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ethercat
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Plugfest: rt und mini angepasst.

This commit is contained in:
Florian Pose 2006-04-05 09:04:29 +00:00
parent 7bd5f4dfb5
commit 94b5a41cbd
2 changed files with 30 additions and 118 deletions
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23
mini/mini.c
View File

@ -48,28 +48,25 @@ void run(unsigned long data)
static unsigned int counter = 0;
#ifdef ASYNC
// Prozessdaten empfangen
// Empfangen
ecrt_master_async_receive(master);
ecrt_domain_process(domain1);
// Prozessdaten verarbeiten
//k_pos = EC_READ_U32(r_ssi_input);
//k_stat = EC_READ_U8(r_ssi_status);
// Prozessdaten senden
ecrt_domain_queue(domain1);
ecrt_master_run(master);
ecrt_master_async_send(master);
#else
// Prozessdaten senden und empfangen
// Senden und empfangen
ecrt_domain_queue(domain1);
ecrt_master_run(master);
ecrt_master_sync_io(master);
ecrt_domain_process(domain1);
#endif
// Prozessdaten verarbeiten
//k_pos = EC_READ_U32(r_ssi_input);
//k_stat = EC_READ_U8(r_ssi_status);
//k_pos = EC_READ_U32(r_ssi);
#ifdef ASYNC
// Senden
ecrt_domain_queue(domain1);
ecrt_master_run(master);
ecrt_master_async_send(master);
#endif
if (counter) {

