mirror of
https://gitlab.com/etherlab.org/ethercat.git
synced 2026-02-06 03:41:52 +08:00
trunk, tags und branches
This commit is contained in:
Florian Pose
38
Makefile
Normal file
38
Makefile
Normal file
@@ -0,0 +1,38 @@
|
||||
#################################################################
|
||||
#
|
||||
# Globales Makefile
|
||||
#
|
||||
# IgH EtherCAT-Treiber
|
||||
#
|
||||
# $Id$
|
||||
#
|
||||
#################################################################
|
||||
|
||||
all: .rs232dbg .drivers .rt .mini
|
||||
|
||||
doc docs:
|
||||
doxygen Doxyfile
|
||||
|
||||
#################################################################
|
||||
|
||||
.drivers:
|
||||
$(MAKE) -C drivers
|
||||
|
||||
.rt:
|
||||
$(MAKE) -C rt
|
||||
|
||||
.rs232dbg:
|
||||
$(MAKE) -C rs232dbg
|
||||
|
||||
.mini:
|
||||
$(MAKE) -C mini
|
||||
|
||||
#################################################################
|
||||
|
||||
clean:
|
||||
$(MAKE) -C rt clean
|
||||
$(MAKE) -C drivers clean
|
||||
$(MAKE) -C rs232dbg clean
|
||||
$(MAKE) -C mini clean
|
||||
|
||||
#################################################################
|
||||
8
TODO
Normal file
8
TODO
Normal file
@@ -0,0 +1,8 @@
|
||||
TODO-Liste EtherCAT-Treiber
|
||||
|
||||
$Date$
|
||||
$Author$
|
||||
|
||||
- Konfiguration SSI-/Inkrementalgeberklemmen
|
||||
- Ethernet over EtherCAT (EoE)
|
||||
- Retry bei Asynchroner Kommunikation
|
||||
71
drivers/Makefile
Normal file
71
drivers/Makefile
Normal file
@@ -0,0 +1,71 @@
|
||||
#################################################################
|
||||
#
|
||||
# Makefile
|
||||
#
|
||||
# IgH EtherCAT-Treiber
|
||||
#
|
||||
# $Date$
|
||||
# $Author$
|
||||
#
|
||||
#################################################################
|
||||
|
||||
#KERNELDIR=/usr/src/linux
|
||||
#KERNELDIR=/home/rich/linux-2.4.20.CX1100-rthal5
|
||||
#KERNELDIR=./linux-2.4.20.CX1100-rthal5
|
||||
|
||||
#IgH
|
||||
KERNELDIR = /vol/projekte/msr_messen_steuern_regeln/linux/kernel/2.4.20/include/linux-2.4.20.CX1100-rthal5
|
||||
RTAIDIR = /vol/projekte/msr_messen_steuern_regeln/linux/kernel/2.4.20/include/rtai-24.1.13
|
||||
RTLIBDIR = rt_lib
|
||||
|
||||
#euler-nottuln
|
||||
#KERNELDIR = /usr/src/linux
|
||||
#RTAIDIR = /usr/src/rtai
|
||||
|
||||
#patra
|
||||
#KERNELDIR = /usr/src/linux-2.4.20.CX1100-rthal5
|
||||
#RTAIDIR = /usr/src/rtai-24.1.13
|
||||
|
||||
#include $(KERNELDIR)/.config
|
||||
|
||||
ECAT_8139_OBJ = drv_8139too.o ec_device.o ec_master.o \
|
||||
ec_slave.o ec_command.o ec_types.o
|
||||
|
||||
|
||||
CFLAGS = -O2 -Wall -Wuninitialized -D__KERNEL__ -DMODULE \
|
||||
-I$(KERNELDIR)/include -D_RTAI -I$(RTAIDIR)/include \
|
||||
-I$(RTLIBDIR)/msr-include
|
||||
|
||||
ifdef CONFIG_SMP
|
||||
CFLAGS += -D__SMP__ -DSMP
|
||||
endif
|
||||
|
||||
#################################################################
|
||||
|
||||
all: .depend ecat_8139too.o
|
||||
|
||||
ecat_8139too.o: $(ECAT_8139_OBJ)
|
||||
$(LD) -r $(ECAT_8139_OBJ) -o $@
|
||||
|
||||
.c.o:
|
||||
$(CC) $(CFLAGS) -c -o $@ $<
|
||||
|
||||
doc docs:
|
||||
$(MAKE) -C .. doc
|
||||
|
||||
#################################################################
|
||||
|
||||
.depend:
|
||||
$(CC) $(CFLAGS) -M *.c > .depend
|
||||
|
||||
ifeq (.depend,$(wildcard .depend))
|
||||
include .depend
|
||||
endif
|
||||
|
||||
#################################################################
|
||||
|
||||
clean:
|
||||
rm -f *.o *~ core .depend
|
||||
|
||||
#################################################################
|
||||
|
||||
2997
drivers/drv_8139too.c
Normal file
2997
drivers/drv_8139too.c
Normal file
File diff suppressed because it is too large
Load Diff
58
drivers/ec_command.c
Normal file
58
drivers/ec_command.c
Normal file
@@ -0,0 +1,58 @@
|
||||
/****************************************************************
|
||||
*
|
||||
* e c _ c o m m a n d . c
|
||||
*
|
||||
* Methoden für ein EtherCAT-Kommando.
|
||||
*
|
||||
* $Date$
|
||||
* $Author$
|
||||
*
|
||||
***************************************************************/
|
||||
|
||||
#include <linux/slab.h>
|
||||
|
||||
#include "ec_command.h"
|
||||
|
||||
/***************************************************************/
|
||||
|
||||
/**
|
||||
Kommando-Konstruktor.
|
||||
|
||||
Initialisiert alle Variablen innerhalb des Kommandos auf die
|
||||
Default-Werte.
|
||||
|
||||
@param cmd Zeiger auf das zu initialisierende Kommando.
|
||||
*/
|
||||
|
||||
void EtherCAT_command_init(EtherCAT_command_t *cmd)
|
||||
{
|
||||
cmd->type = ECAT_CMD_NONE;
|
||||
cmd->address.logical = 0x00000000;
|
||||
cmd->data_length = 0;
|
||||
|
||||
cmd->next = NULL;
|
||||
|
||||
cmd->state = ECAT_CS_READY;
|
||||
cmd->index = 0;
|
||||
cmd->working_counter = 0;
|
||||
cmd->reserved = 0; //Hm
|
||||
}
|
||||
|
||||
/***************************************************************/
|
||||
|
||||
/**
|
||||
Kommando-Destruktor.
|
||||
|
||||
Setzt nur den Status auf ECAT_CS_READY und das
|
||||
reserved-Flag auf 0.
|
||||
|
||||
@param cmd Zeiger auf das zu initialisierende Kommando.
|
||||
*/
|
||||
|
||||
void EtherCAT_command_clear(EtherCAT_command_t *cmd)
|
||||
{
|
||||
cmd->state = ECAT_CS_READY;
|
||||
cmd->reserved = 0;
|
||||
}
|
||||
|
||||
/***************************************************************/
|
||||
93
drivers/ec_command.h
Normal file
93
drivers/ec_command.h
Normal file
@@ -0,0 +1,93 @@
|
||||
/****************************************************************
|
||||
*
|
||||
* e c _ c o m m a n d . h
|
||||
*
|
||||
* Struktur für ein EtherCAT-Kommando.
|
||||
*
|
||||
* $Date$
|
||||
* $Author$
|
||||
*
|
||||
***************************************************************/
|
||||
|
||||
#ifndef _EC_COMMAND_H_
|
||||
#define _EC_COMMAND_H_
|
||||
|
||||
#include "ec_globals.h"
|
||||
|
||||
/**
|
||||
Status eines EtherCAT-Kommandos.
|
||||
*/
|
||||
|
||||
typedef enum
|
||||
{
|
||||
ECAT_CS_READY, ECAT_CS_SENT, ECAT_CS_RECEIVED
|
||||
}
|
||||
EtherCAT_command_state_t;
|
||||
|
||||
/**
|
||||
EtherCAT-Adresse.
|
||||
|
||||
Im EtherCAT-Rahmen sind 4 Bytes für die Adresse reserviert, die
|
||||
ja nach Kommandoty eine andere bedeutung haben: Bei Autoinkrement-
|
||||
befehlen sind die ersten zwei Bytes die (negative)
|
||||
Autoinkrement-Adresse, bei Knoten-adressierten Befehlen entsprechen
|
||||
sie der Knotenadresse. Das dritte und vierte Byte entspricht in
|
||||
diesen Fällen der physikalischen Speicheradresse auf dem Slave.
|
||||
Bei einer logischen Adressierung entsprechen alle vier Bytes
|
||||
der logischen Adresse.
|
||||
*/
|
||||
|
||||
typedef union
|
||||
{
|
||||
struct
|
||||
{
|
||||
union
|
||||
{
|
||||
short pos; /**< (Negative) Ring-Position des Slaves */
|
||||
unsigned short node; /**< Konfigurierte Knotenadresse */
|
||||
}
|
||||
dev;
|
||||
|
||||
unsigned short mem; /**< Physikalische Speicheradresse im Slave */
|
||||
}
|
||||
phy;
|
||||
|
||||
unsigned long logical; /**< Logische Adresse */
|
||||
unsigned char raw[4]; /**< Rohdaten für die generierung des Frames */
|
||||
}
|
||||
EtherCAT_address_t;
|
||||
|
||||
/***************************************************************/
|
||||
|
||||
/**
|
||||
EtherCAT-Kommando.
|
||||
*/
|
||||
|
||||
typedef struct EtherCAT_command
|
||||
{
|
||||
EtherCAT_cmd_type_t type; /**< Typ des Kommandos (APRD, NPWR, etc...) */
|
||||
EtherCAT_address_t address; /**< Adresse des/der Empfänger */
|
||||
unsigned int data_length; /**< Länge der zu sendenden und/oder empfangenen Daten */
|
||||
|
||||
struct EtherCAT_command *next; /**< (Für den Master) Zeiger auf nächstes Kommando
|
||||
in der Liste */
|
||||
|
||||
EtherCAT_command_state_t state; /**< Zustand des Kommandos (bereit, gesendet, etc...) */
|
||||
unsigned char index; /**< Kommando-Index, mit der das Kommando gesendet wurde (wird
|
||||
vom Master beim Senden gesetzt. */
|
||||
unsigned int working_counter; /**< Working-Counter bei Empfang (wird vom Master gesetzt) */
|
||||
|
||||
unsigned char data[ECAT_FRAME_BUFFER_SIZE]; /**< Kommandodaten */
|
||||
|
||||
unsigned char reserved; /**< Markiert, das das Kommando gerade benutzt wird */
|
||||
}
|
||||
EtherCAT_command_t;
|
||||
|
||||
/***************************************************************/
|
||||
|
||||
void EtherCAT_command_init(EtherCAT_command_t *);
|
||||
void EtherCAT_command_clear(EtherCAT_command_t *);
|
||||
|
||||
/***************************************************************/
|
||||
|
||||
#endif
|
||||
23
drivers/ec_dbg.h
Normal file
23
drivers/ec_dbg.h
Normal file
@@ -0,0 +1,23 @@
|
||||
#ifndef ECDBG_H_
|
||||
#define ECDBG_H_
|
||||
|
||||
|
||||
//#define DEBUG_SEND_RECEIVE
|
||||
#define ECMASTER_DEBUG
|
||||
|
||||
|
||||
#include "../rs232dbg/rs232dbg.h"
|
||||
|
||||
|
||||
#ifdef ECMASTER_DEBUG
|
||||
/* note: prints function name for you */
|
||||
//# define EC_DBG(fmt, args...) SDBG_print(fmt, ## args)
|
||||
|
||||
#define EC_DBG(fmt, args...) SDBG_print("%s: " fmt, __FUNCTION__ , ## args)
|
||||
//#define EC_DBG(fmt, args...) printk(KERN_INFO fmt, ## args)
|
||||
#else
|
||||
#define EC_DBG(fmt, args...)
|
||||
#endif
|
||||
|
||||
|
||||
#endif
|
||||
320
drivers/ec_device.c
Normal file
320
drivers/ec_device.c
Normal file
@@ -0,0 +1,320 @@
|
||||
/****************************************************************
|
||||
*
|
||||
* e c _ d e v i c e . c
|
||||
*
|
||||
* Methoden für ein EtherCAT-Gerät.
|
||||
*
|
||||
* $Date$
|
||||
* $Author$
|
||||
*
|
||||
***************************************************************/
|
||||
|
||||
#include <linux/skbuff.h>
|
||||
#include <linux/if_ether.h>
|
||||
#include <linux/netdevice.h>
|
||||
#include <rtai.h>
|
||||
|
||||
#include "ec_device.h"
|
||||
#include "ec_dbg.h"
|
||||
|
||||
/***************************************************************/
|
||||
|
||||
/**
|
||||
EtherCAT-Geräte-Konstuktor.
|
||||
|
||||
Initialisiert ein EtherCAT-Gerät, indem es die Variablen
|
||||
in der Struktur auf die Default-Werte setzt.
|
||||
|
||||
@param ecd Zu initialisierendes EtherCAT-Gerät
|
||||
*/
|
||||
|
||||
void EtherCAT_device_init(EtherCAT_device_t *ecd)
|
||||
{
|
||||
ecd->dev = NULL;
|
||||
ecd->tx_skb = NULL;
|
||||
ecd->rx_skb = NULL;
|
||||
ecd->tx_time = 0;
|
||||
ecd->rx_time = 0;
|
||||
ecd->tx_intr_cnt = 0;
|
||||
ecd->rx_intr_cnt = 0;
|
||||
ecd->intr_cnt = 0;
|
||||
ecd->state = ECAT_DS_READY;
|
||||
ecd->rx_data_length = 0;
|
||||
ecd->lock = NULL;
|
||||
}
|
||||
|
||||
/***************************************************************/
|
||||
|
||||
/**
|
||||
EtherCAT-Geräte-Destuktor.
|
||||
|
||||
Gibt den dynamisch allozierten Speicher des
|
||||
EtherCAT-Gerätes (die beiden Socket-Buffer) wieder frei.
|
||||
|
||||
@param ecd EtherCAT-Gerät
|
||||
*/
|
||||
|
||||
void EtherCAT_device_clear(EtherCAT_device_t *ecd)
|
||||
{
|
||||
ecd->dev = NULL;
|
||||
|
||||
if (ecd->tx_skb)
|
||||
{
|
||||
dev_kfree_skb(ecd->tx_skb);
|
||||
ecd->tx_skb = NULL;
|
||||
}
|
||||
|
||||
if (ecd->rx_skb)
|
||||
{
|
||||
dev_kfree_skb(ecd->rx_skb);
|
||||
ecd->rx_skb = NULL;
|
||||
}
|
||||
}
|
||||
|
||||
/***************************************************************/
|
||||
|
||||
/**
|
||||
Weist einem EtherCAT-Gerät das entsprechende net_device zu.
|
||||
|
||||
Prüft das net_device, allokiert Socket-Buffer in Sende- und
|
||||
Empfangsrichtung und weist dem EtherCAT-Gerät und den
|
||||
Socket-Buffern das net_device zu.
|
||||
|
||||
@param ecd EtherCAT-Device
|
||||
@param dev net_device
|
||||
|
||||
@return 0: Erfolg, < 0: Konnte Socket-Buffer nicht allozieren.
|
||||
*/
|
||||
|
||||
int EtherCAT_device_assign(EtherCAT_device_t *ecd,
|
||||
struct net_device *dev)
|
||||
{
|
||||
if (!dev)
|
||||
{
|
||||
EC_DBG("EtherCAT: Device is NULL!\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
if ((ecd->tx_skb = dev_alloc_skb(ECAT_FRAME_BUFFER_SIZE)) == NULL)
|
||||
{
|
||||
EC_DBG(KERN_ERR "EtherCAT: Could not allocate device tx socket buffer!\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
if ((ecd->rx_skb = dev_alloc_skb(ECAT_FRAME_BUFFER_SIZE)) == NULL)
|
||||
{
|
||||
dev_kfree_skb(ecd->tx_skb);
|
||||
ecd->tx_skb = NULL;
|
||||
|
||||
EC_DBG(KERN_ERR "EtherCAT: Could not allocate device rx socket buffer!\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
ecd->dev = dev;
|
||||
ecd->tx_skb->dev = dev;
|
||||
ecd->rx_skb->dev = dev;
|
||||
|
||||
EC_DBG("EtherCAT: Assigned Device %X.\n", (unsigned) dev);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
/***************************************************************/
|
||||
|
||||
/**
|
||||
Führt die open()-Funktion des Netzwerktreibers aus.
|
||||
|
||||
Dies entspricht einem "ifconfig up". Vorher wird der Zeiger
|
||||
auf das EtherCAT-Gerät auf Gültigkeit geprüft und der
|
||||
Gerätezustand zurückgesetzt.
|
||||
|
||||
@param ecd EtherCAT-Gerät
|
||||
|
||||
@return 0 bei Erfolg, < 0: Ungültiger Zeiger, oder open()
|
||||
fehlgeschlagen
|
||||
*/
|
||||
|
||||
int EtherCAT_device_open(EtherCAT_device_t *ecd)
|
||||
{
|
||||
if (!ecd)
|
||||
{
|
||||
EC_DBG(KERN_ERR "EtherCAT: Trying to open a NULL device!\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
if (!ecd->dev)
|
||||
{
|
||||
EC_DBG(KERN_ERR "EtherCAT: No device to open!\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
// Reset old device state
|
||||
ecd->state = ECAT_DS_READY;
|
||||
ecd->tx_intr_cnt = 0;
|
||||
ecd->rx_intr_cnt = 0;
|
||||
|
||||
return ecd->dev->open(ecd->dev);
|
||||
}
|
||||
|
||||
/***************************************************************/
|
||||
|
||||
/**
|
||||
Führt die stop()-Funktion des net_devices aus.
|
||||
|
||||
@param ecd EtherCAT-Gerät
|
||||
|
||||
@return 0 bei Erfolg, < 0: Kein Gerät zum Schliessen
|
||||
*/
|
||||
|
||||
int EtherCAT_device_close(EtherCAT_device_t *ecd)
|
||||
{
|
||||
if (!ecd->dev)
|
||||
{
|
||||
EC_DBG("EtherCAT: No device to close!\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
EC_DBG("EtherCAT: txcnt: %u, rxcnt: %u\n",
|
||||
(unsigned int) ecd->tx_intr_cnt,
|
||||
(unsigned int) ecd->rx_intr_cnt);
|
||||
|
||||
EC_DBG("EtherCAT: Stopping device at 0x%X\n",
|
||||
(unsigned int) ecd->dev);
|
||||
|
||||
return ecd->dev->stop(ecd->dev);
|
||||
}
|
||||
|
||||
/***************************************************************/
|
||||
|
||||
/**
|
||||
Sendet einen Rahmen über das EtherCAT-Gerät.
|
||||
|
||||
Kopiert die zu sendenden Daten in den statischen Socket-
|
||||
Buffer, fügt den Ethernat-II-Header hinzu und ruft die
|
||||
start_xmit()-Funktion der Netzwerkkarte auf.
|
||||
|
||||
@param ecd EtherCAT-Gerät
|
||||
@param data Zeiger auf die zu sendenden Daten
|
||||
@param length Länge der zu sendenden Daten
|
||||
|
||||
@return 0 bei Erfolg, < 0: Vorheriger Rahmen noch
|
||||
nicht empfangen, oder kein Speicher mehr vorhanden
|
||||
*/
|
||||
|
||||
int EtherCAT_device_send(EtherCAT_device_t *ecd,
|
||||
unsigned char *data,
|
||||
unsigned int length)
|
||||
{
|
||||
unsigned char *frame_data;
|
||||
struct ethhdr *eth;
|
||||
|
||||
if (ecd->state == ECAT_DS_SENT)
|
||||
{
|
||||
EC_DBG(KERN_ERR "EtherCAT: Trying to send frame while last was not received!\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
skb_trim(ecd->tx_skb, 0); // Clear transmit socket buffer
|
||||
skb_reserve(ecd->tx_skb, ETH_HLEN); // Reserve space for Ethernet-II header
|
||||
|
||||
// Copy data to socket buffer
|
||||
frame_data = skb_put(ecd->tx_skb, length);
|
||||
memcpy(frame_data, data, length);
|
||||
|
||||
// Add Ethernet-II-Header
|
||||
if ((eth = (struct ethhdr *) skb_push(ecd->tx_skb, ETH_HLEN)) == NULL)
|
||||
{
|
||||
EC_DBG(KERN_ERR "EtherCAT: device_send - Could not allocate Ethernet-II header!\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
eth->h_proto = htons(0x88A4); // Protocol type
|
||||
memcpy(eth->h_source, ecd->dev->dev_addr, ecd->dev->addr_len); // Hardware address
|
||||
memset(eth->h_dest, 0xFF, ecd->dev->addr_len); // Broadcast address
|
||||
|
||||
rdtscl(ecd->tx_time); // Get CPU cycles
|
||||
|
||||
// Start sending of frame
|
||||
ecd->state = ECAT_DS_SENT;
|
||||
ecd->dev->hard_start_xmit(ecd->tx_skb, ecd->dev);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
/***************************************************************/
|
||||
|
||||
/**
|
||||
Holt einen empfangenen Rahmen von der Netzwerkkarte.
|
||||
|
||||
Zuerst wird geprüft, ob überhaupt ein Rahmen empfangen
|
||||
wurde. Wenn ja, wird diesem mit Hilfe eines Spin-Locks
|
||||
in den angegebenen Speicherbereich kopiert.
|
||||
|
||||
@param ecd EtherCAT-Gerät
|
||||
@param data Zeiger auf den Speicherbereich, in den die
|
||||
empfangenen Daten kopiert werden sollen
|
||||
@param size Größe des angegebenen Speicherbereichs
|
||||
|
||||
@return Anzahl der kopierten Bytes bei Erfolg, sonst < 0
|
||||
*/
|
||||
|
||||
int EtherCAT_device_receive(EtherCAT_device_t *ecd,
|
||||
unsigned char *data,
|
||||
unsigned int size)
|
||||
{
|
||||
int cnt;
|
||||
// unsigned long flags;
|
||||
|
||||
if (ecd->state != ECAT_DS_RECEIVED)
|
||||
{
|
||||
EC_DBG(KERN_ERR "EtherCAT: receive - Nothing received!\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
// flags = rt_spin_lock_irqsave(ecd->lock);
|
||||
|
||||
cnt = min(ecd->rx_data_length, size);
|
||||
memcpy(data,ecd->rx_data, cnt);
|
||||
|
||||
// rt_spin_unlock_irqrestore(ecd->lock, flags);
|
||||
|
||||
return cnt;
|
||||
}
|
||||
|
||||
/***************************************************************/
|
||||
|
||||
/**
|
||||
Gibt alle Informationen über das Device-Objekt aus.
|
||||
|
||||
@param ecd EtherCAT-Gerät
|
||||
*/
|
||||
|
||||
void EtherCAT_device_debug(EtherCAT_device_t *ecd)
|
||||
{
|
||||
EC_DBG(KERN_DEBUG "---EtherCAT device information begin---\n");
|
||||
|
||||
if (ecd)
|
||||
{
|
||||
EC_DBG(KERN_DEBUG "Assigned net_device: %X\n", (unsigned) ecd->dev);
|
||||
EC_DBG(KERN_DEBUG "Transmit socket buffer: %X\n", (unsigned) ecd->tx_skb);
|
||||
EC_DBG(KERN_DEBUG "Receive socket buffer: %X\n", (unsigned) ecd->rx_skb);
|
||||
EC_DBG(KERN_DEBUG "Time of last transmission: %u\n", (unsigned) ecd->tx_time);
|
||||
EC_DBG(KERN_DEBUG "Time of last receive: %u\n", (unsigned) ecd->rx_time);
|
||||
EC_DBG(KERN_DEBUG "Number of transmit interrupts: %u\n", (unsigned) ecd->tx_intr_cnt);
|
||||
EC_DBG(KERN_DEBUG "Number of receive interrupts: %u\n", (unsigned) ecd->rx_intr_cnt);
|
||||
EC_DBG(KERN_DEBUG "Total Number of interrupts: %u\n", (unsigned) ecd->intr_cnt);
|
||||
EC_DBG(KERN_DEBUG "Actual device state: %i\n", (int) ecd->state);
|
||||
EC_DBG(KERN_DEBUG "Receive buffer: %X\n", (unsigned) ecd->rx_data);
|
||||
EC_DBG(KERN_DEBUG "Receive buffer fill state: %u/%u\n",
|
||||
(unsigned) ecd->rx_data_length, ECAT_FRAME_BUFFER_SIZE);
|
||||
EC_DBG(KERN_DEBUG "Lock: %X\n", (unsigned) ecd->lock);
|
||||
}
|
||||
else
|
||||
{
|
||||
EC_DBG(KERN_DEBUG "Device is NULL!\n");
|
||||
}
|
||||
|
||||
EC_DBG(KERN_DEBUG "---EtherCAT device information end---\n");
|
||||
}
|
||||
|
||||
/***************************************************************/
|
||||
86
drivers/ec_device.h
Normal file
86
drivers/ec_device.h
Normal file
@@ -0,0 +1,86 @@
|
||||
/****************************************************************
|
||||
*
|
||||
* e c _ d e v i c e . h
|
||||
*
|
||||
* Struktur für ein EtherCAT-Gerät.
