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- restored examples/user/ 

- removed /devices/ccat/COPYING
- replaced DRV_NAME with KBUILD_MODNAME
This commit is contained in:
Patrick Bruenn 2014-05-06 17:23:33 +02:00
parent c74e80e39b
commit 682b891bd0
7 changed files with 173 additions and 463 deletions
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339
devices/ccat/COPYING
View File

@ -1,339 +0,0 @@
GNU GENERAL PUBLIC LICENSE
Version 2, June 1991
Copyright (C) 1989, 1991 Free Software Foundation, Inc.,
51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
Everyone is permitted to copy and distribute verbatim copies
of this license document, but changing it is not allowed.
Preamble
The licenses for most software are designed to take away your
freedom to share and change it. By contrast, the GNU General Public
License is intended to guarantee your freedom to share and change free
software--to make sure the software is free for all its users. This
General Public License applies to most of the Free Software
Foundation's software and to any other program whose authors commit to
using it. (Some other Free Software Foundation software is covered by
the GNU Lesser General Public License instead.) You can apply it to
your programs, too.
When we speak of free software, we are referring to freedom, not
price. Our General Public Licenses are designed to make sure that you
have the freedom to distribute copies of free software (and charge for
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To protect your rights, we need to make restrictions that forbid
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We protect your rights with two steps: (1) copyright the software, and
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The precise terms and conditions for copying, distribution and
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GNU GENERAL PUBLIC LICENSE
TERMS AND CONDITIONS FOR COPYING, DISTRIBUTION AND MODIFICATION
0. This License applies to any program or other work which contains
a notice placed by the copyright holder saying it may be distributed
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either verbatim or with modifications and/or translated into another
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the term "modification".) Each licensee is addressed as "you".
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may add an explicit geographical distribution limitation excluding
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NO WARRANTY
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FOR THE PROGRAM, TO THE EXTENT PERMITTED BY APPLICABLE LAW. EXCEPT WHEN
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POSSIBILITY OF SUCH DAMAGES.
END OF TERMS AND CONDITIONS
How to Apply These Terms to Your New Programs
If you develop a new program, and you want it to be of the greatest
possible use to the public, the best way to achieve this is to make it
free software which everyone can redistribute and change under these terms.
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to attach them to the start of each source file to most effectively
convey the exclusion of warranty; and each file should have at least
the "copyright" line and a pointer to where the full notice is found.
<one line to give the program's name and a brief idea of what it does.>
Copyright (C) <year> <name of author>
This program 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.
This program 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 this program; if not, write to the Free Software Foundation, Inc.,
51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
Also add information on how to contact you by electronic and paper mail.
If the program is interactive, make it output a short notice like this
when it starts in an interactive mode:
Gnomovision version 69, Copyright (C) year name of author
Gnomovision comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
This is free software, and you are welcome to redistribute it
under certain conditions; type `show c' for details.
The hypothetical commands `show w' and `show c' should show the appropriate
parts of the General Public License. Of course, the commands you use may
be called something other than `show w' and `show c'; they could even be
mouse-clicks or menu items--whatever suits your program.
You should also get your employer (if you work as a programmer) or your
school, if any, to sign a "copyright disclaimer" for the program, if
necessary. Here is a sample; alter the names:
Yoyodyne, Inc., hereby disclaims all copyright interest in the program
`Gnomovision' (which makes passes at compilers) written by James Hacker.
<signature of Ty Coon>, 1 April 1989
Ty Coon, President of Vice
This General Public License does not permit incorporating your program into
proprietary programs. If your program is a subroutine library, you may
consider it more useful to permit linking proprietary applications with the
library. If this is what you want to do, use the GNU Lesser General
Public License instead of this License.

