--- a/Kbuild Thu May 03 14:29:21 2007 +0000
+++ b/Kbuild Wed Jun 06 17:02:38 2007 +0000
@@ -31,6 +31,6 @@
#
#------------------------------------------------------------------------------
-obj-m := master/ devices/
+obj-m := master/ devices/ dummy/
#------------------------------------------------------------------------------
--- a/Makefile.am Thu May 03 14:29:21 2007 +0000
+++ b/Makefile.am Wed Jun 06 17:02:38 2007 +0000
@@ -31,9 +31,9 @@
#
#------------------------------------------------------------------------------
-SUBDIRS = master devices script include
+SUBDIRS = master devices script include dummy
-DIST_SUBDIRS = master devices script include examples
+DIST_SUBDIRS = master devices script include examples dummy
EXTRA_DIST = \
Doxyfile \
@@ -47,6 +47,7 @@
modules_install:
$(MAKE) -C master modules_install
$(MAKE) -C devices modules_install
+ $(MAKE) -C dummy modules_install
clean-local:
$(MAKE) -C "$(LINUX_SOURCE_DIR)" M="@abs_srcdir@" clean
--- a/NEWS Thu May 03 14:29:21 2007 +0000
+++ b/NEWS Wed Jun 06 17:02:38 2007 +0000
@@ -43,6 +43,7 @@
state machine.
* Master state machine scheduled with timeout if idle, otherwise is executed
as fast as possible (with schedule()).
+* Added dummy module for simulation purpuses.
* Removed EtherCAT line comments from 8139too drivers.
-------------------------------------------------------------------------------
--- a/configure.ac Thu May 03 14:29:21 2007 +0000
+++ b/configure.ac Wed Jun 06 17:02:38 2007 +0000
@@ -347,6 +347,7 @@
examples/mini/Makefile
examples/rtai/Makefile
examples/msr/Makefile
+ dummy/Makefile
])
AC_OUTPUT
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/dummy/Kbuild Wed Jun 06 17:02:38 2007 +0000
@@ -0,0 +1,48 @@
+#------------------------------------------------------------------------------
+#
+# $Id: Kbuild 844 2007-03-08 18:15:25Z fp $
+#
+# 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; either version 2 of the
+# License, or (at your option) any later version.
+#
+# 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
+#
+# The right to use EtherCAT Technology is granted and comes free of
+# charge under condition of compatibility of product made by
+# Licensee. People intending to distribute/sell products based on the
+# code, have to sign an agreement to guarantee that products using
+# software based on IgH EtherCAT master stay compatible with the actual
+# EtherCAT specification (which are released themselves as an open
+# standard) as the (only) precondition to have the right to use EtherCAT
+# Technology, IP and trade marks.
+#
+#------------------------------------------------------------------------------
+
+include $(src)/../config.kbuild
+
+obj-m := ec_dummy.o
+
+ec_dummy-objs := module.o master.o slave.o domain.o
+
+REV := $(shell if test -s $(src)/../svnrevision; then \
+ cat $(src)/../svnrevision; \
+ else \
+ svnversion $(src) 2>/dev/null || echo "unknown"; \
+ fi)
+
+CFLAGS_dummy.o := -DSVNREV=$(REV)
+
+#------------------------------------------------------------------------------
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/dummy/Makefile.am Wed Jun 06 17:02:38 2007 +0000
@@ -0,0 +1,51 @@
+#------------------------------------------------------------------------------
+#
+# $Id$
+#
+# 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; either version 2 of the
+# License, or (at your option) any later version.
+#
+# 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
+#
+# The right to use EtherCAT Technology is granted and comes free of
+# charge under condition of compatibility of product made by
+# Licensee. People intending to distribute/sell products based on the
+# code, have to sign an agreement to guarantee that products using
+# software based on IgH EtherCAT master stay compatible with the actual
+# EtherCAT specification (which are released themselves as an open
+# standard) as the (only) precondition to have the right to use EtherCAT
+# Technology, IP and trade marks.
+#
+#------------------------------------------------------------------------------
+
+EXTRA_DIST = \
+ Kbuild \
+ module.c \
+ master.c \
+ slave.c \
+ domain.c
+
+modules:
+ $(MAKE) -C "$(LINUX_SOURCE_DIR)" M="@abs_top_srcdir@" modules
+
+modules_install:
+ mkdir -p $(DESTDIR)$(LINUX_MOD_PATH)
+ cp $(srcdir)/ec_dummy.ko $(DESTDIR)$(LINUX_MOD_PATH)
+
+clean-local:
+ $(MAKE) -C "$(LINUX_SOURCE_DIR)" M="@abs_srcdir@" clean
+
+#------------------------------------------------------------------------------
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/dummy/domain.c Wed Jun 06 17:02:38 2007 +0000
@@ -0,0 +1,157 @@
+/******************************************************************************
+ *
+ * $Id$
+ *
+ * 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; either version 2 of the
+ * License, or (at your option) any later version.