|
||||
*
|
||||
* $Date$
|
||||
* $Author$
|
||||
*
|
||||
***************************************************************/
|
||||
|
||||
#ifndef _EC_DEVICE_H_
|
||||
#define _EC_DEVICE_H_
|
||||
|
||||
#include "ec_globals.h"
|
||||
|
||||
/**
|
||||
Zustand eines EtherCAT-Gerätes.
|
||||
|
||||
Eine Für EtherCAT reservierte Netzwerkkarte kann bestimmte Zustände haben.
|
||||
*/
|
||||
|
||||
typedef enum
|
||||
{
|
||||
ECAT_DS_READY, /**< Das Gerät ist bereit zum Senden */
|
||||
ECAT_DS_SENT, /**< Das Gerät hat einen Rahmen abgesendet,
|
||||
aber noch keine Antwort enpfangen */
|
||||
ECAT_DS_RECEIVED, /**< Das Gerät hat eine Antwort auf einen
|
||||
zuvor gesendeten Rahmen empfangen */
|
||||
ECAT_DS_TIMEOUT, /**< Nach dem Senden eines Rahmens meldete
|
||||
das Gerät einen Timeout */
|
||||
ECAT_DS_ERROR /**< Nach dem Senden eines frames hat das
|
||||
Gerät einen Fehler festgestellt. */
|
||||
}
|
||||
EtherCAT_device_state_t;
|
||||
|
||||
#define ECAT_BUS_TIME(ecd_ptr) ((((ecd_ptr)->rx_time - \
|
||||
(ecd_ptr)->tx_time) * 1000) / cpu_khz)
|
||||
|
||||
/***************************************************************/
|
||||
|
||||
/**
|
||||
EtherCAT-Gerät.
|
||||
|
||||
Ein EtherCAT-Gerät ist eine Netzwerkkarte, die vom
|
||||
EtherCAT-Master dazu verwendet wird, um Frames zu senden
|
||||
und zu empfangen.
|
||||
*/
|
||||
|
||||
typedef struct
|
||||
{
|
||||
struct net_device *dev; /**< Zeiger auf das reservierte net_device */
|
||||
struct sk_buff *tx_skb; /**< Zeiger auf Transmit-Socketbuffer */
|
||||
struct sk_buff *rx_skb; /**< Zeiger auf Receive-Socketbuffer */
|
||||
unsigned long tx_time; /**< Zeit des letzten Sendens */
|
||||
unsigned long rx_time; /**< Zeit des letzten Empfangs */
|
||||
unsigned long tx_intr_cnt; /**< Anzahl Tx-Interrupts */
|
||||
unsigned long rx_intr_cnt; /**< Anzahl Rx-Interrupts */
|
||||
unsigned long intr_cnt; /**< Anzahl Interrupts */
|
||||
volatile EtherCAT_device_state_t state; /**< Gesendet, Empfangen,
|
||||
Timeout, etc. */
|
||||
unsigned char rx_data[ECAT_FRAME_BUFFER_SIZE]; /**< Puffer für
|
||||
empfangene Rahmen */
|
||||
volatile unsigned int rx_data_length; /**< Länge des zuletzt
|
||||
empfangenen Rahmens */
|
||||
spinlock_t *lock; /**< Zeiger auf das Spinlock des net_devices */
|
||||
}
|
||||
EtherCAT_device_t;
|
||||
|
||||
/***************************************************************/
|
||||
|
||||
void EtherCAT_device_init(EtherCAT_device_t *);
|
||||
int EtherCAT_device_assign(EtherCAT_device_t *, struct net_device *);
|
||||
void EtherCAT_device_clear(EtherCAT_device_t *);
|
||||
|
||||
int EtherCAT_device_open(EtherCAT_device_t *);
|
||||
int EtherCAT_device_close(EtherCAT_device_t *);
|
||||
|
||||
int EtherCAT_device_send(EtherCAT_device_t *, unsigned char *, unsigned int);
|
||||
int EtherCAT_device_receive(EtherCAT_device_t *, unsigned char *, unsigned int);
|
||||
|
||||
void EtherCAT_device_debug(EtherCAT_device_t *);
|
||||
|
||||
/***************************************************************/
|
||||
|
||||
#endif
|
||||
77
drivers/ec_globals.h
Normal file
77
drivers/ec_globals.h
Normal file
@@ -0,0 +1,77 @@
|
||||
/****************************************************************
|
||||
*
|
||||
* e c _ g l o b a l s . h
|
||||
*
|
||||
* Globale Definitionen und Makros für das EtherCAT-Protokoll.
|
||||
*
|
||||
* $Date$
|
||||
* $Author$
|
||||
*
|
||||
***************************************************************/
|
||||
|
||||
#ifndef _EC_GLOBALS_
|
||||
#define _EC_GLOBALS_
|
||||
|
||||
/**
|
||||
Maximale Größe eines EtherCAT-Frames
|
||||
*/
|
||||
#define ECAT_FRAME_BUFFER_SIZE 1600
|
||||
|
||||
/**
|
||||
Anzahl der Kommandos in einem Master-Kommandoring
|
||||
*/
|
||||
#define ECAT_COMMAND_RING_SIZE 10
|
||||
|
||||
/**
|
||||
Anzahl der Versuche beim Asynchronen Senden/Empfangen
|
||||
*/
|
||||
#define ECAT_NUM_RETRIES 10
|
||||
|
||||
/**
|
||||
NULL-Define, falls noch nicht definiert.
|
||||
*/
|
||||
|
||||
#ifndef NULL
|
||||
#define NULL ((void *) 0)
|
||||
#endif
|
||||
|
||||
/**
|
||||
EtherCAT-Kommando-Typ
|
||||
*/
|
||||
|
||||
typedef enum
|
||||
{
|
||||
ECAT_CMD_NONE = 0x00, /**< Dummy */
|
||||
ECAT_CMD_APRD = 0x01, /**< Auto-increment physical read */
|
||||
ECAT_CMD_APWR = 0x02, /**< Auto-increment physical write */
|
||||
ECAT_CMD_NPRD = 0x04, /**< Node-addressed physical read */
|
||||
ECAT_CMD_NPWR = 0x05, /**< Node-addressed physical write */
|
||||
ECAT_CMD_BRD = 0x07, /**< Broadcast read */
|
||||
ECAT_CMD_BWR = 0x08, /**< Broadcast write */
|
||||
ECAT_CMD_LRW = 0x0C /**< Logical read/write */
|
||||
}
|
||||
EtherCAT_cmd_type_t;
|
||||
|
||||
/**
|
||||
Zustand eines EtherCAT-Slaves
|
||||
*/
|
||||
|
||||
typedef enum
|
||||
{
|
||||
ECAT_STATE_UNKNOWN = 0x00, /**< Status unbekannt */
|
||||
ECAT_STATE_INIT = 0x01, /**< Init-Zustand (Keine Mailbox-
|
||||
Kommunikation, Kein I/O) */
|
||||
ECAT_STATE_PREOP = 0x02, /**< Pre-Operational (Mailbox-
|
||||
Kommunikation, Kein I/O) */
|
||||
ECAT_STATE_SAVEOP = 0x04, /**< Save-Operational (Mailbox-
|
||||
Kommunikation und Input Update) */
|
||||
ECAT_STATE_OP = 0x08, /**< Operational, (Mailbox-
|
||||
Kommunikation und Input/Output Update) */
|
||||
ECAT_ACK_STATE = 0x10 /**< Acknoledge-Bit beim Zustandswechsel
|
||||
(dies ist kein eigener Zustand) */
|
||||
}
|
||||
EtherCAT_state_t;
|
||||
|
||||
/***************************************************************/
|
||||
|
||||
#endif
|
||||
1767
drivers/ec_master.c
Normal file
1767
drivers/ec_master.c
Normal file
File diff suppressed because it is too large
Load Diff
134
drivers/ec_master.h
Normal file
134
drivers/ec_master.h
Normal file
@@ -0,0 +1,134 @@
|
||||
/****************************************************************
|
||||
*
|
||||
* e c _ m a s t e r . h
|
||||
*
|
||||
* Struktur für einen EtherCAT-Master.
|
||||
*
|
||||
* $Date$
|
||||
* $Author$
|
||||
*
|
||||
***************************************************************/
|
||||
|
||||
#ifndef _EC_MASTER_H_
|
||||
#define _EC_MASTER_H_
|
||||
|
||||
#include "ec_device.h"
|
||||
#include "ec_slave.h"
|
||||
#include "ec_command.h"
|
||||
|
||||
/***************************************************************/
|
||||
|
||||
/**
|
||||
EtherCAT-Master
|
||||
|
||||
Verwaltet die EtherCAT-Slaves und kommuniziert mit
|
||||
dem zugewiesenen EtherCAT-Gerät.
|
||||
*/
|
||||
|
||||
typedef struct
|
||||
{
|
||||
EtherCAT_slave_t *slaves; /**< Zeiger auf statischen Speicher
|
||||
mit Slave-Informationen */
|
||||
unsigned int slave_count; /**< Anzahl der Slaves in slaves */
|
||||
|
||||
EtherCAT_command_t *first_command; /**< Zeiger auf das erste
|
||||
Kommando in der Liste */
|
||||
EtherCAT_command_t *process_data_command; /**< Zeiger Auf das Kommando
|
||||
zum Senden und Empfangen
|
||||
der Prozessdaten */
|
||||
|
||||
EtherCAT_device_t *dev; /**< Zeiger auf das zugewiesene EtherCAT-Gerät */
|
||||
|
||||
unsigned char command_index; /**< Aktueller Kommando-Index */
|
||||
|
||||
unsigned char tx_data[ECAT_FRAME_BUFFER_SIZE]; /**< Statischer Speicher
|
||||
für zu sendende Daten */
|
||||
unsigned int tx_data_length; /**< Länge der Daten im Sendespeicher */
|
||||
unsigned char rx_data[ECAT_FRAME_BUFFER_SIZE]; /**< Statische Speicher für
|
||||
eine Kopie des Rx-Buffers
|
||||
im EtherCAT-Gerät */
|
||||
|
||||
unsigned char *process_data; /**< Zeiger auf Speicher mit Prozessdaten */
|
||||
unsigned int process_data_length; /**< Länge der Prozessdaten */
|
||||
|
||||
EtherCAT_command_t cmd_ring[ECAT_COMMAND_RING_SIZE]; /** Statischer Kommandoring */
|
||||
unsigned int cmd_ring_index; /**< Index des nächsten Kommandos im Ring */
|
||||
}
|
||||
EtherCAT_master_t;
|
||||
|
||||
/***************************************************************/
|
||||
|
||||
// Master creation and deletion
|
||||
int EtherCAT_master_init(EtherCAT_master_t *, EtherCAT_device_t *);
|
||||
void EtherCAT_master_clear(EtherCAT_master_t *);
|
||||
|
||||
// Slave management
|
||||
int EtherCAT_check_slaves(EtherCAT_master_t *, EtherCAT_slave_t *, unsigned int);
|
||||
void EtherCAT_clear_slaves(EtherCAT_master_t *);
|
||||
int EtherCAT_activate_slave(EtherCAT_master_t *, EtherCAT_slave_t *);
|
||||
int EtherCAT_deactivate_slave(EtherCAT_master_t *, EtherCAT_slave_t *);
|
||||
int EtherCAT_activate_all_slaves(EtherCAT_master_t *);
|
||||
int EtherCAT_deactivate_all_slaves(EtherCAT_master_t *);
|
||||
|
||||
// Sending and receiving
|
||||
int EtherCAT_async_send_receive(EtherCAT_master_t *);
|
||||
int EtherCAT_send(EtherCAT_master_t *);
|
||||
int EtherCAT_receive(EtherCAT_master_t *);
|
||||
int EtherCAT_write_process_data(EtherCAT_master_t *);
|
||||
int EtherCAT_read_process_data(EtherCAT_master_t *);
|
||||
|
||||
/***************************************************************/
|
||||
|
||||
// Slave information interface
|
||||
int EtherCAT_read_slave_information(EtherCAT_master_t *,
|
||||
unsigned short int,
|
||||
unsigned short int,
|
||||
unsigned int *);
|
||||
|
||||
// EtherCAT commands
|
||||
EtherCAT_command_t *EtherCAT_read(EtherCAT_master_t *,
|
||||
unsigned short,
|
||||
unsigned short,
|
||||
unsigned int);
|
||||
EtherCAT_command_t *EtherCAT_write(EtherCAT_master_t *,
|
||||
unsigned short,
|
||||
unsigned short,
|
||||
unsigned int,
|
||||
const unsigned char *);
|
||||
EtherCAT_command_t *EtherCAT_position_read(EtherCAT_master_t *,
|
||||
short,
|
||||
unsigned short,
|
||||
unsigned int);
|
||||
EtherCAT_command_t *EtherCAT_position_write(EtherCAT_master_t *,
|
||||
short,
|
||||
unsigned short,
|
||||
unsigned int,
|
||||
const unsigned char *);
|
||||
EtherCAT_command_t *EtherCAT_broadcast_read(EtherCAT_master_t *,
|
||||
unsigned short,
|
||||
unsigned int);
|
||||
EtherCAT_command_t *EtherCAT_broadcast_write(EtherCAT_master_t *,
|
||||
unsigned short,
|
||||
unsigned int,
|
||||
const unsigned char *);
|
||||
EtherCAT_command_t *EtherCAT_logical_read_write(EtherCAT_master_t *,
|
||||
unsigned int,
|
||||
unsigned int,
|
||||
unsigned char *);
|
||||
|
||||
void EtherCAT_remove_command(EtherCAT_master_t *, EtherCAT_command_t *);
|
||||
|
||||
// Slave states
|
||||
int EtherCAT_state_change(EtherCAT_master_t *, EtherCAT_slave_t *, unsigned char);
|
||||
|
||||
/***************************************************************/
|
||||
|
||||
// Private functions
|
||||
EtherCAT_command_t *alloc_cmd(EtherCAT_master_t *);
|
||||
void add_command(EtherCAT_master_t *, EtherCAT_command_t *);
|
||||
void set_byte(unsigned char *, unsigned int, unsigned char);
|
||||
void set_word(unsigned char *, unsigned int, unsigned int);
|
||||
|
||||
/***************************************************************/
|
||||
|
||||
#endif
|
||||
160
drivers/ec_slave.c
Normal file
160
drivers/ec_slave.c
Normal file
@@ -0,0 +1,160 @@
|
||||
/****************************************************************
|
||||
*
|
||||
* e c _ s l a v e . c
|
||||
*
|
||||
* Methoden für einen EtherCAT-Slave.
|
||||
*
|
||||
* $Date$
|
||||
* $Author$
|
||||
*
|
||||
***************************************************************/
|
||||
|
||||
#include <linux/kernel.h>
|
||||
|
||||
#include "ec_globals.h"
|
||||
#include "ec_slave.h"
|
||||
#include "ec_dbg.h"
|
||||
|
||||
/***************************************************************/
|
||||
|
||||
/**
|
||||
EtherCAT-Slave-Konstruktor.
|
||||
|
||||
Initialisiert einen EtherCAT-Slave.
|
||||
|
||||
@param slave Zeiger auf den zu initialisierenden Slave
|
||||
*/
|
||||
|
||||
void EtherCAT_slave_init(EtherCAT_slave_t *slave)
|
||||
{
|
||||
slave->type = 0;
|
||||
slave->revision = 0;
|
||||
slave->build = 0;
|
||||
|
||||
slave->ring_position = 0;
|
||||
slave->station_address = 0;
|
||||
|
||||
slave->vendor_id = 0;
|
||||
slave->product_code = 0;
|
||||
slave->revision_number = 0;
|
||||
|
||||
slave->desc = 0;
|
||||
|
||||
slave->logical_address0 = 0;
|
||||
|
||||
slave->current_state = ECAT_STATE_UNKNOWN;
|
||||
slave->requested_state = ECAT_STATE_UNKNOWN;
|
||||
}
|
||||
|
||||
/***************************************************************/
|
||||
|
||||
/**
|
||||
EtherCAT-Slave-Destruktor.
|
||||
|
||||
Im Moment ohne Funktionalität.
|
||||
|
||||
@param slave Zeiger auf den zu zerstörenden Slave
|
||||
*/
|
||||
|
||||
void EtherCAT_slave_clear(EtherCAT_slave_t *slave)
|
||||
{
|
||||
// Nothing yet...
|
||||
}
|
||||
|
||||
/***************************************************************/
|
||||
|
||||
/**
|
||||
Liest einen bestimmten Kanal des Slaves als Integer-Wert.
|
||||
|
||||
Prüft zuerst, ob der entsprechende Slave eine
|
||||
bekannte Beschreibung besitzt, ob dort eine
|
||||
read()-Funktion hinterlegt ist und ob die angegebene
|
||||
Kanalnummer gültig ist. Wenn ja, wird der dekodierte
|
||||
Wert zurückgegeben, sonst ist der Wert 0.
|
||||
|
||||
@param slave EtherCAT-Slave
|
||||
@param channel Kanalnummer
|
||||
|
||||
@return Gelesener Wert bzw. 0
|
||||
*/
|
||||
|
||||
int EtherCAT_read_value(EtherCAT_slave_t *slave,
|
||||
unsigned int channel)
|
||||
{
|
||||
if (!slave->desc)
|
||||
{
|
||||
EC_DBG(KERN_WARNING "EtherCAT: Reading failed - "
|
||||
"Slave %04X (at %0X) has no description.\n",
|
||||
slave->station_address, (unsigned int) slave);
|
||||
return 0;
|
||||
}
|
||||
|
||||
if (!slave->desc->read)
|
||||
{
|
||||
EC_DBG(KERN_WARNING "EtherCAT: Reading failed - "
|
||||
"Slave type (%s %s) has no read method.\n",
|
||||
slave->desc->vendor_name, slave->desc->product_name);
|
||||
return 0;
|
||||
}
|
||||
|
||||
if (channel >= slave->desc->channels)
|
||||
{
|
||||
EC_DBG(KERN_WARNING "EtherCAT: Reading failed - "
|
||||
"Slave %4X (%s %s) has no channel %i.\n",
|
||||
slave->station_address, slave->desc->vendor_name,
|
||||
slave->desc->product_name, channel);
|
||||
return 0;
|
||||
}
|
||||
|
||||
return slave->desc->read(slave->process_data, channel);
|
||||
}
|
||||
|
||||
/***************************************************************/
|
||||
|
||||
/**
|
||||
Schreibt einen bestimmten Kanal des Slaves als Integer-Wert .
|
||||
|
||||
Prüft zuerst, ob der entsprechende Slave eine
|
||||
bekannte Beschreibung besitzt, ob dort eine
|
||||
write()-Funktion hinterlegt ist und ob die angegebene
|
||||
Kanalnummer gültig ist. Wenn ja, wird der Wert entsprechend
|
||||
kodiert und geschrieben.
|
||||
|
||||
@param slave EtherCAT-Slave
|
||||
@param channel Kanalnummer
|
||||
@param value Zu schreibender Wert
|
||||
*/
|
||||
|
||||
void EtherCAT_write_value(EtherCAT_slave_t *slave,
|
||||
unsigned int channel,
|
||||
int value)
|
||||
{
|
||||
if (!slave->desc)
|
||||
{
|
||||
EC_DBG(KERN_WARNING "EtherCAT: Writing failed - "
|
||||
"Slave %04X (at %0X) has no description.\n",
|
||||
slave->station_address, (unsigned int) slave);
|
||||
return;
|
||||
}
|
||||
|
||||
if (!slave->desc->write)
|
||||
{
|
||||
EC_DBG(KERN_WARNING "EtherCAT: Writing failed - "
|
||||
"Slave type (%s %s) has no write method.\n",
|
||||
slave->desc->vendor_name, slave->desc->product_name);
|
||||
return;
|
||||
}
|
||||
|
||||
if (channel >= slave->desc->channels)
|
||||
{
|
||||
EC_DBG(KERN_WARNING "EtherCAT: Writing failed - "
|
||||
"Slave %4X (%s %s) has no channel %i.\n",
|
||||
slave->station_address, slave->desc->vendor_name,
|
||||
slave->desc->product_name, channel);
|
||||
return;
|
||||
}
|
||||
|
||||
slave->desc->write(slave->process_data, channel, value);
|
||||
}
|
||||
|
||||
/***************************************************************/
|
||||
67
drivers/ec_slave.h
Normal file
67
drivers/ec_slave.h
Normal file
@@ -0,0 +1,67 @@
|
||||
/****************************************************************
|
||||
*
|
||||
* e c _ s l a v e . h
|
||||
*
|
||||
* Struktur für einen EtherCAT-Slave.
|
||||
*
|
||||
* $Date$
|
||||
* $Author$
|
||||
*
|
||||
***************************************************************/
|
||||
|
||||
#ifndef _EC_SLAVE_H_
|
||||
#define _EC_SLAVE_H_
|
||||
|
||||
#include "ec_types.h"
|
||||
|
||||
/***************************************************************/
|
||||
|
||||
/**
|
||||
EtherCAT-Slave
|
||||
*/
|
||||
|
||||
typedef struct
|
||||
{
|
||||
// Base data
|
||||
unsigned char type; /**< Slave-Typ */
|
||||
unsigned char revision; /**< Revision */
|
||||
unsigned short build; /**< Build-Nummer */
|
||||
|
||||
// Addresses
|
||||
short ring_position; /**< (Negative) Position des Slaves im Bus */
|
||||
unsigned short station_address; /**< Konfigurierte Slave-Adresse */
|
||||
|
||||
// Slave information interface
|
||||
unsigned int vendor_id; /**< Identifikationsnummer des Herstellers */
|
||||
unsigned int product_code; /**< Herstellerspezifischer Produktcode */
|
||||
unsigned int revision_number; /**< Revisionsnummer */
|
||||
|
||||
const EtherCAT_slave_desc_t *desc; /**< Zeiger auf die Beschreibung
|
||||
des Slave-Typs */
|
||||
|
||||
unsigned int logical_address0; /**< Konfigurierte, logische adresse */
|
||||
|
||||
EtherCAT_state_t current_state; /**< Aktueller Zustand */
|
||||
EtherCAT_state_t requested_state; /**< Angeforderter Zustand */
|
||||
|
||||
unsigned char *process_data; /**< Zeiger auf den Speicherbereich
|
||||
im Prozessdatenspeicher des Masters */
|
||||
}
|
||||
EtherCAT_slave_t;
|
||||
|
||||
#define ECAT_INIT_SLAVE(TYPE) {0, 0, 0, 0, 0, 0, 0, 0, \
|
||||
TYPE, 0, ECAT_STATE_UNKNOWN, \
|
||||
ECAT_STATE_UNKNOWN, NULL}
|
||||
|
||||
/***************************************************************/
|
||||
|
||||
// Slave construction and deletion
|
||||
void EtherCAT_slave_init(EtherCAT_slave_t *);
|
||||
void EtherCAT_slave_clear(EtherCAT_slave_t *);
|
||||
|
||||
int EtherCAT_read_value(EtherCAT_slave_t *, unsigned int);
|
||||
void EtherCAT_write_value(EtherCAT_slave_t *, unsigned int, int);
|
||||
|
||||
/***************************************************************/
|
||||
|
||||
#endif
|
||||
157
drivers/ec_types.c
Normal file
157
drivers/ec_types.c
Normal file
@@ -0,0 +1,157 @@
|
||||
/****************************************************************
|
||||
*
|
||||
* e c _ t y p e s . c
|
||||
*
|
||||
* EtherCAT-Slave-Typen.