1
devices/ccat/Makefile.am
View File

@ -28,7 +28,6 @@
#------------------------------------------------------------------------------
EXTRA_DIST = \
COPYING \
Kbuild.in \
module.h \
netdev.h \

6
devices/ccat/module.c
View File

@ -66,7 +66,7 @@ static int ccat_bar_init(struct ccat_bar *bar, size_t index,
return -EIO;
}
res = request_mem_region(bar->start, bar->len, DRV_NAME);
res = request_mem_region(bar->start, bar->len, KBUILD_MODNAME);
if (!res) {
pr_info("allocate mem_region failed.\n");
return -EIO;
@ -127,7 +127,7 @@ int ccat_dma_init(struct ccat_dma *const dma, size_t channel,
return -1;
}
if (request_dma(channel, DRV_NAME)) {
if (request_dma(channel, KBUILD_MODNAME)) {
pr_info("request dma channel %llu failed\n",
(uint64_t) channel);
ccat_dma_free(dma);
@ -283,7 +283,7 @@ static const struct pci_device_id pci_ids[] = {
MODULE_DEVICE_TABLE(pci, pci_ids);
static struct pci_driver pci_driver = {
.name = DRV_NAME,
.name = KBUILD_MODNAME,
.id_table = pci_ids,
.probe = ccat_probe,
.remove = ccat_remove,

3
devices/ccat/module.h
View File

@ -27,9 +27,8 @@
#include "CCatDefinitions.h"
#include "../ecdev.h"
#define DRV_NAME "ec_ccat"
#define DRV_EXTRAVERSION "-ec"
#define DRV_VERSION "0.8" DRV_EXTRAVERSION
#define DRV_VERSION "0.9" DRV_EXTRAVERSION
#define DRV_DESCRIPTION "Beckhoff CCAT Ethernet/EtherCAT Network Driver"
#undef pr_fmt

6
devices/ccat/netdev.c
View File

@ -344,8 +344,8 @@ struct ccat_eth_priv *ccat_eth_init(const struct ccat_device *const ccatdev,
return NULL;
}
pr_info("registered %s as network device.\n", netdev->name);
priv->rx_thread = kthread_run(run_rx_thread, netdev, "%s_rx", DRV_NAME);
priv->tx_thread = kthread_run(run_tx_thread, netdev, "%s_tx", DRV_NAME);
priv->rx_thread = kthread_run(run_rx_thread, netdev, "%s_rx", KBUILD_MODNAME);
priv->tx_thread = kthread_run(run_tx_thread, netdev, "%s_tx", KBUILD_MODNAME);
return priv;
}
@ -368,7 +368,7 @@ static int ccat_eth_open(struct net_device *dev)
struct ccat_eth_priv *const priv = netdev_priv(dev);
priv->carrier_off(dev);
priv->poll_thread =
kthread_run(run_poll_thread, dev, "%s_poll", DRV_NAME);
kthread_run(run_poll_thread, dev, "%s_poll", KBUILD_MODNAME);
//TODO
return 0;

2
devices/ccat/update.c
View File

@ -402,7 +402,7 @@ struct ccat_update *ccat_update_init(const struct ccat_device *const ccatdev,
goto cleanup;
}
if (alloc_chrdev_region(&update->dev, 0, 1, DRV_NAME)) {
if (alloc_chrdev_region(&update->dev, 0, 1, KBUILD_MODNAME)) {
pr_warn("alloc_chrdev_region() failed\n");
goto cleanup;
}

