--- a/examples/rtai/Makefile Wed May 10 07:44:37 2006 +0000
+++ b/examples/rtai/Makefile Wed May 10 07:53:50 2006 +0000
@@ -1,8 +1,8 @@
-#----------------------------------------------------------------
+#------------------------------------------------------------------------------
#
# Makefile
#
-# Minimal EtherCAT module.
+# RTAI sample module for the IgH EtherCAT master.
#
# $Id$
#
@@ -23,28 +23,28 @@
# 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
#
-#----------------------------------------------------------------
+#------------------------------------------------------------------------------
ifneq ($(KERNELRELEASE),)
-#----------------------------------------------------------------
+#------------------------------------------------------------------------------
# kbuild section
-#----------------------------------------------------------------
+#------------------------------------------------------------------------------
-obj-m := ec_mini.o
+obj-m := ec_rtai_sample.o
-ec_mini-objs := mini.o
+ec_rtai_sample-objs := rtai_sample.o
-#----------------------------------------------------------------
+#------------------------------------------------------------------------------
else
-#----------------------------------------------------------------
+#------------------------------------------------------------------------------
# default section
-#----------------------------------------------------------------
+#------------------------------------------------------------------------------
-ifneq ($(wildcard ethercat.conf),)
-include ethercat.conf
+ifneq ($(wildcard kernel.conf),)
+include kernel.conf
else
KERNELDIR = /usr/src/linux
endif
@@ -55,6 +55,6 @@
clean:
$(MAKE) -C $(KERNELDIR) M=`pwd` clean
-#----------------------------------------------------------------
+#------------------------------------------------------------------------------
endif
--- a/examples/rtai/ethercat.conf.tmpl Wed May 10 07:44:37 2006 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,13 +0,0 @@
-#------------------------------------------------------------------------------
-#
-# EtherCAT Konfigurationsdatei Kernel 2.6
-#
-# $Id$
-#
-# This file is a versioned template configuration. Copy it to "ethercat.conf"
-# (which is ignored by Subversion) and adjust it to your needs.
-#
-#------------------------------------------------------------------------------
-
-KERNELDIR = /usr/src/linux
-
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/rtai/kernel.conf.tmpl Wed May 10 07:53:50 2006 +0000
@@ -0,0 +1,13 @@
+#------------------------------------------------------------------------------
+#
+# Kernel configuration file for RTAI sample.
+#
+# $Id$
+#
+# This file is a versioned template configuration. Copy it to "kernel.conf"
+# (which is ignored by Subversion) and adjust it to your needs.
+#
+#------------------------------------------------------------------------------
+
+KERNELDIR = /usr/src/linux
+
--- 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 <linux/module.h>
-#include <linux/delay.h>
-#include <linux/timer.h>
-#include <linux/spinlock.h>
-#include <linux/interrupt.h>
-
-#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 <fp@igh-essen.com>");
-MODULE_DESCRIPTION ("EtherCAT minimal test environment");
-
-module_init(init_mini_module);
-module_exit(cleanup_mini_module);
-
-/*****************************************************************************/
-
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/rtai/rtai_sample.c Wed May 10 07:53:50 2006 +0000
@@ -0,0 +1,255 @@
+/******************************************************************************
+ *
+ * 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 <linux/module.h>
+#include <linux/delay.h>
+#include <linux/timer.h>
+#include <linux/spinlock.h>
+#include <linux/interrupt.h>
+
+#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 <fp@igh-essen.com>");
+MODULE_DESCRIPTION ("EtherCAT minimal test environment");
+
+module_init(init_mini_module);
+module_exit(cleanup_mini_module);
+
+/*****************************************************************************/
+