--- a/drivers/Makefile Fri Nov 04 09:38:50 2005 +0000
+++ b/drivers/Makefile Fri Nov 04 16:47:23 2005 +0000
@@ -9,40 +9,22 @@
#
#################################################################
-#KERNELDIR=/usr/src/linux
-#KERNELDIR=/home/rich/linux-2.4.20.CX1100-rthal5
-#KERNELDIR=./linux-2.4.20.CX1100-rthal5
+MSR_DIR = /vol/projekte/msr_messen_steuern_regeln
+EC_DIR = $(MSR_DIR)/ethercat
-#IgH
-KERNELDIR = /vol/projekte/msr_messen_steuern_regeln/linux/kernel/2.4.20/include/linux-2.4.20.CX1100-rthal5
-RTAIDIR = /vol/projekte/msr_messen_steuern_regeln/linux/kernel/2.4.20/include/rtai-24.1.13
-RTLIBDIR = rt_lib
-
-#euler-nottuln
+#KERNELDIR = $(EC_DIR)/linux-2.4.20.CX1100-rthal5-kdb
+KERNELDIR = $(EC_DIR)/linux-2.4.20-kdb
#KERNELDIR = /usr/src/linux
-#RTAIDIR = /usr/src/rtai
-
-#patra
-#KERNELDIR = /usr/src/linux-2.4.20.CX1100-rthal5
-#RTAIDIR = /usr/src/rtai-24.1.13
-
-#include $(KERNELDIR)/.config
ECAT_8139_OBJ = drv_8139too.o ec_device.o ec_master.o \
ec_slave.o ec_command.o ec_types.o
-
-CFLAGS = -O2 -Wall -Wuninitialized -D__KERNEL__ -DMODULE \
- -I$(KERNELDIR)/include -D_RTAI -I$(RTAIDIR)/include \
- -I$(RTLIBDIR)/msr-include
-
-ifdef CONFIG_SMP
- CFLAGS += -D__SMP__ -DSMP
-endif
+CFLAGS = -O2 -Wall -Wuninitialized -D__KERNEL__ \
+ -DMODULE -I$(KERNELDIR)/include
#################################################################
-all: .depend ecat_8139too.o
+all: .depend Makefile ecat_8139too.o
ecat_8139too.o: $(ECAT_8139_OBJ)
$(LD) -r $(ECAT_8139_OBJ) -o $@
@@ -55,7 +37,7 @@
#################################################################
-.depend:
+.depend depend dep:
$(CC) $(CFLAGS) -M *.c > .depend
ifeq (.depend,$(wildcard .depend))
--- a/drivers/drv_8139too.c Fri Nov 04 09:38:50 2005 +0000
+++ b/drivers/drv_8139too.c Fri Nov 04 16:47:23 2005 +0000
@@ -3,7 +3,7 @@
* drv_8139too.c
*
* EtherCAT-Treiber für RTL8139-kompatible Netzwerkkarten.
- *
+ *
* Autoren: Wilhelm Hagemeister, Florian Pose
*
* $Date$
@@ -136,8 +136,6 @@
/* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
#include "ec_device.h"
-#include <rtai.h>
-#include <linux/delay.h>
#include "ec_dbg.h"
/* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
@@ -193,6 +191,17 @@
/* bitmapped message enable number */
static int debug = -1;
+/* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
+
+// Device index for EtherCAT device selection
+static int ec_device_index = -1;
+
+//#define ECAT_DEBUG
+
+EtherCAT_device_t rtl_ecat_dev;
+
+/* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
+
/* Size of the in-memory receive ring. */
#define RX_BUF_LEN_IDX 2 /* 0==8K, 1==16K, 2==32K, 3==64K */
#define RX_BUF_LEN (8192 << RX_BUF_LEN_IDX)
@@ -635,6 +644,13 @@
MODULE_PARM_DESC (media, "8139too: Bits 4+9: force full duplex, bit 5: 100Mbps");
MODULE_PARM_DESC (full_duplex, "8139too: Force full duplex for board(s) (1)");
+/* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
+
+MODULE_PARM(ec_device_index, "i");
+MODULE_PARM_DESC(ec_device_index, "Index of the device reserved for EtherCAT.");
+
+/* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
+
static int read_eeprom (void *ioaddr, int location, int addr_len);
static int rtl8139_open (struct net_device *dev);
static int mdio_read (struct net_device *dev, int phy_id, int location);
@@ -647,7 +663,6 @@
struct net_device *dev);
static void rtl8139_interrupt (int irq, void *dev_instance,
struct pt_regs *regs);
-static void rt_rtl8139_interrupt(void);
static int rtl8139_close (struct net_device *dev);
static int netdev_ioctl (struct net_device *dev, struct ifreq *rq, int cmd);
static struct net_device_stats *rtl8139_get_stats (struct net_device *dev);
@@ -712,16 +727,6 @@
#endif /* USE_IO_OPS */
-/* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
-
-#define ECATcard 1 // Diese Ethernetkarte wird für Ethercat verwendet
-
-//#define ECAT_DEBUG
-
-EtherCAT_device_t rtl_ecat_dev;
-
-/* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
-
static const u16 rtl8139_intr_mask =
PCIErr | PCSTimeout | RxUnderrun | RxOverflow | RxFIFOOver |
TxErr | TxOK | RxErr | RxOK;
@@ -999,7 +1004,7 @@
/* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
- if (board_idx == ECATcard)
+ if (board_idx == ec_device_index)
{
EC_DBG("EtherCAT registering board %d.\n", board_idx);
@@ -1046,7 +1051,7 @@
/* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
- if (board_idx == ECATcard)
+ if (board_idx == ec_device_index)
{
rtl_ecat_dev.lock = &tp->lock;
}
@@ -1378,19 +1383,12 @@
/* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
- if (dev != rtl_ecat_dev.dev)
