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ethercat
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ethercat/mini/ec_mini.c

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C
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/******************************************************************************
*
* ec_mini.c
*
* Minimalmodul für EtherCAT
*
* $Id$
*
******************************************************************************/
#include <linux/module.h>
#include <linux/delay.h>
#include <linux/timer.h>
#include "../drivers/ec_master.h"
#include "../drivers/ec_device.h"
#include "../drivers/ec_types.h"
#include "../drivers/ec_module.h"
/******************************************************************************/
// Auskommentieren, wenn keine zyklischen Daten erwuenscht
#define ECAT_CYCLIC_DATA
/******************************************************************************/
static EtherCAT_master_t *ecat_master = NULL;
static EtherCAT_slave_t ecat_slaves[] =
{
#if 0
// Block 1
ECAT_INIT_SLAVE(Beckhoff_EK1100),
ECAT_INIT_SLAVE(Beckhoff_EL4102),
ECAT_INIT_SLAVE(Beckhoff_EL3162),
ECAT_INIT_SLAVE(Beckhoff_EL1014),
ECAT_INIT_SLAVE(Beckhoff_EL4102),
ECAT_INIT_SLAVE(Beckhoff_EL4102),
ECAT_INIT_SLAVE(Beckhoff_EL4102),
ECAT_INIT_SLAVE(Beckhoff_EL3162),
ECAT_INIT_SLAVE(Beckhoff_EL3162),
ECAT_INIT_SLAVE(Beckhoff_EL3162),
ECAT_INIT_SLAVE(Beckhoff_EL3102),
ECAT_INIT_SLAVE(Beckhoff_EL3102),
ECAT_INIT_SLAVE(Beckhoff_EL3102),
#endif
#if 1
// Block 2
ECAT_INIT_SLAVE(Beckhoff_EK1100),
ECAT_INIT_SLAVE(Beckhoff_EL4102),
ECAT_INIT_SLAVE(Beckhoff_EL1014),
ECAT_INIT_SLAVE(Beckhoff_EL3162),
ECAT_INIT_SLAVE(Beckhoff_EL2004),
ECAT_INIT_SLAVE(Beckhoff_EL3102),
ECAT_INIT_SLAVE(Beckhoff_EL2004),
ECAT_INIT_SLAVE(Beckhoff_EL2004),
ECAT_INIT_SLAVE(Beckhoff_EL2004),
ECAT_INIT_SLAVE(Beckhoff_EL2004),
ECAT_INIT_SLAVE(Beckhoff_EL2004),
// Block 3
ECAT_INIT_SLAVE(Beckhoff_EK1100),
ECAT_INIT_SLAVE(Beckhoff_EL1014),
ECAT_INIT_SLAVE(Beckhoff_EL1014),
ECAT_INIT_SLAVE(Beckhoff_EL1014),
ECAT_INIT_SLAVE(Beckhoff_EL1014),
ECAT_INIT_SLAVE(Beckhoff_EL1014),
ECAT_INIT_SLAVE(Beckhoff_EL2004),
ECAT_INIT_SLAVE(Beckhoff_EL2004),
ECAT_INIT_SLAVE(Beckhoff_EL2004),
ECAT_INIT_SLAVE(Beckhoff_EL2004),
ECAT_INIT_SLAVE(Beckhoff_EL1014),
ECAT_INIT_SLAVE(Beckhoff_EL1014),
ECAT_INIT_SLAVE(Beckhoff_EL1014)
#endif
};
#define ECAT_SLAVES_COUNT (sizeof(ecat_slaves) / sizeof(EtherCAT_slave_t))
#ifdef ECAT_CYCLIC_DATA
int value;
int dig1;
struct timer_list timer;
unsigned long last_start_jiffies;
#endif // ECAT_CYCLIC_DATA
/******************************************************************************
*
* Function: next2004
*
*****************************************************************************/
#ifdef ECAT_CYCLIC_DATA
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;
}
#endif
/******************************************************************************
*
* Function: run
*
* Beschreibung: Zyklischer Prozess
*
*****************************************************************************/
#ifdef ECAT_CYCLIC_DATA
static void run(unsigned long data)
{
static int ms = 0;
static int cnt = 0;
static unsigned long int k = 0;
static int firstrun = 1;
static int klemme = 0;
static int kanal = 0;
static int up_down = 0;
int wrap = 0;
ms++;
ms %= 1000;
#if 0
ecat_tx_delay = ((unsigned int) (100000 / HZ) * (ecat_master->dev->tx_time-k))
/ (current_cpu_data.loops_per_jiffy / 10);
ecat_rx_delay = ((unsigned int) (100000 / HZ) * (ecat_master->dev->rx_time-k))
/ (current_cpu_data.loops_per_jiffy / 10);
rx_intr = ecat_master->dev->rx_intr_cnt;
tx_intr = ecat_master->dev->tx_intr_cnt;
total_intr = ecat_master->dev->intr_cnt;
#endif
// Prozessdaten lesen
if (!firstrun)
{
EtherCAT_read_process_data(ecat_master);
// Daten lesen und skalieren
// value = EtherCAT_read_value(&ecat_master->slaves[5], 0) / 3276; //.7; FIXME kein FP im Kernel ohne Schutz !!