+ *
+ * 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
+ *
+ * The right to use EtherCAT Technology is granted and comes free of
+ * charge under condition of compatibility of product made by
+ * Licensee. People intending to distribute/sell products based on the
+ * code, have to sign an agreement to guarantee that products using
+ * software based on IgH EtherCAT master stay compatible with the actual
+ * EtherCAT specification (which are released themselves as an open
+ * standard) as the (only) precondition to have the right to use EtherCAT
+ * Technology, IP and trade marks.
+ *
+ *****************************************************************************/
+
+/**
+ \file
+ EtherCAT DUMMY domain methods.
+*/
+
+/*****************************************************************************/
+
+#include "../master/globals.h"
+#include "../master/domain.h"
+#include "../master/master.h"
+
+/*****************************************************************************/
+
+uint8_t dummy_data[PAGE_SIZE];
+
+/*****************************************************************************/
+
+/** \cond */
+
+int ecrt_domain_register_pdo(
+ ec_domain_t *domain, /**< EtherCAT domain */
+ ec_slave_t *slave, /**< EtherCAT slave */
+ uint16_t pdo_entry_index, /**< PDO entry index */
+ uint8_t pdo_entry_subindex, /**< PDO entry subindex */
+ void **data_ptr /**< address of the process data pointer */
+ )
+{
+ *data_ptr = dummy_data;
+ return 0;
+}
+
+/*****************************************************************************/
+
+/**
+ * Registers a bunch of data fields.
+ * \attention The list has to be terminated with a NULL structure ({})!
+ * \return 0 in case of success, else < 0
+ * \ingroup RealtimeInterface
+ */
+
+int ecrt_domain_register_pdo_list(
+ ec_domain_t *domain, /**< EtherCAT domain */
+ const ec_pdo_reg_t *pdo_regs /**< array of PDO registrations */
+ )
+{
+ const ec_pdo_reg_t *reg;
+
+ for (reg = pdo_regs; reg->slave_address; reg++) {
+ *(reg->data_ptr) = dummy_data;
+ }
+
+ return 0;
+}
+
+/*****************************************************************************/
+
+/**
+ * Registers a PDO range in a domain.
+ * \return 0 on success, else non-zero
+ * \ingroup RealtimeInterface
+ */
+
+int ecrt_domain_register_pdo_range(
+ ec_domain_t *domain, /**< EtherCAT domain */
+ ec_slave_t *slave, /**< EtherCAT slave */
+ ec_direction_t dir, /**< data direction */
+ uint16_t offset, /**< offset in slave's PDO range */
+ uint16_t length, /**< length of this range */
+ void **data_ptr /**< address of the process data pointer */
+ )
+{
+ *data_ptr = dummy_data;
+ return 0;
+}
+
+/*****************************************************************************/
+
+/**
+ Processes received process data and requeues the domain datagram(s).
+ \ingroup RealtimeInterface
+*/
+
+void ecrt_domain_process(ec_domain_t *domain /**< EtherCAT domain */)
+{
+}
+
+/*****************************************************************************/
+
+/**
+ Places all process data datagrams in the masters datagram queue.
+ \ingroup RealtimeInterface
+*/
+
+void ecrt_domain_queue(ec_domain_t *domain /**< EtherCAT domain */)
+{
+}
+
+/*****************************************************************************/
+
+/**
+ Returns the state of a domain.
+ \return 0 if all datagrams were received, else -1.
+ \ingroup RealtimeInterface
+*/
+
+int ecrt_domain_state(const ec_domain_t *domain /**< EtherCAT domain */)
+{
+ return 0;
+}
+
+/*****************************************************************************/
+
+/** \cond */
+
+EXPORT_SYMBOL(ecrt_domain_register_pdo);
+EXPORT_SYMBOL(ecrt_domain_register_pdo_list);
+EXPORT_SYMBOL(ecrt_domain_register_pdo_range);
+EXPORT_SYMBOL(ecrt_domain_process);
+EXPORT_SYMBOL(ecrt_domain_queue);
+EXPORT_SYMBOL(ecrt_domain_state);
+
+/** \endcond */
+
+/*****************************************************************************/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/dummy/master.c Wed Jun 06 17:02:38 2007 +0000
@@ -0,0 +1,119 @@
+/******************************************************************************
+ *
+ * $Id$
+ *
+ * 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; either version 2 of the
+ * License, or (at your option) any later version.
+ *
+ * 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
+ *
+ * The right to use EtherCAT Technology is granted and comes free of
+ * charge under condition of compatibility of product made by
+ * Licensee. People intending to distribute/sell products based on the
+ * code, have to sign an agreement to guarantee that products using
+ * software based on IgH EtherCAT master stay compatible with the actual
+ * EtherCAT specification (which are released themselves as an open
+ * standard) as the (only) precondition to have the right to use EtherCAT
+ * Technology, IP and trade marks.