|
||||
*
|
||||
* $Date: 2005-09-07 17:50:50 +0200 (Mit, 07 Sep 2005) $
|
||||
* $Author: fp $
|
||||
*
|
||||
***************************************************************/
|
||||
|
||||
#include "ec_globals.h"
|
||||
#include "ec_types.h"
|
||||
|
||||
/***************************************************************/
|
||||
|
||||
unsigned char sm0_multi[] = {0x00, 0x18, 0xF6, 0x00, 0x26, 0x00, 0x01, 0x00};
|
||||
unsigned char sm1_multi[] = {0xF6, 0x18, 0xF6, 0x00, 0x22, 0x00, 0x01, 0x00};
|
||||
|
||||
unsigned char sm0_1014[] = {0x00, 0x10, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00};
|
||||
|
||||
unsigned char sm0_2004[] = {0x00, 0x0F, 0x01, 0x00, 0x46, 0x00, 0x01, 0x00};
|
||||
|
||||
unsigned char sm2_31xx[] = {0x00, 0x10, 0x04, 0x00, 0x24, 0x00, 0x00, 0x00};
|
||||
unsigned char sm3_31xx[] = {0x00, 0x11, 0x06, 0x00, 0x20, 0x00, 0x01, 0x00};
|
||||
|
||||
unsigned char sm2_4102[] = {0x00, 0x10, 0x04, 0x00, 0x24, 0x00, 0x01, 0x00};
|
||||
|
||||
|
||||
unsigned char fmmu0_1014[] = {0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x07,
|
||||
0x00, 0x10, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00};
|
||||
|
||||
unsigned char fmmu0_2004[] = {0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x07,
|
||||
0x00, 0x0F, 0x00, 0x02, 0x01, 0x00, 0x00, 0x00};
|
||||
|
||||
unsigned char fmmu0_31xx[] = {0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x07,
|
||||
0x00, 0x11, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00};
|
||||
|
||||
unsigned char fmmu0_4102[] = {0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x07,
|
||||
0x00, 0x10, 0x00, 0x02, 0x01, 0x00, 0x00, 0x00};
|
||||
|
||||
int read_1014(unsigned char *data, unsigned int channel)
|
||||
{
|
||||
return (data[0] >> channel) & 0x01;
|
||||
}
|
||||
|
||||
void write_2004(unsigned char *data, unsigned int channel, int value)
|
||||
{
|
||||
if (value)
|
||||
{
|
||||
data[0] |= (1 << channel);
|
||||
}
|
||||
else
|
||||
{
|
||||
data[0] &= ~(1 << channel);
|
||||
}
|
||||
}
|
||||
|
||||
int read_31xx(unsigned char *data, unsigned int channel)
|
||||
{
|
||||
return (short int) ((data[channel * 3 + 2] << 8) | data[channel * 3 + 1]);
|
||||
}
|
||||
|
||||
void write_4102(unsigned char *data, unsigned int channel, int value)
|
||||
{
|
||||
data[channel * 3 + 1] = (value & 0xFF00) >> 8;
|
||||
data[channel * 3 + 2] = value & 0xFF;
|
||||
}
|
||||
|
||||
/***************************************************************/
|
||||
|
||||
EtherCAT_slave_desc_t Beckhoff_EK1100[] =
|
||||
{{
|
||||
"Beckhoff", "EK1100", "Bus Coupler",
|
||||
ECAT_ST_SIMPLE_NOSYNC,
|
||||
NULL, NULL, NULL, NULL,
|
||||
NULL,
|
||||
0, 0,
|
||||
NULL, NULL
|
||||
}};
|
||||
|
||||
EtherCAT_slave_desc_t Beckhoff_EL1014[] =
|
||||
{{
|
||||
"Beckhoff", "EL1014", "4x Digital Input",
|
||||
ECAT_ST_SIMPLE,
|
||||
sm0_1014, NULL, NULL, NULL,
|
||||
fmmu0_1014,
|
||||
1, 4,
|
||||
read_1014, NULL
|
||||
}};
|
||||
|
||||
EtherCAT_slave_desc_t Beckhoff_EL2004[] =
|
||||
{{
|
||||
"Beckhoff", "EL2004", "4x Digital Output",
|
||||
ECAT_ST_SIMPLE,
|
||||
sm0_2004, NULL, NULL, NULL,
|
||||
fmmu0_2004,
|
||||
1, 4,
|
||||
NULL, write_2004
|
||||
}};
|
||||
|
||||
EtherCAT_slave_desc_t Beckhoff_EL3102[] =
|
||||
{{
|
||||
"Beckhoff", "EL3102", "2x Analog Input Diff",
|
||||
ECAT_ST_MAILBOX,
|
||||
sm0_multi, sm1_multi, sm2_31xx, sm3_31xx,
|
||||
fmmu0_31xx,
|
||||
6, 2,
|
||||
read_31xx, NULL
|
||||
}};
|
||||
|
||||
EtherCAT_slave_desc_t Beckhoff_EL3162[] =
|
||||
{{
|
||||
"Beckhoff", "EL3162", "2x Analog Input",
|
||||
ECAT_ST_MAILBOX,
|
||||
sm0_multi, sm1_multi, sm2_31xx, sm3_31xx,
|
||||
fmmu0_31xx,
|
||||
6, 2,
|
||||
read_31xx, NULL
|
||||
}};
|
||||
|
||||
EtherCAT_slave_desc_t Beckhoff_EL4102[] =
|
||||
{{
|
||||
"Beckhoff", "EL4102", "2x Analog Output",
|
||||
ECAT_ST_MAILBOX,
|
||||
sm0_multi, sm1_multi, sm2_4102, NULL,
|
||||
fmmu0_4102,
|
||||
4, 2,
|
||||
NULL, write_4102
|
||||
}};
|
||||
|
||||
EtherCAT_slave_desc_t Beckhoff_EL5001[] =
|
||||
{{
|
||||
"Beckhoff", "EL5001", "SSI-Interface",
|
||||
ECAT_ST_SIMPLE,
|
||||
NULL, NULL, NULL, NULL, // Noch nicht eingepflegt...
|
||||
NULL,
|
||||
0, 0,
|
||||
NULL, NULL
|
||||
}};
|
||||
|
||||
/***************************************************************/
|
||||
|
||||
unsigned int slave_idents_count = 7;
|
||||
|
||||
struct slave_ident slave_idents[] =
|
||||
{
|
||||
{0x00000002, 0x03F63052, Beckhoff_EL1014},
|
||||
{0x00000002, 0x044C2C52, Beckhoff_EK1100},
|
||||
{0x00000002, 0x07D43052, Beckhoff_EL2004},
|
||||
{0x00000002, 0x0C1E3052, Beckhoff_EL3102},
|
||||
{0x00000002, 0x0C5A3052, Beckhoff_EL3162},
|
||||
{0x00000002, 0x10063052, Beckhoff_EL4102},
|
||||
{0x00000002, 0x13893052, Beckhoff_EL5001}
|
||||
};
|
||||
|
||||
/***************************************************************/
|
||||
104
drivers/ec_types.h
Normal file
104
drivers/ec_types.h
Normal file
@@ -0,0 +1,104 @@
|
||||
/****************************************************************
|
||||
*
|
||||
* e c _ t y p e s . h
|
||||
*
|
||||
* EtherCAT-Slave-Typen.
|
||||
*
|
||||
* $Date: 2005-09-07 17:50:50 +0200 (Mit, 07 Sep 2005) $
|
||||
* $Author: fp $
|
||||
*
|
||||
***************************************************************/
|
||||
|
||||
#ifndef _EC_TYPES_H_
|
||||
#define _EC_TYPES_H_
|
||||
|
||||
/**
|
||||
Typ eines EtherCAT-Slaves.
|
||||
|
||||
Dieser Typ muss für die Konfiguration bekannt sein. Der
|
||||
Master entscheidet danach, ober bspw. Mailboxes konfigurieren,
|
||||
oder Sync-Manager setzen soll.
|
||||
*/
|
||||
|
||||
typedef enum
|
||||
{
|
||||
ECAT_ST_SIMPLE, ECAT_ST_MAILBOX, ECAT_ST_SIMPLE_NOSYNC
|
||||
}
|
||||
EtherCAT_slave_type_t;
|
||||
|
||||
/***************************************************************/
|
||||
|
||||
/**
|
||||
Beschreibung eines EtherCAT-Slave-Typs.
|
||||
|
||||
Diese Beschreibung dient zur Konfiguration einer bestimmten
|
||||
Slave-Art. Sie enthält die Konfigurationsdaten für die
|
||||
Slave-internen Sync-Manager und FMMU's.
|
||||
*/
|
||||
|
||||
typedef struct slave_desc
|
||||
{
|
||||
const char *vendor_name; /**< Name des Herstellers */
|
||||
const char *product_name; /**< Name des Slaves-Typs */
|
||||
const char *product_desc; /**< Genauere Beschreibung des Slave-Typs */
|
||||
|
||||
const EtherCAT_slave_type_t type; /**< Art des Slave-Typs */
|
||||
|
||||
const unsigned char *sm0; /**< Konfigurationsdaten des
|
||||
ersten Sync-Managers */
|
||||
const unsigned char *sm1; /**< Konfigurationsdaten des
|
||||
zweiten Sync-Managers */
|
||||
const unsigned char *sm2; /**< Konfigurationsdaten des
|
||||
dritten Sync-Managers */
|
||||
const unsigned char *sm3; /**< Konfigurationsdaten des
|
||||
vierten Sync-Managers */
|
||||
|
||||
const unsigned char *fmmu0; /**< Konfigurationsdaten
|
||||
der ersten FMMU */
|
||||
|
||||
const unsigned int data_length; /**< Länge der Prozessdaten in Bytes */
|
||||
const unsigned int channels; /**< Anzahl der Kanäle */
|
||||
|
||||
int (*read) (unsigned char *, unsigned int); /**< Funktion zum Dekodieren
|
||||
und Lesen der Kanaldaten */
|
||||
void (*write) (unsigned char *, unsigned int, int); /**< Funktion zum Kodieren
|
||||
und Schreiben der
|
||||
Kanaldaten */
|
||||
}
|
||||
EtherCAT_slave_desc_t;
|
||||
|
||||
/***************************************************************/
|
||||
|
||||
/**
|
||||
Identifikation eines Slave-Typs.
|
||||
|
||||
Diese Struktur wird zur 1:n-Zuordnung von Hersteller- und
|
||||
Produktcodes zu den einzelnen Slave-Typen verwendet.
|
||||
*/
|
||||
|
||||
struct slave_ident
|
||||
{
|
||||
const unsigned int vendor_id; /**< Hersteller-Code */
|
||||
const unsigned int product_code; /**< Herstellerspezifischer Produktcode */
|
||||
const EtherCAT_slave_desc_t *desc; /**< Zeiger auf den dazugehörigen
|
||||
Slave-Typ */
|
||||
};
|
||||
|
||||
extern struct slave_ident slave_idents[]; /**< Statisches Array der
|
||||
Slave-Identifikationen */
|
||||
extern unsigned int slave_idents_count; /**< Anzahl der bekannten Slave-
|
||||
Identifikationen */
|
||||
|
||||
/***************************************************************/
|
||||
|
||||
extern EtherCAT_slave_desc_t Beckhoff_EK1100[];
|
||||
extern EtherCAT_slave_desc_t Beckhoff_EL1014[];
|
||||
extern EtherCAT_slave_desc_t Beckhoff_EL2004[];
|
||||
extern EtherCAT_slave_desc_t Beckhoff_EL3102[];
|
||||
extern EtherCAT_slave_desc_t Beckhoff_EL3162[];
|
||||
extern EtherCAT_slave_desc_t Beckhoff_EL4102[];
|
||||
extern EtherCAT_slave_desc_t Beckhoff_EL5001[];
|
||||
|
||||
/***************************************************************/
|
||||
|
||||
#endif
|
||||
41
mini/Makefile
Normal file
41
mini/Makefile
Normal file
@@ -0,0 +1,41 @@
|
||||
#----------------------------------------------------------------
|
||||
#
|
||||
# Makefile
|
||||
#
|
||||
# Minimales EtherCAT-Modul
|
||||
#
|
||||
# $Id$
|
||||
#
|
||||
#----------------------------------------------------------------
|
||||
|
||||
MSRDIR = /vol/projekte/msr_messen_steuern_regeln
|
||||
KERNELDIR = $(MSRDIR)/linux/kernel/2.4.20/include/linux-2.4.20.CX1100-rthal5
|
||||
CFLAGS = -O2 -Wall -Wuninitialized -D__KERNEL__ -DMODULE -I$(KERNELDIR)/include
|
||||
|
||||
MODULE = ec_mini_mod.o
|
||||
|
||||
SRC = ec_mini.c
|
||||
OBJ = $(SRC:.c=.o)
|
||||
|
||||
#----------------------------------------------------------------
|
||||
|
||||
all: .depend Makefile $(MODULE)
|
||||
|
||||
$(MODULE): $(OBJ)
|
||||
$(LD) -r $(OBJ) -o $@
|
||||
|
||||
#----------------------------------------------------------------
|
||||
|
||||
depend .depend dep:
|
||||
$(CC) $(CFLAGS) -M $(SRC) > .depend
|
||||
|
||||
ifeq (.depend,$(wildcard .depend))
|
||||
include .depend
|
||||
endif
|
||||
|
||||
#----------------------------------------------------------------
|
||||
|
||||
clean:
|
||||
rm -f *.o *~ core .depend
|
||||
|
||||
#----------------------------------------------------------------
|
||||
345
mini/ec_mini.c
Normal file
345
mini/ec_mini.c
Normal file
@@ -0,0 +1,345 @@
|
||||
/******************************************************************************
|
||||
*
|
||||
* ec_mini.c
|
||||
*
|
||||
* Minimalmodul für EtherCAT
|
||||
*
|
||||
* $Id$
|
||||
*
|
||||
******************************************************************************/
|
||||
|
||||
#include <linux/module.h>
|
||||
#include <linux/tqueue.h>
|
||||
#include <linux/slab.h>
|
||||
#include <linux/delay.h>
|
||||
|
||||
#include "../drivers/ec_master.h"
|
||||
#include "../drivers/ec_device.h"
|
||||
#include "../drivers/ec_types.h"
|
||||
#include "../drivers/ec_dbg.h"
|
||||
|
||||
extern EtherCAT_device_t rtl_ecat_dev;
|
||||
|
||||
//static EtherCAT_master_t *ecat_master = NULL;
|
||||
|
||||
#if 0
|
||||
static EtherCAT_slave_t ecat_slaves[] =
|
||||
{
|
||||
// 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_EL2004),
|
||||
ECAT_INIT_SLAVE(Beckhoff_EL3102),
|
||||
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_EL2004),
|
||||
ECAT_INIT_SLAVE(Beckhoff_EL2004),
|
||||
ECAT_INIT_SLAVE(Beckhoff_EL2004),
|
||||
ECAT_INIT_SLAVE(Beckhoff_EL2004),
|
||||
|
||||
// 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),
|
||||
|
||||
// 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)
|
||||
};
|
||||
|
||||
#define ECAT_SLAVES_COUNT (sizeof(ecat_slaves) / sizeof(EtherCAT_slave_t))
|
||||
#endif
|
||||
|
||||
double value;
|
||||
int dig1;
|
||||
|
||||
/******************************************************************************
|
||||
*
|
||||
* Function: next2004
|
||||
*
|
||||
*****************************************************************************/
|
||||
|
||||
#if 0
|
||||
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: msr_controller
|
||||
*
|
||||
* Beschreibung: Zyklischer Prozess
|
||||
*
|
||||
*****************************************************************************/
|
||||
|
||||
#if 0
|
||||
void msr_controller()
|
||||
{
|
||||
static int ms = 0;
|
||||
static int cnt = 0;
|
||||
static unsigned long int k = 0;
|
||||
static int firstrun = 1;
|
||||
|
||||
static int klemme = 12;
|
||||
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;
|
||||
dig1 = EtherCAT_read_value(&ecat_master->slaves[3], 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);
|
||||
|
||||
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);
|
||||
|
||||
//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);
|
||||
|
||||
// Prozessdaten schreiben
|
||||
rdtscl(k);
|
||||
EtherCAT_write_process_data(ecat_master);
|
||||
firstrun = 0;
|
||||
}
|
||||
#endif
|
||||
|
||||
/******************************************************************************
|
||||
*
|
||||
* Function: init
|
||||
*
|
||||
******************************************************************************/
|
||||
|
||||
//#define ECAT_OPEN
|
||||
|
||||
int init()
|
||||
{
|
||||
#ifdef ECAT_OPEN
|
||||
int rv = -1;
|
||||
#endif
|
||||
|
||||
EC_DBG(KERN_INFO "=== Starting Minimal EtherCAT environment... ===\n");
|
||||
|
||||
EtherCAT_device_debug(&rtl_ecat_dev);
|
||||
//mdelay(5000);
|
||||
|
||||
#ifdef ECAT_OPEN
|
||||
EC_DBG("Opening EtherCAT device.\n");
|
||||
|
||||
// HIER PASSIERT DER FEHLER:
|
||||
if (EtherCAT_device_open(&rtl_ecat_dev) < 0)
|
||||
{
|
||||
EC_DBG(KERN_ERR "msr_modul: Could not initialize EtherCAT NIC.\n");
|
||||
goto out_nothing;
|
||||
}
|
||||
|
||||
if (!rtl_ecat_dev.dev) // Es gibt kein EtherCAT-Device
|
||||
{
|
||||
EC_DBG(KERN_ERR "msr_modul: No EtherCAT device!\n");
|
||||
goto out_close;
|
||||
}
|
||||
#endif
|
||||
|
||||
#if 0
|
||||
// EtherCAT-Master und Slaves initialisieren
|
||||
EC_DBG("Initialising EtherCAT master\n");
|
||||
|
||||
if ((ecat_master = (EtherCAT_master_t *) kmalloc(sizeof(EtherCAT_master_t), GFP_KERNEL)) == 0)
|
||||
{
|
||||
EC_DBG(KERN_ERR "msr_modul: Could not alloc memory for EtherCAT master!\n");
|
||||
goto out_close;
|
||||
}
|
||||
|
||||
if (EtherCAT_master_init(ecat_master, &rtl_ecat_dev) < 0)
|
||||
{
|
||||
EC_DBG(KERN_ERR "EtherCAT could not init master!\n");
|
||||
goto out_master;
|
||||
}
|
||||
#endif
|
||||
|
||||
#if 0
|
||||
EC_DBG("Checking EtherCAT slaves.\n");
|
||||
|
||||
if (EtherCAT_check_slaves(ecat_master, ecat_slaves, ECAT_SLAVES_COUNT) != 0)
|
||||
{
|
||||
EC_DBG(KERN_ERR "EtherCAT: Could not init slaves!\n");
|
||||
goto out_masterclear;
|
||||
}
|
||||
|
||||
EC_DBG("Activating all EtherCAT slaves.\n");
|
||||
|
||||
if (EtherCAT_activate_all_slaves(ecat_master) != 0)
|
||||
{
|
||||
EC_DBG(KERN_ERR "EtherCAT: Could not activate slaves!\n");
|
||||
goto out_masterclear;
|
||||
}
|
||||
|
||||
// Zyklischen Aufruf starten
|
||||
|
||||
EC_DBG("Starting cyclic sample thread.\n");
|
||||
|
||||
EtherCAT_write_process_data(ecat_master);
|
||||
|
||||
EC_DBG("Initialised sample thread.\n");
|
||||
#endif
|
||||
|
||||
EC_DBG(KERN_INFO "=== Minimal EtherCAT environment started. ===\n");
|
||||
|
||||
return 0;
|
||||
|
||||
#if 0
|
||||
out_masterclear:
|
||||
EC_DBG(KERN_INFO "Clearing EtherCAT master.\n");
|
||||
EtherCAT_master_clear(ecat_master);
|
||||
#endif
|
||||
|
||||
#if 0
|
||||
out_master:
|
||||
EC_DBG(KERN_INFO "Freeing EtherCAT master.\n");
|
||||
kfree(ecat_master);
|
||||
#endif
|
||||
|
||||
#ifdef ECAT_OPEN
|
||||
out_close:
|
||||
EC_DBG(KERN_INFO "Closing device.\n");
|
||||
EtherCAT_device_close(&rtl_ecat_dev);
|
||||
|
||||
out_nothing:
|
||||
return rv;
|
||||
#endif
|
||||
}
|
||||
|
||||
/******************************************************************************
|
||||
*
|
||||
* Function: cleanup
|
||||
*
|
||||
******************************************************************************/
|
||||
|
||||
void cleanup()
|
||||
{
|
||||
EC_DBG(KERN_INFO "=== Stopping Minimal EtherCAT environment... ===\n");
|
||||
|
||||
// Noch einmal lesen
|
||||
//EC_DBG(KERN_INFO "Reading process data.\n");
|
||||
//EtherCAT_read_process_data(ecat_master);
|
||||
|
||||
#if 0
|
||||
if (ecat_master)
|
||||
{
|
||||
#if 0
|
||||
EC_DBG(KERN_INFO "Deactivating slaves.\n");
|
||||
EtherCAT_deactivate_all_slaves(ecat_master);
|
||||
#endif
|
||||
|
||||
EC_DBG(KERN_INFO "Clearing EtherCAT master.\n");
|
||||
EtherCAT_master_clear(ecat_master);
|
||||
|
||||
EC_DBG(KERN_INFO "Freeing EtherCAT master.\n");
|
||||
kfree(ecat_master);
|
||||
ecat_master = NULL;
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifdef ECAT_OPEN
|
||||
EC_DBG(KERN_INFO "Closing device.\n");
|
||||
EtherCAT_device_close(&rtl_ecat_dev);
|
||||
#endif
|
||||
|
||||
EC_DBG(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_exit(cleanup);
|
||||
|
||||
/*****************************************************************************/
|
||||
82
rs232dbg/Makefile
Normal file
82
rs232dbg/Makefile
Normal file
@@ -0,0 +1,82 @@
|
||||
#IgH
|
||||
KERNELDIR = /vol/projekte/msr_messen_steuern_regeln/linux/kernel/2.4.20/include/linux-2.4.20.CX1100-rthal5
|
||||
RTAIDIR = /vol/projekte/msr_messen_steuern_regeln/linux/kernel/2.4.20/include/rtai-24.1.13
|
||||
RTLIBDIR = rt_lib
|
||||
|
||||
#euler-nottuln
|
||||
#KERNELDIR = /usr/src/linux
|
||||
#RTAIDIR = /usr/src/rtai
|
||||
|
||||
#patra
|
||||
#KERNELDIR = /usr/src/linux-2.4.20.CX1100-rthal5
|
||||
#RTAIDIR = /usr/src/rtai-24.1.13
|
||||
|
||||
RTLIBDIR=rt_lib
|
||||
|
||||
#include $(KERNELDIR)/.config
|
||||
|
||||
#CFLAGS = -DRTAI -D__KERNEL__ -DMODULE -I$(KERNELDIR)/include -I$(RTAIDIR)/include -I$(RTLIBDIR)/msr-include \
|
||||
# -Wall -Wstrict-prototypes -Wno-trigraphs -O2 -fno-strict-aliasing -fno-common -fomit-frame-pointer \
|
||||
# -pipe -mpreferred-stack-boundary=2 -march=i686 -nostdinc -iwithprefix include
|
||||
|
||||
CFLAGS = -O2 -Wall -Wuninitialized -D__KERNEL__ -DMODULE -I$(KERNELDIR)/include -D_RTAI -I$(RTAIDIR)/include -I$(RTLIBDIR)/msr-include
|
||||
|
||||
#CFLAGS += -DSIMULATION
|
||||
#LDFLAGS =
|
||||
|
||||
#VPATH = $(RTLIBDIR)/
|
||||
|
||||
TARGET = sdbg
|
||||
MODULE = $(TARGET).o
|
||||
|
||||
SRC = rs232dbg.c aip_com.c
|
||||
|
||||
#Suchpfad für die Dateien aus dem RT-Lib-Verzeichnis
|
||||
VPATH = $(RTLIBDIR)/msr-core:$(RTLIBDIR)/msr-control:$(RTLIBDIR)/msr-math:$(RTLIBDIR)/msr-misc:$(RTLIBDIR)/msr-utils
|
||||
|
||||
#Datei aus dem RT-Libverzeichnis für dies Projekt
|
||||
RTSRC =
|
||||
|
||||
ALLSRC = $(SRC) $(RTSRC)
|
||||
|
||||
OBJS = $(ALLSRC:.c=.o)
|
||||
|
||||
|
||||
all: .depend $(TARGET).o Makefile
|
||||
|
||||
$(TARGET).o: $(SRC:.c=.o) $(RTSRC:.c=.o)
|
||||
$(LD) -r $(OBJS) -o $@ $(LDFLAGS)
|
||||
|
||||
install: msr_modul.o
|
||||
lsmod | grep cif-rtai >/dev/null 2>&1 && sudo rmmod msr_modul || true
|
||||
sudo insmod msr_modul.o
|
||||
|
||||
clean:
|
||||
rm -f *.o *~ core .depend
|
||||
|
||||
depend .depend dep:
|
||||
$(CC) $(CFLAGS) -M *.c > $@
|
||||
|
||||
|
||||
|
||||
|
||||
ifeq (.depend,$(wildcard .depend))
|
||||
include .depend
|
||||
endif
|
||||
|
||||
|
||||
#all: msr_module.o
|
||||
#
|
||||
#msr_io.o: msr_io.c msr_io.h
|
||||
# $(CC) $(CFLAGS) -c -o $@ $<
|
||||
#
|
||||
#msr_module.o: msr_io.o
|
||||
# $(LD) -r -o $@ $^
|
||||
#
|
||||
|
||||
# $(CC) -c $(CFLAGS) $(CPPFLAGS) -o $@ $<
|
||||
|
||||
|
||||
#clean:
|
||||
# rm -f *.o *~ core
|
||||
|
||||
847
rs232dbg/aip_com.c
Normal file
847
rs232dbg/aip_com.c
Normal file
File diff suppressed because it is too large
Load Diff
159
rs232dbg/aip_com.h
Normal file
159
rs232dbg/aip_com.h
Normal file
@@ -0,0 +1,159 @@
|
||||
/**************************************************************************************************
|
||||
*
|
||||
* aip_com.h
|
||||
*
|
||||
* Macros für Kommunikation über serielle Schnittstelle
|
||||
* Basiert auf rt_com.h von rtai !! (siehe unten)
|
||||
*
|
||||
*
|
||||
* Autor: Wilhelm Hagemeister
|
||||
*
|
||||
* (C) Copyright IgH 2002
|
||||
* Ingenieurgemeinschaft IgH
|
||||
* Heinz-Bäcker Str. 34
|
||||
* D-45356 Essen
|
||||
* Tel.: +49 201/61 99 31
|
||||
* Fax.: +49 201/61 98 36
|
||||
* E-mail: hm@igh-essen.com
|
||||
*
|
||||
*
|
||||
* $RCSfile: aip_com.h,v $
|
||||
* $Revision: 1.1 $
|
||||
* $Author: hm $
|
||||
* $Date: 2004/09/30 15:50:32 $
|
||||
* $State: Exp $
|
||||
*
|
||||
*
|
||||
*
|
||||
*
|
||||
*
|
||||
*
|
||||
*
|
||||
*
|
||||
*
|
||||
**************************************************************************************************/
|
||||
|
||||
/** rt_com
|
||||
* ======
|
||||
*
|
||||
* RT-Linux kernel module for communication across serial lines.