// dig1 = EtherCAT_read_value(&ecat_master->slaves[3], 0);
}
else
klemme = next2004(&wrap);
#if 0
// Daten schreiben
EtherCAT_write_value(&ecat_master->slaves[4], 0, ms > 500 ? 1 : 0);
EtherCAT_write_value(&ecat_master->slaves[4], 1, ms > 500 ? 0 : 1);
EtherCAT_write_value(&ecat_master->slaves[4], 2, ms > 500 ? 0 : 1);
EtherCAT_write_value(&ecat_master->slaves[4], 3, ms > 500 ? 1 : 0);
#endif
if (cnt++ > 20)
{
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_master->slaves[klemme], kanal,up_down);
//printk("ECAT write: Klemme: %d, Kanal: %d, Wert: %d\n",klemme,kanal,up_down);
}
#if 0
EtherCAT_write_value(&ecat_master->slaves[13], 1, ms > 500 ? 0 : 1);
EtherCAT_write_value(&ecat_master->slaves[14], 2, ms > 500 ? 0 : 1);
EtherCAT_write_value(&ecat_master->slaves[15], 3, ms > 500 ? 1 : 0);
#endif
// Prozessdaten schreiben
rdtscl(k);
EtherCAT_write_process_data(ecat_master);
firstrun = 0;
timer.expires += HZ / 1000;
add_timer(&timer);
}
#endif // ECAT_CYCLIC_DATA
/******************************************************************************
*
* Function: init
*
******************************************************************************/
int __init init_module()
{
printk(KERN_INFO "=== Starting Minimal EtherCAT environment... ===\n");
if ((ecat_master = EtherCAT_request(0)) == NULL)
{
printk(KERN_ERR "EtherCAT master 0 not available!\n");
return -1;
}
printk("Checking EtherCAT slaves.\n");
if (EtherCAT_check_slaves(ecat_master, ecat_slaves, ECAT_SLAVES_COUNT) != 0)
{
printk(KERN_ERR "EtherCAT: Could not init slaves!\n");
return -1;
}
printk("Activating all EtherCAT slaves.\n");
if (EtherCAT_activate_all_slaves(ecat_master) != 0)
{
printk(KERN_ERR "EtherCAT: Could not activate slaves!\n");
return -1;
}
#ifdef ECAT_CYCLIC_DATA
printk("Starting cyclic sample thread.\n");
init_timer(&timer);
timer.function = run;
timer.data = 0;
timer.expires = jiffies+10; // Das erste Mal sofort feuern
last_start_jiffies = timer.expires;
add_timer(&timer);
printk("Initialised sample thread.\n");
#endif
printk(KERN_INFO "=== Minimal EtherCAT environment started. ===\n");
return 0;
}
/******************************************************************************
*
* Function: cleanup
*
******************************************************************************/
void __exit cleanup_module()
{
printk(KERN_INFO "=== Stopping Minimal EtherCAT environment... ===\n");
if (ecat_master)
{
#ifdef ECAT_CYCLIC_DATA
del_timer_sync(&timer);
EtherCAT_clear_process_data(ecat_master);
#endif // ECAT_CYCLIC_DATA
printk(KERN_INFO "Deactivating slaves.\n");
EtherCAT_deactivate_all_slaves(ecat_master);
EtherCAT_release(ecat_master);
}
printk(KERN_INFO "=== Minimal EtherCAT environment stopped. ===\n");
}
/*****************************************************************************/
MODULE_LICENSE("GPL");
MODULE_AUTHOR ("Florian Pose <fp@igh-essen.com>");
MODULE_DESCRIPTION ("Minimal EtherCAT environment");
module_init(init_module);
module_exit(cleanup_module);
/*****************************************************************************/
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