mirror of
https://gitlab.com/etherlab.org/ethercat.git
synced 2026-09-22 01:53:54 +08:00
First working RTDM Version,
to be reviewed, further testing and optimation needed Thanks to Moehwald GmbH B.Benner for Basic Code
This commit is contained in:
Andreas Stewering-Bone
@@ -35,4 +35,8 @@ ifeq (@ENABLE_TTY@,1)
|
||||
obj-m += tty/
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||||
endif
|
||||
|
||||
ifeq (@ENABLE_RTDM@,1)
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||||
obj-m += rtdm/
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||||
endif
|
||||
|
||||
#------------------------------------------------------------------------------
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||||
|
||||
@@ -47,6 +47,10 @@ if ENABLE_TTY
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||||
SUBDIRS += tty
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||||
endif
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||||
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||||
if ENABLE_RTDM
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SUBDIRS += rtdm
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endif
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||||
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||||
# userspace example depends on lib/
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||||
SUBDIRS += examples
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||||
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||||
@@ -59,6 +63,7 @@ DIST_SUBDIRS = \
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||||
master \
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||||
script \
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||||
tool \
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||||
rtdm \
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||||
tty
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||||
|
||||
noinst_HEADERS = \
|
||||
|
||||
+65
-1
@@ -365,7 +365,7 @@ AC_SUBST(KERNEL_R8169,[$kernel_r8169])
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||||
AC_ARG_WITH([rtai-dir],
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||||
AC_HELP_STRING(
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||||
[--with-rtai-dir=<DIR>],
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||||
[RTAI path (only for RTAI examples)]
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[RTAI path (only for RTDM Interface or RTAI examples)]
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),
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[
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||||
rtaidir=[$withval]
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@@ -388,6 +388,67 @@ fi
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||||
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AC_SUBST(RTAI_DIR,[$rtaidir])
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||||
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||||
#------------------------------------------------------------------------------
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||||
# Xenomai path (optional)
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||||
#------------------------------------------------------------------------------
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||||
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AC_ARG_WITH([xenomai-dir],
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AC_HELP_STRING(
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[--with-xenomai-dir=<DIR>],
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[Xenomai path (only for RTDM Interface or Xenomai examples)]
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||||
),
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[
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||||
xenomaidir=[$withval]
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],
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[
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xenomaidir=""
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]
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)
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AC_MSG_CHECKING([for Xenomai path])
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if test -z "${xenomaidir}"; then
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AC_MSG_RESULT([not specified.])
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else
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if test \! -r ${xenomaidir}/include/xeno_config.h; then
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AC_MSG_ERROR([no Xenomai installation found in ${xenomaidir}!])
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fi
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AC_MSG_RESULT([$xenomaidir])
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fi
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AC_SUBST(XENOMAI_DIR,[$xenomaidir])
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#------------------------------------------------------------------------------
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# RTDM Interface (optional)
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#------------------------------------------------------------------------------
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AC_ARG_ENABLE([rtdm],
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AC_HELP_STRING(
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[--enable-rtdm],
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||||
[Enable RTDM Interface, depends on RTAI or Xenomai]
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||||
),
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||||
[
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||||
case "${enableval}" in
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yes) rtdm=1
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;;
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no) rtdm=0
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;;
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*) AC_MSG_ERROR([Invalid value for --enable-rtdm])
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;;
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||||
esac
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],
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[rtdm=0]
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)
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if test "x${rtdm}" = "x1"; then
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AC_DEFINE([EC_RTDM], [1], [RTDM interfaces enabled])
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fi
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AM_CONDITIONAL(ENABLE_RTDM, test "x$rtdm" = "x1")
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AC_SUBST(ENABLE_RTDM,[$rtdm])
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#------------------------------------------------------------------------------
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# Debug interface
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#------------------------------------------------------------------------------
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@@ -626,6 +687,7 @@ AC_CONFIG_FILES([