+ if (dev != rtl_ecat_dev.dev)
{
retval = request_irq(dev->irq, rtl8139_interrupt, SA_SHIRQ, dev->name, dev);
+ if (retval)
+ return retval;
}
- else
- {
- //rt_disable_irq(dev->irq);
- retval = rt_request_global_irq(dev->irq,rt_rtl8139_interrupt);
- //rt_enable_irq(dev->irq);
- }
-
- if (retval)
- return retval;
/* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
@@ -1406,11 +1404,7 @@
{
free_irq(dev->irq, dev);
}
- else
- {
- rt_free_global_irq (dev->irq);
- }
-
+
/* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
if (tp->tx_bufs)
@@ -1419,7 +1413,7 @@
if (tp->rx_ring)
pci_free_consistent(tp->pci_dev, RX_BUF_TOT_LEN,
tp->rx_ring, tp->rx_ring_dma);
-
+
return -ENOMEM;
}
@@ -1449,12 +1443,6 @@
EC_DBG (KERN_WARNING "%s: unable to start kernel thread\n",
dev->name);
}
-#if 0
- else
- {
- rt_enable_irq(dev->irq);
- }
-#endif
/* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
@@ -1470,6 +1458,7 @@
if (tp->phys[0] >= 0) {
u16 mii_lpa = mdio_read(dev, tp->phys[0], MII_LPA);
+
if (mii_lpa == 0xffff)
; /* Not there */
else if ((mii_lpa & LPA_100FULL) == LPA_100FULL
@@ -1551,14 +1540,20 @@
if ((!(tmp & CmdRxEnb)) || (!(tmp & CmdTxEnb)))
RTL_W8 (ChipCmd, CmdRxEnb | CmdTxEnb);
- /* Enable all known interrupts by setting the interrupt mask. */
- RTL_W16 (IntrMask, rtl8139_intr_mask);
-
/* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
- if (dev != rtl_ecat_dev.dev) netif_start_queue (dev);
-
- /* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
+ if (dev != rtl_ecat_dev.dev)
+ {
+ /* Enable all known interrupts by setting the interrupt mask. */
+ RTL_W16 (IntrMask, rtl8139_intr_mask);
+ netif_start_queue (dev);
+ }
+ else
+ {
+ RTL_W16 (IntrMask, 0x0000);
+ }
+
+ /* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
EC_DBG(KERN_DEBUG "%s: rtl8139_hw_start finished.\n", dev->name);
}
@@ -1829,23 +1824,11 @@
i == (int) (tp->dirty_tx % NUM_TX_DESC) ?
" (queue head)" : "");
- /* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
-
/* Stop a shared interrupt from scavenging while we are. */
- if (dev == rtl_ecat_dev.dev)
- {
- flags = rt_spin_lock_irqsave (&tp->lock);
- rtl8139_tx_clear (tp);
- rt_spin_unlock_irqrestore (&tp->lock,flags);
- }
- else {
- spin_lock_irqsave (&tp->lock, flags);
- rtl8139_tx_clear (tp);
- spin_unlock_irqrestore (&tp->lock, flags);
- }
-
- /* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
+ spin_lock_irqsave (&tp->lock, flags);
+ rtl8139_tx_clear (tp);
+ spin_unlock_irqrestore (&tp->lock, flags);
/* ...and finally, reset everything */
rtl8139_hw_start (dev);
@@ -1876,7 +1859,7 @@
skb_copy_and_csum_dev(skb, tp->tx_buf[entry]);
// Socket buffer nicht löschen, wenn vom EtherCAT-device
- if (dev != rtl_ecat_dev.dev) dev_kfree_skb(skb);
+ if (dev != rtl_ecat_dev.dev) dev_kfree_skb(skb);
}
else
{
@@ -1885,17 +1868,10 @@
return 0;
}
+ /* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
+
/* Note: the chip doesn't have auto-pad! */
- if (dev == rtl_ecat_dev.dev)
- {
- rt_spin_lock_irq(&tp->lock);
- }
- else
- {
- spin_lock_irq(&tp->lock);
- }
-
- /* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
+ spin_lock_irq(&tp->lock);
RTL_W32_F (TxStatus0 + (entry * sizeof (u32)),
tp->tx_flag | max(len, (unsigned int)ETH_ZLEN));
@@ -1913,17 +1889,10 @@
netif_stop_queue (dev);
}
- if (dev == rtl_ecat_dev.dev)
- {
- rt_spin_unlock_irq(&tp->lock);
- }
- else
- {
- spin_unlock_irq(&tp->lock);
- }
-
/* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
+ spin_unlock_irq(&tp->lock);
+
DPRINTK ("%s: Queued Tx packet size %u to slot %d.\n",
dev->name, len, entry);
@@ -1981,12 +1950,12 @@
tp->stats.tx_window_errors++;
/* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
-
+
if (dev == rtl_ecat_dev.dev)
{
rtl_ecat_dev.state = ECAT_DS_ERROR;
}
-
+
/* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
} else {
@@ -2059,12 +2028,12 @@
}
/* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
-
+
if (dev == rtl_ecat_dev.dev)
{
rtl_ecat_dev.state = ECAT_DS_ERROR;
}
-
+
/* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
#ifndef CONFIG_8139_OLD_RX_RESET
@@ -2170,7 +2139,7 @@
/* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
-#if RTL8139_DEBUG > 2
+#if RTL8139_DEBUG > 2
if (dev == rtl_ecat_dev.dev)
{
int i;
@@ -2259,7 +2228,7 @@
tp->stats.rx_packets++;
}
}
-
+
/* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
cur_rx = (cur_rx + rx_size + 4 + 3) & ~3;
@@ -2330,8 +2299,6 @@
}
}
-
-
/* The interrupt handler does all of the Rx thread work and cleans up
after the Tx thread. */