125
rt/msr_module.c
View File

@ -38,7 +38,6 @@
#include "../include/ecrt.h"
#define ASYNC
//#define BLOCK1
// Defines/Makros
#define HZREDUCTION (MSR_ABTASTFREQUENZ / HZ)
@ -55,104 +54,48 @@ ec_master_t *master = NULL;
ec_domain_t *domain1 = NULL;
// Prozessdaten
#ifdef BLOCK1
void *r_ssi, *r_ssi_st;
#else
void *r_inc;
#endif
void *r_ssi;
uint32_t k_ssi_pos;
uint32_t k_ssi_status;
uint32_t k_angle;
uint32_t k_preio;
uint32_t k_postio;
uint32_t k_finished;
// KanŽäle
uint32_t k_pos;
#ifdef BLOCK1
ec_field_init_t domain1_fields[] = {
{&r_ssi, "5", "Beckhoff", "EL5001", "InputValue", 0},
{&r_ssi_st, "5", "Beckhoff", "EL5001", "Status", 0},
{&r_ssi, "1", "Beckhoff", "EL5001", "InputValue", 0},
{}
};
#else
ec_field_init_t domain1_fields[] = {
{&r_inc, "4", "Beckhoff", "EL5101", "InputValue", 0},
{}
};
#endif
/*****************************************************************************/
static void msr_controller_run(void)
{
cycles_t offset;
static unsigned int counter = 0;
offset = get_cycles();
if (counter) counter--;
else {
//EtherCAT_rt_master_debug(master, 2);
counter = MSR_ABTASTFREQUENZ;
}
k_preio = (uint32_t) (get_cycles() - offset) * 1e6 / cpu_khz;
#ifdef ASYNC
// Empfangen
ecrt_master_async_receive(master);
ecrt_domain_process(domain1);
// Prozessdaten verarbeiten
#ifdef BLOCK1
k_ssi_pos = EC_READ_U32(r_ssi);
k_ssi_status = EC_READ_U32(r_ssi_st);
#else
k_angle = EC_READ_U16(r_inc);
#endif
// Senden
ecrt_domain_queue(domain1);
ecrt_master_run(master);
ecrt_master_async_send(master);
#else // ASYNC
// Senden und empfangen
ecrt_domain_queue(domain1);
ecrt_master_run(master);
ecrt_master_sync_io(master);
ecrt_domain_process(domain1);
// Prozessdaten verarbeiten
#ifdef BLOCK1
k_ssi_pos = EC_READ_U32(r_ssi);
k_ssi_status = EC_READ_U32(r_ssi_st);
#else
k_angle = EC_READ_U16(r_inc);
#endif
#endif // ASYNC
// Prozessdaten verarbeiten
k_pos = EC_READ_U32(r_ssi);
k_postio = (uint32_t) (get_cycles() - offset) * 1e6 / cpu_khz;
//ecrt_master_debug(master, 0);
k_finished = (uint32_t) (get_cycles() - offset) * 1e6 / cpu_khz;
#ifdef ASYNC
// Senden
ecrt_domain_queue(domain1);
ecrt_master_run(master);
ecrt_master_async_send(master);
#endif
}
/*****************************************************************************/
int msr_globals_register(void)
{
msr_reg_kanal("/angle0", "", &k_angle, TUINT);
msr_reg_kanal("/pos0", "", &k_ssi_pos, TUINT);
msr_reg_kanal("/ssi-status0", "", &k_ssi_status, TUINT);
msr_reg_kanal("/Timing/Pre-IO", "ns", &k_preio, TUINT);
msr_reg_kanal("/Timing/Post-IO", "ns", &k_postio, TUINT);
msr_reg_kanal("/Timing/Finished", "ns", &k_finished, TUINT);
msr_reg_kanal("/pos0", "", &k_pos, TUINT);
return 0;
}
@ -189,9 +132,7 @@ void domain_entry(void)
int __init init_rt_module(void)
{
struct ipipe_domain_attr attr; //ipipe
#ifdef BLOCK1
uint8_t string[20];
size_t size;
#if 0
ec_slave_t *slave;
#endif
@ -206,6 +147,8 @@ int __init init_rt_module(void)
goto out_msr_cleanup;
}
//ecrt_master_print(master, 2);
printk(KERN_INFO "Registering domains...\n");
if (!(domain1 = ecrt_master_create_domain(master))) {
printk(KERN_ERR "Could not register domain!\n");
@ -224,7 +167,7 @@ int __init init_rt_module(void)
goto out_release_master;
}
#if 0
#if 1
if (ecrt_master_fetch_sdo_lists(master)) {
printk(KERN_ERR "Failed to fetch SDO lists!\n");
goto out_deactivate;
@ -234,39 +177,12 @@ int __init init_rt_module(void)
ecrt_master_print(master, 1);
#endif
#ifdef BLOCK1
#if 0
if (!(slave = ecrt_master_get_slave(master, "1"))) {
printk(KERN_ERR "Failed to get slave 1!\n");
goto out_deactivate;
}
size = 10;
if (ecrt_slave_sdo_read(slave, 0x100A, 0, string, &size)) {
printk(KERN_ERR "Could not read SSI version!\n");
goto out_deactivate;
}
printk(KERN_INFO "Software-version 1: %s\n", string);
if (!(slave = ecrt_master_get_slave(master, "5"))) {
printk(KERN_ERR "Failed to get slave 5!\n");
goto out_deactivate;
}
size = 10;
if (ecrt_slave_sdo_read(slave, 0x100A, 0, string, &size)) {
printk(KERN_ERR "Could not read SSI version!\n");
goto out_deactivate;
}
printk(KERN_INFO "Software-version 5: %s\n", string);
size = 20;
if (ecrt_slave_sdo_read(slave, 0x1008, 0, string, &size)) {
printk(KERN_ERR "Could not read string!\n");
goto out_deactivate;
}
printk(KERN_INFO "String: %s\n", string);
if (ecrt_slave_sdo_write_exp8(slave, 0x4061, 1, 0) ||
ecrt_slave_sdo_write_exp8(slave, 0x4061, 2, 1) ||
ecrt_slave_sdo_write_exp8(slave, 0x4061, 3, 1) ||
@ -293,7 +209,7 @@ int __init init_rt_module(void)
ipipe_register_domain(&this_domain, &attr);
return 0;
#ifdef BLOCK1
#if 1
out_deactivate:
ecrt_master_deactivate(master);
#endif
@ -314,8 +230,7 @@ void __exit cleanup_rt_module(void)
ipipe_tune_timer(1000000000UL / HZ, 0); //alten Timertakt wieder herstellen
ipipe_unregister_domain(&this_domain);
if (master)
{
if (master) {
printk(KERN_INFO "=== Stopping EtherCAT environment... ===\n");
printk(KERN_INFO "Deactivating master...\n");