171 lines
4.4 KiB
C
171 lines
4.4 KiB
C
/******************************************************************************
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*
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* m i n i . c
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*
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* Minimalmodul für EtherCAT
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*
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* $Id$
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*
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*****************************************************************************/
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#include <linux/module.h>
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#include <linux/delay.h>
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#include <linux/timer.h>
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#include "../include/EtherCAT_rt.h" // Echtzeitschnittstelle
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#include "../include/EtherCAT_si.h" // Slave-Interface-Makros
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/*****************************************************************************/
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#define ABTASTFREQUENZ 100
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struct timer_list timer;
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/*****************************************************************************/
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// EtherCAT
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ec_master_t *master = NULL;
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ec_domain_t *domain1 = NULL;
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// Datenfelder
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void *r_ssi;
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void *r_inc;
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// Kanäle
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uint32_t k_angle, k_pos;
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ec_field_init_t domain1_fields[] = {
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{&r_ssi, "1", "Beckhoff", "EL5001", ec_ipvalue, 0, 1},
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{&r_inc, "0:3", "Beckhoff", "EL5101", ec_ipvalue, 0, 1},
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{}
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};
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/*****************************************************************************/
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void run(unsigned long data)
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{
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static unsigned int counter = 0;
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// Prozessdaten lesen und schreiben
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EtherCAT_rt_domain_queue(domain1);
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EtherCAT_rt_master_xio(master);
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EtherCAT_rt_domain_process(domain1);
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k_angle = EC_READ_U16(r_inc);
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k_pos = EC_READ_U32(r_ssi);
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if (counter) {
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counter--;
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}
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else {
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counter = ABTASTFREQUENZ;
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printk(KERN_INFO "k_angle = %i\n", k_angle);
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printk(KERN_INFO "k_pos = %i\n", k_pos);
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}
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// Timer neu starten
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timer.expires += HZ / ABTASTFREQUENZ;
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add_timer(&timer);
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}
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/*****************************************************************************/
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int __init init_mini_module(void)
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{
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const ec_field_init_t *field;
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printk(KERN_INFO "=== Starting Minimal EtherCAT environment... ===\n");
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if ((master = EtherCAT_rt_request_master(0)) == NULL) {
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printk(KERN_ERR "Error requesting master 0!\n");
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goto out_return;
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}
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EtherCAT_rt_master_print(master);
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printk(KERN_INFO "Registering domain...\n");
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if (!(domain1 = EtherCAT_rt_master_register_domain(master, ec_sync, 100)))
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{
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printk(KERN_ERR "EtherCAT: Could not register domain!\n");
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goto out_release_master;
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}
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printk(KERN_INFO "Registering domain fields...\n");
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for (field = domain1_fields; field->data; field++)
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{
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if (!EtherCAT_rt_register_slave_field(domain1,
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field->address,
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field->vendor,
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field->product,
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field->data,
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field->field_type,
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field->field_index,
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field->field_count)) {
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printk(KERN_ERR "EtherCAT: Could not register field!\n");
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goto out_release_master;
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}
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}
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printk(KERN_INFO "Activating master...\n");
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if (EtherCAT_rt_master_activate(master)) {
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printk(KERN_ERR "EtherCAT: Could not activate master!\n");
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goto out_release_master;
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}
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printk("Starting cyclic sample thread.\n");
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init_timer(&timer);
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timer.function = run;
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timer.expires = jiffies + 10; // Das erste Mal sofort feuern
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add_timer(&timer);
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printk(KERN_INFO "=== Minimal EtherCAT environment started. ===\n");
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return 0;
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out_release_master:
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EtherCAT_rt_release_master(master);
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out_return:
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return -1;
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}
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/*****************************************************************************/
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void __exit cleanup_mini_module(void)
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{
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printk(KERN_INFO "=== Stopping Minimal EtherCAT environment... ===\n");
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if (master)
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{
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del_timer_sync(&timer);
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printk(KERN_INFO "Deactivating master...\n");
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EtherCAT_rt_master_deactivate(master);
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EtherCAT_rt_release_master(master);
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}
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printk(KERN_INFO "=== Minimal EtherCAT environment stopped. ===\n");
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}
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/*****************************************************************************/
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MODULE_LICENSE("GPL");
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MODULE_AUTHOR ("Florian Pose <fp@igh-essen.com>");
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MODULE_DESCRIPTION ("EtherCAT minimal test environment");
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module_init(init_mini_module);
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module_exit(cleanup_mini_module);
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/*****************************************************************************/
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/* Emacs-Konfiguration
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;;; Local Variables: ***
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;;; c-basic-offset:4 ***
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;;; End: ***
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*/
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