static void rtl8139_interrupt (int irq, void *dev_instance,
@@ -2344,16 +2311,15 @@
int ackstat, status;
int link_changed = 0; /* avoid bogus "uninit" warning */
- /* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
+ /* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
if (dev == rtl_ecat_dev.dev)
{
- rt_spin_lock(&tp->lock);
rtl_ecat_dev.intr_cnt++;
}
else
{
- spin_lock (&tp->lock);
+ spin_lock(&tp->lock);
}
/* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
@@ -2424,13 +2390,9 @@
/* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
- if (dev == rtl_ecat_dev.dev)
+ if (dev != rtl_ecat_dev.dev)
{
- rt_spin_unlock(&tp->lock);
- }
- else
- {
- spin_unlock(&tp->lock);
+ spin_unlock (&tp->lock);
}
/* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
@@ -2439,15 +2401,6 @@
dev->name, RTL_R16 (IntrStatus));
}
-/* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
-
-static void rt_rtl8139_interrupt(void)
-{
- rtl8139_interrupt(rtl_ecat_dev.dev->irq, rtl_ecat_dev.dev, NULL);
-}
-
-/* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
-
static int rtl8139_close (struct net_device *dev)
{
struct rtl8139_private *tp = dev->priv;
@@ -2472,26 +2425,13 @@
wait_for_completion (&tp->thr_exited);
}
}
-
+
/* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
DPRINTK ("%s: Shutting down ethercard, status was 0x%4.4x.\n",
dev->name, RTL_R16 (IntrStatus));
- /* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
-
- //mdelay(1);
-
- if (dev == rtl_ecat_dev.dev)
- {
- flags = rt_spin_lock_irqsave(&tp->lock);
- }
- else
- {
- spin_lock_irqsave(&tp->lock, flags);
- }
-
- /* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
+ spin_lock_irqsave(&tp->lock, flags);
/* Stop the chip's Tx and Rx DMA processes. */
RTL_W8 (ChipCmd, 0);
@@ -2503,33 +2443,15 @@
tp->stats.rx_missed_errors += RTL_R32 (RxMissed);
RTL_W32 (RxMissed, 0);
+ spin_unlock_irqrestore (&tp->lock, flags);
+ synchronize_irq ();
+
/* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
- if (dev == rtl_ecat_dev.dev)
- {
- rt_spin_unlock_irqrestore (&tp->lock, flags);
- synchronize_irq ();
- }
- else
- {
- spin_unlock_irqrestore (&tp->lock, flags);
- synchronize_irq ();
- }
-
- EC_DBG ("rtl8139: freeing irq");
-
- //mdelay(1);
-
if (dev != rtl_ecat_dev.dev)
{
- free_irq (dev->irq, dev);
- }
- else
- {
- rt_disable_irq(dev->irq);
- rt_free_global_irq (dev->irq);
- rt_enable_irq(dev->irq);
- }
+ free_irq(dev->irq, dev);
+ }
/* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
@@ -2744,7 +2666,7 @@
rc = -EFAULT;
goto err_out_gregs;
}
-
+
if (regs.len > regs_len)
regs.len = regs_len;
if (regs.len < regs_len) {
@@ -2868,22 +2790,12 @@
/* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
- if (dev == rtl_ecat_dev.dev)
+ if (dev == rtl_ecat_dev.dev || netif_running(dev))
{
- flags = rt_spin_lock_irqsave (&tp->lock);
+ spin_lock_irqsave (&tp->lock, flags);
tp->stats.rx_missed_errors += RTL_R32 (RxMissed);
RTL_W32 (RxMissed, 0);
- rt_spin_unlock_irqrestore (&tp->lock, flags);
- }
- else
- {
- if (netif_running(dev))
- {
- spin_lock_irqsave (&tp->lock, flags);
- tp->stats.rx_missed_errors += RTL_R32 (RxMissed);
- RTL_W32 (RxMissed, 0);
- spin_unlock_irqrestore (&tp->lock, flags);
- }
+ spin_unlock_irqrestore (&tp->lock, flags);
}
/* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
@@ -2947,22 +2859,9 @@
unsigned long flags;
struct rtl8139_private *tp = dev->priv;
- /* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
-
- if (dev == rtl_ecat_dev.dev)
- {
- flags = rt_spin_lock_irqsave (&tp->lock);
- __set_rx_mode(dev);
- rt_spin_unlock_irqrestore (&tp->lock, flags);
- }
- else
- {
- spin_lock_irqsave (&tp->lock, flags);
- __set_rx_mode(dev);
- spin_unlock_irqrestore (&tp->lock, flags);
- }
-
- /* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
+ spin_lock_irqsave (&tp->lock, flags);
+ __set_rx_mode(dev);
+ spin_unlock_irqrestore (&tp->lock, flags);
}
#ifdef CONFIG_PM
--- a/drivers/ec_dbg.h Fri Nov 04 09:38:50 2005 +0000
+++ b/drivers/ec_dbg.h Fri Nov 04 16:47:23 2005 +0000
@@ -6,16 +6,15 @@
#define ECMASTER_DEBUG
-#include "../rs232dbg/rs232dbg.h"
+//#include "../rs232dbg/rs232dbg.h"
#ifdef ECMASTER_DEBUG
/* note: prints function name for you */
//# define EC_DBG(fmt, args...) SDBG_print(fmt, ## args)
-#define EC_DBG(fmt, args...) SDBG_print("%s: " fmt, __FUNCTION__ , ## args)
-//#define EC_DBG(fmt, args...) printk(KERN_INFO fmt, ## args)
-
+//#define EC_DBG(fmt, args...) SDBG_print("%s: " fmt, __FUNCTION__ , ## args)
+#define EC_DBG(fmt, args...) printk(fmt, ## args)
#else
#define EC_DBG(fmt, args...)
