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ethercat
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8139too: Immer alle Frames empfangen.

This commit is contained in:
Florian Pose 2006-01-13 13:44:22 +00:00
parent c844656194
commit eb4d69d3a6
3 changed files with 6 additions and 106 deletions
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4
drivers/8139too.c
View File

@ -2479,8 +2479,8 @@ irqreturn_t rtl8139_interrupt (int irq, void *dev_instance,
}
else
{
/* Beim EtherCAT-Device einfach einen Frame empfangen */
rtl8139_rx(dev, tp, 1);
/* Beim EtherCAT-Device einfach alle Frames empfangen */
rtl8139_rx(dev, tp, 100); // FIXME Das ist echt dirty...
}
}

106
rt/msr_module.c
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@ -62,27 +62,7 @@ static EtherCAT_slave_t ecat_slaves[] =
{
// Block 1
ECAT_INIT_SLAVE(Beckhoff_EK1100, 0),
ECAT_INIT_SLAVE(Beckhoff_EL4102, 0),
ECAT_INIT_SLAVE(Beckhoff_EL1014, 0),
ECAT_INIT_SLAVE(Beckhoff_EL3162, 0),
ECAT_INIT_SLAVE(Beckhoff_EL2004, 0),
ECAT_INIT_SLAVE(Beckhoff_EL3102, 0),
ECAT_INIT_SLAVE(Beckhoff_EL2004, 0),
// Block 2
ECAT_INIT_SLAVE(Beckhoff_EK1100, 1),
ECAT_INIT_SLAVE(Beckhoff_EL1014, 1),
ECAT_INIT_SLAVE(Beckhoff_EL1014, 1),
ECAT_INIT_SLAVE(Beckhoff_EL1014, 1),
ECAT_INIT_SLAVE(Beckhoff_EL1014, 1),
ECAT_INIT_SLAVE(Beckhoff_EL1014, 1),
ECAT_INIT_SLAVE(Beckhoff_EL2004, 1),
ECAT_INIT_SLAVE(Beckhoff_EL2004, 1),
ECAT_INIT_SLAVE(Beckhoff_EL2004, 1),
ECAT_INIT_SLAVE(Beckhoff_EL2004, 1),
ECAT_INIT_SLAVE(Beckhoff_EL1014, 1),
ECAT_INIT_SLAVE(Beckhoff_EL1014, 1),
ECAT_INIT_SLAVE(Beckhoff_EL1014, 1)
ECAT_INIT_SLAVE(Beckhoff_EL3102, 0)
};
#define ECAT_SLAVES_COUNT (sizeof(ecat_slaves) / sizeof(EtherCAT_slave_t))
@ -94,36 +74,6 @@ double value;
int dig1;
#endif
/******************************************************************************
*
* Function: next2004
*
*****************************************************************************/
static int next2004(int *wrap)
{
static int i = 0;
unsigned int j = 0;
*wrap = 0;
for (j = 0; j < ECAT_SLAVES_COUNT; j++)
{
i++;
i %= ECAT_SLAVES_COUNT;
if (i == 0) *wrap = 1;
if (ecat_slaves[i].desc == Beckhoff_EL2004)
{
return i;
}
}
return -1;
}
/******************************************************************************
*
* Function: msr_controller_run()
@ -132,75 +82,25 @@ static int next2004(int *wrap)
static void msr_controller_run(void)
{
static int ms = 0;
static int cnt = 0;
static int firstrun = 1;
static unsigned int debug_counter = 0;
static int klemme = 0;
static int kanal = 0;
static int up_down = 0;
int wrap = 0;
unsigned long t_bus_start, t_bus_end;
// Prozessdaten lesen
msr_jitter_run(MSR_ABTASTFREQUENZ);
if (firstrun) {
klemme = next2004(&wrap);
firstrun = 0;
}
ms++;
ms %= 1000;
if (cnt++ > 200)
{
cnt = 0;
if (++kanal > 3)
{
kanal = 0;
klemme = next2004(&wrap);
if (wrap == 1)
{
if (up_down == 1) up_down = 0;
else up_down = 1;
}
}
}
if (klemme >= 0) {
EtherCAT_write_value(&ecat_slaves[klemme], kanal, up_down);
}
if (debug_counter == 0) {
ecat_master->debug_level = 0;
ecat_master->debug_level = 2;
}
// Prozessdaten schreiben
rdtscl(t_bus_start);
if (EtherCAT_process_data_cycle(ecat_master, 0, 40) < 0)
ecat_timeouts++;
if (EtherCAT_process_data_cycle(ecat_master, 1, 40) < 0)
ecat_timeouts++;
rdtscl(t_bus_end);
ecat_bus_time = TSC2US(t_bus_start, t_bus_end);
if (debug_counter == 0) {
ecat_master->debug_level = 0;
}
// Daten lesen und skalieren
#ifdef USE_MSR_LIB
value = EtherCAT_read_value(&ecat_slaves[5], 0) / 3276.0;
dig1 = EtherCAT_read_value(&ecat_slaves[2], 0);
#endif
value = EtherCAT_read_value(&ecat_slaves[1], 0);
debug_counter++;
if (debug_counter >= MSR_ABTASTFREQUENZ * 5) debug_counter = 0;

2
rt/msr_param.h
View File

@ -7,7 +7,7 @@
#ifndef _MSR_PARAM_H_
#define _MSR_PARAM_H_
#define MSR_ABTASTFREQUENZ 10000
#define MSR_ABTASTFREQUENZ 1000
#endif