279
examples/user/main.c
View File

@ -44,7 +44,11 @@
// Application parameters
#define FREQUENCY 100
#define PRIORITY 0
#define PRIORITY 1
// Optional features
#define CONFIGURE_PDOS 1
#define SDO_ACCESS 0
/****************************************************************************/
@ -67,82 +71,107 @@ static unsigned int user_alarms = 0;
// process data
static uint8_t *domain1_pd = NULL;
#define BusCouplerPos 0, 3
#define DigOutSlavePos 0, 0
#define BusCouplerPos 0, 0
#define DigOutSlavePos 0, 2
#define AnaInSlavePos 0, 3
#define AnaOutSlavePos 0, 4
//#define Beckhoff_EK1100 0x00000002, 0x044c2c52
#define Beckhoff_EK1100 0x00000002, 0x04562c52
#define Beckhoff_EL1008 0x00000002, 0x03f03052
#define Beckhoff_EK1100 0x00000002, 0x044c2c52
#define Beckhoff_EL2004 0x00000002, 0x07d43052
#define Beckhoff_EL2008 0x00000002, 0x07d83052
#define Beckhoff_EL2032 0x00000002, 0x07f03052
#define Beckhoff_EL3152 0x00000002, 0x0c503052
#define Beckhoff_EL3102 0x00000002, 0x0c1e3052
#define Beckhoff_EL4102 0x00000002, 0x10063052
// offsets for PDO entries
static unsigned int off_dig_in[1];
static unsigned int off_dig_out[2];
static unsigned int off_ana_in_status;
static unsigned int off_ana_in_value;
static unsigned int off_ana_out;
static unsigned int off_dig_out;
const static ec_pdo_entry_reg_t domain1_regs[] = {
{AnaInSlavePos, Beckhoff_EL3102, 0x3101, 1, &off_ana_in_status},
{AnaInSlavePos, Beckhoff_EL3102, 0x3101, 2, &off_ana_in_value},
{AnaOutSlavePos, Beckhoff_EL4102, 0x3001, 1, &off_ana_out},
{DigOutSlavePos, Beckhoff_EL2032, 0x3001, 1, &off_dig_out},
{}
};
static unsigned int counter = 0;
static unsigned int blink = 0;
/*****************************************************************************/
// Digital in ------------------------
static ec_pdo_entry_info_t el1008_channels[] = {
{0x6000, 1, 1},
{0x6010, 1, 1},
{0x6020, 1, 1},
{0x6030, 1, 1},
{0x6040, 1, 1},
{0x6050, 1, 1},
{0x6060, 1, 1},
{0x6070, 1, 1},
#if CONFIGURE_PDOS
// Analog in --------------------------
static ec_pdo_entry_info_t el3102_pdo_entries[] = {
{0x3101, 1, 8}, // channel 1 status
{0x3101, 2, 16}, // channel 1 value
{0x3102, 1, 8}, // channel 2 status
{0x3102, 2, 16}, // channel 2 value
{0x6401, 1, 16}, // channel 1 value (alt.)
{0x6401, 2, 16} // channel 2 value (alt.)
};
static ec_pdo_info_t el1008_pdos[] = {
{0x1a00, 1, &el1008_channels[0]},
{0x1a01, 1, &el1008_channels[1]},
{0x1a02, 1, &el1008_channels[2]},
{0x1a03, 1, &el1008_channels[3]},
{0x1a04, 1, &el1008_channels[4]},
{0x1a05, 1, &el1008_channels[5]},
{0x1a06, 1, &el1008_channels[6]},
{0x1a07, 1, &el1008_channels[7]}
static ec_pdo_info_t el3102_pdos[] = {
{0x1A00, 2, el3102_pdo_entries},
{0x1A01, 2, el3102_pdo_entries + 2}
};
static ec_sync_info_t el1008_syncs[] = {
static ec_sync_info_t el3102_syncs[] = {
{2, EC_DIR_OUTPUT},
{3, EC_DIR_INPUT, 8, el1008_pdos},
{3, EC_DIR_INPUT, 2, el3102_pdos},
{0xff}
};
// Analog out -------------------------
static ec_pdo_entry_info_t el4102_pdo_entries[] = {
{0x3001, 1, 16}, // channel 1 value
{0x3002, 1, 16}, // channel 2 value
};
static ec_pdo_info_t el4102_pdos[] = {
{0x1600, 1, el4102_pdo_entries},
{0x1601, 1, el4102_pdo_entries + 1}
};
static ec_sync_info_t el4102_syncs[] = {
{2, EC_DIR_OUTPUT, 2, el4102_pdos},