|
||||
*
|
||||
* Copyright (C) 1997 Jens Michaelsen
|
||||
* Copyright (C) 1997-2000 Jochen Kupper
|
||||
* Copyright (C) 2002 Giuseppe Renoldi
|
||||
*
|
||||
* This program is free software; you can redistribute it and/or
|
||||
* modify it under the terms of the GNU General Public License as
|
||||
* published by the Free Software Foundation; either version 2 of the
|
||||
* License, or (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
||||
* General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with this program; see the file License. if not, write to the
|
||||
* Free Software Foundation, Inc., 59 Temple Place, Suite 330, Boston,
|
||||
* MA 02111-1307, USA.
|
||||
*
|
||||
* $Id: aip_com.h,v 1.1 2004/09/30 15:50:32 hm Exp $ */
|
||||
|
||||
|
||||
|
||||
#ifndef AIP_COM_H
|
||||
#define AIP_COM_H
|
||||
|
||||
/** This is the interface definition of the plain rt_com API.
|
||||
*
|
||||
* This should be all you need to use rt_com within your real-time
|
||||
* kernel module.
|
||||
*
|
||||
* (When POSIX is done, we will reference the appropriate header
|
||||
* here - probably depending on a flag.) */
|
||||
|
||||
int init_aip_com(void); //Hm, IgH
|
||||
void cleanup_aip_com(void); //Hm, IgH
|
||||
|
||||
|
||||
/** specify hardware parameters, set-up communication parameters */
|
||||
extern int rt_com_hwsetup( unsigned int ttyS, int base, int irq );
|
||||
extern int rt_com_setup( unsigned int ttyS, int baud, int mode,
|
||||
unsigned int parity, unsigned int stopbits,
|
||||
unsigned int wordlength, int fifotrig );
|
||||
|
||||
/** read/write from/to input/output buffer */
|
||||
extern int rt_com_read( unsigned int, char *, int );
|
||||
extern int rt_com_write( unsigned int ttyS, char *buffer, int count );
|
||||
|
||||
/** clear input or output buffer */
|
||||
extern int rt_com_clear_input( unsigned int ttyS );
|
||||
extern int rt_com_clear_output( unsigned int ttyS );
|
||||
|
||||
/** read input signal from modem (CTS,DSR,RI,DCD), set output signal
|
||||
* for modem control (DTR,RTS) */
|
||||
extern int rt_com_read_modem( unsigned int ttyS, int signal );
|
||||
extern int rt_com_write_modem( unsigned int ttyS, int signal, int value );
|
||||
|
||||
/** functioning mode and fifo trigger setting */
|
||||
extern int rt_com_set_mode( unsigned int ttyS, int mode);
|
||||
extern int rt_com_set_fifotrig( unsigned int ttyS, int fifotrig);
|
||||
|
||||
/** return last error detected */
|
||||
extern int rt_com_error( unsigned int ttyS );
|
||||
|
||||
|
||||
/** size of internal queues, this is constant during module lifetime */
|
||||
extern unsigned int rt_com_buffersize;
|
||||
|
||||
#define rt_com_set_param rt_com_hwsetup
|
||||
#define rt_com_setup_old(a,b,c,d,e) rt_com_setup((a),(b),0,(c),(d),(e),-1)
|
||||
|
||||
|
||||
/** functioning modes */
|
||||
#define RT_COM_NO_HAND_SHAKE 0x00
|
||||
#define RT_COM_DSR_ON_TX 0x01
|
||||
#define RT_COM_HW_FLOW 0x02
|
||||
|
||||
/** parity flags */
|
||||
#define RT_COM_PARITY_EVEN 0x18
|
||||
#define RT_COM_PARITY_NONE 0x00
|
||||
#define RT_COM_PARITY_ODD 0x08
|
||||
#define RT_COM_PARITY_HIGH 0x28
|
||||
#define RT_COM_PARITY_LOW 0x38
|
||||
|
||||
/* FIFO Control */
|
||||
#define RT_COM_FIFO_DISABLE 0x00
|
||||
#define RT_COM_FIFO_SIZE_1 0x00
|
||||
#define RT_COM_FIFO_SIZE_4 0x40
|
||||
#define RT_COM_FIFO_SIZE_8 0x80
|
||||
#define RT_COM_FIFO_SIZE_14 0xC0
|
||||
|
||||
/** rt_com_write_modem masks */
|
||||
#define RT_COM_DTR 0x01
|
||||
#define RT_COM_RTS 0x02
|
||||
|
||||
/** rt_com_read_modem masks */
|
||||
#define RT_COM_CTS 0x10
|
||||
#define RT_COM_DSR 0x20
|
||||
#define RT_COM_RI 0x40
|
||||
#define RT_COM_DCD 0x80
|
||||
|
||||
/** rt_com_error masks */
|
||||
#define RT_COM_BUFFER_FULL 0x01
|
||||
#define RT_COM_OVERRUN_ERR 0x02
|
||||
#define RT_COM_PARITY_ERR 0x04
|
||||
#define RT_COM_FRAMING_ERR 0x08
|
||||
#define RT_COM_BREAK 0x10
|
||||
|
||||
|
||||
#endif /* RT_COM_H */
|
||||
|
||||
|
||||
|
||||
/**
|
||||
* Local Variables:
|
||||
* mode: C
|
||||
* c-file-style: "Stroustrup"
|
||||
* End:
|
||||
*/
|
||||
206
rs232dbg/aip_comP.h
Normal file
206
rs232dbg/aip_comP.h
Normal file
@@ -0,0 +1,206 @@
|
||||
/**
|
||||
* rt_com
|
||||
* ======
|
||||
*
|
||||
* RT-Linux kernel module for communication across serial lines.
|
||||
*
|
||||
* Copyright (C) 1997 Jens Michaelsen
|
||||
* Copyright (C) 1997-2000 Jochen Kupper
|
||||
* Copyright (C) 1999 Hua Mao <hmao@nmt.edu>
|
||||
*
|
||||
* This program is free software; you can redistribute it and/or
|
||||
* modify it under the terms of the GNU General Public License as
|
||||
* published by the Free Software Foundation; either version 2 of the
|
||||
* License, or (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
||||
* General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with this program; see the file License. if not, write to the
|
||||
* Free Software Foundation, Inc., 59 Temple Place, Suite 330, Boston,
|
||||
* MA 02111-1307, USA.
|
||||
*/
|
||||
|
||||
|
||||
|
||||
#ifndef AIP_COM_P_H
|
||||
#define AIP_COM_P_H
|
||||
|
||||
|
||||
#define RT_COM_NAME "rt_com(aip)" //Hm, IgH
|
||||
|
||||
/* input/ouput buffer (FIFO) sizes */
|
||||
#define RT_COM_BUF_SIZ 2048 //256 // MUST BE ONLY POWER OF 2 !!
|
||||
/* amount of free space on input buffer for RTS reset */
|
||||
#define RT_COM_BUF_LOW (RT_COM_BUF_SIZ / 3)
|
||||
/* amount of free space on input buffer for RTS set */
|
||||
#define RT_COM_BUF_HI (RT_COM_BUF_SIZ * 2 / 3)
|
||||
/* limit of free space on input buffer for buffer full error */
|
||||
#define RT_COM_BUF_FULL 20
|
||||
|
||||
|
||||
/* usage flags */
|
||||
#define RT_COM_PORT_FREE 0x00
|
||||
#define RT_COM_PORT_INUSE 0x01
|
||||
#define RT_COM_PORT_SETUP 0x02
|
||||
|
||||
|
||||
/* Some hardware description */
|
||||
#define RT_COM_BASE_BAUD 115200
|
||||
|
||||
/** Interrupt Service Routines
|
||||
* These are private functions */
|
||||
static void rt_com0_isr( void );
|
||||
static void rt_com1_isr( void );
|
||||
|
||||
|
||||
|
||||
|
||||
/** Interrupt handling
|
||||
*
|
||||
* Define internal convinience macros for interrupt handling, so we
|
||||
* get rid of the system dependencies.
|
||||
*/
|
||||
//#define rt_com_irq_off( state ) do{}while(0) //rt_global_save_flags( &state ); rt_global_cli() schreiben und lesen sowieso in IRQ Hm
|
||||
//#define rt_com_irq_on(state) do{}while(0) //rt_global_restore_flags( state )
|
||||
#define rt_com_irq_off( state ) rt_global_save_flags( &state ); rt_global_cli()
|
||||
#define rt_com_irq_on(state) rt_global_restore_flags( state )
|
||||
#define rt_com_request_irq( irq, isr ) rt_request_global_irq( irq, isr ); rt_enable_irq( irq );
|
||||
#define rt_com_free_irq( irq ) rt_free_global_irq( irq )
|
||||
|
||||
|
||||
/* port register offsets */
|
||||
#define RT_COM_RXB 0x00
|
||||
#define RT_COM_TXB 0x00
|
||||
#define RT_COM_IER 0x01
|
||||
#define RT_COM_IIR 0x02
|
||||
#define RT_COM_FCR 0x02
|
||||
#define RT_COM_LCR 0x03
|
||||
#define RT_COM_MCR 0x04
|
||||
#define RT_COM_LSR 0x05
|
||||
#define RT_COM_MSR 0x06
|
||||
#define RT_COM_DLL 0x00
|
||||
#define RT_COM_DLM 0x01
|
||||
|
||||
/** MCR Modem Control Register masks */
|
||||
#define MCR_DTR 0x01 // Data Terminal Ready
|
||||
#define MCR_RTS 0x02 // Request To Send
|
||||
#define MCR_OUT1 0x04
|
||||
#define MCR_OUT2 0x08
|
||||
#define MCR_LOOP 0x10
|
||||
#define MCR_AFE 0x20 // AutoFlow Enable
|
||||
|
||||
/** IER Interrupt Enable Register masks */
|
||||
#define IER_ERBI 0x01 // Enable Received Data Available Interrupt
|
||||
#define IER_ETBEI 0x02 // Enable Transmitter Holding Register
|
||||
// Empty Interrupt
|
||||
#define IER_ELSI 0x04 // Enable Receiver Line Status Interrupt
|
||||
#define IER_EDSSI 0x08 // Enable Modem Status Interrupt
|
||||
|
||||
/** MSR Modem Status Register masks */
|
||||
#define MSR_DELTA_CTS 0x01
|
||||
#define MSR_DELTA_DSR 0x02
|
||||
#define MSR_TERI 0x04
|
||||
#define MSR_DELTA_DCD 0x08
|
||||
#define MSR_CTS 0x10
|
||||
#define MSR_DSR 0x20
|
||||
#define MSR_RI 0x40
|
||||
#define MSR_DCD 0x80
|
||||
|
||||
/** LSR Line Status Register masks */
|
||||
#define LSR_DATA_READY 0x01
|
||||
#define LSR_OVERRUN_ERR 0x02
|
||||
#define LSR_PARITY_ERR 0x04
|
||||
#define LSR_FRAMING_ERR 0x08
|
||||
#define LSR_BREAK 0x10
|
||||
#define LSR_THRE 0x20 // Transmitter Holding Register
|
||||
#define LSR_TEMT 0x40 // Transmitter Empty
|
||||
|
||||
/** FCR FIFO Control Register masks */
|
||||
#define FCR_FIFO_ENABLE 0x01
|
||||
#define FCR_INPUT_FIFO_RESET 0x02
|
||||
#define FCR_OUTPUT_FIFO_RESET 0x04
|
||||
|
||||
/** data buffer
|
||||
*
|
||||
* Used for buffering of input and output data. Two buffers per port
|
||||
* (one for input, one for output). Organized as a FIFO */
|
||||
struct rt_buf_struct{
|
||||
unsigned int head;
|
||||
unsigned int tail;
|
||||
char buf[ RT_COM_BUF_SIZ ];
|
||||
};
|
||||
|
||||
|
||||
|
||||
/** Port data
|
||||
*
|
||||
* Internal information structure containing all data for a port. One
|
||||
* structure for every port.
|
||||
*
|
||||
* Contains all current setup parameters and all data currently
|
||||
* buffered by rt_com.
|
||||
*
|
||||
* mode (functioning mode)
|
||||
* possible values:
|
||||
* - RT_COM_DSR_ON_TX - for standard functioning mode (DSR needed on TX)
|
||||
* - RT_COM_NO_HAND_SHAKE - for comunication without hand shake signals
|
||||
* (only RXD-TXD-GND)
|
||||
* - RT_COM_HW_FLOW - for hardware flow control (RTS-CTS)
|
||||
* Of course RT_COM_DSR_ON_TX and RT_COM_NO_HAND_SHAKE cannot be
|
||||
* sppecified at the same time.
|
||||
*
|
||||
* NOTE: When you select a mode that uses hand shake signals pay
|
||||
* attention that no input signals (CTS,DSR,RI,DCD) must be
|
||||
* floating.
|
||||
*
|
||||
* used (usage flag)
|
||||
* possible values:
|
||||
* - RT_COM_PORT_INUSE - port region requested by init_module
|
||||
* - RT_COM_PORT_FREE - port region requested by rt_com_set_param
|
||||
* - RT_COM_PORT_SETUP - port parameters are setup,
|
||||
* don't specify at compile time !
|
||||
*
|
||||
* error
|
||||
* last error detected
|
||||
*
|
||||
* ier (interrupt enable register)
|
||||
* copy of IER chip register, last value set by rt_com.
|
||||
*
|
||||
* mcr (modem control register)
|
||||
* copy of the MCR internal register
|
||||
*/
|
||||
struct rt_com_struct{
|
||||
int baud_base;
|
||||
int port;
|
||||
int irq;
|
||||
void (*isr)(void);
|
||||
int baud;
|
||||
unsigned int wordlength;
|
||||
unsigned int parity;
|
||||
unsigned int stopbits;
|
||||
int mode;
|
||||
int fifotrig;
|
||||
int used;
|
||||
int error;
|
||||
int type;
|
||||
int ier;
|
||||
int mcr;
|
||||
struct rt_buf_struct ibuf;
|
||||
struct rt_buf_struct obuf;
|
||||
};
|
||||
|
||||
|
||||
#endif /* RT_COM_P_H */
|
||||
|
||||
|
||||
|
||||
/**
|
||||
* Local Variables:
|
||||
* mode: C
|
||||
* c-file-style: "Stroustrup"
|
||||
* End:
|
||||
*/
|
||||
136
rs232dbg/rs232dbg.c
Normal file
136
rs232dbg/rs232dbg.c
Normal file
@@ -0,0 +1,136 @@
|
||||
/******************************************************************************
|
||||
*
|
||||
* msr_io.c
|
||||
*
|
||||
* Debugging über Serielle Schnittstelle
|
||||
*
|
||||
* Autoren: Wilhelm Hagemeister
|
||||
*
|
||||
* $LastChangedDate: 2005-09-16 17:45:46 +0200 (Fri, 16 Sep 2005) $
|
||||
* $Author: hm $
|
||||
*
|
||||
* (C) Copyright IgH 2005
|
||||
* Ingenieurgemeinschaft IgH
|
||||
* Heinz-Bäcker Str. 34
|
||||
* D-45356 Essen
|
||||
* Tel.: +49 201/61 99 31
|
||||
* Fax.: +49 201/61 98 36
|
||||
* E-mail: sp@igh-essen.com
|
||||
*
|
||||
* /bin/setserial /dev/ttyS0 uart none
|
||||
* /bin/setserial /dev/ttyS1 uart none
|
||||
*
|
||||
*
|
||||
******************************************************************************/
|
||||
|
||||
/*--Includes-----------------------------------------------------------------*/
|
||||
|
||||
#include <linux/module.h>
|
||||
#include <linux/tqueue.h>
|
||||
#include <linux/slab.h>
|
||||
#include <linux/delay.h>
|
||||
#include <linux/spinlock.h>
|
||||
|
||||
#include "aip_com.h"
|
||||
#include "rs232dbg.h"
|
||||
#include <rtai.h>
|
||||
|
||||
spinlock_t rs232wlock;
|
||||
|
||||
|
||||
void SDBG_print(const char *format, ...)
|
||||
{
|
||||
va_list argptr;
|
||||
static char buf[1024];
|
||||
int len;
|
||||
if(format != NULL) {
|
||||
va_start(argptr,format);
|
||||
len = vsnprintf(buf, sizeof(buf), format, argptr);
|
||||
if (len > 0 && buf[len - 1] == '\n') len--; // fp
|
||||
rt_com_write(0,buf,len);
|
||||
rt_com_write(0,"\r\n",2);
|
||||
va_end(argptr);
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
void SDBG_print(unsigned char *buf)
|
||||
{
|
||||
static int counter = 0;
|
||||
unsigned char cbuf[20];
|
||||
unsigned long flags;
|
||||
|
||||
// flags = rt_spin_lock_irqsave (&rs232wlock);
|
||||
|
||||
sprintf(cbuf,"%0d -- ",counter);
|
||||
rt_com_write(0,cbuf,strlen(cbuf));
|
||||
rt_com_write(0,buf,strlen(buf));
|
||||
rt_com_write(0,"\r\n",2);
|
||||
counter++;
|
||||
counter %= 10; //did we miss frames ??
|
||||
// rt_spin_unlock_irqrestore (&rs232wlock,flags);
|
||||
}
|
||||
*/
|
||||
|
||||
|
||||
/*
|
||||
*******************************************************************************
|
||||
*
|
||||
* Function: msr_init
|
||||
*
|
||||
* Beschreibung: MSR initialisieren
|
||||
*
|
||||
* Parameter:
|
||||
*
|
||||
* Rückgabe:
|
||||
*
|
||||
* Status: exp
|
||||
*
|
||||
*******************************************************************************
|
||||
*/
|
||||
|
||||
int msr_init(void)
|
||||
{
|
||||
spin_lock_init (&rs2323wlock);
|
||||
|
||||
printk("starting RS232 Setup\n");
|
||||
if(init_aip_com())
|
||||
{
|
||||
printk("RS232 Setup failed\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
SDBG_print("Hello Word, Serial Debugger started...");
|
||||
mdelay(10);
|
||||
return 0;
|
||||
}
|
||||
|
||||
/*
|
||||
*******************************************************************************
|
||||
*
|
||||
* Function: msr_io_cleanup
|
||||
*
|
||||
* Beschreibung: Aufräumen
|
||||
*
|
||||
* Parameter:
|
||||
*
|
||||
* Rückgabe:
|
||||
*
|
||||
* Status: exp
|
||||
*
|
||||
*******************************************************************************
|
||||
*/
|
||||
|
||||
void msr_io_cleanup(void)
|
||||
{
|
||||
cleanup_aip_com();
|
||||
}
|
||||
|
||||
/*---Treiber-Einsprungspunkte etc.-------------------------------------------*/
|
||||
|
||||
MODULE_LICENSE("GPL");
|
||||
|
||||
module_init(msr_init);
|
||||
module_exit(msr_io_cleanup);
|
||||
|
||||
/*---Ende--------------------------------------------------------------------*/
|
||||
7
rs232dbg/rs232dbg.h
Normal file
7
rs232dbg/rs232dbg.h
Normal file
@@ -0,0 +1,7 @@
|
||||
|
||||
#ifndef RS232DBG_H
|
||||
#define RS232DBG_H
|
||||
|
||||
void SDBG_print(const char *format, ...);
|
||||
|
||||
#endif
|
||||
83
rt/Makefile
Normal file
83
rt/Makefile
Normal file
@@ -0,0 +1,83 @@
|
||||
#IgH
|
||||
KERNELDIR = /vol/projekte/msr_messen_steuern_regeln/linux/kernel/2.4.20/include/linux-2.4.20.CX1100-rthal5
|
||||
RTAIDIR = /vol/projekte/msr_messen_steuern_regeln/linux/kernel/2.4.20/include/rtai-24.1.13
|
||||
RTLIBDIR = rt_lib
|
||||
|
||||
#euler-nottuln
|
||||
#KERNELDIR = /usr/src/linux
|
||||
#RTAIDIR = /usr/src/rtai
|
||||
|
||||
|
||||
#patra
|
||||
#KERNELDIR = /usr/src/linux-2.4.20.CX1100-rthal5
|
||||
#RTAIDIR = /usr/src/rtai-24.1.13
|
||||
|
||||
RTLIBDIR=rt_lib
|
||||
|
||||
#include $(KERNELDIR)/.config
|
||||
|
||||
#CFLAGS = -DRTAI -D__KERNEL__ -DMODULE -I$(KERNELDIR)/include -I$(RTAIDIR)/include -I$(RTLIBDIR)/msr-include \
|
||||
# -Wall -Wstrict-prototypes -Wno-trigraphs -O2 -fno-strict-aliasing -fno-common -fomit-frame-pointer \
|
||||
# -pipe -mpreferred-stack-boundary=2 -march=i686 -nostdinc -iwithprefix include
|
||||
|
||||
CFLAGS = -O2 -Wall -Wuninitialized -D__KERNEL__ -DMODULE -DSERIALDEBUG -DMSR_NO_PROC -I$(KERNELDIR)/include -D_RTAI -I$(RTAIDIR)/include -I$(RTLIBDIR)/msr-include
|
||||
|
||||
#CFLAGS += -DSIMULATION
|
||||
#LDFLAGS =
|
||||
|
||||
#VPATH = $(RTLIBDIR)/
|
||||
|
||||
TARGET = msr_modul
|
||||
MODULE = $(TARGET).o
|
||||
|
||||
SRC = msr_io.c
|
||||
|
||||
#Suchpfad für die Dateien aus dem RT-Lib-Verzeichnis
|
||||
VPATH = $(RTLIBDIR)/msr-core:$(RTLIBDIR)/msr-control:$(RTLIBDIR)/msr-math:$(RTLIBDIR)/msr-misc:$(RTLIBDIR)/msr-utils
|
||||
|
||||
#Datei aus dem RT-Libverzeichnis für dies Projekt
|
||||
RTSRC = msr_main.c msr_lists.c msr_charbuf.c msr_reg.c msr_interpreter.c msr_utils.c msr_messages.c msr_base64.c msr_proc.c msr_error_reg.c
|
||||
|
||||
ALLSRC = $(SRC) $(RTSRC)
|
||||
|
||||
OBJS = $(ALLSRC:.c=.o)
|
||||
|
||||
|
||||
all: .depend $(TARGET).o Makefile
|
||||
|
||||
$(TARGET).o: $(SRC:.c=.o) $(RTSRC:.c=.o)
|
||||
$(LD) -r $(OBJS) -o $@ $(LDFLAGS)
|
||||
|
||||
install: msr_modul.o
|
||||
lsmod | grep cif-rtai >/dev/null 2>&1 && sudo rmmod msr_modul || true
|
||||
sudo insmod msr_modul.o
|
||||
|
||||
clean:
|
||||
rm -f *.o *~ core .depend
|
||||
|
||||
depend .depend dep:
|
||||
$(CC) $(CFLAGS) -M *.c > $@
|
||||
|
||||
|
||||
|
||||
|
||||
ifeq (.depend,$(wildcard .depend))
|
||||
include .depend
|
||||
endif
|
||||
|
||||
|
||||
#all: msr_module.o
|
||||
#
|
||||
#msr_io.o: msr_io.c msr_io.h
|
||||
# $(CC) $(CFLAGS) -c -o $@ $<
|
||||
#
|
||||
#msr_module.o: msr_io.o
|
||||
# $(LD) -r -o $@ $^
|
||||
#
|
||||
|
||||
# $(CC) -c $(CFLAGS) $(CPPFLAGS) -o $@ $<
|
||||
|
||||
|
||||
#clean:
|
||||
# rm -f *.o *~ core
|
||||
|
||||
57
rt/TAGS
Normal file
57
rt/TAGS
Normal file
@@ -0,0 +1,57 @@
|
||||
|
||||
_msr_io.c,315
|
||||
# define __KERNEL__44,1091
|
||||
# define MODULE47,1134
|
||||
spinlock_t data_lock 64,1449
|
||||
#define PB_CARDS 79,1926
|
||||
} card[91,2142
|
||||
void x_PB_io(109,2505
|
||||
int msr_io_init(151,3460
|
||||
#define FIFO_BUF 157,3532
|
||||
int msr_io_register(235,5684
|
||||
int msr_io_write(261,6090
|
||||
int msr_io_read(363,8522
|
||||
void msr_io_cleanup(400,9200
|
||||
|
||||
_msr_io.h,100
|
||||
#define _MSR_IO_H_119,3261
|
||||
struct cif_in_t cif_in_t128,3512
|
||||
struct cif_out_t cif_out_t135,3664
|
||||
|
||||
cif-rtai-io.h,0
|
||||
|
||||
msr_io.c,559
|
||||
RT_TASK check_running;54,1293
|
||||
RT_TASK process_image;55,1316
|
||||
SEM data_lock;57,1340
|
||||
#define PARAM_FILENO 60,1381
|
||||
#define CVT_FILENO 61,1405
|
||||
#define MSG_FILENO 62,1427
|
||||
#define PB_CARDS 64,1449
|
||||
} card[78,1692
|
||||
int msr_print(80,1711
|
||||
inline int msr_print_error(97,1982
|
||||
inline int msr_print_info(106,2138
|
||||
inline int msr_print_warn(115,2294
|
||||
void x_PB_io(140,2830
|
||||
void process_thread(145,2909
|
||||
void check_thread(254,6015
|
||||
void msr_io_cleanup(343,8029
|
||||
int msr_init(374,8740
|
||||
#define FIFO_BUF 389,9019
|
||||
#define TIMERTICS 396,9180
|
||||
#define MSG_BUF 397,9245
|
||||
|
||||
msr_io.h,363
|
||||
#define _AIM_GLOBALS_H_35,698
|
||||
struct P101_In P101_In37,723
|
||||
struct P201_In P201_In45,859
|
||||
struct P301_In P301_In50,940
|
||||
struct P101_Out P101_Out56,1022
|
||||
struct P201_Out P201_Out62,1120
|
||||
struct P301_Out P301_Out65,1161
|
||||
struct IMO_to_dSPACE IMO_to_dSPACE69,1203
|
||||
struct dSPACE_to_IMO dSPACE_to_IMO76,1338
|
||||
} IMO;99,1765
|
||||
} cvt;128,2230
|
||||
} param;131,2247
|
||||
851
rt/aip_com.c
Normal file
851
rt/aip_com.c
Normal file
File diff suppressed because it is too large
Load Diff
159
rt/aip_com.h
Normal file
159
rt/aip_com.h
Normal file
@@ -0,0 +1,159 @@
|
||||
/**************************************************************************************************
|
||||
*
|
||||
* aip_com.h
|
||||
*
|
||||
* Macros für Kommunikation über serielle Schnittstelle
|
||||
* Basiert auf rt_com.h von rtai !! (siehe unten)
|
||||
*
|
||||
*
|
||||
* Autor: Wilhelm Hagemeister
|
||||
*
|
||||
* (C) Copyright IgH 2002
|
||||
* Ingenieurgemeinschaft IgH
|
||||
* Heinz-Bäcker Str. 34
|
||||
* D-45356 Essen
|
||||
* Tel.: +49 201/61 99 31
|
||||
* Fax.: +49 201/61 98 36
|
||||
* E-mail: hm@igh-essen.com
|
||||
*
|
||||
*
|
||||
* $RCSfile: aip_com.h,v $
|
||||
* $Revision: 1.1 $
|
||||
* $Author: hm $
|
||||
* $Date: 2004/09/30 15:50:32 $
|
||||
* $State: Exp $
|
||||
*
|
||||
*
|
||||
*
|
||||
*
|
||||
*
|
||||
*
|
||||
*
|
||||
*
|
||||
*
|
||||
**************************************************************************************************/
|
||||
|
||||
/** rt_com
|
||||
* ======
|
||||
*
|
||||
* RT-Linux kernel module for communication across serial lines.