+ *
+ *****************************************************************************/
+
+/**
+ \file
+ EtherCAT DUMMY master methods.
+*/
+
+/*****************************************************************************/
+
+#include "../include/ecrt.h"
+#include "../master/master.h"
+
+/******************************************************************************
+ * Realtime interface
+ *****************************************************************************/
+
+/** \cond */
+
+ec_domain_t *ecrt_master_create_domain(ec_master_t *master)
+{
+ return (ec_domain_t *) 1;
+}
+
+/*****************************************************************************/
+
+int ecrt_master_activate(ec_master_t *master)
+{
+ return 0;
+}
+
+/*****************************************************************************/
+
+void ecrt_master_send(ec_master_t *master)
+{
+}
+
+/*****************************************************************************/
+
+void ecrt_master_receive(ec_master_t *master)
+{
+}
+
+/*****************************************************************************/
+
+ec_slave_t *ecrt_master_get_slave(
+ const ec_master_t *master,
+ const char *address,
+ uint32_t v,
+ uint32_t p
+ )
+{
+ return (ec_slave_t *) 1;
+}
+
+/*****************************************************************************/
+
+void ecrt_master_callbacks(ec_master_t *m,
+ int (*q)(void *),
+ void (*l)(void *),
+ void *u
+ )
+{
+}
+
+/*****************************************************************************/
+
+void ecrt_master_get_status(const ec_master_t *master, /**< EtherCAT master */
+ ec_master_status_t *status /**< target status object */
+ )
+{
+ status->bus_status = EC_BUS_OK;
+ status->bus_tainted = 0;
+ status->slaves_responding = 999;
+}
+
+/*****************************************************************************/
+
+EXPORT_SYMBOL(ecrt_master_create_domain);
+EXPORT_SYMBOL(ecrt_master_activate);
+EXPORT_SYMBOL(ecrt_master_send);
+EXPORT_SYMBOL(ecrt_master_receive);
+EXPORT_SYMBOL(ecrt_master_callbacks);
+EXPORT_SYMBOL(ecrt_master_get_slave);
+EXPORT_SYMBOL(ecrt_master_get_status);
+
+/** \endcond */
+
+/*****************************************************************************/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/dummy/module.c Wed Jun 06 17:02:38 2007 +0000
@@ -0,0 +1,136 @@
+/******************************************************************************
+ *
+ * $Id$
+ *
+ * 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; either version 2 of the
+ * License, or (at your option) any later version.
+ *
+ * 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
+ *
+ * The right to use EtherCAT Technology is granted and comes free of
+ * charge under condition of compatibility of product made by
+ * Licensee. People intending to distribute/sell products based on the
+ * code, have to sign an agreement to guarantee that products using
+ * software based on IgH EtherCAT master stay compatible with the actual
+ * EtherCAT specification (which are released themselves as an open
+ * standard) as the (only) precondition to have the right to use EtherCAT
+ * Technology, IP and trade marks.
+ *
+ *****************************************************************************/
+
+/**
+ \file
+ Dummy EtherCAT master driver module.
+*/
+
+/*****************************************************************************/
+
+#include <linux/module.h>
+//#include <linux/kernel.h>
+//#include <linux/init.h>
+
+#include "../master/globals.h"
+#include "../include/ecrt.h"
+
+/*****************************************************************************/
+
+int __init ec_init_module(void);
+void __exit ec_cleanup_module(void);
+
+char *ec_master_version_str = EC_MASTER_VERSION;
+
+/*****************************************************************************/
+
+/** \cond */
+
+MODULE_AUTHOR("Florian Pose <fp@igh-essen.com>");
+MODULE_DESCRIPTION("DUMMY EtherCAT master driver module");
+MODULE_LICENSE("GPL");
+MODULE_VERSION(EC_MASTER_VERSION);
+
+/** \endcond */
+
+/*****************************************************************************/
+
+/**
+ * Module initialization.
+ * Initializes \a ec_master_count masters.
+ * \return 0 on success, else < 0
+ */
+
+int __init ec_init_module(void)
+{
+ EC_INFO("Master DUMMY driver %s\n", EC_MASTER_VERSION);
+ return 0;
+}
+
+/*****************************************************************************/
+
+/**
+ Module cleanup.
+ Clears all master instances.
