--- a/include/EtherCAT_rt.h Fri Jan 20 13:32:31 2006 +0000
+++ b/include/EtherCAT_rt.h Fri Jan 20 16:04:10 2006 +0000
@@ -30,14 +30,16 @@
unsigned int slave_index,
const char *vendor_name,
const char *product_name,
- unsigned int domain);
+ int domain);
int EtherCAT_rt_activate_slaves(ec_master_t *master);
int EtherCAT_rt_deactivate_slaves(ec_master_t *master);
-int EtherCAT_rt_exchange_io(ec_master_t *master, unsigned int domain,
- unsigned int timeout_us);
+int EtherCAT_rt_domain_xio(ec_master_t *master, unsigned int domain,
+ unsigned int timeout_us);
+
+void EtherCAT_rt_debug_level(ec_master_t *master, int level);
/*****************************************************************************/
--- a/master/domain.c Fri Jan 20 13:32:31 2006 +0000
+++ b/master/domain.c Fri Jan 20 16:04:10 2006 +0000
@@ -23,10 +23,10 @@
void ec_domain_init(ec_domain_t *dom)
{
- dom->number = 0;
+ dom->number = -1;
dom->data_size = 0;
dom->logical_offset = 0;
- dom->response_count = 0;
+ dom->response_count = 0xFFFFFFFF;
memset(dom->data, 0x00, EC_FRAME_SIZE);
}
--- a/master/domain.h Fri Jan 20 13:32:31 2006 +0000
+++ b/master/domain.h Fri Jan 20 16:04:10 2006 +0000
@@ -26,7 +26,7 @@
typedef struct ec_domain
{
- unsigned int number; /*<< Domänen-Identifikation */
+ int number; /*<< Domänen-Identifikation */
ec_command_t command; /**< Kommando zum Senden und Empfangen der
Prozessdaten */
unsigned char data[EC_FRAME_SIZE]; /**< Prozessdaten-Array */
--- a/master/master.c Fri Jan 20 13:32:31 2006 +0000
+++ b/master/master.c Fri Jan 20 16:04:10 2006 +0000
@@ -81,6 +81,35 @@
/*****************************************************************************/
/**
+ Setzt den Master in den Ausgangszustand.
+
+ Bei einem "release" sollte immer diese Funktion aufgerufen werden,
+ da sonst Slave-Liste, Domains, etc. weiter existieren.
+
+ @param master Zeiger auf den zurückzusetzenden Master
+*/
+
+void ec_master_reset(ec_master_t *master)
+{
+ if (master->bus_slaves) {
+ kfree(master->bus_slaves);
+ master->bus_slaves = NULL;
+ }
+
+ master->bus_slaves_count = 0;
+ master->command_index = 0;
+ master->tx_data_length = 0;
+ master->rx_data_length = 0;
+ master->domain_count = 0;
+ master->debug_level = 0;
+ master->bus_time = 0;
+ master->frames_lost = 0;
+ master->t_lost_output = 0;
+}
+
+/*****************************************************************************/
+
+/**
Öffnet das EtherCAT-Geraet des Masters.
@param master Der EtherCAT-Master
@@ -710,13 +739,18 @@
unsigned int bus_index,
const char *vendor_name,
const char *product_name,
- unsigned int domain)
+ int domain)
{
ec_slave_t *slave;
const ec_slave_type_t *type;
ec_domain_t *dom;
unsigned int j;
+ if (domain < 0) {
+ printk(KERN_ERR "EtherCAT: Invalid domain: %i\n", domain);
+ return NULL;
+ }
+
if (bus_index >= master->bus_slaves_count) {
printk(KERN_ERR "EtherCAT: Illegal bus index! (%i / %i)\n", bus_index,
master->bus_slaves_count);
@@ -734,7 +768,7 @@
if (strcmp(vendor_name, type->vendor_name) ||
strcmp(product_name, type->product_name)) {
- printk(KERN_ERR "Invalid Slave Type! Requested: \"%s %s\", present: \"%s"
+ printk(KERN_ERR "Invalid Slave Type! Requested: \"%s %s\", found: \"%s"
" %s\".\n", vendor_name, product_name, type->vendor_name,
type->product_name);
return NULL;
@@ -745,6 +779,7 @@
for (j = 0; j < master->domain_count; j++) {
if (domain == master->domains[j].number) {
dom = master->domains + j;
+ break;
}
}
@@ -770,8 +805,10 @@
}
slave->process_data = dom->data + dom->data_size;
+ slave->logical_address = dom->data_size;
+ slave->registered = 1;
+
dom->data_size += type->process_data_size;
- slave->registered = 1;
return slave;
}
@@ -1029,8 +1066,8 @@
@return 0 bei Erfolg, sonst < 0
*/
-int EtherCAT_rt_exchange_io(ec_master_t *master, unsigned int domain,
- unsigned int timeout_us)
+int EtherCAT_rt_domain_xio(ec_master_t *master, unsigned int domain,
+ unsigned int timeout_us)
{
unsigned int i;
ec_domain_t *dom;
@@ -1105,10 +1142,22 @@
/*****************************************************************************/
+/**
+ Setzt die Debug-Ebene des Masters.