|
||||
*
|
||||
* Copyright (C) 1997 Jens Michaelsen
|
||||
* Copyright (C) 1997-2000 Jochen Kupper
|
||||
* Copyright (C) 2002 Giuseppe Renoldi
|
||||
*
|
||||
* This program is free software; you can redistribute it and/or
|
||||
* modify it under the terms of the GNU General Public License as
|
||||
* published by the Free Software Foundation; either version 2 of the
|
||||
* License, or (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
||||
* General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with this program; see the file License. if not, write to the
|
||||
* Free Software Foundation, Inc., 59 Temple Place, Suite 330, Boston,
|
||||
* MA 02111-1307, USA.
|
||||
*
|
||||
* $Id: aip_com.h,v 1.1 2004/09/30 15:50:32 hm Exp $ */
|
||||
|
||||
|
||||
|
||||
#ifndef AIP_COM_H
|
||||
#define AIP_COM_H
|
||||
|
||||
/** This is the interface definition of the plain rt_com API.
|
||||
*
|
||||
* This should be all you need to use rt_com within your real-time
|
||||
* kernel module.
|
||||
*
|
||||
* (When POSIX is done, we will reference the appropriate header
|
||||
* here - probably depending on a flag.) */
|
||||
|
||||
int init_aip_com(void); //Hm, IgH
|
||||
void cleanup_aip_com(void); //Hm, IgH
|
||||
|
||||
|
||||
/** specify hardware parameters, set-up communication parameters */
|
||||
extern int rt_com_hwsetup( unsigned int ttyS, int base, int irq );
|
||||
extern int rt_com_setup( unsigned int ttyS, int baud, int mode,
|
||||
unsigned int parity, unsigned int stopbits,
|
||||
unsigned int wordlength, int fifotrig );
|
||||
|
||||
/** read/write from/to input/output buffer */
|
||||
extern int rt_com_read( unsigned int, char *, int );
|
||||
extern int rt_com_write( unsigned int ttyS, char *buffer, int count );
|
||||
|
||||
/** clear input or output buffer */
|
||||
extern int rt_com_clear_input( unsigned int ttyS );
|
||||
extern int rt_com_clear_output( unsigned int ttyS );
|
||||
|
||||
/** read input signal from modem (CTS,DSR,RI,DCD), set output signal
|
||||
* for modem control (DTR,RTS) */
|
||||
extern int rt_com_read_modem( unsigned int ttyS, int signal );
|
||||
extern int rt_com_write_modem( unsigned int ttyS, int signal, int value );
|
||||
|
||||
/** functioning mode and fifo trigger setting */
|
||||
extern int rt_com_set_mode( unsigned int ttyS, int mode);
|
||||
extern int rt_com_set_fifotrig( unsigned int ttyS, int fifotrig);
|
||||
|
||||
/** return last error detected */
|
||||
extern int rt_com_error( unsigned int ttyS );
|
||||
|
||||
|
||||
/** size of internal queues, this is constant during module lifetime */
|
||||
extern unsigned int rt_com_buffersize;
|
||||
|
||||
#define rt_com_set_param rt_com_hwsetup
|
||||
#define rt_com_setup_old(a,b,c,d,e) rt_com_setup((a),(b),0,(c),(d),(e),-1)
|
||||
|
||||
|
||||
/** functioning modes */
|
||||
#define RT_COM_NO_HAND_SHAKE 0x00
|
||||
#define RT_COM_DSR_ON_TX 0x01
|
||||
#define RT_COM_HW_FLOW 0x02
|
||||
|
||||
/** parity flags */
|
||||
#define RT_COM_PARITY_EVEN 0x18
|
||||
#define RT_COM_PARITY_NONE 0x00
|
||||
#define RT_COM_PARITY_ODD 0x08
|
||||
#define RT_COM_PARITY_HIGH 0x28
|
||||
#define RT_COM_PARITY_LOW 0x38
|
||||
|
||||
/* FIFO Control */
|
||||
#define RT_COM_FIFO_DISABLE 0x00
|
||||
#define RT_COM_FIFO_SIZE_1 0x00
|
||||
#define RT_COM_FIFO_SIZE_4 0x40
|
||||
#define RT_COM_FIFO_SIZE_8 0x80
|
||||
#define RT_COM_FIFO_SIZE_14 0xC0
|
||||
|
||||
/** rt_com_write_modem masks */
|
||||
#define RT_COM_DTR 0x01
|
||||
#define RT_COM_RTS 0x02
|
||||
|
||||
/** rt_com_read_modem masks */
|
||||
#define RT_COM_CTS 0x10
|
||||
#define RT_COM_DSR 0x20
|
||||
#define RT_COM_RI 0x40
|
||||
#define RT_COM_DCD 0x80
|
||||
|
||||
/** rt_com_error masks */
|
||||
#define RT_COM_BUFFER_FULL 0x01
|
||||
#define RT_COM_OVERRUN_ERR 0x02
|
||||
#define RT_COM_PARITY_ERR 0x04
|
||||
#define RT_COM_FRAMING_ERR 0x08
|
||||
#define RT_COM_BREAK 0x10
|
||||
|
||||
|
||||
#endif /* RT_COM_H */
|
||||
|
||||
|
||||
|
||||
/**
|
||||
* Local Variables:
|
||||
* mode: C
|
||||
* c-file-style: "Stroustrup"
|
||||
* End:
|
||||
*/
|
||||
206
rt/aip_comP.h
Normal file
206
rt/aip_comP.h
Normal file
@@ -0,0 +1,206 @@
|
||||
/**
|
||||
* rt_com
|
||||
* ======
|
||||
*
|
||||
* RT-Linux kernel module for communication across serial lines.
|
||||
*
|
||||
* Copyright (C) 1997 Jens Michaelsen
|
||||
* Copyright (C) 1997-2000 Jochen Kupper
|
||||
* Copyright (C) 1999 Hua Mao <hmao@nmt.edu>
|
||||
*
|
||||
* This program is free software; you can redistribute it and/or
|
||||
* modify it under the terms of the GNU General Public License as
|
||||
* published by the Free Software Foundation; either version 2 of the
|
||||
* License, or (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
||||
* General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with this program; see the file License. if not, write to the
|
||||
* Free Software Foundation, Inc., 59 Temple Place, Suite 330, Boston,
|
||||
* MA 02111-1307, USA.
|
||||
*/
|
||||
|
||||
|
||||
|
||||
#ifndef AIP_COM_P_H
|
||||
#define AIP_COM_P_H
|
||||
|
||||
|
||||
#define RT_COM_NAME "rt_com(aip)" //Hm, IgH
|
||||
|
||||
/* input/ouput buffer (FIFO) sizes */
|
||||
#define RT_COM_BUF_SIZ 256 // MUST BE ONLY POWER OF 2 !!
|
||||
/* amount of free space on input buffer for RTS reset */
|
||||
#define RT_COM_BUF_LOW (RT_COM_BUF_SIZ / 3)
|
||||
/* amount of free space on input buffer for RTS set */
|
||||
#define RT_COM_BUF_HI (RT_COM_BUF_SIZ * 2 / 3)
|
||||
/* limit of free space on input buffer for buffer full error */
|
||||
#define RT_COM_BUF_FULL 20
|
||||
|
||||
|
||||
/* usage flags */
|
||||
#define RT_COM_PORT_FREE 0x00
|
||||
#define RT_COM_PORT_INUSE 0x01
|
||||
#define RT_COM_PORT_SETUP 0x02
|
||||
|
||||
|
||||
/* Some hardware description */
|
||||
#define RT_COM_BASE_BAUD 115200
|
||||
|
||||
/** Interrupt Service Routines
|
||||
* These are private functions */
|
||||
static void rt_com0_isr( void );
|
||||
static void rt_com1_isr( void );
|
||||
|
||||
|
||||
|
||||
|
||||
/** Interrupt handling
|
||||
*
|
||||
* Define internal convinience macros for interrupt handling, so we
|
||||
* get rid of the system dependencies.
|
||||
*/
|
||||
//#define rt_com_irq_off( state ) do{}while(0) //rt_global_save_flags( &state ); rt_global_cli() schreiben und lesen sowieso in IRQ Hm
|
||||
//#define rt_com_irq_on(state) do{}while(0) //rt_global_restore_flags( state )
|
||||
#define rt_com_irq_off( state ) rt_global_save_flags( &state ); rt_global_cli()
|
||||
#define rt_com_irq_on(state) rt_global_restore_flags( state )
|
||||
#define rt_com_request_irq( irq, isr ) rt_request_global_irq( irq, isr ); rt_enable_irq( irq );
|
||||
#define rt_com_free_irq( irq ) rt_free_global_irq( irq )
|
||||
|
||||
|
||||
/* port register offsets */
|
||||
#define RT_COM_RXB 0x00
|
||||
#define RT_COM_TXB 0x00
|
||||
#define RT_COM_IER 0x01
|
||||
#define RT_COM_IIR 0x02
|
||||
#define RT_COM_FCR 0x02
|
||||
#define RT_COM_LCR 0x03
|
||||
#define RT_COM_MCR 0x04
|
||||
#define RT_COM_LSR 0x05
|
||||
#define RT_COM_MSR 0x06
|
||||
#define RT_COM_DLL 0x00
|
||||
#define RT_COM_DLM 0x01
|
||||
|
||||
/** MCR Modem Control Register masks */
|
||||
#define MCR_DTR 0x01 // Data Terminal Ready
|
||||
#define MCR_RTS 0x02 // Request To Send
|
||||
#define MCR_OUT1 0x04
|
||||
#define MCR_OUT2 0x08
|
||||
#define MCR_LOOP 0x10
|
||||
#define MCR_AFE 0x20 // AutoFlow Enable
|
||||
|
||||
/** IER Interrupt Enable Register masks */
|
||||
#define IER_ERBI 0x01 // Enable Received Data Available Interrupt
|
||||
#define IER_ETBEI 0x02 // Enable Transmitter Holding Register
|
||||
// Empty Interrupt
|
||||
#define IER_ELSI 0x04 // Enable Receiver Line Status Interrupt
|
||||
#define IER_EDSSI 0x08 // Enable Modem Status Interrupt
|
||||
|
||||
/** MSR Modem Status Register masks */
|
||||
#define MSR_DELTA_CTS 0x01
|
||||
#define MSR_DELTA_DSR 0x02
|
||||
#define MSR_TERI 0x04
|
||||
#define MSR_DELTA_DCD 0x08
|
||||
#define MSR_CTS 0x10
|
||||
#define MSR_DSR 0x20
|
||||
#define MSR_RI 0x40
|
||||
#define MSR_DCD 0x80
|
||||
|
||||
/** LSR Line Status Register masks */
|
||||
#define LSR_DATA_READY 0x01
|
||||
#define LSR_OVERRUN_ERR 0x02
|
||||
#define LSR_PARITY_ERR 0x04
|
||||
#define LSR_FRAMING_ERR 0x08
|
||||
#define LSR_BREAK 0x10
|
||||
#define LSR_THRE 0x20 // Transmitter Holding Register
|
||||
#define LSR_TEMT 0x40 // Transmitter Empty
|
||||
|
||||
/** FCR FIFO Control Register masks */
|
||||
#define FCR_FIFO_ENABLE 0x01
|
||||
#define FCR_INPUT_FIFO_RESET 0x02
|
||||
#define FCR_OUTPUT_FIFO_RESET 0x04
|
||||
|
||||
/** data buffer
|
||||
*
|
||||
* Used for buffering of input and output data. Two buffers per port
|
||||
* (one for input, one for output). Organized as a FIFO */
|
||||
struct rt_buf_struct{
|
||||
unsigned int head;
|
||||
unsigned int tail;
|
||||
char buf[ RT_COM_BUF_SIZ ];
|
||||
};
|
||||
|
||||
|
||||
|
||||
/** Port data
|
||||
*
|
||||
* Internal information structure containing all data for a port. One
|
||||
* structure for every port.
|
||||
*
|
||||
* Contains all current setup parameters and all data currently
|
||||
* buffered by rt_com.
|
||||
*
|
||||
* mode (functioning mode)
|
||||
* possible values:
|
||||
* - RT_COM_DSR_ON_TX - for standard functioning mode (DSR needed on TX)
|
||||
* - RT_COM_NO_HAND_SHAKE - for comunication without hand shake signals
|
||||
* (only RXD-TXD-GND)
|
||||
* - RT_COM_HW_FLOW - for hardware flow control (RTS-CTS)
|
||||
* Of course RT_COM_DSR_ON_TX and RT_COM_NO_HAND_SHAKE cannot be
|
||||
* sppecified at the same time.
|
||||
*
|
||||
* NOTE: When you select a mode that uses hand shake signals pay
|
||||
* attention that no input signals (CTS,DSR,RI,DCD) must be
|
||||
* floating.
|
||||
*
|
||||
* used (usage flag)
|
||||
* possible values:
|
||||
* - RT_COM_PORT_INUSE - port region requested by init_module
|
||||
* - RT_COM_PORT_FREE - port region requested by rt_com_set_param
|
||||
* - RT_COM_PORT_SETUP - port parameters are setup,
|
||||
* don't specify at compile time !
|
||||
*
|
||||
* error
|
||||
* last error detected
|
||||
*
|
||||
* ier (interrupt enable register)
|
||||
* copy of IER chip register, last value set by rt_com.
|
||||
*
|
||||
* mcr (modem control register)
|
||||
* copy of the MCR internal register
|
||||
*/
|
||||
struct rt_com_struct{
|
||||
int baud_base;
|
||||
int port;
|
||||
int irq;
|
||||
void (*isr)(void);
|
||||
int baud;
|
||||
unsigned int wordlength;
|
||||
unsigned int parity;
|
||||
unsigned int stopbits;
|
||||
int mode;
|
||||
int fifotrig;
|
||||
int used;
|
||||
int error;
|
||||
int type;
|
||||
int ier;
|
||||
int mcr;
|
||||
struct rt_buf_struct ibuf;
|
||||
struct rt_buf_struct obuf;
|
||||
};
|
||||
|
||||
|
||||
#endif /* RT_COM_P_H */
|
||||
|
||||
|
||||
|
||||
/**
|
||||
* Local Variables:
|
||||
* mode: C
|
||||
* c-file-style: "Stroustrup"
|
||||
* End:
|
||||
*/
|
||||
43
rt/cif-rtai-io.h
Normal file
43
rt/cif-rtai-io.h
Normal file
@@ -0,0 +1,43 @@
|
||||
unsigned long cif_open_card(
|
||||
unsigned int board_no,
|
||||
unsigned int in_size,
|
||||
unsigned int out_size,
|
||||
void (*callback)(unsigned long priv_data),
|
||||
unsigned long priv_data
|
||||
);
|
||||
|
||||
void cif_close_card(
|
||||
unsigned long fd
|
||||
);
|
||||
|
||||
int cif_reset_card(
|
||||
unsigned long fd,
|
||||
unsigned int timeout,
|
||||
unsigned int context // 1 = interrupt context
|
||||
);
|
||||
|
||||
void cif_set_host_state(
|
||||
unsigned long fd,
|
||||
unsigned int state
|
||||
);
|
||||
|
||||
int cif_exchange_io(
|
||||
unsigned long fd,
|
||||
void *recv_data,
|
||||
void *send_data
|
||||
);
|
||||
|
||||
int cif_read_io(
|
||||
unsigned long fd,
|
||||
void *recv_data
|
||||
);
|
||||
|
||||
int cif_write_io(
|
||||
unsigned long fd,
|
||||
void *send_data
|
||||
);
|
||||
|
||||
int cif_card_ready(
|
||||
unsigned long fd
|
||||
);
|
||||
|
||||
539
rt/msr_io.c
Normal file
539
rt/msr_io.c
Normal file
File diff suppressed because it is too large
Load Diff
39
rt/msr_io.h
Normal file
39
rt/msr_io.h
Normal file
@@ -0,0 +1,39 @@
|
||||
|
||||
/******************************************************************************
|
||||
*
|
||||
*
|
||||
* Alle globalen Variabeln
|
||||
*
|
||||
* Autor: Richard Hacker
|
||||
*
|
||||
* (C) Copyright IgH 2005
|
||||
* Ingenieurgemeinschaft IgH
|
||||
* Heinz-Bäcker Str. 34
|
||||
* D-45356 Essen
|
||||
* Tel.: +49 201/61 99 31
|
||||
* Fax.: +49 201/61 98 36
|
||||
* E-mail: ha@igh-essen.com
|
||||
*
|
||||
*
|
||||
* $RCSfile: msr_io.h,v $
|
||||
* $Revision: 1.2 $
|
||||
* $Author: hm $
|
||||
* $Date: 2005/09/02 10:26:38 $
|
||||
* $State: Exp $
|
||||
*
|
||||
*
|
||||
*
|
||||
*
|
||||
*
|
||||
*
|
||||
*
|
||||
*
|
||||
*
|
||||
******************************************************************************/
|
||||
|
||||
#ifndef _ETH_GLOBALS_H_
|
||||
#define _ETH_GLOBALS_H_
|
||||
|
||||
|
||||
#endif
|
||||
|
||||
36
rt/msr_load
Executable file
36
rt/msr_load
Executable file
@@ -0,0 +1,36 @@
|
||||
#!/bin/sh
|
||||
module="msr_modul"
|
||||
device="msr"
|
||||
mode="664"
|
||||
|
||||
# Group: since distributions do it differently, look for wheel or use staff
|
||||
if grep '^staff:' /etc/group > /dev/null; then
|
||||
group="staff"
|
||||
else
|
||||
group="wheel"
