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ethercat
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Cleaned up mini module.

This commit is contained in:
Florian Pose 2008-02-22 17:31:00 +00:00
parent 787c51d700
commit 8532abfc91
1 changed files with 33 additions and 25 deletions
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58
examples/mini/mini.c
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@ -39,16 +39,16 @@
#include "../../include/ecrt.h" // EtherCAT realtime interface
#include "../../include/ecdb.h" // EtherCAT slave database
#define PFX "ec_mini: "
/*****************************************************************************/
// module parameters
#define FREQUENCY 100
#define CONFIGURE_MAPPING
#define EXTERNAL_MEMORY
/*****************************************************************************/
#define PFX "ec_mini: "
static struct timer_list timer;
/*****************************************************************************/
// EtherCAT
static ec_master_t *master = NULL;
@ -58,6 +58,27 @@ spinlock_t master_lock = SPIN_LOCK_UNLOCKED;
static ec_domain_t *domain1 = NULL;
static ec_domain_state_t domain1_state = {};
static struct timer_list timer;
static unsigned int counter = 0;
/*****************************************************************************/
// process data
static uint8_t *domain1_pd; // process data memory
static unsigned int off_ana_in; // offsets for Pdo entries
static unsigned int off_dig_out;
static unsigned int blink = 0;
const static ec_pdo_entry_reg_t domain1_regs[] = {
{0, 1, Beckhoff_EL3162, 0x3101, 2, &off_ana_in},
{0, 3, Beckhoff_EL2004, 0x3001, 1, &off_dig_out},
{}
};
/*****************************************************************************/
#ifdef CONFIGURE_MAPPING
const ec_pdo_entry_info_t el3162_channel1[] = {
{0x3101, 1, 8}, // status
@ -89,16 +110,6 @@ const ec_pdo_info_t el2004_mapping[] = {
};
#endif
static uint8_t *pd; /**< Process data. */
static unsigned int off_ana_in;
static unsigned int off_dig_out;
const static ec_pdo_entry_reg_t domain1_regs[] = {
{0, 1, Beckhoff_EL3162, 0x3101, 2, &off_ana_in},
{0, 3, Beckhoff_EL2004, 0x3001, 1, &off_dig_out},
{}
};
/*****************************************************************************/
void check_domain1_state(void)
@ -144,11 +155,8 @@ void check_master_state(void)
/*****************************************************************************/
void run(unsigned long data)
void cyclic_task(unsigned long data)
{
static unsigned int counter = 0;
static unsigned int blink = 0;
// receive process data
spin_lock(&master_lock);
ecrt_master_receive(master);
@ -171,7 +179,7 @@ void run(unsigned long data)
}
// write process data
EC_WRITE_U8(pd + off_dig_out, blink ? 0x0F : 0x00);
EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x0F : 0x00);
// send process data
spin_lock(&master_lock);
@ -256,12 +264,12 @@ int __init init_mini_module(void)
#ifdef EXTERNAL_MEMORY
if ((size = ecrt_domain_size(domain1))) {
if (!(pd = (uint8_t *) kmalloc(size, GFP_KERNEL))) {
if (!(domain1_pd = (uint8_t *) kmalloc(size, GFP_KERNEL))) {
printk(KERN_ERR PFX "Failed to allocate %u bytes of process data"
" memory!\n", size);
goto out_release_master;
}
ecrt_domain_external_memory(domain1, pd);
ecrt_domain_external_memory(domain1, domain1_pd);
}
#endif
@ -277,12 +285,12 @@ int __init init_mini_module(void)
#ifndef EXTERNAL_MEMORY
// Get internal process data for domain
pd = ecrt_domain_data(domain1);
domain1_pd = ecrt_domain_data(domain1);
#endif
printk(KERN_INFO PFX "Starting cyclic sample thread.\n");
init_timer(&timer);
timer.function = run;
timer.function = cyclic_task;
timer.expires = jiffies + 10;
add_timer(&timer);
@ -291,7 +299,7 @@ int __init init_mini_module(void)
#ifdef EXTERNAL_MEMORY
out_free_process_data:
kfree(pd);
kfree(domain1_pd);
#endif
out_release_master:
printk(KERN_ERR PFX "Releasing master...\n");
@ -310,7 +318,7 @@ void __exit cleanup_mini_module(void)
del_timer_sync(&timer);
#ifdef EXTERNAL_MEMORY
kfree(pd);
kfree(domain1_pd);
#endif
printk(KERN_INFO PFX "Releasing master...\n");