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ethercat
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LibEC

This commit is contained in:
Florian Pose 2006-01-20 17:50:35 +00:00
parent 5ceefe4379
commit d5832dfc77
8 changed files with 150 additions and 20 deletions
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4
Makefile
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@ -13,7 +13,7 @@ ifneq ($(KERNELRELEASE),)
#------------------------------------------------------------------------------
# Kbuild-Abschnitt
obj-m := master/ devices/ rt/ mini/
obj-m := master/ devices/ libec/ rt/ mini/
#------------------------------------------------------------------------------
@ -25,7 +25,7 @@ else
include ethercat.conf
modules:
$(MAKE) -C $(KERNELDIR) M=`pwd` modules
$(MAKE) -C $(KERNELDIR) M=`pwd`
clean:
$(MAKE) -C $(KERNELDIR) M=`pwd` clean

41
libec/Makefile Normal file
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@ -0,0 +1,41 @@
#------------------------------------------------------------------------------
#
# Makefile
#
# EtherCAT-Library
#
# $Id$
#
#------------------------------------------------------------------------------
ifneq ($(KERNELRELEASE),)
#------------------------------------------------------------------------------
# Kbuild-Abschnitt
lib-m := libec.o
#------------------------------------------------------------------------------
else
#------------------------------------------------------------------------------
# Default-Abschnitt
ifneq ($(wildcard ethercat.conf),)
include ethercat.conf
else
KERNELDIR = /lib/modules/`uname -r`/build
endif
modules:
$(MAKE) -C $(KERNELDIR) M=`pwd`
clean:
$(MAKE) -C $(KERNELDIR) M=`pwd` clean
#------------------------------------------------------------------------------
endif

57
libec/libec.c Normal file
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@ -0,0 +1,57 @@
/******************************************************************************
*
* l i b e c . c
*
* EtherCAT-Library fuer Echtzeitmodule
*
* $Id$
*
*****************************************************************************/
#include "libec.h"
/*****************************************************************************/
int LEC_read_EL10XX(ec_slave_t *slave, unsigned int channel)
{
unsigned char *data = slave->process_data;
return (data[0] >> channel) & 0x01;
}
/*****************************************************************************/
int LEC_read_EL31XX(ec_slave_t *slave, unsigned int channel)
{
unsigned char *data = slave->process_data;
return (short int) ((data[channel * 3 + 2] << 8) | data[channel * 3 + 1]);
}
/*****************************************************************************/
void LEC_write_EL20XX(ec_slave_t *slave, unsigned int channel, int value)
{
unsigned char *data = slave->process_data;
if (value) data[0] |= (1 << channel);
else data[0] &= ~(1 << channel);
}
/*****************************************************************************/
void LEC_write_EL41XX(ec_slave_t *slave, unsigned int channel, int value)
{
unsigned char *data = slave->process_data;
data[channel * 3 + 1] = (value & 0xFF00) >> 8;
data[channel * 3 + 2] = value & 0xFF;
}
/*****************************************************************************/
/* Emacs-Konfiguration
;;; Local Variables: ***
;;; c-basic-offset:4 ***
;;; End: ***
*/

34
libec/libec.h Normal file
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@ -0,0 +1,34 @@
/******************************************************************************
*
* l i b e c . h
*
* EtherCAT-Library fuer Echtzeitmodule
*
* $Id$
*
*****************************************************************************/
#ifndef _LIBEC_H_
#define _LIBEC_H_
#ifndef _ETHERCAT_RT_H_
#include "../include/EtherCAT_rt.h"
#endif
/*****************************************************************************/
int LEC_read_EL10XX(ec_slave_t *slave, unsigned int channel);
int LEC_read_EL31XX(ec_slave_t *slave, unsigned int channel);
void LEC_write_EL20XX(ec_slave_t *slave, unsigned int channel, int value);
void LEC_write_EL41XX(ec_slave_t *slave, unsigned int channel, int value);
/*****************************************************************************/
#endif
/* Emacs-Konfiguration
;;; Local Variables: ***
;;; c-basic-offset:4 ***
;;; End: ***
*/