#endif
--- a/drivers/ec_device.c Fri Nov 04 09:38:50 2005 +0000
+++ b/drivers/ec_device.c Fri Nov 04 16:47:23 2005 +0000
@@ -12,7 +12,6 @@
#include <linux/skbuff.h>
#include <linux/if_ether.h>
#include <linux/netdevice.h>
-#include <rtai.h>
#include <linux/delay.h>
#include "ec_device.h"
@@ -22,7 +21,7 @@
/**
EtherCAT-Geräte-Konstuktor.
-
+
Initialisiert ein EtherCAT-Gerät, indem es die Variablen
in der Struktur auf die Default-Werte setzt.
@@ -48,7 +47,7 @@
/**
EtherCAT-Geräte-Destuktor.
-
+
Gibt den dynamisch allozierten Speicher des
EtherCAT-Gerätes (die beiden Socket-Buffer) wieder frei.
@@ -76,7 +75,7 @@
/**
Weist einem EtherCAT-Gerät das entsprechende net_device zu.
-
+
Prüft das net_device, allokiert Socket-Buffer in Sende- und
Empfangsrichtung und weist dem EtherCAT-Gerät und den
Socket-Buffern das net_device zu.
@@ -280,6 +279,26 @@
/***************************************************************/
/**
+ Ruft manuell die Interrupt-Routine der Netzwerkkarte auf.
+
+ @param ecd EtherCAT-Gerät
+
+ @return Anzahl der kopierten Bytes bei Erfolg, sonst < 0
+*/
+
+void EtherCAT_device_call_isr(EtherCAT_device_t *ecd)
+{
+ EC_DBG(KERN_DEBUG "EtherCAT: Calling ISR...\n");
+
+ // Manuell die ISR aufrufen
+ rtl8139_interrupt(0, ecd->dev, NULL);
+
+ EC_DBG(KERN_DEBUG "EtherCAT: ISR finished.\n");
+}
+
+/***************************************************************/
+
+/**
Gibt alle Informationen über das Device-Objekt aus.
@param ecd EtherCAT-Gerät
--- a/drivers/ec_device.h Fri Nov 04 09:38:50 2005 +0000
+++ b/drivers/ec_device.h Fri Nov 04 16:47:23 2005 +0000
@@ -78,6 +78,7 @@
int EtherCAT_device_send(EtherCAT_device_t *, unsigned char *, unsigned int);
int EtherCAT_device_receive(EtherCAT_device_t *, unsigned char *, unsigned int);
+void EtherCAT_device_call_isr(EtherCAT_device_t *);
void EtherCAT_device_debug(EtherCAT_device_t *);
--- a/drivers/ec_master.c Fri Nov 04 09:38:50 2005 +0000
+++ b/drivers/ec_master.c Fri Nov 04 16:47:23 2005 +0000
@@ -18,9 +18,6 @@
#include "ec_master.h"
#include "ec_dbg.h"
-// FIXME: Klappt nur solange, wie es nur einen Master gibt! fp
-static int ASYNC = 0;
-
/***************************************************************/
/**
@@ -159,13 +156,12 @@
}
else
{
- EC_DBG("EtherCAT: Slave count on bus: %i. Found: %i.\n",
- cmd->working_counter, slave_count);
+ EC_DBG("EtherCAT: Found all %i slaves.\n", slave_count);
}
EtherCAT_remove_command(master, cmd);
- // For every slave in the list
+ // For every slave in the list
for (i = 0; i < slave_count; i++)
{
cur = &slaves[i];
@@ -239,21 +235,28 @@
if (EtherCAT_read_slave_information(master, cur->station_address,
0x0008, &cur->vendor_id) != 0)
{
- EC_DBG(KERN_ERR "EtherCAT: Could not read SII!\n");
+ EC_DBG(KERN_ERR "EtherCAT: Could not read SII vendor id!\n");
return -1;
}
if (EtherCAT_read_slave_information(master, cur->station_address,
0x000A, &cur->product_code) != 0)
{
- EC_DBG(KERN_ERR "EtherCAT: Could not read SII!\n");
+ EC_DBG(KERN_ERR "EtherCAT: Could not read SII product code!\n");
return -1;
}
if (EtherCAT_read_slave_information(master, cur->station_address,
0x000E, &cur->revision_number) != 0)
{
- EC_DBG(KERN_ERR "EtherCAT: Could not read SII!\n");
+ EC_DBG(KERN_ERR "EtherCAT: Could not read SII revision number!\n");
