Applied RTAI interface to RTAI example.
This commit is contained in:
Florian Pose
parent
8979ab6e71
commit
34d4b1639b
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@ -35,6 +35,8 @@ obj-m := ec_rtai_sample.o
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ec_rtai_sample-objs := rtai_sample.o
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EXTRA_CFLAGS := -I/usr/realtime/include
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#------------------------------------------------------------------------------
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else
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@ -1,8 +1,6 @@
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/******************************************************************************
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*
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* m i n i . c
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*
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* Minimal module for EtherCAT.
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* RTAI sample for the IgH EtherCAT master.
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*
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* $Id$
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*
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@ -28,22 +26,26 @@
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#include <linux/module.h>
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#include <linux/delay.h>
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#include <linux/timer.h>
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#include <linux/spinlock.h>
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#include <linux/interrupt.h>
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#include "rtai.h"
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#include "rtai_sched.h"
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#include "rtai_sem.h"
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#include "../../include/ecrt.h" // EtherCAT realtime interface
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#define ASYNC
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#define FREQUENCY 100
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#define TIMERTICKS 1000000
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/*****************************************************************************/
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struct timer_list timer;
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// RTAI
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RT_TASK task;
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SEM master_sem;
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// EtherCAT
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ec_master_t *master = NULL;
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ec_domain_t *domain1 = NULL;
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spinlock_t master_lock = SPIN_LOCK_UNLOCKED;
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// data fields
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//void *r_ssi_input, *r_ssi_status, *r_4102[3];
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@ -60,76 +62,63 @@ ec_field_init_t domain1_fields[] = {
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/*****************************************************************************/
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void run(unsigned long data)
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void run(long data)
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{
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static unsigned int counter = 0;
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spin_lock(&master_lock);
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while (1) {
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rt_sem_wait(&master_sem);
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#ifdef ASYNC
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// receive
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ecrt_master_async_receive(master);
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ecrt_domain_process(domain1);
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// receive
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ecrt_master_async_receive(master);
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ecrt_domain_process(domain1);
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#else
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// send and receive
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ecrt_domain_queue(domain1);
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ecrt_master_run(master);
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ecrt_master_sync_io(master);
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ecrt_domain_process(domain1);
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// send and receive
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ecrt_domain_queue(domain1);
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ecrt_master_run(master);
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ecrt_master_sync_io(master);
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ecrt_domain_process(domain1);
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#endif
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// process data
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//k_pos = EC_READ_U32(r_ssi);
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// process data
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//k_pos = EC_READ_U32(r_ssi);
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#ifdef ASYNC
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// send
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ecrt_domain_queue(domain1);
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ecrt_master_run(master);
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ecrt_master_async_send(master);
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// send
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ecrt_domain_queue(domain1);
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ecrt_master_run(master);
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ecrt_master_async_send(master);
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#endif
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spin_unlock(&master_lock);
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rt_sem_signal(&master_sem);
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if (counter) {
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counter--;
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rt_task_wait_period();
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}
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else {
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counter = FREQUENCY;
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//printk(KERN_INFO "k_pos = %i\n", k_pos);
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//printk(KERN_INFO "k_stat = 0x%02X\n", k_stat);
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}
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// restart timer
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timer.expires += HZ / FREQUENCY;
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add_timer(&timer);
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}
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/*****************************************************************************/
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int request_lock(void *data)
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{
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unsigned int tries = 0;
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while (1) {
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if (spin_trylock(&master_lock)) {
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if (tries) printk(KERN_INFO "lock: %i tries needed.\n", tries);
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return 1;
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}
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tries++;
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}
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rt_sem_wait(&master_sem);
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return 0;
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}
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/*****************************************************************************/
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void release_lock(void *data)
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{
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spin_unlock(&master_lock);
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rt_sem_signal(&master_sem);
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}
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/*****************************************************************************/
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int __init init_mini_module(void)
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int __init init_mod(void)
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{
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printk(KERN_INFO "=== Starting Minimal EtherCAT environment... ===\n");
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RTIME tick_period, requested_ticks, now;
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printk(KERN_INFO "=== Starting EtherCAT RTAI sample module... ===\n");
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rt_sem_init(&master_sem, 1);
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if ((master = ecrt_request_master(0)) == NULL) {
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printk(KERN_ERR "Requesting master 0 failed!\n");
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@ -200,56 +189,71 @@ int __init init_mini_module(void)
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ecrt_master_prepare_async_io(master);
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#endif
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#if 1
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#if 0
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if (ecrt_master_start_eoe(master)) {
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printk(KERN_ERR "Failed to start EoE processing!\n");
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goto out_deactivate;
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}
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#endif
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printk("Starting cyclic sample thread.\n");
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init_timer(&timer);
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timer.function = run;
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timer.expires = jiffies + 10;
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add_timer(&timer);
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printk("Starting cyclic sample thread...\n");
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requested_ticks = nano2count(TIMERTICKS);
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tick_period = start_rt_timer(requested_ticks);
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printk(KERN_INFO "RT timer started with %i/%i ticks.\n",
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(int) tick_period, (int) requested_ticks);
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printk(KERN_INFO "=== Minimal EtherCAT environment started. ===\n");
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if (rt_task_init(&task, run, 0, 2000, 0, 1, NULL)) {
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printk(KERN_ERR "Failed to init RTAI task!\n");
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goto out_stop_timer;
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}
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now = rt_get_time();
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if (rt_task_make_periodic(&task, now + tick_period, tick_period)) {
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printk(KERN_ERR "Failed to run RTAI task!\n");
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goto out_stop_task;
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}
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printk(KERN_INFO "=== EtherCAT RTAI sample module started. ===\n");
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return 0;
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#if 1
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out_stop_task:
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rt_task_delete(&task);
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out_stop_timer:
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stop_rt_timer();
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out_deactivate:
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ecrt_master_deactivate(master);
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#endif
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out_release_master:
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ecrt_release_master(master);
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out_return:
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rt_sem_delete(&master_sem);
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return -1;
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}
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/*****************************************************************************/
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void __exit cleanup_mini_module(void)
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void __exit cleanup_mod(void)
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{
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printk(KERN_INFO "=== Stopping Minimal EtherCAT environment... ===\n");
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printk(KERN_INFO "=== Stopping EtherCAT RTAI sample module... ===\n");
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if (master) {
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del_timer_sync(&timer);
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printk(KERN_INFO "Deactivating master...\n");
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ecrt_master_deactivate(master);
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ecrt_release_master(master);
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}
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printk(KERN_INFO "Stopping RT task...\n");
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rt_task_delete(&task);
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stop_rt_timer();
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printk(KERN_INFO "Deactivating EtherCAT master...\n");
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ecrt_master_deactivate(master);
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ecrt_release_master(master);
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rt_sem_delete(&master_sem);
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printk(KERN_INFO "=== Minimal EtherCAT environment stopped. ===\n");
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printk(KERN_INFO "=== EtherCAT RTAI sample module stopped. ===\n");
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}
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/*****************************************************************************/
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MODULE_LICENSE("GPL");
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MODULE_AUTHOR ("Florian Pose <fp@igh-essen.com>");
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MODULE_DESCRIPTION ("EtherCAT minimal test environment");
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MODULE_DESCRIPTION ("EtherCAT RTAI sample module");
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module_init(init_mini_module);
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module_exit(cleanup_mini_module);
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module_init(init_mod);
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module_exit(cleanup_mod);
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/*****************************************************************************/
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