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||||
examples/tty/Kbuild
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||||
examples/tty/Makefile
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||||
examples/user/Makefile
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||||
examples/xenomai/Makefile
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||||
include/Makefile
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||||
lib/Makefile
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||||
m4/Makefile
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||||
@@ -638,6 +700,8 @@ AC_CONFIG_FILES([
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||||
tool/Makefile
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||||
tty/Kbuild
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||||
tty/Makefile
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||||
rtdm/Makefile
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||||
rtdm/Kbuild
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||||
])
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AC_OUTPUT
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||||
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||||
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
@@ -65,6 +65,8 @@ noinst_HEADERS = \
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8139too-2.6.33-orig.c \
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8139too-2.6.34-ethercat.c \
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||||
8139too-2.6.34-orig.c \
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||||
8139too-2.6.35-ethercat.c \
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||||
8139too-2.6.35-orig.c \
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||||
e100-2.6.20-ethercat.c \
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||||
e100-2.6.20-orig.c \
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||||
e100-2.6.24-ethercat.c \
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||||
|
||||
@@ -35,4 +35,5 @@ ifeq (@ENABLE_TTY@,1)
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||||
obj-m += tty/
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||||
endif
|
||||
|
||||
|
||||
#------------------------------------------------------------------------------
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||||
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||||
@@ -40,12 +40,18 @@ SUBDIRS += \
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tty
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endif
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||||
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if ENABLE_RTDM
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SUBDIRS += \
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||||
xenomai
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||||
endif
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||||
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||||
DIST_SUBDIRS = \
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dc_rtai \
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dc_user \
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||||
mini \
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||||
rtai \
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tty \
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||||
xenomai \
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||||
user
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||||
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||||
EXTRA_DIST = \
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||||
|
||||
@@ -0,0 +1,39 @@
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||||
#------------------------------------------------------------------------------
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||||
#
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||||
# $Id$
|
||||
#
|
||||
# Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH
|
||||
#
|
||||
# This file is part of the IgH EtherCAT Master.
|
||||
#
|
||||
# The IgH EtherCAT Master is free software; you can redistribute it and/or
|
||||
# modify it under the terms of the GNU General Public License version 2, as
|
||||
# published by the Free Software Foundation.
|
||||
#
|
||||
# The IgH EtherCAT Master 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
|
||||
# the IgH EtherCAT Master; if not, write to the Free Software Foundation,
|
||||
# Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
|
||||
#
|
||||
# ---
|
||||
#
|
||||
# The license mentioned above concerns the source code only. Using the
|
||||
# EtherCAT technology and brand is only permitted in compliance with the
|
||||
# industrial property and similar rights of Beckhoff Automation GmbH.
|
||||
#
|
||||
#------------------------------------------------------------------------------
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||||
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||||
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||||
AM_CFLAGS = -Wall
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||||
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||||
noinst_PROGRAMS = ec_xenomai_example
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||||
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||||
ec_xenomai_example_SOURCES = main.c
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||||
ec_xenomai_example_CFLAGS = -I/opt/etherlab/xenomai/include -D_GNU_SOURCE -D_REENTRANT -Wall -pipe -D__XENO__ -I$(top_srcdir)/include
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||||
ec_xenomai_example_LDFLAGS = -lrtdm -L$(top_builddir)/lib/.libs -lethercat -lnative -L/opt/etherlab/xenomai/lib -lxenomai -lpthread
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||||
|
||||
#------------------------------------------------------------------------------
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||||
File diff suppressed because it is too large
Load Diff
+2
-1
@@ -33,6 +33,7 @@
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||||
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||||
include_HEADERS = \
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||||
ecrt.h \
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||||
ectty.h
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||||
ectty.h \
|
||||
ec_rtdm.h
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||||
|
||||
#------------------------------------------------------------------------------
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||||
|
||||
@@ -0,0 +1,72 @@
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||||
/******************************************************************************
|
||||
*
|
||||
* $Id$
|
||||
*
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||||
* ec_rtdm.h Copyright (C) 2009-2010 Moehwald GmbH B.Benner
|
||||
* 2011 IgH Andreas Stewering-Bone
|
||||
*
|
||||
* This file is used for Prisma RT to interface to EtherCAT devices
|
||||
*
|
||||
* This file is part of ethercatrtdm interface to IgH EtherCAT master
|
||||
*
|
||||
* The Moehwald ethercatrtdm interface is free software; you can
|
||||
* redistribute it and/or modify it under the terms of the GNU Lesser General
|
||||
* Public License as published by the Free Software Foundation; version 2.1
|
||||
* of the License.