+ return -1;
+ }
+
+ if (EtherCAT_read_slave_information(master, cur->station_address,
+ 0x0012, &cur->serial_number) != 0)
+ {
+ EC_DBG(KERN_ERR "EtherCAT: Could not read SII serial number!\n");
return -1;
}
@@ -284,7 +287,8 @@
if (!found)
{
- EC_DBG(KERN_ERR "EtherCAT: Unknown slave device (vendor %X, code %X) at position %i.\n",
+ EC_DBG(KERN_ERR "EtherCAT: Unknown slave device"
+ " (vendor %X, code %X) at position %i.\n",
i, cur->vendor_id, cur->product_code);
return -1;
}
@@ -312,8 +316,9 @@
slaves[i].process_data = master->process_data + pos;
slaves[i].logical_address0 = pos;
- EC_DBG(KERN_DEBUG "EtherCAT: Slave %i - \"%s %s\" - Logical Address 0x%08X\n",
- i, slaves[i].desc->vendor_name, slaves[i].desc->product_name, pos);
+ EC_DBG(KERN_DEBUG "EtherCAT: Slave %i - Address 0x%X, \"%s %s\", s/n %u\n",
+ i, pos, slaves[i].desc->vendor_name, slaves[i].desc->product_name,
+ slaves[i].serial_number);
pos += slaves[i].desc->data_length;
}
@@ -451,7 +456,7 @@
entsprechenden Antworten.
@param master EtherCAT-Master
-
+
@return 0 bei Erfolg, sonst < 0
*/
@@ -459,28 +464,30 @@
{
unsigned int wait_cycles;
int i;
-
+
// Send all commands
for (i = 0; i < ECAT_NUM_RETRIES; i++)
{
- ASYNC = 1;
if (EtherCAT_send(master) < 0)
{
return -1;
}
- ASYNC = 0;
// Wait until something is received or an error has occurred
+
wait_cycles = 10;
+ EtherCAT_device_call_isr(master->dev);
+
while (master->dev->state == ECAT_DS_SENT && wait_cycles)
{
udelay(1000);
wait_cycles--;
- }
-
+ EtherCAT_device_call_isr(master->dev);
+ }
+
//EC_DBG("Master async send: tries %d",tries_left);
-
+
if (!wait_cycles)
{
EC_DBG(KERN_ERR "EtherCAT: Asynchronous receive timeout.\n");
@@ -492,7 +499,7 @@
EC_DBG(KERN_ERR "EtherCAT: Asyncronous send error. State %i\n", master->dev->state);
continue;
}
-
+
// Receive all commands
if (EtherCAT_receive(master) < 0)
{
@@ -518,7 +525,7 @@
Danach wird die Sendefunktion des EtherCAT-Gerätes aufgerufen.
@param master EtherCAT-Master
-
+
@return 0 bei Erfolg, sonst < 0
*/
@@ -614,7 +621,7 @@
// Pad with zeros
while (pos < 46) master->tx_data[pos++] = 0x00;
-
+
master->tx_data_length = framelength;
#ifdef DEBUG_SEND_RECEIVE
@@ -635,7 +642,7 @@
{
EC_DBG(KERN_DEBUG "device send...\n");
}
-
+
// Send frame
if (EtherCAT_device_send(master->dev, master->tx_data, framelength) != 0)
{
@@ -644,7 +651,7 @@
EC_DBG(KERN_DEBUG);
for (i = 0; i < framelength; i++)
{
- EC_DBG("%02X ", master->tx_data[i]);
+ EC_DBG("%02X ", master->tx_data[i]);
if ((i + 1) % 16 == 0) EC_DBG("\n" KERN_DEBUG);
}
EC_DBG("\n");
@@ -669,7 +676,7 @@
allen gesendeten Kommandos ihre Antworten zu.
@param master EtherCAT-Master
-
+
@return 0 bei Erfolg, sonst < 0
*/
--- a/drivers/ec_slave.c Fri Nov 04 09:38:50 2005 +0000
+++ b/drivers/ec_slave.c Fri Nov 04 16:47:23 2005 +0000
@@ -37,9 +37,10 @@
slave->vendor_id = 0;
slave->product_code = 0;
slave->revision_number = 0;
-
+ slave->serial_number = 0;
+
slave->desc = 0;
-
+
slave->logical_address0 = 0;
slave->current_state = ECAT_STATE_UNKNOWN;
--- a/drivers/ec_slave.h Fri Nov 04 09:38:50 2005 +0000
+++ b/drivers/ec_slave.h Fri Nov 04 16:47:23 2005 +0000
@@ -18,6 +18,9 @@
/**
EtherCAT-Slave
+
+ Achtung: Bei Änderungen dieser Struktur immer das Define
+ ECAT_INIT_SLAVE anpassen!