|
||||
fi
|
||||
|
||||
# invoke insmod with all arguments we got
|
||||
# and use a pathname, as newer modutils don't look in . by default
|
||||
/sbin/insmod -f ./$module.o $* || exit 1
|
||||
|
||||
major=`cat /proc/devices | awk "\\$2==\"$device\" {print \\$1}"`
|
||||
|
||||
echo $major
|
||||
# Remove stale nodes and replace them, then give gid and perms
|
||||
# Usually the script is shorter, it's scull that has several devices in it.
|
||||
|
||||
rm -f /dev/${device}
|
||||
mknod /dev/${device} c $major 0
|
||||
# ln -sf ${device}0 /dev/${device}
|
||||
chgrp users /dev/${device}
|
||||
chmod $mode /dev/${device}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
16
rt/msr_unload
Executable file
16
rt/msr_unload
Executable file
@@ -0,0 +1,16 @@
|
||||
#!/bin/sh
|
||||
module="msr_modul"
|
||||
device="msr"
|
||||
|
||||
# invoke rmmod with all arguments we got
|
||||
/sbin/rmmod $module $* || exit 1
|
||||
|
||||
# Remove stale nodes
|
||||
|
||||
rm -f /dev/${device} /dev/${device}0
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
230
rt/msrserv.pl
Executable file
230
rt/msrserv.pl
Executable file
@@ -0,0 +1,230 @@
|
||||
#!/usr/bin/perl -w
|
||||
|
||||
# Multithreaded Server
|
||||
# according to the example from "Programming Perl"
|
||||
#
|
||||
# works with read/write on a device-file
|
||||
#
|
||||
# $Revision: 1.1 $
|
||||
# $Date: 2002/07/09 10:10:59 $
|
||||
# $RCSfile: msrserv.pl,v $
|
||||
#
|
||||
|
||||
require 5.002;
|
||||
use strict;
|
||||
BEGIN { $ENV{PATH} = '/usr/bin:/bin' }
|
||||
use Socket;
|
||||
use Carp;
|
||||
use FileHandle;
|
||||
use Getopt::Std;
|
||||
|
||||
use Sys::Syslog qw(:DEFAULT setlogsock);
|
||||
|
||||
use vars qw (
|
||||
$self $pid $dolog $port $dev %opts $selfbase
|
||||
$len $offset $stream $written $read $log $blksize
|
||||
$authfile %authhosts
|
||||
);
|
||||
|
||||
|
||||
# Do logging to local syslogd by unix-domain socket instead of inetd
|
||||
setlogsock("unix");
|
||||
|
||||
# Prototypes and some little Tools
|
||||
sub spawn;
|
||||
sub logmsg {
|
||||
my ($level, @text) = @_;
|
||||
syslog("daemon|$level", @text) if $dolog;
|
||||
# print STDERR "daemon|$level", @text, "\n" if $dolog;
|
||||
}
|
||||
sub out {
|
||||
my $waitpid = wait;
|
||||
logmsg("notice", "$waitpid exited");
|
||||
unlink "$selfbase.pid";
|
||||
exit 0;
|
||||
}
|
||||
|
||||
sub help {
|
||||
print "\n usage: $0 [-l og] [-h elp] [-p port] [-d device]\n";
|
||||
exit;
|
||||
}
|
||||
|
||||
# Process Options
|
||||
%opts = (
|
||||
"l" => 1,
|
||||
"h" => 0,
|
||||
"p" => 2345,
|
||||
"d" => "/dev/msr"
|
||||
);
|
||||
|
||||
getopts("lhp:d:", \%opts);
|
||||
|
||||
help if $opts{"h"};
|
||||
|
||||
( $self = $0 ) =~ s+.*/++ ;
|
||||
( $selfbase = $self ) =~ s/\..*//;
|
||||
$log = "$selfbase.log";
|
||||
$dolog = $opts{"l"};
|
||||
$port = $opts{"p"};
|
||||
$dev = $opts{"d"};
|
||||
$blksize = 1024; # try to write as much bytes
|
||||
$authfile = "/opt/kbw/etc/hosts.auth";
|
||||
|
||||
# Start logging
|
||||
openlog($self, 'pid');
|
||||
|
||||
# Flush Output, dont buffer
|
||||
$| = 1;
|
||||
|
||||
# first fork and run in background
|
||||
if ($pid = fork) {
|
||||
# open LOG, ">$log" if $dolog;
|
||||
# close LOG;
|
||||
logmsg("notice", "forked process: $pid\n");
|
||||
exit 0;
|
||||
}
|
||||
|
||||
# Server tells about startup success
|
||||
open (PID, ">$selfbase.pid");
|
||||
print PID "$$\n";
|
||||
close PID;
|
||||
|
||||
# Cleanup on exit (due to kill -TERM signal)
|
||||
$SIG{TERM} = \&out;
|
||||
|
||||
# We use streams
|
||||
my $proto = getprotobyname('tcp');
|
||||
|
||||
# Open Server socket
|
||||
socket(Server, PF_INET, SOCK_STREAM, $proto) or die "socket: $!";
|
||||
setsockopt(Server, SOL_SOCKET, SO_REUSEADDR, pack("l", 1))
|
||||
or die "setsocketopt: $!";
|
||||
bind (Server, sockaddr_in($port, INADDR_ANY))
|
||||
or die "bind: $!";
|
||||
listen (Server, SOMAXCONN)
|
||||
or die "listen: $!";
|
||||
|
||||
%authhosts = ();
|
||||
# get authorized hosts
|
||||
open (AUTH, $authfile)
|
||||
or logmsg ("notice", "Could not read allowed hosts file: $authfile");
|
||||
while (<AUTH>) {
|
||||
chomp;
|
||||
my $host = lc $_;
|
||||
logmsg ("notice", "Authorized host: $host");
|
||||
$authhosts{$_} = 1 if $host =~ /^[\d\w]/;
|
||||
}
|
||||
close (AUTH);
|
||||
|
||||
# tell about open server socket
|
||||
logmsg ("notice", "Server started at port $port");
|
||||
|
||||
my $waitpid = 0;
|
||||
my $paddr;
|
||||
|
||||
# wait for children to return, thus avoiding zombies
|
||||
sub REAPER {
|
||||
$waitpid = wait;
|
||||
$SIG{CHLD} = \&REAPER;
|
||||
logmsg ("notice", "reaped $waitpid", ($? ? " with exit $?" : ""));
|
||||
}
|
||||
|
||||
# also all sub-processes should wait for their children
|
||||
$SIG{CHLD} = \&REAPER;
|
||||
|
||||
# start a new server for every incoming request
|
||||
for ( ; $paddr = accept(Client, Server); close (Client)) {
|
||||
my ($port, $iaddr) = sockaddr_in($paddr);
|
||||
my $name = lc gethostbyaddr($iaddr, AF_INET);
|
||||
my $ipaddr = inet_ntoa($iaddr);
|
||||
my $n = 0;
|
||||
|
||||
# tell about the requesting client
|
||||
logmsg ("info", "Connection from $ipaddr ($name) at port $port");
|
||||
|
||||
spawn sub {
|
||||
my ($head, $hlen, $pos, $pegel, $typ, $siz, $nch, $nrec, $dat, $i, $j, $n, $llen);
|
||||
my ($watchpegel, $shmpegel);
|
||||
my ($rin, $rout, $in, $line, $data_requested, $oversample);
|
||||
my (@channels);
|
||||
|
||||
# to use stdio on writing to Client
|
||||
Client->autoflush();
|
||||
|
||||
# Open Device
|
||||
sysopen (DEV, "$dev", O_RDWR | O_NONBLOCK, 0666) or die("can't open $dev");
|
||||
|
||||
# Bitmask to check for input on stdin
|
||||
$rin = "";
|
||||
vec($rin, fileno(Client), 1) = 1;
|
||||
|
||||
# check for authorized hosts
|
||||
my $access = 'allow';
|
||||
$access = 'allow' if $authhosts{$ipaddr};
|
||||
$line = "<remote_host host=\"$ipaddr\" access=\"$access\">\n";
|
||||
$len = length $line;
|
||||
$offset = 0;
|
||||
while ($len) {
|
||||
$written = syswrite (DEV, $line, $len, $offset);
|
||||
$len -= $written;
|
||||
$offset += $written;
|
||||
}
|
||||
|
||||
while ( 1 ) {
|
||||
$in = select ($rout=$rin, undef, undef, 0.0); # poll client
|
||||
# look for any Input from Client
|
||||
if ($in) {
|
||||
# exit on EOF
|
||||
$len = sysread (Client, $line, $blksize) or exit;
|
||||
logmsg("info", "got $len bytes: \"$line\"");
|
||||
$offset = 0;
|
||||
# copy request to device
|
||||
while ($len) {
|
||||
$written = syswrite (DEV, $line, $len, $offset);
|
||||
$len -= $written;
|
||||
$offset += $written;
|
||||
}
|
||||
}
|
||||
# look for some output from device
|
||||
if ($len = sysread DEV, $stream, $blksize) {
|
||||
print Client $stream;
|
||||
} else {
|
||||
select undef, undef, undef, 0.1; # calm down if nothing on device
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
sub spawn {
|
||||
my $coderef = shift;
|
||||
|
||||
unless (@_ == 0 && $coderef && ref($coderef) eq 'CODE') {
|
||||
confess "usage: spawn CODEREF";
|
||||
}
|
||||
my $pid;
|
||||
if (!defined($pid = fork)) {
|
||||
logmsg ("notice", "fork failed: $!");
|
||||
return;
|
||||
} elsif ($pid) {
|
||||
logmsg ("notice", "Request $pid");
|
||||
return; # Parent
|
||||
}
|
||||
|
||||
# do not use fdup as in the original example
|
||||
# open (STDIN, "<&Client") or die "Can't dup client to stdin";
|
||||
# open (STDOUT, ">&Client") or die "Can't dup client to stdout";
|
||||
# STDOUT->autoflush();
|
||||
exit &$coderef();
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
420
rt/tmp/_msr_io.c
Executable file
420
rt/tmp/_msr_io.c
Executable file
@@ -0,0 +1,420 @@
|
||||
/**************************************************************************************************
|
||||
*
|
||||
* msr_io.c
|
||||
*
|
||||
* Verwaltung der IO-Karten
|
||||
*
|
||||
*
|
||||
* Autor: Wilhelm Hagemeister
|
||||
*
|
||||
* (C) Copyright IgH 2002
|
||||
* Ingenieurgemeinschaft IgH
|
||||
* Heinz-Bäcker Str. 34
|
||||
* D-45356 Essen
|
||||
* Tel.: +49 201/61 99 31
|
||||
* Fax.: +49 201/61 98 36
|
||||
* E-mail: sp@igh-essen.com
|
||||
*
|
||||
*
|
||||
* $RCSfile: msr_io.c,v $
|
||||
* $Revision: 1.9 $
|
||||
* $Author: ha $
|
||||
* $Date: 2005/06/24 20:06:56 $
|
||||
* $State: Exp $
|
||||
*
|
||||
*
|
||||
* $Log: msr_io.c,v $
|
||||
* Revision 1.9 2005/06/24 20:06:56 ha
|
||||
* *** empty log message ***
|
||||
*
|
||||
* Revision 1.8 2005/06/24 17:39:05 ha
|
||||
* *** empty log message ***
|
||||
*
|
||||
*
|
||||
*
|
||||
*
|
||||
*
|
||||
*
|
||||
**************************************************************************************************/
|
||||
|
||||
|
||||
/*--includes-------------------------------------------------------------------------------------*/
|
||||
|
||||
#ifndef __KERNEL__
|
||||
# define __KERNEL__
|
||||
#endif
|
||||
#ifndef MODULE
|
||||
# define MODULE
|
||||
#endif
|
||||
|
||||
#include <linux/delay.h> /* mdelay() */
|
||||
#include <linux/spinlock.h>
|
||||
#include <linux/param.h> /* HZ */
|
||||
#include <linux/sched.h> /* jiffies */
|
||||
#include <linux/fs.h> /* everything... */
|
||||
#include <rtai_fifos.h>
|
||||
|
||||
#include "msr_io.h"
|
||||
|
||||
#include <msr_messages.h>
|
||||
|
||||
|
||||
#include "aim_globals.h"
|
||||
|
||||
spinlock_t data_lock = SPIN_LOCK_UNLOCKED;
|
||||
|
||||
#include "cif-rtai-io.h"
|
||||
|
||||
/*--defines--------------------------------------------------------------------------------------*/
|
||||
|
||||
|
||||
/*--external functions---------------------------------------------------------------------------*/
|
||||
|
||||
|
||||
/*--external data--------------------------------------------------------------------------------*/
|
||||
|
||||
|
||||
/*--public data----------------------------------------------------------------------------------*/
|
||||
|
||||
#define PB_CARDS 4
|
||||
struct {
|
||||
unsigned int fd;
|
||||
unsigned int timestamp;
|
||||
unsigned int fault;
|
||||
unsigned int active;
|
||||
void *in_buf;
|
||||
void *out_buf;
|
||||
size_t in_buf_len;
|
||||
size_t out_buf_len;
|
||||
|
||||
unsigned int reset_timeout;
|
||||
} card[PB_CARDS];
|
||||
|
||||
|
||||
/*
|
||||
***************************************************************************************************
|
||||
*
|
||||
* Function: msr_io_init
|
||||
*
|
||||
* Beschreibung: Initialisieren der I/O-Karten
|
||||
*
|
||||
* Parameter:
|
||||
*
|
||||
* Rückgabe:
|
||||
*
|
||||
* Status: exp
|
||||
*
|
||||
***************************************************************************************************
|
||||
*/
|
||||
void x_PB_io(unsigned long card_no) {
|
||||
int rv = 0;
|
||||
unsigned int flags;
|
||||
|
||||
spin_lock_irqsave(&data_lock, flags);
|
||||
|
||||
switch (card_no) {
|
||||
case 0:
|
||||
rv = cif_exchange_io(card[0].fd,card[0].in_buf,card[0].out_buf);
|
||||
if (!rv)
|
||||
card[0].timestamp = jiffies;
|
||||
break;
|
||||
case 1:
|
||||
rv = cif_exchange_io(card[1].fd,card[1].in_buf,card[1].out_buf);
|
||||
// rv = cif_read_io(card[1].fd,card[1].in_buf);
|
||||
// IMO.to_dSPACE.P101.HX_Stat = 51;
|
||||
// IMO.from_dSPACE.P101.HX_Control |= IMO.to_dSPACE.P101.HX_Stat<<4;
|
||||
// rv += cif_write_io(card[1].fd,card[1].out_buf);
|
||||
if (!rv)
|
||||
card[1].timestamp = jiffies;
|
||||
break;
|
||||
/*
|
||||
case 2:
|
||||
rv = cif_exchange_io(card[2].fd,&cif_in.P201,&cif_out.P201);
|
||||
break;
|
||||
*/
|
||||
case 3:
|
||||
rv = cif_exchange_io(card[3].fd,card[3].in_buf,card[3].out_buf);
|
||||
if (!rv)
|
||||
card[3].timestamp = jiffies;
|
||||
break;
|
||||
}
|
||||
|
||||
if (rv) {
|
||||
msr_print_error("Error during exchange_io %i %i",
|
||||
card_no, rv );
|
||||
}
|
||||
|
||||
spin_unlock_irqrestore(&data_lock, flags);
|
||||
|
||||
}
|
||||
|
||||
int msr_io_init()
|
||||
{
|
||||
int rv;
|
||||
|
||||
memset(card, 0, sizeof(card));
|
||||
|
||||
#define FIFO_BUF 10000
|
||||
|
||||
if ((rv = rtf_create(0, FIFO_BUF)) < 0) {
|
||||
msr_print_error("Could not open FIFO %i", rv);
|
||||
return -1;
|
||||
}
|
||||
|
||||
#ifndef _SIMULATION
|
||||
/*
|
||||
card[0].in_buf_len = sizeof(IMO.from_dSPACE);
|
||||
card[0].out_buf_len = sizeof(IMO.to_dSPACE);
|
||||
card[0].in_buf = &IMO.from_dSPACE;
|
||||
card[0].out_buf = &IMO.to_dSPACE;
|
||||
card[0].active = 1;
|
||||
if (!(card[0].fd = cif_open_card(0, card[0].in_buf_len,
|
||||
card[0].out_buf_len, x_PB_io, 0))) {
|
||||
msr_print_error("Cannot open CIF card PB01");
|
||||
return -1;
|
||||
}
|
||||
|
||||
|
||||
card[1].in_buf_len = sizeof(IMO.to_dSPACE.P101);
|
||||
card[1].out_buf_len = sizeof(IMO.from_dSPACE.P101);
|
||||
card[1].in_buf = &IMO.to_dSPACE.P101;
|
||||
card[1].out_buf = &IMO.from_dSPACE.P101;
|
||||
card[1].active = 1;
|
||||
if (!(card[1].fd = cif_open_card(1, card[1].in_buf_len,
|
||||
card[1].out_buf_len, x_PB_io, 1))) {
|
||||
msr_print_error("Cannot open CIF card P101");
|
||||
return -1;
|
||||
}
|
||||
|
||||
card[2].in_buf_len = sizeof(IMO.to_dSPACE.P201);
|
||||
card[2].out_buf_len = sizeof(IMO.from_dSPACE.P201);
|
||||
card[2].in_buf = &IMO.to_dSPACE.P201;
|
||||
card[2].out_buf = &IMO.from_dSPACE.P201;
|
||||
if (!(card[2].fd = cif_open_card(2, card[2].in_buf_len,
|
||||
card[2].out_buf_len, x_PB_io, 2))) {
|
||||
msr_print_error("Cannot open CIF card P201");
|
||||
return -1;
|
||||
}
|
||||
|
||||
*/
|
||||
card[3].in_buf_len = sizeof(dSPACE.in);
|
||||
card[3].out_buf_len = sizeof(dSPACE.out);
|
||||
card[3].in_buf = &dSPACE.in;
|
||||
card[3].out_buf = &dSPACE.out;
|
||||
card[3].active = 1;
|
||||
if (!(card[3].fd = cif_open_card(0, card[3].in_buf_len,
|
||||
card[3].out_buf_len, x_PB_io,3))) {
|
||||
msr_print_error("Cannot open CIF card P301");
|
||||
return -1;
|
||||
}
|
||||
|
||||
//msr_reg_chk_failure(&int_cif_io_fail,TINT,T_CHK_HIGH,0,T_CRIT,"CIF Card was not ready to exchange data");
|
||||
|
||||
|
||||
#endif
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
/*
|
||||
***************************************************************************************************
|
||||
*
|
||||
* Function: msr_io_register
|
||||
*
|
||||
* Beschreibung: Rohdaten als Kanaele registrieren
|
||||
*
|
||||
* Parameter:
|
||||
*
|
||||
* Rückgabe:
|
||||
*
|
||||
* Status: exp
|
||||
*
|
||||
***************************************************************************************************
|
||||
*/
|
||||
|
||||
int msr_io_register()
|
||||
{
|
||||
|
||||
#ifndef _SIMULATION
|
||||
|
||||
#endif
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
***************************************************************************************************
|
||||
*
|
||||
* Function: msr_io_write
|
||||
*
|
||||
* Beschreibung: Schreiben der Werte
|
||||
*
|
||||
* Parameter:
|
||||
*
|
||||
* Rückgabe:
|
||||
*
|
||||
* Status: exp
|
||||
*
|
||||
***************************************************************************************************
|
||||
*/
|
||||
int msr_io_write()
|
||||
{
|
||||
static int return_value = 0;
|
||||
int rv;
|
||||
int i = 0;
|
||||
unsigned int flags;
|
||||
unsigned int com_check_timestamp = 0;
|
||||
static int COM_Up = 1;
|
||||
|
||||
if (jiffies - com_check_timestamp > HZ/20) {
|
||||
|
||||
if ( rtf_put_if(0,&IMO,sizeof(IMO)) != sizeof(IMO)) {
|
||||
//msr_print_error("Could not output data");
|
||||
}
|
||||
|
||||
com_check_timestamp = jiffies;
|
||||
|
||||
spin_lock_irqsave(&data_lock, flags);
|
||||
for ( i=0; i < PB_CARDS; i++) {
|
||||
// Ignore inactive and cards that already have a fault
|
||||
if (!card[i].active || card[i].fault)
|
||||
continue;
|
||||
|
||||
// For active cards, check timestamp value. Mark card
|
||||
// as faulty if there was no data exchange in the last
|
||||
// 50ms
|
||||
if (jiffies - card[i].timestamp > HZ/20) {
|
||||
COM_Up = 0;
|
||||
card[i].fault = 1;
|
||||
card[i].reset_timeout = jiffies;
|
||||
msr_print_error("Card %i timed out", i);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
spin_unlock_irqrestore(&data_lock, flags);
|
||||
|
||||
for ( i = 0; i < PB_CARDS; i++ ) {
|
||||
if (!card[i].active || (card[i].active && !card[i].fault))
|
||||
continue;
|
||||
|
||||
switch (card[i].fault) {
|
||||
case 1:
|
||||
rv = cif_write_io(card[i].fd,card[i].out_buf);
|
||||
|
||||
if (!rv) {
|
||||
msr_print_error("Card %i online", i);
|
||||
card[i].fault = 0;
|
||||
card[i].timestamp = jiffies;
|
||||
break;
|
||||
}
|
||||
|
||||
msr_print_error("rv of cif_write_io(%i) = %i",
|
||||
i, rv);
|
||||
|
||||
card[i].fault = 2;
|
||||
cif_set_host_state(card[i].fd,0);
|
||||
card[i].reset_timeout = jiffies;
|
||||
|
||||
case 2:
|
||||
if (cif_card_ready(card[i].fd)) {
|
||||
cif_set_host_state(card[i].fd,1);
|
||||
card[i].fault = 0;
|
||||
break;
|
||||
}
|
||||
if (jiffies < card[i].reset_timeout)
|
||||
break;
|
||||
|
||||
rv = cif_reset_card(card[i].fd,10,1);
|
||||
msr_print_error("rv of cif_reset_card(%i) = %i",
|
||||
i, rv);
|
||||
|
||||
// Reset again in 10 seconds
|
||||
card[i].reset_timeout += 10*HZ;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if (COM_Up)
|
||||
IMO.to_dSPACE.Status = IMO.from_dSPACE.WatchDog;
|
||||
|
||||
// if (return_value)
|
||||
// int_cif_io_fail = 1;
|
||||
|
||||
return return_value;
|
||||
}
|
||||
|
||||
/*
|
||||
***************************************************************************************************
|
||||
*
|
||||
* Function: msr_io_read
|
||||
*
|
||||
* Beschreibung: Lesen der Werte
|
||||
*
|
||||
* Parameter:
|
||||
*
|
||||
* Rückgabe:
|
||||
*
|
||||
* Status: exp
|
||||
*
|
||||
***************************************************************************************************
|
||||
*/
|
||||
int msr_io_read()
|
||||
{
|
||||
int return_value = 0;
|
||||
|
||||
#ifndef _SIMULATION
|
||||
|
||||
int_cif_io_fail = 0;
|
||||
/*
|
||||
return_value = cif_exchange_io(fd_PB01,
|
||||
&cif_out,&cif_in,
|
||||
sizeof(cif_out),sizeof(cif_in)
|
||||
);
|
||||
*/
|
||||
/* if (return_value) */
|
||||
/* int_cif_io_fail = 1; */
|
||||
// printk("%i\n", return_value);
|
||||
|
||||
#endif
|
||||
return return_value;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
***************************************************************************************************
|
||||
*
|
||||
* Function: msr_io_cleanup
|
||||
*
|
||||
* Beschreibung: Aufräumen
|
||||
*
|
||||
* Parameter:
|
||||
*
|
||||
* Rückgabe:
|
||||
*
|
||||
* Status: exp
|
||||
*
|
||||
***************************************************************************************************
|
||||
*/
|
||||
void msr_io_cleanup()
|
||||
{
|
||||
/*
|
||||
cif_set_host_state(card[0].fd,0);
|
||||
cif_close_card(card[0].fd);
|
||||
|
||||
cif_set_host_state(card[1].fd,0);
|
||||
cif_close_card(card[1].fd);
|
||||
|
||||
cif_set_host_state(card[2].fd,0);
|
||||
cif_close_card(card[2].fd);
|
||||
|
||||
|
||||
*/
|
||||
cif_set_host_state(card[3].fd,0);
|
||||
cif_close_card(card[3].fd);
|
||||
|
||||
rtf_destroy(0);
|
||||
}
|
||||
|
||||
|
||||
236
rt/tmp/_msr_io.h
Executable file
236
rt/tmp/_msr_io.h
Executable file
@@ -0,0 +1,236 @@
|
||||
/**************************************************************************************************
|
||||
*
|
||||
* msr_io.h
|
||||
*
|
||||
* Verwaltung der IO-Karten
|
||||
|
||||
*
|
||||
* Autor: Wilhelm Hagemeister
|
||||
*
|
||||
* (C) Copyright IgH 2002
|
||||
* Ingenieurgemeinschaft IgH
|
||||
* Heinz-Bäcker Str. 34
|
||||
* D-45356 Essen
|
||||
* Tel.: +49 201/61 99 31
|
||||
* Fax.: +49 201/61 98 36
|
||||
* E-mail: sp@igh-essen.com
|
||||
*
|
||||
*
|
||||
* $RCSfile: msr_io.h,v $
|
||||
* $Revision: 1.5 $
|
||||
* $Author: ha $
|
||||
* $Date: 2005/06/24 20:08:15 $
|
||||
* $State: Exp $
|
||||
*
|
||||
*
|
||||
* $Log: msr_io.h,v $
|
||||
* Revision 1.5 2005/06/24 20:08:15 ha
|
||||
* *** empty log message ***
|
||||
*
|
||||
* Revision 1.4 2005/06/24 17:39:05 ha
|
||||
* *** empty log message ***
|
||||
*
|
||||
* Revision 1.3 2005/02/28 17:11:48 hm
|
||||
* *** empty log message ***
|
||||
*
|
||||
* Revision 1.1 2005/02/10 16:34:24 hm
|
||||
* Initial revision
|
||||
*
|
||||
* Revision 1.4 2004/12/21 22:03:54 hm
|
||||
* *** empty log message ***
|
||||
*
|
||||
* Revision 1.3 2004/12/16 15:44:01 hm
|
||||