|
||||
*
|
||||
* The IgH EtherCAT master userspace library 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 Lesser General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU Lesser General Public License
|
||||
* along with the IgH EtherCAT master userspace library. If not, see
|
||||
* <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
* The license mentioned above concerns the source code only. Using the
|
||||
* EtherCAT technology and brand is only permitted in compliance with the
|
||||
* industrial property and similar rights of Beckhoff Automation GmbH.
|
||||
*
|
||||
*****************************************************************************/
|
||||
#ifndef __ECRT_RTDM_H
|
||||
#define __ECRT_RTDM_H
|
||||
|
||||
|
||||
//
|
||||
// Basefilename of RTDM device
|
||||
//
|
||||
#define EC_RTDM_DEV_FILE_NAME "ec_rtdm"
|
||||
|
||||
//
|
||||
// IOCTRL Values for RTDM_EXTENSION
|
||||
//
|
||||
// Realtime IOCTRL function
|
||||
#define EC_RTDM_MSTRATTACH 1 // attach to a running master
|
||||
#define EC_RTDM_MSTRGETMUTNAME 2 // return the mutexname
|
||||
#define EC_RTDM_MSTRRECEIVE 3 // call the master receive
|
||||
#define EC_RTDM_MSTRSEND 4 // call the master send
|
||||
#define EC_RTDM_DOMAINSTATE 5 // get domain state
|
||||
#define EC_RTDM_MASTERSTATE 6 // get master state
|
||||
#define EC_RTDM_MASTER_APP_TIME 7
|
||||
#define EC_RTDM_SYNC_REF_CLOCK 8
|
||||
#define EC_RTDM_SYNC_SLAVE_CLOCK 9
|
||||
|
||||
typedef struct _CstructMstrAttach
|
||||
{
|
||||
unsigned int domainindex;
|
||||
unsigned int masterindex;
|
||||
} CstructMstrAttach;
|
||||
|
||||
|
||||
#define ecrt_rtdm_master_attach(X,Y) rt_dev_ioctl(X, EC_RTDM_MSTRATTACH, Y)
|
||||
#define ecrt_rtdm_master_recieve(X) rt_dev_ioctl(X, EC_RTDM_MSTRRECEIVE)
|
||||
#define ecrt_rtdm_master_send(X) rt_dev_ioctl(X, EC_RTDM_MSTRSEND)
|
||||
#define ecrt_rtdm_domain_state(X,Y) rt_dev_ioctl(X, EC_RTDM_DOMAINSTATE, Y)
|
||||
#define ecrt_rtdm_master_state(X,Y) rt_dev_ioctl(X, EC_RTDM_MASTERSTATE, Y)
|
||||
#define ecrt_rtdm_master_application_time(X,Y) rt_dev_ioctl(X, EC_RTDM_MASTER_APP_TIME, Y)
|
||||
#define ecrt_rtdm_master_sync_reference_clock(X) rt_dev_ioctl(X, EC_RTDM_SYNC_REF_CLOCK)
|
||||
#define ecrt_rtdm_master_sync_slave_clocks(X) rt_dev_ioctl(X, EC_RTDM_SYNC_SLAVE_CLOCK);
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
@@ -455,6 +455,23 @@ void ecrt_release_master(
|
||||
ec_master_t *master /**< EtherCAT master */
|
||||
);
|
||||
|
||||
|
||||
#ifdef __KERNEL__
|
||||
/** Attach to a running master
|
||||
*
|
||||
* This function returns the master handle for the RTDM-Interface
|
||||
*
|
||||
* \return Pointer to the opened master, otherwise \a NULL.
|
||||
*/
|
||||
ec_master_t *ecrt_attach_master(
|
||||
unsigned int master_index /**< Index of the master to request. */
|
||||
);
|
||||
|
||||
#endif // #ifdef __KERNEL__
|
||||
|
||||
|
||||
|
||||
|
||||
/******************************************************************************
|
||||
* Master methods
|
||||
*****************************************************************************/
|
||||
@@ -500,8 +517,38 @@ void ecrt_master_callbacks(
|
||||
*/
|
||||
);
|
||||
|
||||
|
||||
/** Returns domain structure pointer
|
||||
*
|
||||
* This functions return the domain structure pointer for usage inside the
|
||||
* RTDM-Interface.
|
||||
*
|
||||
* \return Pointer to the domain on success, else NULL.