*/
typedef struct
@@ -35,6 +38,7 @@
unsigned int vendor_id; /**< Identifikationsnummer des Herstellers */
unsigned int product_code; /**< Herstellerspezifischer Produktcode */
unsigned int revision_number; /**< Revisionsnummer */
+ unsigned int serial_number; /**< Seriennummer der Klemme */
const EtherCAT_slave_desc_t *desc; /**< Zeiger auf die Beschreibung
des Slave-Typs */
@@ -49,7 +53,7 @@
}
EtherCAT_slave_t;
-#define ECAT_INIT_SLAVE(TYPE) {0, 0, 0, 0, 0, 0, 0, 0, \
+#define ECAT_INIT_SLAVE(TYPE) {0, 0, 0, 0, 0, 0, 0, 0, 0, \
TYPE, 0, ECAT_STATE_UNKNOWN, \
ECAT_STATE_UNKNOWN, NULL}
--- a/mini/Makefile Fri Nov 04 09:38:50 2005 +0000
+++ b/mini/Makefile Fri Nov 04 16:47:23 2005 +0000
@@ -8,13 +8,18 @@
#
#----------------------------------------------------------------
-MSRDIR = /vol/projekte/msr_messen_steuern_regeln
-KERNELDIR = $(MSRDIR)/linux/kernel/2.4.20/include/linux-2.4.20.CX1100-rthal5
-CFLAGS = -O2 -Wall -Wuninitialized -D__KERNEL__ -DMODULE -I$(KERNELDIR)/include
+EC_DIR = /vol/projekte/msr_messen_steuern_regeln/ethercat
+
+#KERNELDIR = $(EC_DIR)/linux-2.4.20.CX1100-rthal5-kdb
+KERNELDIR = $(EC_DIR)/linux-2.4.20-kdb
+#KERNELDIR = /usr/src/linux
+
+CFLAGS = -O2 -Wall -Wuninitialized -D__KERNEL__ \
+ -DMODULE -I$(KERNELDIR)/include
MODULE = ec_mini_mod.o
-SRC = ec_mini.c
+SRC = ec_mini.c
OBJ = $(SRC:.c=.o)
#----------------------------------------------------------------
--- a/mini/ec_mini.c Fri Nov 04 09:38:50 2005 +0000
+++ b/mini/ec_mini.c Fri Nov 04 16:47:23 2005 +0000
@@ -12,19 +12,32 @@
#include <linux/tqueue.h>
#include <linux/slab.h>
#include <linux/delay.h>
+#include <linux/completion.h>
#include "../drivers/ec_master.h"
#include "../drivers/ec_device.h"
#include "../drivers/ec_types.h"
#include "../drivers/ec_dbg.h"
+/******************************************************************************/
+
+#define ECAT_OPEN
+#define ECAT_MASTER
+#define ECAT_SLAVES
+#define ECAT_CYCLIC_DATA
+
+/******************************************************************************/
+
extern EtherCAT_device_t rtl_ecat_dev;
-//static EtherCAT_master_t *ecat_master = NULL;
-
+#ifdef ECAT_MASTER
+static EtherCAT_master_t *ecat_master = NULL;
+#endif
+
+#ifdef ECAT_SLAVES
+static EtherCAT_slave_t ecat_slaves[] =
+{
#if 0
-static EtherCAT_slave_t ecat_slaves[] =
-{
// Block 1
ECAT_INIT_SLAVE(Beckhoff_EK1100),
ECAT_INIT_SLAVE(Beckhoff_EL4102),
@@ -44,6 +57,7 @@
ECAT_INIT_SLAVE(Beckhoff_EL2004),
ECAT_INIT_SLAVE(Beckhoff_EL2004),
ECAT_INIT_SLAVE(Beckhoff_EL2004),
+#endif
// Block 2
ECAT_INIT_SLAVE(Beckhoff_EK1100),
@@ -72,8 +86,13 @@
#define ECAT_SLAVES_COUNT (sizeof(ecat_slaves) / sizeof(EtherCAT_slave_t))
#endif
+#ifdef ECAT_CYCLIC_DATA
double value;
int dig1;
+struct tq_struct cyclic_task;
+struct clientdata {task_queue *queue;} cyclic_data;
+static DECLARE_COMPLETION(on_exit);
+#endif
/******************************************************************************
*
@@ -81,7 +100,7 @@
*
*****************************************************************************/
-#if 0
+#ifdef ECAT_CYCLIC_DATA
static int next2004(int *wrap)
{
static int i = 0;
@@ -109,20 +128,23 @@
/******************************************************************************
*
- * Function: msr_controller
+ * Function: run
*
* Beschreibung: Zyklischer Prozess
*
*****************************************************************************/
-#if 0
-void msr_controller()
-{
+#ifdef ECAT_CYCLIC_DATA
+void run(void *ptr)
+{