2
mini/mini.c
View File

@ -59,7 +59,7 @@ static void run(unsigned long data)
// Prozessdaten lesen und schreiben
rdtscl(k);
EtherCAT_rt_exchange_io(master, 1, 100);
EtherCAT_rt_domain_xio(master, 1, 100);
firstrun = 0;
timer.expires += HZ / 1000;

2
rt/Makefile
View File

@ -25,7 +25,7 @@ msr_modul-objs := msr_module.o \
rt_lib/msr-core/msr_error_reg.o \
rt_lib/msr-utils/msr_utils.o \
rt_lib/msr-math/msr_base64.o \
libm.o
libm.o libec.o
EXTRA_CFLAGS := -I $(src)/rt_lib/msr-include -D_SIMULATION \
-I/usr/include -mhard-float

1
rt/libec.o_shipped Symbolic link
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@ -0,0 +1 @@
../libec/lib.a

29
rt/msr_module.c
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@ -33,7 +33,7 @@
// EtherCAT
#include "../include/EtherCAT_rt.h"
#include "../eclib/eclib.h"
#include "../libec/libec.h"
// Defines/Makros
#define TSC2US(T1, T2) ((T2 - T1) * 1000UL / cpu_khz)
@ -51,11 +51,7 @@ static struct ipipe_domain this_domain;
static struct ipipe_sysinfo sys_info;
// EtherCAT
ec_master_t *master = NULL;
static unsigned int ecat_bus_time = 0;
static unsigned int ecat_timeouts = 0;
ec_slave_t *s_in1, *s_out1, *s_out2, *s_out3;
double value;
@ -90,18 +86,22 @@ static void msr_controller_run(void)
}
else {
// "Star Trek"-Effekte
*((unsigned char *) s_out1->process_data) = jiffies;
*((unsigned char *) s_out2->process_data) = jiffies >> 4;
*((unsigned char *) s_out3->process_data) = jiffies >> 8;
LEC_write_EL20XX(s_out1, 0, jiffies & 1);
LEC_write_EL20XX(s_out1, 1, (jiffies >> 1) & 1);
LEC_write_EL20XX(s_out1, 2, (jiffies >> 2) & 1);
LEC_write_EL20XX(s_out1, 3, (jiffies >> 3) & 1);
LEC_write_EL20XX(s_out2, 0, (jiffies >> 4) & 1);
LEC_write_EL20XX(s_out2, 1, (jiffies >> 3) & 1);
LEC_write_EL20XX(s_out2, 2, (jiffies >> 2) & 1);
LEC_write_EL20XX(s_out2, 3, (jiffies >> 6) & 1);
LEC_write_EL20XX(s_out3, 0, (jiffies >> 7) & 1);
LEC_write_EL20XX(s_out3, 1, (jiffies >> 2) & 1);
LEC_write_EL20XX(s_out3, 2, (jiffies >> 8) & 1);
counter = MSR_ABTASTFREQUENZ / 4;
}
if (((char *) s_in1->process_data)[2] < 0)
((unsigned char *) s_out3->process_data)[0] |= 8;
else
((unsigned char *) s_out3->process_data)[0] &= ~8;
LEC_write_EL20XX(s_out3, 3, LEC_read_EL31XX(s_in1, 0) < 0);
// Prozessdaten lesen und schreiben
EtherCAT_rt_domain_xio(master, 0, 40);
@ -168,9 +168,6 @@ int msr_globals_register(void)
msr_reg_kanal("/value", "V", &value, TDBL);
msr_reg_kanal("/dig1", "", &dig1, TINT);
msr_reg_kanal("/Taskinfo/EtherCAT/BusTime", "us", &ecat_bus_time, TUINT);
msr_reg_kanal("/Taskinfo/EtherCAT/Timeouts", "", &ecat_timeouts, TUINT);
return 0;
}