|
||||
*/
|
||||
ec_domain_t *ecrt_master_find_domain(
|
||||
ec_master_t *master,
|
||||
unsigned int index);
|
||||
|
||||
|
||||
#endif /* __KERNEL__ */
|
||||
|
||||
|
||||
#ifndef __KERNEL__
|
||||
/** Return the domain index of a given domain strucure
|
||||
*
|
||||
* Return the domain index of a given domain strucure. Usage inside of the
|
||||
* RTDM Interface
|
||||
*
|
||||
* \return Index of the domain strucure
|
||||
*
|
||||
*/
|
||||
unsigned int ecrt_domain_index(
|
||||
ec_domain_t *domain
|
||||
);
|
||||
|
||||
#endif // #ifndef __KERNEL__
|
||||
|
||||
|
||||
/** Creates a new process data domain.
|
||||
*
|
||||
* For process data exchange, at least one process data domain is needed.
|
||||
@@ -515,6 +562,7 @@ ec_domain_t *ecrt_master_create_domain(
|
||||
ec_master_t *master /**< EtherCAT master. */
|
||||
);
|
||||
|
||||
|
||||
/** Obtains a slave configuration.
|
||||
*
|
||||
* Creates a slave configuration object for the given \a alias and \a position
|
||||
|
||||
@@ -52,6 +52,13 @@ void ec_domain_clear(ec_domain_t *domain)
|
||||
// nothing to do
|
||||
}
|
||||
|
||||
|
||||
/*****************************************************************************/
|
||||
unsigned int ecrt_domain_index(ec_domain_t *domain)
|
||||
{
|
||||
return domain->index;
|
||||
}
|
||||
|
||||
/*****************************************************************************/
|
||||
|
||||
int ecrt_domain_reg_pdo_entry_list(ec_domain_t *domain,
|
||||
|
||||
+15
-1
@@ -1636,6 +1636,20 @@ ec_domain_t *ec_master_find_domain(
|
||||
EC_FIND_DOMAIN;
|
||||
}
|
||||
|
||||
/** Wrapper Function for external usage
|
||||
*
|
||||
* \return Domain pointer, or \a NULL if not found.
|
||||
*/
|
||||
ec_domain_t *ecrt_master_find_domain(
|
||||
ec_master_t *master, /**< EtherCAT master. */
|
||||
unsigned int index /**< Domain index. */
|
||||
)
|
||||
{
|
||||
return ec_master_find_domain(
|
||||
master,
|
||||
index);
|
||||
}
|
||||
|
||||
/** Get a domain via its position in the list.
|
||||
*
|
||||
* Const version.
|
||||
@@ -2535,7 +2549,7 @@ EXPORT_SYMBOL(ecrt_master_sync_monitor_process);
|
||||
EXPORT_SYMBOL(ecrt_master_write_idn);
|
||||
EXPORT_SYMBOL(ecrt_master_read_idn);
|
||||
EXPORT_SYMBOL(ecrt_master_reset);
|
||||
|
||||
EXPORT_SYMBOL(ecrt_master_find_domain);
|
||||
/** \endcond */
|
||||
|
||||
/*****************************************************************************/
|
||||
|
||||
@@ -611,6 +611,37 @@ unsigned int ecrt_version_magic(void)
|
||||
return ECRT_VERSION_MAGIC;
|
||||
}
|
||||
|
||||
|
||||
|
||||
/** Return pointer to running master
|
||||
/*****************************************************************************/
|
||||
ec_master_t *ecrt_attach_master(unsigned int master_index)
|
||||
{
|
||||
ec_master_t *master = NULL;
|
||||
|
||||
EC_INFO("Requesting master %u...\n", master_index);
|
||||
|
||||
if (master_index >= master_count) {
|
||||
EC_ERR("Invalid master index %u.\n", master_index);
|
||||
return master;
|
||||
}
|
||||
|
||||
master = &masters[master_index];
|
||||
if (master->reserved)
|
||||
{
|
||||
// ok master is attached
|
||||
EC_INFO("attaching Master %u!\n", master_index);
|
||||
}
|
||||
else
|
||||
{
|
||||
EC_ERR("No Master %u in use!\n", master_index);
|
||||
master = NULL;
|
||||
}
|
||||
return master;
|
||||
}
|
||||
|
||||
|
||||
|
||||
/*****************************************************************************/
|
||||
|
||||
/** Global request state type translation table.