+*/
+
+void EtherCAT_rt_debug_level(ec_master_t *master, int level)
+{
+ master->debug_level = level;
+}
+
+/*****************************************************************************/
+
EXPORT_SYMBOL(EtherCAT_rt_register_slave);
EXPORT_SYMBOL(EtherCAT_rt_activate_slaves);
EXPORT_SYMBOL(EtherCAT_rt_deactivate_slaves);
-EXPORT_SYMBOL(EtherCAT_rt_exchange_io);
+EXPORT_SYMBOL(EtherCAT_rt_domain_xio);
+EXPORT_SYMBOL(EtherCAT_rt_debug_level);
/*****************************************************************************/
--- a/master/master.h Fri Jan 20 13:32:31 2006 +0000
+++ b/master/master.h Fri Jan 20 16:04:10 2006 +0000
@@ -55,6 +55,7 @@
// Master creation and deletion
void ec_master_init(ec_master_t *);
void ec_master_clear(ec_master_t *);
+void ec_master_reset(ec_master_t *);
// Registration of devices
int ec_master_open(ec_master_t *);
--- a/master/module.c Fri Jan 20 13:32:31 2006 +0000
+++ b/master/module.c Fri Jan 20 16:04:10 2006 +0000
@@ -324,6 +324,8 @@
}
ec_master_close(master);
+ ec_master_reset(master);
+
module_put(master->device.module);
ec_masters_reserved[i] = 0;
--- a/rt/Makefile Fri Jan 20 13:32:31 2006 +0000
+++ b/rt/Makefile Fri Jan 20 16:04:10 2006 +0000
@@ -11,7 +11,7 @@
#------------------------------------------------------------------------------
# Kbuild-Abschnitt
-obj-m := msr_modul.o
+obj-m := msr_modul.o
msr_modul-objs := msr_module.o \
msr_jitter.o \
--- a/rt/msr_module.c Fri Jan 20 13:32:31 2006 +0000
+++ b/rt/msr_module.c Fri Jan 20 16:04:10 2006 +0000
@@ -33,6 +33,7 @@
// EtherCAT
#include "../include/EtherCAT_rt.h"
+#include "../eclib/eclib.h"
// Defines/Makros
#define TSC2US(T1, T2) ((T2 - T1) * 1000UL / cpu_khz)
@@ -55,8 +56,7 @@
static unsigned int ecat_bus_time = 0;
static unsigned int ecat_timeouts = 0;
-ec_slave_t *s_controller;
-ec_slave_t *s_analog_in;
+ec_slave_t *s_in1, *s_out1, *s_out2, *s_out3;
double value;
int dig1;
@@ -65,12 +65,12 @@
static int register_slaves(void)
{
- s_controller = EtherCAT_rt_register_slave(master, 0,
- "Beckhoff", "EK1100", 0);
- s_analog_in = EtherCAT_rt_register_slave(master, 1,
- "Beckhoff", "EL3102", 0);
-
- return !s_controller || !s_analog_in;
+ s_in1 = EtherCAT_rt_register_slave(master, 1, "Beckhoff", "EL3102", 0);
+ s_out1 = EtherCAT_rt_register_slave(master, 8, "Beckhoff", "EL2004", 0);
+ s_out2 = EtherCAT_rt_register_slave(master, 9, "Beckhoff", "EL2004", 0);
+ s_out3 = EtherCAT_rt_register_slave(master, 10, "Beckhoff", "EL2004", 0);
+
+ return !s_in1 || !s_out1 || !s_out2 || !s_out3;
}
/******************************************************************************
@@ -81,30 +81,30 @@
static void msr_controller_run(void)
{
- static unsigned int debug_counter = 0;
-
- // Prozessdaten lesen
+ static unsigned int counter = 0;
+
msr_jitter_run(MSR_ABTASTFREQUENZ);
-#if 0
- if (debug_counter == 0) {
- master->debug_level = 2;
- }
-#endif
+ if (counter) {
+ counter--;
+ }
+ else {
+ // "Star Trek"-Effekte
+ *((unsigned char *) s_out1->process_data) = jiffies;
+ *((unsigned char *) s_out2->process_data) = jiffies >> 4;
+ *((unsigned char *) s_out3->process_data) = jiffies >> 8;
+
+ counter = MSR_ABTASTFREQUENZ / 4;
+ }
+
+ if (((char *) s_in1->process_data)[2] < 0)
+ ((unsigned char *) s_out3->process_data)[0] |= 8;
+ else
+ ((unsigned char *) s_out3->process_data)[0] &= ~8;
+
// Prozessdaten lesen und schreiben
- EtherCAT_rt_exchange_io(master, 0, 40);
-
-#if 0
- if (debug_counter == 0) {
- master->debug_level = 0;
- }
-#endif
-
- // value = EtherCAT_read_value(&ecat_slaves[1], 0);
-
- debug_counter++;
- if (debug_counter >= MSR_ABTASTFREQUENZ * 5) debug_counter = 0;
+ EtherCAT_rt_domain_xio(master, 0, 40);
}
/******************************************************************************
@@ -126,8 +126,6 @@
{
static int counter = 0;
- // Schreibe Kanal1 von Klemme X auf 1
-
timeval_add(&process_time, &process_time, &msr_time_increment);
MSR_ADEOS_INTERRUPT_CODE(msr_controller_run(); msr_write_kanal_list(););