+ struct clientdata *data = (struct clientdata *) ptr;
+
+#if 1
static int ms = 0;
static int cnt = 0;
static unsigned long int k = 0;
static int firstrun = 1;
-
+
static int klemme = 12;
static int kanal = 0;
static int up_down = 0;
@@ -133,10 +155,10 @@
#if 0
ecat_tx_delay = ((unsigned int) (100000 / HZ) * (ecat_master->dev->tx_time-k))
- / (current_cpu_data.loops_per_jiffy / 10);
+ / (current_cpu_data.loops_per_jiffy / 10);
ecat_rx_delay = ((unsigned int) (100000 / HZ) * (ecat_master->dev->rx_time-k))
- / (current_cpu_data.loops_per_jiffy / 10);
-
+ / (current_cpu_data.loops_per_jiffy / 10);
+
rx_intr = ecat_master->dev->rx_intr_cnt;
tx_intr = ecat_master->dev->tx_intr_cnt;
total_intr = ecat_master->dev->intr_cnt;
@@ -145,6 +167,8 @@
// Prozessdaten lesen
if (!firstrun)
{
+ klemme = next2004(&wrap);
+
EtherCAT_read_process_data(ecat_master);
// Daten lesen und skalieren
@@ -152,11 +176,13 @@
dig1 = EtherCAT_read_value(&ecat_master->slaves[3], 0);
}
+#if 0
// Daten schreiben
EtherCAT_write_value(&ecat_master->slaves[4], 0, ms > 500 ? 1 : 0);
EtherCAT_write_value(&ecat_master->slaves[4], 1, ms > 500 ? 0 : 1);
EtherCAT_write_value(&ecat_master->slaves[4], 2, ms > 500 ? 0 : 1);
EtherCAT_write_value(&ecat_master->slaves[4], 3, ms > 500 ? 1 : 0);
+#endif
if (cnt++ > 20)
{
@@ -168,7 +194,7 @@
klemme = next2004(&wrap);
if (wrap == 1)
- {
+ {
if (up_down == 1) up_down = 0;
else up_down = 1;
}
@@ -177,15 +203,29 @@
if (klemme >= 0)
EtherCAT_write_value(&ecat_master->slaves[klemme], kanal,up_down);
-
- //EtherCAT_write_value(&ecat_master->slaves[13], 1, ms > 500 ? 0 : 1);
- //EtherCAT_write_value(&ecat_master->slaves[14], 2, ms > 500 ? 0 : 1);
- //EtherCAT_write_value(&ecat_master->slaves[15], 3, ms > 500 ? 1 : 0);
-
+
+#if 0
+ EtherCAT_write_value(&ecat_master->slaves[13], 1, ms > 500 ? 0 : 1);
+ EtherCAT_write_value(&ecat_master->slaves[14], 2, ms > 500 ? 0 : 1);
+ EtherCAT_write_value(&ecat_master->slaves[15], 3, ms > 500 ? 1 : 0);
+#endif
+
// Prozessdaten schreiben
rdtscl(k);
EtherCAT_write_process_data(ecat_master);
firstrun = 0;
+#endif
+
+ if (data->queue)
+ {
+ // Neu in die Taskqueue eintragen
+ queue_task(&cyclic_task, data->queue);
+ }
+ else
+ {
+ //last_queue_finished = 0;
+ complete(&on_exit);
+ }
}
#endif
@@ -195,10 +235,8 @@
*
******************************************************************************/
-//#define ECAT_OPEN
-
int init()
-{
+{
#ifdef ECAT_OPEN
int rv = -1;
#endif
@@ -219,14 +257,13 @@
}
if (!rtl_ecat_dev.dev) // Es gibt kein EtherCAT-Device
- {
+ {
EC_DBG(KERN_ERR "msr_modul: No EtherCAT device!\n");
goto out_close;
}
#endif
-#if 0
- // EtherCAT-Master und Slaves initialisieren
+#ifdef ECAT_MASTER
EC_DBG("Initialising EtherCAT master\n");
if ((ecat_master = (EtherCAT_master_t *) kmalloc(sizeof(EtherCAT_master_t), GFP_KERNEL)) == 0)
@@ -240,9 +277,11 @@
EC_DBG(KERN_ERR "EtherCAT could not init master!\n");
goto out_master;
}
-#endif
-
-#if 0
+
+ ecat_master->debug_level = 1;
+#endif
+
+#ifdef ECAT_SLAVES
EC_DBG("Checking EtherCAT slaves.\n");
if (EtherCAT_check_slaves(ecat_master, ecat_slaves, ECAT_SLAVES_COUNT) != 0)
@@ -258,12 +297,15 @@
EC_DBG(KERN_ERR "EtherCAT: Could not activate slaves!\n");
goto out_masterclear;
}
-
- // Zyklischen Aufruf starten
-
+#endif
+
+#ifdef ECAT_CYCLIC_DATA
EC_DBG("Starting cyclic sample thread.\n");
- EtherCAT_write_process_data(ecat_master);
+ cyclic_task.routine = run;
+ cyclic_task.data = (void *) &cyclic_data;
+ cyclic_data.queue = &tq_timer;