+*/
+
+void __exit ec_cleanup_module(void)
+{
+ EC_INFO("Master DUMMY module cleaned up.\n");
+}
+
+/******************************************************************************
+ * Realtime interface
+ *****************************************************************************/
+
+unsigned int ecrt_version_magic(void)
+{
+ return ECRT_VERSION_MAGIC;
+}
+
+/*****************************************************************************/
+
+ec_master_t *ecrt_request_master(unsigned int master_index
+ /**< master index */
+ )
+{
+ EC_INFO("Requesting DUMMY master %u...\n", master_index);
+ return (void *) master_index + 1;
+}
+
+/*****************************************************************************/
+
+/**
+ Releases a reserved EtherCAT master.
+ \ingroup RealtimeInterface
+*/
+
+void ecrt_release_master(ec_master_t *master /**< EtherCAT master */)
+{
+ EC_INFO("Released DUMMY master %u.\n", (unsigned int) master - 1);
+}
+
+/*****************************************************************************/
+
+/** \cond */
+
+module_init(ec_init_module);
+module_exit(ec_cleanup_module);
+
+EXPORT_SYMBOL(ecrt_request_master);
+EXPORT_SYMBOL(ecrt_release_master);
+EXPORT_SYMBOL(ecrt_version_magic);
+
+/** \endcond */
+
+/*****************************************************************************/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/dummy/slave.c Wed Jun 06 17:02:38 2007 +0000
@@ -0,0 +1,134 @@
+/******************************************************************************
+ *
+ * $Id$
+ *
+ * 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; either version 2 of the
+ * License, or (at your option) any later version.
+ *
+ * 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
+ *
+ * The right to use EtherCAT Technology is granted and comes free of
+ * charge under condition of compatibility of product made by
+ * Licensee. People intending to distribute/sell products based on the
+ * code, have to sign an agreement to guarantee that products using
+ * software based on IgH EtherCAT master stay compatible with the actual
+ * EtherCAT specification (which are released themselves as an open
+ * standard) as the (only) precondition to have the right to use EtherCAT
+ * Technology, IP and trade marks.
+ *
+ *****************************************************************************/
+
+/**
+ \file
+ EtherCAT DUMMY slave methods.
+*/
+
+/*****************************************************************************/
+
+#include "../include/ecrt.h"
+#include "../master/master.h"
+#include "../master/slave.h"
+
+/*****************************************************************************/
+
+/** \cond */
+
+int ecrt_slave_conf_sdo8(ec_slave_t *slave, /**< EtherCAT slave */
+ uint16_t sdo_index, /**< SDO index */
+ uint8_t sdo_subindex, /**< SDO subindex */
+ uint8_t value /**< new SDO value */
+ )
+{
+ return 0;
+}
+
+/*****************************************************************************/
+
+/**
+ \return 0 in case of success, else < 0
+ \ingroup RealtimeInterface
+*/
+
+int ecrt_slave_conf_sdo16(ec_slave_t *slave, /**< EtherCAT slave */
+ uint16_t sdo_index, /**< SDO index */
+ uint8_t sdo_subindex, /**< SDO subindex */
+ uint16_t value /**< new SDO value */
+ )
+{
+ return 0;
+}
+
+/*****************************************************************************/
+
+/**
+ \return 0 in case of success, else < 0
+ \ingroup RealtimeInterface
+*/
+
+int ecrt_slave_conf_sdo32(ec_slave_t *slave, /**< EtherCAT slave */
+ uint16_t sdo_index, /**< SDO index */
+ uint8_t sdo_subindex, /**< SDO subindex */
+ uint32_t value /**< new SDO value */
+ )
+{
+ return 0;
+}
+
+/*****************************************************************************/
+
+void ecrt_slave_pdo_mapping_clear(
+ ec_slave_t *slave, /**< EtherCAT slave */
+ ec_direction_t dir /**< output/input */
+ )
+{
+}
+
+/*****************************************************************************/
+
+int ecrt_slave_pdo_mapping_add(
+ ec_slave_t *slave, /**< EtherCAT slave */
+ ec_direction_t dir, /**< input/output */
+ uint16_t pdo_index /**< Index of PDO mapping list */)
+{
+ return 0;
+}
+
+/*****************************************************************************/
+
+int ecrt_slave_pdo_mapping(ec_slave_t *slave, /**< EtherCAT slave */
+ ec_direction_t dir, /**< input/output */
+ unsigned int num_args, /**< Number of following arguments */
+ ... /**< PDO indices to map */
+ )
+{
+ return 0;
+}
+
+
+/*****************************************************************************/
+
+/** \cond */
+
+EXPORT_SYMBOL(ecrt_slave_conf_sdo8);
+EXPORT_SYMBOL(ecrt_slave_conf_sdo16);
+EXPORT_SYMBOL(ecrt_slave_conf_sdo32);
+EXPORT_SYMBOL(ecrt_slave_pdo_mapping_clear);
+EXPORT_SYMBOL(ecrt_slave_pdo_mapping_add);
+EXPORT_SYMBOL(ecrt_slave_pdo_mapping);
+
+/** \endcond */
+
+/*****************************************************************************/