* *** empty log message ***
|
||||
*
|
||||
* Revision 1.2 2004/12/01 17:07:49 hm
|
||||
* *** empty log message ***
|
||||
*
|
||||
* Revision 1.1 2004/11/26 15:14:21 hm
|
||||
* Initial revision
|
||||
*
|
||||
* Revision 1.1 2004/11/01 11:05:20 hm
|
||||
* Initial revision
|
||||
*
|
||||
* Revision 1.1 2004/10/21 12:09:23 hm
|
||||
* Initial revision
|
||||
*
|
||||
* Revision 1.3 2004/09/21 18:10:58 hm
|
||||
* *** empty log message ***
|
||||
*
|
||||
* Revision 1.2 2004/07/22 17:28:02 hm
|
||||
* *** empty log message ***
|
||||
*
|
||||
* Revision 1.1 2004/06/21 08:46:52 hm
|
||||
* Initial revision
|
||||
*
|
||||
* Revision 1.4 2004/06/02 20:38:42 hm
|
||||
* *** empty log message ***
|
||||
*
|
||||
* Revision 1.3 2004/06/02 20:38:18 hm
|
||||
* *** empty log message ***
|
||||
*
|
||||
* Revision 1.2 2004/06/02 12:15:17 hm
|
||||
* *** empty log message ***
|
||||
*
|
||||
* Revision 1.5 2003/02/20 17:33:37 hm
|
||||
* *** empty log message ***
|
||||
*
|
||||
* Revision 1.4 2003/02/14 18:17:28 hm
|
||||
* *** empty log message ***
|
||||
*
|
||||
* Revision 1.3 2003/02/13 17:11:12 hm
|
||||
* *** empty log message ***
|
||||
*
|
||||
* Revision 1.2 2003/01/30 15:05:58 hm
|
||||
* *** empty log message ***
|
||||
*
|
||||
* Revision 1.1 2003/01/24 20:40:09 hm
|
||||
* Initial revision
|
||||
*
|
||||
* Revision 1.1 2003/01/22 15:55:40 hm
|
||||
* Initial revision
|
||||
*
|
||||
* Revision 1.1 2002/08/13 16:26:27 hm
|
||||
* Initial revision
|
||||
*
|
||||
* Revision 1.4 2002/07/04 13:34:27 sp
|
||||
* *** empty log message ***
|
||||
*
|
||||
* Revision 1.3 2002/07/04 12:08:34 sp
|
||||
* *** empty log message ***
|
||||
*
|
||||
* Revision 1.2 2002/07/04 08:44:19 sp
|
||||
* Änderung des Autors :) und des Datums
|
||||
*
|
||||
* Revision 1.1 2002/07/04 08:25:26 sp
|
||||
* Initial revision
|
||||
*
|
||||
*
|
||||
*
|
||||
*
|
||||
*
|
||||
*
|
||||
*
|
||||
**************************************************************************************************/
|
||||
|
||||
/*--Schutz vor mehrfachem includieren------------------------------------------------------------*/
|
||||
|
||||
#ifndef _MSR_IO_H_
|
||||
#define _MSR_IO_H_
|
||||
|
||||
/*--includes-------------------------------------------------------------------------------------*/
|
||||
|
||||
//#include "msr_control.h"
|
||||
|
||||
/*--defines--------------------------------------------------------------------------------------*/
|
||||
|
||||
|
||||
struct cif_in_t { /* Von Feld nach dSPACE */
|
||||
uint8_t CIM_stat;
|
||||
uint8_t P101[91];
|
||||
uint8_t P201[72];
|
||||
uint8_t P301[72];
|
||||
} __attribute__ ((packed));
|
||||
|
||||
struct cif_out_t { /* Von dSPACE zum Feld */
|
||||
uint8_t WatchDog;
|
||||
uint8_t P101[39];
|
||||
uint8_t P201[32];
|
||||
uint8_t P301[32];
|
||||
} __attribute__ ((packed));
|
||||
|
||||
/*--external functions---------------------------------------------------------------------------*/
|
||||
|
||||
/*--external data--------------------------------------------------------------------------------*/
|
||||
|
||||
/*--public data----------------------------------------------------------------------------------*/
|
||||
|
||||
/*
|
||||
***************************************************************************************************
|
||||
*
|
||||
* Function: msr_io_init
|
||||
*
|
||||
* Beschreibung: Initialisieren der I/O-Karten
|
||||
*
|
||||
* Parameter:
|
||||
*
|
||||
* Rückgabe:
|
||||
*
|
||||
* Status: exp
|
||||
*
|
||||
***************************************************************************************************
|
||||
*/
|
||||
int msr_io_init();
|
||||
|
||||
/*
|
||||
***************************************************************************************************
|
||||
*
|
||||
* Function: msr_io_register
|
||||
*
|
||||
* Beschreibung: Kanaele oder Parameter registrieren
|
||||
*
|
||||
* Parameter:
|
||||
*
|
||||
* Rückgabe:
|
||||
*
|
||||
* Status: exp
|
||||
*
|
||||
***************************************************************************************************
|
||||
*/
|
||||
|
||||
int msr_io_register();
|
||||
|
||||
/*
|
||||
***************************************************************************************************
|
||||
*
|
||||
* Function: msr_io_write
|
||||
*
|
||||
* Beschreibung: Schreiben der Werte
|
||||
*
|
||||
* Parameter:
|
||||
*
|
||||
* Rückgabe:
|
||||
*
|
||||
* Status: exp
|
||||
*
|
||||
***************************************************************************************************
|
||||
*/
|
||||
int msr_io_write();
|
||||
|
||||
/*
|
||||
***************************************************************************************************
|
||||
*
|
||||
* Function: msr_io_write
|
||||
*
|
||||
* Beschreibung: Lesen der Werte
|
||||
*
|
||||
* Parameter:
|
||||
*
|
||||
* Rückgabe:
|
||||
*
|
||||
* Status: exp
|
||||
*
|
||||
***************************************************************************************************
|
||||
*/
|
||||
int msr_io_read();
|
||||
|
||||
/*
|
||||
***************************************************************************************************
|
||||
*
|
||||
* Function: msr_io_cleanup
|
||||
*
|
||||
* Beschreibung: Aufräumen
|
||||
*
|
||||
* Parameter:
|
||||
*
|
||||
* Rückgabe:
|
||||
*
|
||||
* Status: exp
|
||||
*
|
||||
***************************************************************************************************
|
||||
*/
|
||||
void msr_io_cleanup();
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
64
user/Makefile
Normal file
64
user/Makefile
Normal file
@@ -0,0 +1,64 @@
|
||||
#----------------------------------------------------------------
|
||||
#
|
||||
# M a k e f i l e
|
||||
#
|
||||
# $LastChangedDate$
|
||||
# $Author$
|
||||
#
|
||||
#----------------------------------------------------------------
|
||||
|
||||
LIBNET_DIR = ../../soft/libnet-install
|
||||
LIBPCAP_DIR = ../../soft/libpcap-install
|
||||
FLTK_DIR = ../../soft/fltk-2.0-install
|
||||
|
||||
CC = g++
|
||||
CFLAGS = -Wall -g -I$(LIBNET_DIR)/include -I$(LIBPCAP_DIR)/include \
|
||||
`$(FLTK_DIR)/bin/fltk-config --cflags`
|
||||
|
||||
TEST_EXE = ethercat-test
|
||||
TEST_OBJ = main.o ec_master.o ec_command.o ec_slave.o
|
||||
TEST_LDFLAGS = -L$(LIBNET_DIR)/lib -lnet -lpcap -lpthread
|
||||
|
||||
GUI_EXE = ethercat-gui
|
||||
GUI_OBJ = main_gui.o ec_master.o ec_command.o ec_slave.o
|
||||
GUI_LDFLAGS = -L$(LIBNET_DIR)/lib -lnet -lpcap -lpthread `$(FLTK_DIR)/bin/fltk-config --ldflags`
|
||||
|
||||
#----------------------------------------------------------------
|
||||
|
||||
first: $(TEST_EXE) $(GUI_EXE)
|
||||
|
||||
$(TEST_EXE): $(TEST_OBJ)
|
||||
$(CC) $(TEST_OBJ) $(TEST_LDFLAGS) -o $@
|
||||
|
||||
$(GUI_EXE): $(GUI_OBJ)
|
||||
$(CC) $(GUI_OBJ) $(GUI_LDFLAGS) -o $@
|
||||
|
||||
.c.o:
|
||||
$(CC) $(CFLAGS) -c $< -o $@
|
||||
|
||||
.cpp.o:
|
||||
$(CC) $(CFLAGS) -c $< -o $@
|
||||
|
||||
#----------------------------------------------------------------
|
||||
|
||||
main.o: main.c \
|
||||
ec_globals.h ec_master.h ec_command.h ec_slave.h
|
||||
|
||||
main_gui.o: main_gui.cpp \
|
||||
ec_globals.h ec_master.h ec_command.h ec_slave.h
|
||||
|
||||
ec_command.o: ec_command.c ec_command.h
|
||||
|
||||
ec_master.o: ec_master.c ec_master.h \
|
||||
ec_globals.h ec_command.h ec_slave.h
|
||||
|
||||
ec_slave.o: ec_slave.c ec_slave.h \
|
||||
ec_globals.h
|
||||
|
||||
#----------------------------------------------------------------
|
||||
|
||||
clean:
|
||||
rm -f *.o $(TEST_EXE) $(GUI_EXE) *~
|
||||
|
||||
#----------------------------------------------------------------
|
||||
|
||||
61
user/ec_command.c
Normal file
61
user/ec_command.c
Normal file
@@ -0,0 +1,61 @@
|
||||
//---------------------------------------------------------------
|
||||
//
|
||||
// e c _ c o m m a n d . c
|
||||
//
|
||||
// $LastChangedDate$
|
||||
// $Author$
|
||||
//
|
||||
//---------------------------------------------------------------
|
||||
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
|
||||
#include "ec_command.h"
|
||||
|
||||
//---------------------------------------------------------------
|
||||
|
||||
void EtherCAT_command_init(EtherCAT_command_t *cmd)
|
||||
{
|
||||
cmd->command_type = 0x00;
|
||||
cmd->node_address = 0x0000;
|
||||
cmd->ring_position = 0x0000;
|
||||
cmd->mem_address = 0x0000;
|
||||
cmd->logical_address = 0x00000000;
|
||||
cmd->data_length = 0;
|
||||
cmd->status = Waiting;
|
||||
cmd->next = NULL;
|
||||
cmd->working_counter = 0;
|
||||
cmd->data = NULL;
|
||||
}
|
||||
|
||||
//---------------------------------------------------------------
|
||||
|
||||
void EtherCAT_command_clear(EtherCAT_command_t *cmd)
|
||||
{
|
||||
if (cmd->data)
|
||||
{
|
||||
free(cmd->data);
|
||||
}
|
||||
|
||||
EtherCAT_command_init(cmd);
|
||||
}
|
||||
|
||||
//---------------------------------------------------------------
|
||||
|
||||
void EtherCAT_command_print_data(EtherCAT_command_t *cmd)
|
||||
{
|
||||
unsigned int i;
|
||||
|
||||
printf("[");
|
||||
|
||||
for (i = 0; i < cmd->data_length; i++)
|
||||
{
|
||||
printf("%02X", cmd->data[i]);
|
||||
|
||||
if (i < cmd->data_length - 1) printf(" ");
|
||||
}
|
||||
|
||||
printf("]\n");
|
||||
}
|
||||
|
||||
//---------------------------------------------------------------
|
||||
42
user/ec_command.h
Normal file
42
user/ec_command.h
Normal file
@@ -0,0 +1,42 @@
|
||||
//---------------------------------------------------------------
|
||||
//
|
||||
// e c _ c o m m a n d . h
|
||||
//
|
||||
// $LastChangedDate$
|
||||
// $Author$
|
||||
//
|
||||
//---------------------------------------------------------------
|
||||
|
||||
typedef enum {Waiting, Sent, Received} EtherCAT_cmd_status_t;
|
||||
|
||||
//---------------------------------------------------------------
|
||||
|
||||
typedef struct EtherCAT_command
|
||||
{
|
||||
unsigned char command_type;
|
||||
short ring_position;
|
||||
unsigned short node_address;
|
||||
unsigned short mem_address;
|
||||
unsigned int logical_address;
|
||||
unsigned int data_length;
|
||||
|
||||
struct EtherCAT_command *next;
|
||||
|
||||
EtherCAT_cmd_status_t status;
|
||||
unsigned char command_index;
|
||||
unsigned int working_counter;
|
||||
|
||||
unsigned char *data;
|
||||
|
||||
}
|
||||
EtherCAT_command_t;
|
||||
|
||||
//---------------------------------------------------------------
|
||||
|
||||
void EtherCAT_command_init(EtherCAT_command_t *);
|
||||
void EtherCAT_command_clear(EtherCAT_command_t *);
|
||||
|
||||
// Debug
|
||||
void EtherCAT_command_print_data(EtherCAT_command_t *);
|
||||
|
||||
//---------------------------------------------------------------
|
||||
26
user/ec_globals.h
Normal file
26
user/ec_globals.h
Normal file
@@ -0,0 +1,26 @@
|
||||
//---------------------------------------------------------------
|
||||
//
|
||||
// e c _ g l o b a l s . h
|
||||
//
|
||||
// $LastChangedDate$
|
||||
// $Author$
|
||||
//
|
||||
//---------------------------------------------------------------
|
||||
|
||||
#define EC_CMD_APRD 0x01 // Auto-increment physical read
|
||||
#define EC_CMD_APWR 0x02 // Auto-increment physical write
|
||||
#define EC_CMD_NPRD 0x04 // Node-addressed physical read
|
||||
#define EC_CMD_NPWR 0x05 // Node-addressed physical write
|
||||
#define EC_CMD_BRD 0x07 // Broadcast read
|
||||
#define EC_CMD_BWR 0x08 // Broadcast write
|
||||
#define EC_CMD_LRW 0x0C // Logical read/write
|
||||
|
||||
#define EC_STATE_UNKNOWN 0x00
|
||||
#define EC_STATE_INIT 0x01
|
||||
#define EC_STATE_PREOP 0x02
|
||||
#define EC_STATE_SAVEOP 0x04
|
||||
#define EC_STATE_OP 0x08
|
||||
|
||||
#define EC_ACK_STATE 0x10
|
||||
|
||||
//---------------------------------------------------------------
|
||||
1407
user/ec_master.c
Normal file
1407
user/ec_master.c
Normal file
File diff suppressed because it is too large
Load Diff
120
user/ec_master.h
Normal file
120
user/ec_master.h
Normal file
@@ -0,0 +1,120 @@
|
||||
//---------------------------------------------------------------
|
||||
//
|
||||
// e c _ m a s t e r . h
|
||||
//
|
||||
// $LastChangedDate$
|
||||
// $Author$
|
||||
//
|
||||
//---------------------------------------------------------------
|
||||
|
||||
#include <pcap.h>
|
||||
#include <libnet.h>
|
||||
#include <pthread.h>
|
||||
|
||||
#include "ec_slave.h"
|
||||
#include "ec_command.h"
|
||||
|
||||
//---------------------------------------------------------------
|
||||
|
||||
typedef struct
|
||||
{
|
||||
EtherCAT_slave_t *slaves; // Slaves array
|
||||
unsigned int slave_count; // Number of slaves
|
||||
|
||||
EtherCAT_command_t *first_command; // List of commands
|
||||
|
||||
pcap_t *pcap_handle; // Handle for libpcap
|
||||
libnet_t *net_handle; // Handle for libnet
|
||||
|
||||
unsigned char command_index; // Current command index
|
||||
|
||||
unsigned char *process_data;
|
||||
unsigned int process_data_length;
|
||||
void (*pre_cb)(unsigned char *);
|
||||
void (*post_cb)(unsigned char *);
|
||||
pthread_t thread;
|
||||
int thread_continue;
|
||||
unsigned int cycle_time;
|
||||
|
||||
double bus_time;
|
||||
|
||||
double last_jitter;
|
||||
double last_cycle_time;
|
||||
double last_cycle_work_time;
|
||||
double last_cycle_busy_rate;
|
||||
}
|
||||
EtherCAT_master_t;
|
||||
|
||||
//---------------------------------------------------------------
|
||||
|
||||
// Master creation and deletion
|
||||
int EtherCAT_master_init(EtherCAT_master_t *, char *);
|
||||
void EtherCAT_master_clear(EtherCAT_master_t *);
|
||||
|
||||
// Checking for slaves
|
||||
int EtherCAT_check_slaves(EtherCAT_master_t *, EtherCAT_slave_t *, unsigned int);
|
||||
void EtherCAT_clear_slaves(EtherCAT_master_t *);
|
||||
|
||||
// Slave information interface
|
||||
int EtherCAT_read_slave_information(EtherCAT_master_t *,
|
||||
unsigned short int,
|
||||
unsigned short int,
|
||||
unsigned int *);
|
||||
|
||||
// EtherCAT commands
|
||||
EtherCAT_command_t *EtherCAT_read(EtherCAT_master_t *,
|
||||
unsigned short,
|
||||
unsigned short,
|
||||
unsigned int);
|
||||
EtherCAT_command_t *EtherCAT_write(EtherCAT_master_t *,
|
||||
unsigned short,
|
||||
unsigned short,
|
||||
unsigned int,
|
||||
const unsigned char *);
|
||||
EtherCAT_command_t *EtherCAT_position_read(EtherCAT_master_t *,
|
||||
short,
|
||||
unsigned short,
|
||||
unsigned int);
|
||||
EtherCAT_command_t *EtherCAT_position_write(EtherCAT_master_t *,
|
||||
short,
|
||||
unsigned short,
|
||||
unsigned int,
|
||||
const unsigned char *);
|
||||
EtherCAT_command_t *EtherCAT_broadcast_read(EtherCAT_master_t *,
|
||||
unsigned short,
|
||||
unsigned int);
|
||||
EtherCAT_command_t *EtherCAT_broadcast_write(EtherCAT_master_t *,
|
||||
unsigned short,
|
||||
unsigned int,
|
||||
const unsigned char *);
|
||||
EtherCAT_command_t *EtherCAT_logical_read_write(EtherCAT_master_t *,
|
||||
unsigned int,
|
||||
unsigned int,
|
||||
unsigned char *);
|
||||
|
||||
void EtherCAT_remove_command(EtherCAT_master_t *, EtherCAT_command_t *);
|
||||
|
||||
// Slave states
|
||||
int EtherCAT_state_change(EtherCAT_master_t *, EtherCAT_slave_t *, unsigned char);
|
||||
int EtherCAT_broadcast_state_change(EtherCAT_master_t *, unsigned char);
|
||||
|
||||
int EtherCAT_activate_slave(EtherCAT_master_t *, EtherCAT_slave_t *);
|
||||
int EtherCAT_deactivate_slave(EtherCAT_master_t *, EtherCAT_slave_t *);
|
||||
|
||||
// Sending and receiving
|
||||
int EtherCAT_send_receive(EtherCAT_master_t *);
|
||||
|
||||
int EtherCAT_start(EtherCAT_master_t *,
|
||||
unsigned int,
|
||||
void (*)(unsigned char *),
|
||||
void (*)(unsigned char *),
|
||||
unsigned int);
|
||||
int EtherCAT_stop(EtherCAT_master_t *);
|
||||
|
||||
// Private functions
|
||||
void add_command(EtherCAT_master_t *, EtherCAT_command_t *);
|
||||
void set_byte(unsigned char *, unsigned int, unsigned char);
|
||||
void set_word(unsigned char *, unsigned int, unsigned int);
|
||||
void *thread_function(void *);
|
||||
|
||||
//---------------------------------------------------------------
|
||||
137
user/ec_slave.c
Normal file
137
user/ec_slave.c
Normal file
@@ -0,0 +1,137 @@
|
||||
//---------------------------------------------------------------
|
||||
//
|
||||
// e c _ s l a v e . c
|
||||
//
|
||||
// $LastChangedDate$
|
||||
// $Author$
|
||||
//
|
||||
//---------------------------------------------------------------
|
||||
|
||||
#include <stdlib.h>
|
||||
|
||||
#include "ec_globals.h"
|
||||
#include "ec_slave.h"
|
||||
|
||||
//---------------------------------------------------------------
|
||||
|
||||
void EtherCAT_slave_init(EtherCAT_slave_t *slave)
|
||||
{
|
||||
slave->type = 0;
|
||||
slave->revision = 0;
|
||||
slave->build = 0;
|
||||
|
||||
slave->ring_position = 0;
|
||||
slave->station_address = 0;
|
||||
|
||||
slave->vendor_id = 0;
|
||||
slave->product_code = 0;
|
||||
slave->revision_number = 0;
|
||||
|
||||
slave->desc = NULL;
|
||||
|
||||
slave->logical_address0 = 0;
|
||||
|
||||
slave->current_state = EC_STATE_UNKNOWN;
|
||||
slave->requested_state = EC_STATE_UNKNOWN;
|
||||
}
|
||||
|
||||
//---------------------------------------------------------------
|
||||
|
||||
void EtherCAT_slave_clear(EtherCAT_slave_t *slave)
|
||||
{
|
||||
// Nothing yet...
|
||||
}
|
||||
|
||||
//---------------------------------------------------------------
|
||||
|
||||
void EtherCAT_slave_print(EtherCAT_slave_t *slave)
|
||||
{
|
||||
}
|
||||
|
||||
//---------------------------------------------------------------
|
||||
|
||||
unsigned char sm0_multi[] = {0x00, 0x18, 0xF6, 0x00, 0x26, 0x00, 0x01, 0x00};
|
||||
unsigned char sm1_multi[] = {0xF6, 0x18, 0xF6, 0x00, 0x22, 0x00, 0x01, 0x00};
|
||||
|
||||
unsigned char sm0_1014[] = {0x00, 0x10, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00};
|
||||
|
||||
unsigned char sm0_2004[] = {0x00, 0x0F, 0x01, 0x00, 0x46, 0x00, 0x01, 0x00};
|
||||
|
||||
unsigned char sm2_31xx[] = {0x00, 0x10, 0x04, 0x00, 0x24, 0x00, 0x00, 0x00};
|
||||
unsigned char sm3_31xx[] = {0x00, 0x11, 0x06, 0x00, 0x20, 0x00, 0x01, 0x00};
|
||||
|
||||
unsigned char sm2_4102[] = {0x00, 0x10, 0x04, 0x00, 0x24, 0x00, 0x01, 0x00};
|
||||
|
||||
|
||||
unsigned char fmmu0_1014[] = {0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x07,
|
||||
0x00, 0x10, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00};
|
||||
|
||||
unsigned char fmmu0_2004[] = {0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x07,
|
||||
0x00, 0x0F, 0x00, 0x02, 0x01, 0x00, 0x00, 0x00};
|
||||
|
||||
unsigned char fmmu0_31xx[] = {0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x07,
|
||||
0x00, 0x11, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00};
|
||||
|
||||
unsigned char fmmu0_4102[] = {0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x07,
|
||||
0x00, 0x10, 0x00, 0x02, 0x01, 0x00, 0x00, 0x00};
|
||||
|
||||
//---------------------------------------------------------------
|
||||
|
||||
EtherCAT_slave_desc_t Beckhoff_EK1100[] = {"Beckhoff", "EK1100", "Bus Coupler",
|
||||
SIMPLE,
|
||||
NULL, NULL, NULL, NULL, // Noch nicht eingepflegt...
|
||||
NULL,
|
||||
0};
|
||||
|
||||
EtherCAT_slave_desc_t Beckhoff_EL1014[] = {"Beckhoff", "EL1014", "4x Digital Input",
|
||||
SIMPLE,
|
||||
sm0_1014, NULL, NULL, NULL,
|
||||
fmmu0_1014,
|
||||
1};
|
||||
|
||||
EtherCAT_slave_desc_t Beckhoff_EL2004[] = {"Beckhoff", "EL2004", "4x Digital Output",
|
||||
SIMPLE,
|
||||
sm0_2004, NULL, NULL, NULL,
|
||||
fmmu0_2004,
|
||||
1};
|
||||
|
||||
EtherCAT_slave_desc_t Beckhoff_EL3102[] = {"Beckhoff", "EL3102", "2x Analog Input Diff",
|
||||
MAILBOX,
|
||||
sm0_multi, sm1_multi, sm2_31xx, sm3_31xx,
|
||||
fmmu0_31xx,
|
||||
6};
|
||||
|
||||
EtherCAT_slave_desc_t Beckhoff_EL3162[] = {"Beckhoff", "EL3162", "2x Analog Input",
|
||||
MAILBOX,
|
||||
sm0_multi, sm1_multi, sm2_31xx, sm3_31xx,
|
||||
fmmu0_31xx,
|
||||
6};
|
||||
|
||||
EtherCAT_slave_desc_t Beckhoff_EL4102[] = {"Beckhoff", "EL4102", "2x Analog Output",
|
||||
MAILBOX,
|
||||
sm0_multi, sm1_multi, sm2_4102, NULL,
|
||||
fmmu0_4102,
|
||||
4};
|
||||
|
||||
EtherCAT_slave_desc_t Beckhoff_EL5001[] = {"Beckhoff", "EL5001", "SSI-Interface",
|
||||
SIMPLE,
|
||||
NULL, NULL, NULL, NULL, // Noch nicht eingepflegt...