+ queue_task(&cyclic_task, &tq_timer);
EC_DBG("Initialised sample thread.\n");
#endif
@@ -272,13 +314,13 @@
return 0;
-#if 0
+#ifdef ECAT_SLAVES
out_masterclear:
EC_DBG(KERN_INFO "Clearing EtherCAT master.\n");
EtherCAT_master_clear(ecat_master);
#endif
-#if 0
+#ifdef ECAT_MASTER
out_master:
EC_DBG(KERN_INFO "Freeing EtherCAT master.\n");
kfree(ecat_master);
@@ -304,14 +346,18 @@
{
EC_DBG(KERN_INFO "=== Stopping Minimal EtherCAT environment... ===\n");
- // Noch einmal lesen
- //EC_DBG(KERN_INFO "Reading process data.\n");
- //EtherCAT_read_process_data(ecat_master);
-
-#if 0
+#ifdef ECAT_MASTER
if (ecat_master)
{
-#if 0
+ //ecat_master->debug_level = 1;
+
+#ifdef ECAT_CYCLIC_DATA
+ cyclic_data.queue = NULL;
+ wait_for_completion(&on_exit);
+ EtherCAT_clear_process_data(ecat_master);
+#endif
+
+#ifdef ECAT_SLAVES
EC_DBG(KERN_INFO "Deactivating slaves.\n");
EtherCAT_deactivate_all_slaves(ecat_master);
#endif
--- a/rs232dbg/Makefile Fri Nov 04 09:38:50 2005 +0000
+++ b/rs232dbg/Makefile Fri Nov 04 16:47:23 2005 +0000
@@ -1,47 +1,22 @@
-#IgH
-KERNELDIR = /vol/projekte/msr_messen_steuern_regeln/linux/kernel/2.4.20/include/linux-2.4.20.CX1100-rthal5
-RTAIDIR = /vol/projekte/msr_messen_steuern_regeln/linux/kernel/2.4.20/include/rtai-24.1.13
-RTLIBDIR = rt_lib
-#euler-nottuln
-#KERNELDIR = /usr/src/linux
-#RTAIDIR = /usr/src/rtai
+MSRDIR = /vol/projekte/msr_messen_steuern_regeln
+ECATDIR = $(MSRDIR)/ethercat
-#patra
-#KERNELDIR = /usr/src/linux-2.4.20.CX1100-rthal5
-#RTAIDIR = /usr/src/rtai-24.1.13
+KERNELDIR = $(ECATDIR)/linux-2.4.20.CX1100-rthal5-kdb
+RTAIDIR = $(MSRDIR)/linux/kernel/2.4.20/include/rtai-24.1.13
-RTLIBDIR=rt_lib
-
-#include $(KERNELDIR)/.config
-
-#CFLAGS = -DRTAI -D__KERNEL__ -DMODULE -I$(KERNELDIR)/include -I$(RTAIDIR)/include -I$(RTLIBDIR)/msr-include \
-# -Wall -Wstrict-prototypes -Wno-trigraphs -O2 -fno-strict-aliasing -fno-common -fomit-frame-pointer \
-# -pipe -mpreferred-stack-boundary=2 -march=i686 -nostdinc -iwithprefix include
-
-CFLAGS = -O2 -Wall -Wuninitialized -D__KERNEL__ -DMODULE -I$(KERNELDIR)/include -D_RTAI -I$(RTAIDIR)/include -I$(RTLIBDIR)/msr-include
-
-#CFLAGS += -DSIMULATION
-#LDFLAGS =
-
-#VPATH = $(RTLIBDIR)/
+CFLAGS = -O2 -Wall -Wuninitialized -D__KERNEL__ -DMODULE \
+ -I$(KERNELDIR)/include -D_RTAI -I$(RTAIDIR)/include -I$(RTLIBDIR)/msr-include
TARGET = sdbg
MODULE = $(TARGET).o
SRC = rs232dbg.c aip_com.c
-#Suchpfad für die Dateien aus dem RT-Lib-Verzeichnis
-VPATH = $(RTLIBDIR)/msr-core:$(RTLIBDIR)/msr-control:$(RTLIBDIR)/msr-math:$(RTLIBDIR)/msr-misc:$(RTLIBDIR)/msr-utils
-
-#Datei aus dem RT-Libverzeichnis für dies Projekt
-RTSRC =
-
-ALLSRC = $(SRC) $(RTSRC)
+ALLSRC = $(SRC)
OBJS = $(ALLSRC:.c=.o)
-
all: .depend $(TARGET).o Makefile
$(TARGET).o: $(SRC:.c=.o) $(RTSRC:.c=.o)
@@ -57,26 +32,6 @@
depend .depend dep:
$(CC) $(CFLAGS) -M *.c > $@
-
-
-
ifeq (.depend,$(wildcard .depend))
include .depend
endif
-
-
-#all: msr_module.o
-#
-#msr_io.o: msr_io.c msr_io.h
-# $(CC) $(CFLAGS) -c -o $@ $<
-#
-#msr_module.o: msr_io.o
-# $(LD) -r -o $@ $^
-#
-
-# $(CC) -c $(CFLAGS) $(CPPFLAGS) -o $@ $<
-
-
-#clean:
-# rm -f *.o *~ core
-
--- a/rs232dbg/aip_com.c Fri Nov 04 09:38:50 2005 +0000
+++ b/rs232dbg/aip_com.c Fri Nov 04 16:47:23 2005 +0000
@@ -810,7 +810,7 @@
//void cleanup_module(void) Hm, IgH
void cleanup_aip_com(void)
{
- int i;
+ unsigned int i;
for (i = 0; i < RT_COM_CNT; i++) {
struct rt_com_struct *p = &(rt_com_table[i]);
if (0 < p->used) {