{3, EC_DIR_INPUT},
{0xff}
};
// Digital out ------------------------
static ec_pdo_entry_info_t el2008_channels[] = {
{0x7000, 1, 1},
{0x7010, 1, 1},
{0x7020, 1, 1},
{0x7030, 1, 1},
{0x7040, 1, 1},
{0x7050, 1, 1},
{0x7060, 1, 1},
{0x7070, 1, 1},
static ec_pdo_entry_info_t el2004_channels[] = {
{0x3001, 1, 1}, // Value 1
{0x3001, 2, 1}, // Value 2
{0x3001, 3, 1}, // Value 3
{0x3001, 4, 1} // Value 4
};
static ec_pdo_info_t el2008_pdos[] = {
{0x1600, 1, &el2008_channels[0]},
{0x1601, 1, &el2008_channels[1]},
{0x1602, 1, &el2008_channels[2]},
{0x1603, 1, &el2008_channels[3]},
{0x1604, 1, &el2008_channels[4]},
{0x1605, 1, &el2008_channels[5]},
{0x1606, 1, &el2008_channels[6]},
{0x1607, 1, &el2008_channels[7]}
static ec_pdo_info_t el2004_pdos[] = {
{0x1600, 1, &el2004_channels[0]},
{0x1601, 1, &el2004_channels[1]},
{0x1602, 1, &el2004_channels[2]},
{0x1603, 1, &el2004_channels[3]}
};
static ec_sync_info_t el2008_syncs[] = {
{0, EC_DIR_OUTPUT, 8, el2008_pdos},
static ec_sync_info_t el2004_syncs[] = {
{0, EC_DIR_OUTPUT, 4, el2004_pdos},
{1, EC_DIR_INPUT},
{0xff}
};
#endif
/*****************************************************************************/
#if SDO_ACCESS
static ec_sdo_request_t *sdo;
#endif
/*****************************************************************************/
@ -197,59 +226,74 @@ void check_slave_config_states(void)
sc_ana_in_state = s;
}
/*****************************************************************************/
#if SDO_ACCESS
void read_sdo(void)
{
switch (ecrt_sdo_request_state(sdo)) {
case EC_REQUEST_UNUSED: // request was not used yet
ecrt_sdo_request_read(sdo); // trigger first read
break;
case EC_REQUEST_BUSY:
fprintf(stderr, "Still busy...\n");
break;
case EC_REQUEST_SUCCESS:
fprintf(stderr, "SDO value: 0x%04X\n",
EC_READ_U16(ecrt_sdo_request_data(sdo)));
ecrt_sdo_request_read(sdo); // trigger next read
break;
case EC_REQUEST_ERROR:
fprintf(stderr, "Failed to read SDO!\n");
ecrt_sdo_request_read(sdo); // retry reading
break;
}
}
#endif
/****************************************************************************/
void cyclic_task()
{
static unsigned int counter = 10;
static uint8_t outputValue = 0;
static int numAsyncCycles = 0;
uint8_t inputValue = 0;
static uint8_t error = 0;
// receive process data
ecrt_master_receive(master);
ecrt_domain_process(domain1);
// check process data state (optional)
check_domain1_state();
inputValue = EC_READ_U8(domain1_pd + off_dig_in[0]);
if(inputValue != outputValue) {
numAsyncCycles++;
} else {
numAsyncCycles = 0;
}
if(numAsyncCycles > 2) {
if(error != 0xff) {
error++;
}
}
if (counter) {
counter--;
} else {
counter = 5; //update delay
} else { // do this at 1 Hz
counter = FREQUENCY;
// calculate new process data
outputValue++;
blink = !blink;
// check for master state (optional)
check_master_state();
// check for islave configuration state(s) (optional)
check_slave_config_states();
#if SDO_ACCESS
// read process data SDO
read_sdo();
#endif
}
#if 0
// read process data
printf("AnaIn: state %u value %u\n",
EC_READ_U8(domain1_pd + off_ana_in_status),
EC_READ_U16(domain1_pd + off_ana_in_value));
#endif
#if 1
// write process data
EC_WRITE_U8(domain1_pd + off_dig_out[1], outputValue);