|
||||
NULL,
|
||||
0};
|
||||
|
||||
//---------------------------------------------------------------
|
||||
|
||||
unsigned int slave_idents_count = 7;
|
||||
|
||||
struct slave_ident slave_idents[] =
|
||||
{
|
||||
{0x00000002, 0x03F63052, Beckhoff_EL1014},
|
||||
{0x00000002, 0x044C2C52, Beckhoff_EK1100},
|
||||
{0x00000002, 0x07D43052, Beckhoff_EL2004},
|
||||
{0x00000002, 0x0C1E3052, Beckhoff_EL3102},
|
||||
{0x00000002, 0x0C5A3052, Beckhoff_EL3162},
|
||||
{0x00000002, 0x10063052, Beckhoff_EL4102},
|
||||
{0x00000002, 0x13893052, Beckhoff_EL5001}
|
||||
};
|
||||
|
||||
//---------------------------------------------------------------
|
||||
96
user/ec_slave.h
Normal file
96
user/ec_slave.h
Normal file
@@ -0,0 +1,96 @@
|
||||
//---------------------------------------------------------------
|
||||
//
|
||||
// e c _ s l a v e . h
|
||||
//
|
||||
// $LastChangedDate$
|
||||
// $Author$
|
||||
//
|
||||
//---------------------------------------------------------------
|
||||
|
||||
#define SIMPLE 0
|
||||
#define MAILBOX 1
|
||||
|
||||
//---------------------------------------------------------------
|
||||
|
||||
typedef struct slave_desc EtherCAT_slave_desc_t;
|
||||
|
||||
typedef struct
|
||||
{
|
||||
// Base data
|
||||
unsigned char type;
|
||||
unsigned char revision;
|
||||
unsigned short build;
|
||||
|
||||
// Addresses
|
||||
short ring_position;
|
||||
unsigned short station_address;
|
||||
|
||||
// Slave information interface
|
||||
unsigned int vendor_id;
|
||||
unsigned int product_code;
|
||||
unsigned int revision_number;
|
||||
|
||||
const EtherCAT_slave_desc_t *desc;
|
||||
|
||||
unsigned int logical_address0;
|
||||
|
||||
unsigned int current_state;
|
||||
unsigned int requested_state;
|
||||
|
||||
unsigned char *process_data;
|
||||
}
|
||||
EtherCAT_slave_t;
|
||||
|
||||
#define ECAT_INIT_SLAVE(TYPE) {0, 0, 0, 0, 0, 0, 0, 0, TYPE, 0, 0, 0, NULL}
|
||||
|
||||
//---------------------------------------------------------------
|
||||
|
||||
// Slave construction and deletion
|
||||
void EtherCAT_slave_init(EtherCAT_slave_t *);
|
||||
void EtherCAT_slave_clear(EtherCAT_slave_t *);
|
||||
|
||||
// Debug
|
||||
void EtherCAT_slave_print(EtherCAT_slave_t *);
|
||||
|
||||
//---------------------------------------------------------------
|
||||
|
||||
typedef struct slave_desc
|
||||
{
|
||||
const char *vendor_name;
|
||||
const char *product_name;
|
||||
const char *product_desc;
|
||||
|
||||
const int type;
|
||||
|
||||
const unsigned char *sm0;
|
||||
const unsigned char *sm1;
|
||||
const unsigned char *sm2;
|
||||
const unsigned char *sm3;
|
||||
|
||||
const unsigned char *fmmu0;
|
||||
|
||||
const unsigned int data_length;
|
||||
}
|
||||
EtherCAT_slave_desc_t;
|
||||
|
||||
extern EtherCAT_slave_desc_t Beckhoff_EK1100[];
|
||||
extern EtherCAT_slave_desc_t Beckhoff_EL1014[];
|
||||
extern EtherCAT_slave_desc_t Beckhoff_EL2004[];
|
||||
extern EtherCAT_slave_desc_t Beckhoff_EL3102[];
|
||||
extern EtherCAT_slave_desc_t Beckhoff_EL3162[];
|
||||
extern EtherCAT_slave_desc_t Beckhoff_EL4102[];
|
||||
extern EtherCAT_slave_desc_t Beckhoff_EL5001[];
|
||||
|
||||
//---------------------------------------------------------------
|
||||
|
||||
struct slave_ident
|
||||
{
|
||||
const unsigned int vendor_id;
|
||||
const unsigned int product_code;
|
||||
const EtherCAT_slave_desc_t *desc;
|
||||
};
|
||||
|
||||
extern struct slave_ident slave_idents[];
|
||||
extern unsigned int slave_idents_count;
|
||||
|
||||
//---------------------------------------------------------------
|
||||
439
user/main.c
Normal file
439
user/main.c
Normal file
@@ -0,0 +1,439 @@
|
||||
//---------------------------------------------------------------
|
||||
//
|
||||
// m a i n . c
|
||||
//
|
||||
// $LastChangedDate$
|
||||
// $Author$
|
||||
//
|
||||
//---------------------------------------------------------------
|
||||
|
||||
#include <stdio.h>
|
||||
#include <string.h> // memset()
|
||||
#include <unistd.h> // usleep()
|
||||
#include <signal.h>
|
||||
|
||||
#include "ec_globals.h"
|
||||
#include "ec_master.h"
|
||||
|
||||
//---------------------------------------------------------------
|
||||
|
||||
void signal_handler(int);
|
||||
void write_data(unsigned char *);
|
||||
|
||||
int continue_running;
|
||||
unsigned short int word;
|
||||
|
||||
//---------------------------------------------------------------
|
||||
|
||||
int main(int argc, char **argv)
|
||||
{
|
||||
EtherCAT_master_t master;
|
||||
EtherCAT_command_t *cmd, *cmd2;
|
||||
unsigned char data[256];
|
||||
unsigned int i, number;
|
||||
struct sigaction sa;
|
||||
|
||||
sa.sa_handler = signal_handler;
|
||||
sigaction(SIGINT, &sa, NULL);
|
||||
|
||||
printf("CatEther-Testprogramm.\n");
|
||||
|
||||
EtherCAT_master_init(&master, "eth1");
|
||||
|
||||
if (EtherCAT_check_slaves(&master, NULL, 0) != 0)
|
||||
{
|
||||
fprintf(stderr, "ERROR while searching for slaves!\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
if (master.slave_count == 0)
|
||||
{
|
||||
fprintf(stderr, "ERROR: No slaves found!\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
for (i = 0; i < master.slave_count; i++)
|
||||
{
|
||||
printf("Slave found: Type %02X, Revision %02X, Build %04X\n",
|
||||
master.slaves[i].type, master.slaves[i].revision, master.slaves[i].build);
|
||||
}
|
||||
|
||||
printf("Writing Station addresses.\n");
|
||||
|
||||
for (i = 0; i < master.slave_count; i++)
|
||||
{
|
||||
data[0] = i & 0x00FF;
|
||||
data[1] = (i & 0xFF00) >> 8;
|
||||
|
||||
cmd = EtherCAT_position_write(&master, 0 - i, 0x0010, 2, data);
|
||||
|
||||
EtherCAT_send_receive(&master);
|
||||
|
||||
if (cmd->working_counter != 1)
|
||||
{
|
||||
fprintf(stderr, "ERROR: Slave did'n repond!\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
EtherCAT_remove_command(&master, cmd);
|
||||
}
|
||||
|
||||
//----------
|
||||
|
||||
for (i = 0; i < master.slave_count; i++)
|
||||
{
|
||||
printf("\nKlemme %i:\n", i);
|
||||
|
||||
EtherCAT_read_slave_information(&master, i, 0x0008, &number);
|
||||
printf("Vendor ID: 0x%04X (%i)\n", number, number);
|
||||
|
||||
EtherCAT_read_slave_information(&master, i, 0x000A, &number);
|
||||
printf("Product Code: 0x%04X (%i)\n", number, number);
|
||||
|
||||
EtherCAT_read_slave_information(&master, i, 0x000E, &number);
|
||||
printf("Revision Number: 0x%04X (%i)\n", number, number);
|
||||
}
|
||||
|
||||
//----------
|
||||
|
||||
printf("\nResetting FMMU's.\n");
|
||||
|
||||
memset(data, 0x00, 256);
|
||||
cmd = EtherCAT_broadcast_write(&master, 0x0600, 256, data);
|
||||
EtherCAT_send_receive(&master);
|
||||
|
||||
if (cmd->working_counter != master.slave_count)
|
||||
{
|
||||
fprintf(stderr, "ERROR: Not all slaves responded (%i of %i)!\n",
|
||||
cmd->working_counter, master.slave_count);
|
||||
return -1;
|
||||
}
|
||||
|
||||
EtherCAT_remove_command(&master, cmd);
|
||||
|
||||
//----------
|
||||
|
||||
printf("Resetting Sync Manager channels.\n");
|
||||
|
||||
memset(data, 0x00, 256);
|
||||
cmd = EtherCAT_broadcast_write(&master, 0x0800, 256, data);
|
||||
EtherCAT_send_receive(&master);
|
||||
|
||||
if (cmd->working_counter != master.slave_count)
|
||||
{
|
||||
fprintf(stderr, "ERROR: Not all slaves responded (%i of %i)!\n",
|
||||
cmd->working_counter, master.slave_count);
|
||||
return -1;
|
||||
}
|
||||
|
||||
EtherCAT_remove_command(&master, cmd);
|
||||
|
||||
//----------
|
||||
|
||||
printf("Setting INIT state for devices.\n");
|
||||
|
||||
if (EtherCAT_broadcast_state_change(&master, EC_STATE_INIT) != 0)
|
||||
{
|
||||
fprintf(stderr, "ERROR: Could not set INIT state!\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
//----------
|
||||
|
||||
printf("Setting PREOP state for bus coupler.\n");
|
||||
|
||||
if (EtherCAT_state_change(&master, &master.slaves[0], EC_STATE_PREOP) != 0)
|
||||
{
|
||||
fprintf(stderr, "ERROR: Could not set state!\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
//----------
|
||||
|
||||
printf("Setting Sync managers 0 and 1 of device 1.\n");
|
||||
|
||||
data[0] = 0x00;
|
||||
data[1] = 0x18;
|
||||
data[2] = 0xF6;
|
||||
data[3] = 0x00;
|
||||
data[4] = 0x26;
|
||||
data[5] = 0x00;
|
||||
data[6] = 0x01;
|
||||
data[7] = 0x00;
|
||||
cmd = EtherCAT_write(&master, 0x0001, 0x0800, 8, data);
|
||||
|
||||
data[0] = 0xF6;
|
||||
data[1] = 0x18;
|
||||
data[2] = 0xF6;
|
||||
data[3] = 0x00;
|
||||
data[4] = 0x22;
|
||||
data[5] = 0x00;
|
||||
data[6] = 0x01;
|
||||
data[7] = 0x00;
|
||||
cmd2 = EtherCAT_write(&master, 0x0001, 0x0808, 8, data);
|
||||
|
||||
EtherCAT_send_receive(&master);
|
||||
|
||||
if (cmd->working_counter != 1 || cmd2->working_counter != 1)
|
||||
{
|
||||
fprintf(stderr, "ERROR: Not all slaves responded!\n");
|
||||
|
||||
return -1;
|
||||
}
|
||||
|
||||
EtherCAT_remove_command(&master, cmd);
|
||||
EtherCAT_remove_command(&master, cmd2);
|
||||
|
||||
|
||||
//----------
|
||||
|
||||
printf("Setting PREOP state for device 1.\n");
|
||||
|
||||
if (EtherCAT_state_change(&master, &master.slaves[1], EC_STATE_PREOP))
|
||||
{
|
||||
fprintf(stderr, "ERROR: Could not set state!\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
//----------
|
||||
|
||||
printf("Setting PREOP state for device 4.\n");
|
||||
|
||||
if (EtherCAT_state_change(&master, &master.slaves[4], EC_STATE_PREOP))
|
||||
{
|
||||
fprintf(stderr, "ERROR: Could not set state!\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
//----------
|
||||
|
||||
#if 1
|
||||
printf("Setting FMMU 0 of device 1.\n");
|
||||
|
||||
data[0] = 0x00; // Logical start address [4]
|
||||
data[1] = 0x00;
|
||||
data[2] = 0x00;
|
||||
data[3] = 0x00;
|
||||
data[4] = 0x04; // Length [2]
|
||||
data[5] = 0x00;
|
||||
data[6] = 0x00; // Start bit
|
||||
data[7] = 0x07; // End bit
|
||||
data[8] = 0x00; // Physical start address [2]
|
||||
data[9] = 0x10;
|
||||
data[10] = 0x00; // Physical start bit
|
||||
data[11] = 0x02; // Read/write enable
|
||||
data[12] = 0x01; // channel enable [2]
|
||||
data[13] = 0x00;
|
||||
data[14] = 0x00; // Reserved [2]
|
||||
data[15] = 0x00;
|
||||
cmd = EtherCAT_write(&master, 0x0001, 0x0600, 16, data);
|
||||
EtherCAT_send_receive(&master);
|
||||
|
||||
if (cmd->working_counter != 1)
|
||||
{
|
||||
fprintf(stderr, "ERROR: Not all slaves responded (%i of 1)!\n",
|
||||
cmd->working_counter);
|
||||
return -1;
|
||||
}
|
||||
|
||||
EtherCAT_remove_command(&master, cmd);
|
||||
#endif
|
||||
|
||||
//----------
|
||||
|
||||
#if 1
|
||||
printf("Setting FMMU 0 of device 4.\n");
|
||||
|
||||
data[0] = 0x04; // Logical start address [4]
|
||||
data[1] = 0x00;
|
||||
data[2] = 0x00;
|
||||
data[3] = 0x00;
|
||||
data[4] = 0x01; // Length [2]
|
||||
data[5] = 0x00;
|
||||
data[6] = 0x00; // Start bit
|
||||
data[7] = 0x07; // End bit
|
||||
data[8] = 0x00; // Physical start address [2]
|
||||
data[9] = 0x0F;
|
||||
data[10] = 0x00; // Physical start bit
|
||||
data[11] = 0x02; // Read/write enable
|
||||
data[12] = 0x01; // channel enable [2]
|
||||
data[13] = 0x00;
|
||||
data[14] = 0x00; // Reserved [2]
|
||||
data[15] = 0x00;
|
||||
cmd = EtherCAT_write(&master, 0x0004, 0x0600, 16, data);
|
||||
EtherCAT_send_receive(&master);
|
||||
|
||||
if (cmd->working_counter != 1)
|
||||
{
|
||||
fprintf(stderr, "ERROR: Not all slaves responded (%i of 1)!\n",
|
||||
cmd->working_counter);
|
||||
return -1;
|
||||
}
|
||||
|
||||
EtherCAT_remove_command(&master, cmd);
|
||||
#endif
|
||||
|
||||
//----------
|
||||
|
||||
printf("Setting Sync manager 2 of device 1.\n");
|
||||
|
||||
data[0] = 0x00;
|
||||
data[1] = 0x10;
|
||||
data[2] = 0x04;
|
||||
data[3] = 0x00;
|
||||
data[4] = 0x24;
|
||||
data[5] = 0x00;
|
||||
data[6] = 0x01;
|
||||
data[7] = 0x00;
|
||||
cmd = EtherCAT_write(&master, 0x0001, 0x0810, 8, data);
|
||||
EtherCAT_send_receive(&master);
|
||||
|
||||
if (cmd->working_counter != 1)
|
||||
{
|
||||
fprintf(stderr, "ERROR: Not all slaves responded (%i of 1)!\n", cmd->working_counter);
|
||||
return -1;
|
||||
}
|
||||
|
||||
EtherCAT_remove_command(&master, cmd);
|
||||
|
||||
//----------
|
||||
|
||||
printf("Setting Sync manager 0 for device 4.\n");
|
||||
|
||||
data[0] = 0x00;
|
||||
data[1] = 0x0F;
|
||||
data[2] = 0x01;
|
||||
data[3] = 0x00;
|
||||
data[4] = 0x46; // 46
|
||||
data[5] = 0x00;
|
||||
data[6] = 0x01;
|
||||
data[7] = 0x00;
|
||||
cmd = EtherCAT_write(&master, 0x0004, 0x0800, 8, data);
|
||||
|
||||
EtherCAT_send_receive(&master);
|
||||
|
||||
if (cmd->working_counter != 1)
|
||||
{
|
||||
fprintf(stderr, "ERROR: Not all slaves responded!\n");
|
||||
|
||||
return -1;
|
||||
}
|
||||
|
||||
EtherCAT_remove_command(&master, cmd);
|
||||
|
||||
//----------
|
||||
|
||||
printf("Setting SAVEOP state for bus coupler.\n");
|
||||
|
||||
if (EtherCAT_state_change(&master, 0x0000, EC_STATE_SAVEOP) != 0)
|
||||
{
|
||||
fprintf(stderr, "ERROR: Could not set state!\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
//----------
|
||||
|
||||
printf("Setting SAVEOP state for device 1.\n");
|
||||
|
||||
if (EtherCAT_state_change(&master, &master.slaves[1], EC_STATE_SAVEOP) != 0)
|
||||
{
|
||||
fprintf(stderr, "ERROR: Could not set state!\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
//----------
|
||||
|
||||
printf("Setting SAVEOP state for device 4.\n");
|
||||
|
||||
if (EtherCAT_state_change(&master, &master.slaves[4], EC_STATE_SAVEOP) != 0)
|
||||
{
|
||||
fprintf(stderr, "ERROR: Could not set state!\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
//----------
|
||||
|
||||
printf("Setting OP state for bus coupler.\n");
|
||||
|
||||
if (EtherCAT_state_change(&master, &master.slaves[0], EC_STATE_OP) != 0)
|
||||
{
|
||||
fprintf(stderr, "ERROR: Could not set state!\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
//----------
|
||||
|
||||
printf("Setting OP state for device 1.\n");
|
||||
|
||||
if (EtherCAT_state_change(&master, &master.slaves[1], EC_STATE_OP) != 0)
|
||||
{
|
||||
fprintf(stderr, "ERROR: Could not set state!\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
//----------
|
||||
|
||||
printf("Setting OP state for device 4.\n");
|
||||
|
||||
if (EtherCAT_state_change(&master, &master.slaves[4], EC_STATE_OP) != 0)
|
||||
{
|
||||
fprintf(stderr, "ERROR: Could not set state!\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
//----------
|
||||
|
||||
word = 0;
|
||||
|
||||
printf("Starting thread...\n");
|
||||
|
||||
if (EtherCAT_start(&master, 5, write_data, NULL, 10000) != 0)
|
||||
{
|
||||
return -1;
|
||||
}
|
||||
|
||||
continue_running = 1;
|
||||
|
||||
while (continue_running)
|
||||
{
|
||||
usleep(200000);
|
||||
|
||||
word += 1000;
|
||||
word = word & 0x7FFF;
|
||||
}
|
||||
|
||||
//----------
|
||||
|
||||
printf("Stopping master thread...\n");
|
||||
EtherCAT_stop(&master);
|
||||
|
||||
EtherCAT_master_clear(&master);
|
||||
|
||||
printf("Finished.\n");
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
//---------------------------------------------------------------
|
||||
|
||||
void write_data(unsigned char *data)
|
||||
{
|
||||
data[0] = word & 0xFF;
|
||||
data[1] = (word & 0xFF00) >> 8;
|
||||
data[2] = word & 0xFF;
|
||||
data[3] = (word & 0xFF00) >> 8;
|
||||
|
||||
data[4] = 0x01;
|
||||
}
|
||||
|
||||
//---------------------------------------------------------------
|
||||
|
||||
void signal_handler(int signum)
|
||||
{
|
||||
if (signum == SIGINT || signum == SIGTERM)
|
||||
{
|
||||
continue_running = 0;
|
||||
}
|
||||
}
|
||||
|
||||
//---------------------------------------------------------------
|
||||
287
user/main_gui.cpp
Normal file
287
user/main_gui.cpp
Normal file
@@ -0,0 +1,287 @@
|
||||
//---------------------------------------------------------------
|
||||
//
|
||||
// m a i n _ g u i . c p p
|
||||
//
|
||||
// $LastChangedDate$
|
||||
// $Author$
|
||||
//
|
||||
//---------------------------------------------------------------
|
||||
|
||||
#include <stdio.h>
|
||||
#include <string.h> // memset()
|
||||
#include <unistd.h> // usleep()
|
||||
#include <signal.h>
|
||||
|
||||
#include <fltk/Window.h>
|
||||
#include <fltk/Slider.h>
|
||||
#include <fltk/ValueOutput.h>
|
||||
#include <fltk/FillSlider.h>
|
||||
#include <fltk/CheckButton.h>
|
||||
#include <fltk/run.h>
|
||||
using namespace fltk;
|
||||
|
||||
#include "ec_globals.h"
|
||||
#include "ec_master.h"
|
||||
|
||||
#define SLIDER_UPDATE_CYCLE 0.02
|
||||
#define VALUES_UPDATE_CYCLE 0.50
|
||||
|
||||
//---------------------------------------------------------------
|
||||
|
||||
unsigned short int write_value;
|
||||
signed short int read_value;
|
||||
unsigned char dig_value;
|
||||
|
||||
void write_data(unsigned char *);
|
||||
void read_data(unsigned char *);
|
||||
|
||||
void slider_write_callback(Widget *, void *);
|
||||
void slider_read_timeout(void *);
|
||||
void values_timeout(void *);
|
||||
|
||||
Window *window;
|
||||
Slider *slider_read, *slider_write;
|
||||
ValueOutput *output_cycle, *output_jitter, *output_work, *output_busy, *output_bus;
|
||||
CheckButton *check1, *check2, *check3, *check4;
|
||||
EtherCAT_master_t master;
|
||||
|
||||
double max_cycle, max_jitter, max_work, max_busy, max_bus;
|
||||
|
||||
//---------------------------------------------------------------
|
||||
|
||||
#define SLAVE_COUNT 7
|
||||
|
||||
EtherCAT_slave_t slaves[SLAVE_COUNT] =
|
||||
{
|
||||
ECAT_INIT_SLAVE(Beckhoff_EK1100),
|
||||
ECAT_INIT_SLAVE(Beckhoff_EL4102),
|
||||
ECAT_INIT_SLAVE(Beckhoff_EL3162),
|
||||
ECAT_INIT_SLAVE(Beckhoff_EL1014),
|
||||
ECAT_INIT_SLAVE(Beckhoff_EL5001),
|
||||
ECAT_INIT_SLAVE(Beckhoff_EL2004),
|
||||
ECAT_INIT_SLAVE(Beckhoff_EL3102)
|
||||
};
|
||||
|
||||
//---------------------------------------------------------------
|
||||
|
||||
int main(int argc, char **argv)
|
||||
{
|
||||
//unsigned int i;
|
||||
EtherCAT_slave_t *buskoppler, *input, *output, *dig_in, *dig_out;
|
||||
struct sched_param sched;
|
||||
|
||||
printf("CatEther-Testprogramm.\n\n");
|
||||
|
||||
//----------
|
||||
|
||||
#if 1
|
||||
printf("Setting highest task priority...\n");
|
||||
|
||||
sched.sched_priority = sched_get_priority_max(SCHED_RR);
|
||||
if (sched_setscheduler(0, SCHED_RR, &sched) == -1)
|
||||
{
|
||||
fprintf(stderr, "ERROR: Could not set priority: %s\n", strerror(errno));
|
||||
return -1;
|
||||
}
|
||||
#endif
|
||||
|
||||
//----------
|
||||
|
||||
printf("Initializing master...\n");
|
||||
EtherCAT_master_init(&master, "eth1");
|
||||
|
||||
printf("Checking slaves...\n");
|
||||
if (EtherCAT_check_slaves(&master, slaves, SLAVE_COUNT) != 0)
|
||||
{
|
||||
fprintf(stderr, "ERROR while searching for slaves!\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
//----------
|
||||
|
||||
// Check for slaves
|
||||
|
||||
buskoppler = &slaves[0];
|
||||
output = &slaves[1];
|
||||
dig_in = &slaves[3];
|
||||
dig_out = &slaves[5];
|
||||
input = &slaves[6];
|
||||
|
||||
// Set Mapping addresses
|
||||
|
||||
output->logical_address0 = 0x00000000;
|
||||
input->logical_address0 = 0x00000004;
|
||||
dig_in->logical_address0 = 0x0000000F;
|
||||
dig_out->logical_address0 = 0x0000000E;
|
||||
|
||||
//----------
|
||||
|
||||
printf("Init output slave...\n");
|
||||
|
||||
if (EtherCAT_activate_slave(&master, output) != 0)
|
||||
{
|
||||
fprintf(stderr, "ERROR: Could not init slave!\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
printf("Init input slave...\n");
|
||||
|
||||
if (EtherCAT_activate_slave(&master, input) != 0)
|
||||
{
|
||||
fprintf(stderr, "ERROR: Could not init slave!\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
printf("Init digital input slave...\n");
|
||||
|
||||
if (EtherCAT_activate_slave(&master, dig_in) != 0)
|
||||
{
|
||||
fprintf(stderr, "ERROR: Could not init slave!\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
printf("Init digital output slave...\n");
|
||||
|
||||
if (EtherCAT_activate_slave(&master, dig_out) != 0)
|
||||
{
|
||||
fprintf(stderr, "ERROR: Could not init slave!\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
//----------
|
||||
|
||||
printf("Starting FLTK window...\n");
|
||||
|
||||
window = new Window(300, 300);
|
||||
window->begin();
|
||||
|
||||
slider_read = new FillSlider(50, 10, 40, 280);
|
||||
slider_read->set_vertical();
|
||||
slider_read->buttoncolor(BLUE);
|
||||
|
||||
slider_read->deactivate();
|
||||
|
||||
slider_write = new Slider(110, 10, 40, 280);
|
||||
slider_write->set_vertical();
|
||||
slider_write->callback(slider_write_callback, NULL);
|
||||
|
||||
output_cycle = new ValueOutput(200, 50, 90, 25, "Cycle time [µs]");
|
||||
output_cycle->align(ALIGN_LEFT | ALIGN_TOP);
|
||||
|
||||
output_jitter = new ValueOutput(200, 90, 90, 25, "Jitter [%]");
|
||||
output_jitter->align(ALIGN_LEFT | ALIGN_TOP);
|
||||
|
||||
output_work = new ValueOutput(200, 130, 90, 25, "Work time [µs]");
|
||||
output_work->align(ALIGN_LEFT | ALIGN_TOP);
|
||||
|
||||
output_busy = new ValueOutput(200, 170, 90, 25, "Busy rate [%]");
|
||||
output_busy->align(ALIGN_LEFT | ALIGN_TOP);
|
||||
|
||||
output_bus = new ValueOutput(200, 210, 90, 25, "Bus time [µs]");
|
||||
output_bus->align(ALIGN_LEFT | ALIGN_TOP);
|
||||
|
||||
check1 = new CheckButton(200, 240, 30, 25, "1");
|
||||
check2 = new CheckButton(250, 240, 30, 25, "2");
|
||||
check3 = new CheckButton(200, 270, 30, 25, "3");
|
||||
check4 = new CheckButton(250, 270, 30, 25, "4");
|
||||
|
||||
// output_cycle = new Output(200, 35, 90, 25);
|
||||
|
||||
window->end();
|
||||
window->show();
|
||||
|
||||
add_timeout(SLIDER_UPDATE_CYCLE, slider_read_timeout, NULL);
|
||||
add_timeout(VALUES_UPDATE_CYCLE, values_timeout, NULL);
|
||||
|
||||
printf("Starting thread...\n");
|
||||
|
||||
if (EtherCAT_start(&master, 20, write_data, read_data, 10000) != 0)
|
||||
{
|
||||
return -1;
|
||||
}
|
||||
|
||||
run(); // Start FLTK loop
|
||||
|
||||
remove_timeout(slider_read_timeout, NULL);
|
||||
remove_timeout(values_timeout, NULL);
|
||||
|
||||
printf("Stopping master thread...\n");
|
||||
EtherCAT_stop(&master);
|
||||
|
||||
printf("Deactivating slaves...\n");
|
||||
|
||||
EtherCAT_deactivate_slave(&master, dig_out);
|
||||
EtherCAT_deactivate_slave(&master, dig_in);
|
||||
EtherCAT_deactivate_slave(&master, input);
|
||||
EtherCAT_deactivate_slave(&master, output);
|
||||
EtherCAT_deactivate_slave(&master, buskoppler);
|
||||
|
||||
EtherCAT_master_clear(&master);
|
||||
|
||||
printf("Finished.\n");
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
//---------------------------------------------------------------
|
||||
|
||||
void write_data(unsigned char *data)
|
||||
{
|
||||
data[0] = write_value & 0xFF;
|
||||
data[1] = (write_value & 0xFF00) >> 8;
|
||||
|
||||
data[14] = (write_value * 16 / 32767) & 0x0F;
|
||||
}
|
||||
|
||||
//---------------------------------------------------------------
|
||||
|
||||
void read_data(unsigned char *data)
|
||||
{
|
||||
read_value = data[5] | data[6] << 8;
|
||||
dig_value = data[15];
|
||||
}
|
||||
|
||||
//---------------------------------------------------------------
|
||||
|
||||
void slider_read_timeout(void *data)
|
||||
{
|
||||
slider_read->value((double) read_value / 65536 + 0.5);
|
||||
slider_read->redraw();
|
||||
|
||||
check1->value(dig_value & 1);
|
||||
check2->value(dig_value & 2);
|
||||
check3->value(dig_value & 4);
|
||||
check4->value(dig_value & 8);
|
||||
|
||||
if (max_cycle < master.last_cycle_time) max_cycle = master.last_cycle_time;
|
||||
if (max_jitter < master.last_jitter) max_jitter = master.last_jitter;
|
||||
if (max_work < master.last_cycle_work_time) max_work = master.last_cycle_work_time;
|
||||
if (max_busy < master.last_cycle_busy_rate) max_busy = master.last_cycle_busy_rate;
|
||||
if (max_bus < master.bus_time) max_bus = master.bus_time;
|
||||
|
||||
repeat_timeout(SLIDER_UPDATE_CYCLE, slider_read_timeout, NULL);
|
||||
}
|
||||
|
||||
//---------------------------------------------------------------
|
||||
|
||||
void values_timeout(void *data)
|
||||
{
|
||||
output_cycle->value(max_cycle * 1000000.0);
|
||||
output_jitter->value(max_jitter);
|
||||
output_work->value(max_work * 1000000.0);
|
||||
output_busy->value(max_busy);
|
||||
output_bus->value(max_bus * 1000000.0);
|
||||
|
||||
max_cycle = max_jitter = max_work = max_busy = max_bus = 0.0;
|
||||
|
||||
repeat_timeout(VALUES_UPDATE_CYCLE, values_timeout, NULL);
|
||||
}
|
||||
|
||||
//---------------------------------------------------------------
|
||||
|
||||
void slider_write_callback(Widget *sender, void *data)
|
||||
{
|
||||
write_value = (short unsigned int) (32767 * slider_write->value() + 0.5);
|
||||
}
|
||||
|
||||
//---------------------------------------------------------------
|
||||
Reference in New Issue
Block a user