bkinnightskytw
/
ethercat
mirror of https://gitlab.com/bkinnightskytw/ethercat.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Neue Schnittstellen in Mini übertragen.

This commit is contained in:
Florian Pose 2006-01-26 11:06:56 +00:00
parent 1a78254c0d
commit 152b545aaa
1 changed files with 23 additions and 42 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

65
mini/mini.c
View File

@ -13,17 +13,12 @@
#include <linux/timer.h>
#include "../include/EtherCAT_rt.h"
/*****************************************************************************/
// Auskommentieren, wenn keine zyklischen Daten erwuenscht
#define ECAT_CYCLIC_DATA
#include "../include/EtherCAT_si.h"
/*****************************************************************************/
ec_master_t *master = NULL;
#ifdef ECAT_CYCLIC_DATA
ec_slave_t *s_in, *s_out;
int value;
int dig1;
@ -31,31 +26,28 @@ int dig1;
struct timer_list timer;
unsigned long last_start_jiffies;
#endif // ECAT_CYCLIC_DATA
/*****************************************************************************/
/******************************************************************************
*
* Function: run
*
* Beschreibung: Zyklischer Prozess
*
*****************************************************************************/
#ifdef ECAT_CYCLIC_DATA
static void run(unsigned long data)
int __init check_slaves(void)
{
static int ms = 0;
s_in = EtherCAT_rt_register_slave(master, 1, "Beckhoff", "EL3102", 1);
s_out = EtherCAT_rt_register_slave(master, 9, "Beckhoff", "EL2004", 1);
return s_in && s_out;
}
/*****************************************************************************/
void run(unsigned long data)
{
static int ms = 0;
static unsigned long int k = 0;
static int firstrun = 1;
ms++;
ms %= 1000;
#if 0
if (klemme >= 0)
EtherCAT_write_value(&ecat_slaves[klemme], kanal, up_down);
#endif
EC_WRITE_EL20XX(s_out, 3, EC_READ_EL31XX(s_in, 0) < 0);
// Prozessdaten lesen und schreiben
rdtscl(k);
@ -66,13 +58,7 @@ static void run(unsigned long data)
add_timer(&timer);
}
#endif // ECAT_CYCLIC_DATA
/******************************************************************************
*
* Function: init
*
*****************************************************************************/
/*****************************************************************************/
int __init init_mini_module(void)
{
@ -83,7 +69,10 @@ int __init init_mini_module(void)
goto out_return;
}
//check_slaves();
if (!check_slaves()) {
printk(KERN_ERR "Could not register slaves!\n");
goto out_release_master;
}
printk("Activating all EtherCAT slaves.\n");
@ -92,19 +81,17 @@ int __init init_mini_module(void)
goto out_release_master;
}
#ifdef ECAT_CYCLIC_DATA
printk("Starting cyclic sample thread.\n");
init_timer(&timer);
timer.function = run;
timer.data = 0;
timer.expires = jiffies+10; // Das erste Mal sofort feuern
timer.expires = jiffies + 10; // Das erste Mal sofort feuern
last_start_jiffies = timer.expires;
add_timer(&timer);
printk("Initialised sample thread.\n");
#endif
printk(KERN_INFO "=== Minimal EtherCAT environment started. ===\n");
@ -117,11 +104,7 @@ int __init init_mini_module(void)
return -1;
}
/******************************************************************************
*
* Function: cleanup
*
*****************************************************************************/
/*****************************************************************************/
void __exit cleanup_mini_module(void)
{
@ -129,9 +112,7 @@ void __exit cleanup_mini_module(void)
if (master)
{
#ifdef ECAT_CYCLIC_DATA
del_timer_sync(&timer);
#endif // ECAT_CYCLIC_DATA
printk(KERN_INFO "Deactivating slaves.\n");