_PDOS 1 +#define SDO_ACCESS 0 /****************************************************************************/ @@ -67,82 +71,107 @@ // process data static uint8_t *domain1_pd = NULL; -#define BusCouplerPos 0, 3 -#define DigOutSlavePos 0, 0 - -//#define Beckhoff_EK1100 0x00000002, 0x044c2c52 -#define Beckhoff_EK1100 0x00000002, 0x04562c52 -#define Beckhoff_EL1008 0x00000002, 0x03f03052 +#define BusCouplerPos 0, 0 +#define DigOutSlavePos 0, 2 +#define AnaInSlavePos 0, 3 +#define AnaOutSlavePos 0, 4 + +#define Beckhoff_EK1100 0x00000002, 0x044c2c52 #define Beckhoff_EL2004 0x00000002, 0x07d43052 -#define Beckhoff_EL2008 0x00000002, 0x07d83052 #define Beckhoff_EL2032 0x00000002, 0x07f03052 #define Beckhoff_EL3152 0x00000002, 0x0c503052 #define Beckhoff_EL3102 0x00000002, 0x0c1e3052 #define Beckhoff_EL4102 0x00000002, 0x10063052 // offsets for PDO entries -static unsigned int off_dig_in[1]; -static unsigned int off_dig_out[2]; - - -/*****************************************************************************/ -// Digital in ------------------------ -static ec_pdo_entry_info_t el1008_channels[] = { - {0x6000, 1, 1}, - {0x6010, 1, 1}, - {0x6020, 1, 1}, - {0x6030, 1, 1}, - {0x6040, 1, 1}, - {0x6050, 1, 1}, - {0x6060, 1, 1}, - {0x6070, 1, 1}, -}; - -static ec_pdo_info_t el1008_pdos[] = { - {0x1a00, 1, &el1008_channels[0]}, - {0x1a01, 1, &el1008_channels[1]}, - {0x1a02, 1, &el1008_channels[2]}, - {0x1a03, 1, &el1008_channels[3]}, - {0x1a04, 1, &el1008_channels[4]}, - {0x1a05, 1, &el1008_channels[5]}, - {0x1a06, 1, &el1008_channels[6]}, - {0x1a07, 1, &el1008_channels[7]} -}; - -static ec_sync_info_t el1008_syncs[] = { +static unsigned int off_ana_in_status; +static unsigned int off_ana_in_value; +static unsigned int off_ana_out; +static unsigned int off_dig_out; + +const static ec_pdo_entry_reg_t domain1_regs[] = { + {AnaInSlavePos, Beckhoff_EL3102, 0x3101, 1, &off_ana_in_status}, + {AnaInSlavePos, Beckhoff_EL3102, 0x3101, 2, &off_ana_in_value}, + {AnaOutSlavePos, Beckhoff_EL4102, 0x3001, 1, &off_ana_out}, + {DigOutSlavePos, Beckhoff_EL2032, 0x3001, 1, &off_dig_out}, + {} +}; + +static unsigned int counter = 0; +static unsigned int blink = 0; + +/*****************************************************************************/ + +#if CONFIGURE_PDOS + +// Analog in -------------------------- + +static ec_pdo_entry_info_t el3102_pdo_entries[] = { + {0x3101, 1, 8}, // channel 1 status + {0x3101, 2, 16}, // channel 1 value + {0x3102, 1, 8}, // channel 2 status + {0x3102, 2, 16}, // channel 2 value + {0x6401, 1, 16}, // channel 1 value (alt.) + {0x6401, 2, 16} // channel 2 value (alt.) +}; + +static ec_pdo_info_t el3102_pdos[] = { + {0x1A00, 2, el3102_pdo_entries}, + {0x1A01, 2, el3102_pdo_entries + 2} +}; + +static ec_sync_info_t el3102_syncs[] = { {2, EC_DIR_OUTPUT}, - {3, EC_DIR_INPUT, 8, el1008_pdos}, + {3, EC_DIR_INPUT, 2, el3102_pdos}, {0xff} }; +// Analog out ------------------------- + +static ec_pdo_entry_info_t el4102_pdo_entries[] = { + {0x3001, 1, 16}, // channel 1 value + {0x3002, 1, 16}, // channel 2 value +}; + +static ec_pdo_info_t el4102_pdos[] = { + {0x1600, 1, el4102_pdo_entries}, + {0x1601, 1, el4102_pdo_entries + 1} +}; + +static ec_sync_info_t el4102_syncs[] = { + {2, EC_DIR_OUTPUT, 2, el4102_pdos}, + {3, EC_DIR_INPUT}, + {0xff} +}; + // Digital out ------------------------ -static ec_pdo_entry_info_t el2008_channels[] = { - {0x7000, 1, 1}, - {0x7010, 1, 1}, - {0x7020, 1, 1}, - {0x7030, 1, 1}, - {0x7040, 1, 1}, - {0x7050, 1, 1}, - {0x7060, 1, 1}, - {0x7070, 1, 1}, -}; - -static ec_pdo_info_t el2008_pdos[] = { - {0x1600, 1, &el2008_channels[0]}, - {0x1601, 1, &el2008_channels[1]}, - {0x1602, 1, &el2008_channels[2]}, - {0x1603, 1, &el2008_channels[3]}, - {0x1604, 1, &el2008_channels[4]}, - {0x1605, 1, &el2008_channels[5]}, - {0x1606, 1, &el2008_channels[6]}, - {0x1607, 1, &el2008_channels[7]} -}; - -static ec_sync_info_t el2008_syncs[] = { - {0, EC_DIR_OUTPUT, 8, el2008_pdos}, + +static ec_pdo_entry_info_t el2004_channels[] = { + {0x3001, 1, 1}, // Value 1 + {0x3001, 2, 1}, // Value 2 + {0x3001, 3, 1}, // Value 3 + {0x3001, 4, 1} // Value 4 +}; + +static ec_pdo_info_t el2004_pdos[] = { + {0x1600, 1, &el2004_channels[0]}, + {0x1601, 1, &el2004_channels[1]}, + {0x1602, 1, &el2004_channels[2]}, + {0x1603, 1, &el2004_channels[3]} +}; + +static ec_sync_info_t el2004_syncs[] = { + {0, EC_DIR_OUTPUT, 4, el2004_pdos}, {1, EC_DIR_INPUT}, {0xff} }; +#endif + +/*****************************************************************************/ + +#if SDO_ACCESS +static ec_sdo_request_t *sdo; +#endif /*****************************************************************************/ @@ -197,59 +226,74 @@ sc_ana_in_state = s; } +/*****************************************************************************/ + +#if SDO_ACCESS +void read_sdo(void) +{ + switch (ecrt_sdo_request_state(sdo)) { + case EC_REQUEST_UNUSED: // request was not used yet + ecrt_sdo_request_read(sdo); // trigger first read + break; + case EC_REQUEST_BUSY: + fprintf(stderr, "Still busy...\n"); + break; + case EC_REQUEST_SUCCESS: + fprintf(stderr, "SDO value: 0x%04X\n", + EC_READ_U16(ecrt_sdo_request_data(sdo))); + ecrt_sdo_request_read(sdo); // trigger next read + break; + case EC_REQUEST_ERROR: + fprintf(stderr, "Failed to read SDO!\n"); + ecrt_sdo_request_read(sdo); // retry reading + break; + } +} +#endif + /****************************************************************************/ void cyclic_task() { - static unsigned int counter = 10; - static uint8_t outputValue = 0; - static int numAsyncCycles = 0; - uint8_t inputValue = 0; - static uint8_t error = 0; - // receive process data ecrt_master_receive(master); ecrt_domain_process(domain1); // check process data state (optional) check_domain1_state(); - - - inputValue = EC_READ_U8(domain1_pd + off_dig_in[0]); - - if(inputValue != outputValue) { - numAsyncCycles++; - } else { - numAsyncCycles = 0; - } - - if(numAsyncCycles > 2) { - if(error != 0xff) { - error++; - } - } - - + if (counter) { counter--; - } else { - counter = 5; //update delay - - + } else { // do this at 1 Hz + counter = FREQUENCY; // calculate new process data - outputValue++; + blink = !blink; // check for master state (optional) check_master_state(); // check for islave configuration state(s) (optional) check_slave_config_states(); - } - + +#if SDO_ACCESS + // read process data SDO + read_sdo(); +#endif + + } + +#if 0 + // read process data + printf("AnaIn: state %u value %u\n", + EC_READ_U8(domain1_pd + off_ana_in_status), + EC_READ_U16(domain1_pd + off_ana_in_value)); +#endif + +#if 1 // write process data - EC_WRITE_U8(domain1_pd + off_dig_out[1], outputValue); - EC_WRITE_U8(domain1_pd + off_dig_out[0], error); + EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x06 : 0x09); +#endif // send process data ecrt_domain_queue(domain1); @@ -268,31 +312,11 @@ /****************************************************************************/ -int Init_EL2008(uint16_t position) -{ - ec_slave_config_t *sc; - if (!