EC_WRITE_U8(domain1_pd + off_dig_out[0], error);
EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x06 : 0x09);
#endif
// send process data
ecrt_domain_queue(domain1);
@ -268,31 +312,11 @@ void signal_handler(int signum) {
/****************************************************************************/
int Init_EL2008(uint16_t position)
{
ec_slave_config_t *sc;
if (!(sc = ecrt_master_slave_config(master, 0, position, Beckhoff_EL2008))) {
fprintf(stderr, "Failed to get EL2008 configuration #%u.\n", position);
return -1;
}
if (ecrt_slave_config_pdos(sc, EC_END, el2008_syncs)) {
fprintf(stderr, "Failed to configure PDOs #%u.\n", position);
return -1;
}
if (0 > (off_dig_out[position] = ecrt_slave_config_reg_pdo_entry(sc, 0x7000, 1, domain1, NULL))) {
fprintf(stderr, "Failed to configure reg PDOs #%u.\n", position);
return -1;
}
fprintf(stderr, "EL2008 #%u configured offset: %d.\n", position, off_dig_out[position]);
return 0;
}
int main(int argc, char **argv)
{
ec_slave_config_t *sc;
struct sigaction sa;
struct itimerval tv;
uint16_t i;
master = ecrt_request_master(0);
if (!master)
@ -302,33 +326,60 @@ int main(int argc, char **argv)
if (!domain1)
return -1;
printf("Configuring PDOs...\n");
if (!(sc_ana_in = ecrt_master_slave_config(master, 0, 2, Beckhoff_EL1008))) {
fprintf(stderr, "Failed to get digital in configuration.\n");
if (!(sc_ana_in = ecrt_master_slave_config(
master, AnaInSlavePos, Beckhoff_EL3102))) {
fprintf(stderr, "Failed to get slave configuration.\n");
return -1;
}
if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el1008_syncs)) {
#if SDO_ACCESS
fprintf(stderr, "Creating SDO requests...\n");
if (!(sdo = ecrt_slave_config_create_sdo_request(sc_ana_in, 0x3102, 2, 2))) {
fprintf(stderr, "Failed to create SDO request.\n");
return -1;
}
ecrt_sdo_request_timeout(sdo, 500); // ms
#endif
#if CONFIGURE_PDOS
printf("Configuring PDOs...\n");
if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3102_syncs)) {
fprintf(stderr, "Failed to configure PDOs.\n");
return -1;
}
if (0 > (off_dig_in[0] = ecrt_slave_config_reg_pdo_entry(sc_ana_in, 0x6000, 1, domain1, NULL))) {
fprintf(stderr, "Failed to configure reg PDOs.\n");
return -1;
}
printf("EL1008 configured.\n");
for(i = 0; i < 2; ++i) {
if(Init_EL2008(i)) {
fprintf(stderr, "Failed to initialize EL2008 #%u.\n", i);
return -1;
}
if (!(sc = ecrt_master_slave_config(
master, AnaOutSlavePos, Beckhoff_EL4102))) {
fprintf(stderr, "Failed to get slave configuration.\n");
return -1;
}
if (ecrt_slave_config_pdos(sc, EC_END, el4102_syncs)) {
fprintf(stderr, "Failed to configure PDOs.\n");
return -1;
}
if (!(sc = ecrt_master_slave_config(
master, DigOutSlavePos, Beckhoff_EL2032))) {
fprintf(stderr, "Failed to get slave configuration.\n");
return -1;
}
if (ecrt_slave_config_pdos(sc, EC_END, el2004_syncs)) {
fprintf(stderr, "Failed to configure PDOs.\n");
return -1;
}
#endif
// Create configuration for bus coupler
sc = ecrt_master_slave_config(master, BusCouplerPos, Beckhoff_EK1100);
if (!sc)
return -1;
fprintf(stderr, "EK1100 configured.\n");
if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
fprintf(stderr, "PDO entry registration failed!\n");
return -1;
}
printf("Activating master...\n");
if (ecrt_master_activate(master))