(sc = ecrt_master_slave_config(master, 0, position, Beckhoff_EL2008))) { - fprintf(stderr, "Failed to get EL2008 configuration #%u.\n", position); - return -1; - } - if (ecrt_slave_config_pdos(sc, EC_END, el2008_syncs)) { - fprintf(stderr, "Failed to configure PDOs #%u.\n", position); - return -1; - } - if (0 > (off_dig_out[position] = ecrt_slave_config_reg_pdo_entry(sc, 0x7000, 1, domain1, NULL))) { - fprintf(stderr, "Failed to configure reg PDOs #%u.\n", position); - return -1; - } - fprintf(stderr, "EL2008 #%u configured offset: %d.\n", position, off_dig_out[position]); - return 0; -} - int main(int argc, char **argv) { ec_slave_config_t *sc; struct sigaction sa; struct itimerval tv; - uint16_t i; master = ecrt_request_master(0); if (!master) @@ -302,33 +326,60 @@ if (!domain1) return -1; + if (!(sc_ana_in = ecrt_master_slave_config( + master, AnaInSlavePos, Beckhoff_EL3102))) { + fprintf(stderr, "Failed to get slave configuration.\n"); + return -1; + } + +#if SDO_ACCESS + fprintf(stderr, "Creating SDO requests...\n"); + if (!(sdo = ecrt_slave_config_create_sdo_request(sc_ana_in, 0x3102, 2, 2))) { + fprintf(stderr, "Failed to create SDO request.\n"); + return -1; + } + ecrt_sdo_request_timeout(sdo, 500); // ms +#endif + +#if CONFIGURE_PDOS printf("Configuring PDOs...\n"); - if (!(sc_ana_in = ecrt_master_slave_config(master, 0, 2, Beckhoff_EL1008))) { - fprintf(stderr, "Failed to get digital in configuration.\n"); - return -1; - } - if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el1008_syncs)) { + if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3102_syncs)) { fprintf(stderr, "Failed to configure PDOs.\n"); return -1; } - if (0 > (off_dig_in[0] = ecrt_slave_config_reg_pdo_entry(sc_ana_in, 0x6000, 1, domain1, NULL))) { - fprintf(stderr, "Failed to configure reg PDOs.\n"); - return -1; - } - printf("EL1008 configured.\n"); - - for(i = 0; i < 2; ++i) { - if(Init_EL2008(i)) { - fprintf(stderr, "Failed to initialize EL2008 #%u.\n", i); - return -1; - } - } + + if (!(sc = ecrt_master_slave_config( + master, AnaOutSlavePos, Beckhoff_EL4102))) { + fprintf(stderr, "Failed to get slave configuration.\n"); + return -1; + } + + if (ecrt_slave_config_pdos(sc, EC_END, el4102_syncs)) { + fprintf(stderr, "Failed to configure PDOs.\n"); + return -1; + } + + if (!(sc = ecrt_master_slave_config( + master, DigOutSlavePos, Beckhoff_EL2032))) { + fprintf(stderr, "Failed to get slave configuration.\n"); + return -1; + } + + if (ecrt_slave_config_pdos(sc, EC_END, el2004_syncs)) { + fprintf(stderr, "Failed to configure PDOs.\n"); + return -1; + } +#endif // Create configuration for bus coupler sc = ecrt_master_slave_config(master, BusCouplerPos, Beckhoff_EK1100); if (!sc) return -1; - fprintf(stderr, "EK1100 configured.\n"); + + if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) { + fprintf(stderr, "PDO entry registration failed!\n"); + return -1; + } printf("Activating master...\n"); if (ecrt_master_activate(master))