|
||||
@@ -637,6 +668,7 @@ EXPORT_SYMBOL(ecdev_offer);
|
||||
EXPORT_SYMBOL(ecrt_request_master);
|
||||
EXPORT_SYMBOL(ecrt_release_master);
|
||||
EXPORT_SYMBOL(ecrt_version_magic);
|
||||
EXPORT_SYMBOL(ecrt_attach_master);
|
||||
|
||||
/** \endcond */
|
||||
|
||||
|
||||
@@ -0,0 +1,56 @@
|
||||
#------------------------------------------------------------------------------
|
||||
#
|
||||
# $Id$
|
||||
#
|
||||
# Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH
|
||||
#
|
||||
# This file is part of the IgH EtherCAT Master.
|
||||
#
|
||||
# The IgH EtherCAT Master is free software; you can redistribute it and/or
|
||||
# modify it under the terms of the GNU General Public License version 2, as
|
||||
# published by the Free Software Foundation.
|
||||
#
|
||||
# The IgH EtherCAT Master 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 the IgH EtherCAT Master; if not, write to the Free Software
|
||||
# Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
|
||||
#
|
||||
# ---
|
||||
#
|
||||
# The license mentioned above concerns the source code only. Using the EtherCAT
|
||||
# technology and brand is only permitted in compliance with the industrial
|
||||
# property and similar rights of Beckhoff Automation GmbH.
|
||||
#
|
||||
# ---
|
||||
#
|
||||
# vi: syntax=make
|
||||
#
|
||||
#------------------------------------------------------------------------------
|
||||
|
||||
obj-m := ec_rtdm.o
|
||||
|
||||
ec_rtdm-objs := \
|
||||
module.o
|
||||
|
||||
|
||||
### Xenomai directory, xeno-config and library directory ###########
|
||||
XENO_DIR := @XENOMAI_DIR@
|
||||
XENO_CONFIG := $(XENO_DIR)/bin/xeno-config
|
||||
XENO_LIB_DIR := $(shell $(XENO_CONFIG) --library-dir)
|
||||
|
||||
REV := $(shell if test -s $(src)/../revision; then \
|
||||
cat $(src)/../revision; \
|
||||
else \
|
||||
hg id -i $(src)/.. 2>/dev/null || echo "unknown"; \
|
||||
fi)
|
||||
|
||||
CFLAGS_module.o := -DREV=$(REV) -I$(XENO_DIR)/include
|
||||
|
||||
KBUILD_EXTRA_SYMBOLS := \
|
||||
@abs_top_builddir@/$(LINUX_SYMVERS) \
|
||||
@abs_top_builddir@/master/$(LINUX_SYMVERS)
|
||||
#------------------------------------------------------------------------------
|
||||
@@ -0,0 +1,51 @@
|
||||
#------------------------------------------------------------------------------
|
||||
#
|
||||
# $Id$
|
||||
#
|
||||
# Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH
|
||||
#
|
||||
# This file is part of the IgH EtherCAT Master.
|
||||
#
|
||||
# The IgH EtherCAT Master is free software; you can redistribute it and/or
|
||||
# modify it under the terms of the GNU General Public License version 2, as
|
||||
# published by the Free Software Foundation.
|
||||
#
|
||||
# The IgH EtherCAT Master 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 the IgH EtherCAT Master; if not, write to the Free Software
|
||||
# Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
|
||||
#
|
||||
# ---
|
||||
#
|
||||
# The license mentioned above concerns the source code only. Using the
|
||||
# EtherCAT technology and brand is only permitted in compliance with the
|
||||
# industrial property and similar rights of Beckhoff Automation GmbH.
|
||||
#
|
||||
#------------------------------------------------------------------------------
|
||||
|
||||
|
||||
# using HEADERS to enable tags target
|
||||
noinst_HEADERS = \
|
||||
module.c
|
||||
|
||||
EXTRA_DIST = \
|
||||
Kbuild.in
|
||||
|
||||
BUILT_SOURCES = \
|
||||
Kbuild
|
||||
|
||||
modules:
|
||||
$(MAKE) -C "$(LINUX_SOURCE_DIR)" M="@abs_srcdir@" modules
|
||||
|
||||
modules_install:
|
||||
$(MAKE) -C "$(LINUX_SOURCE_DIR)" M="@abs_srcdir@" \
|
||||
INSTALL_MOD_DIR="$(INSTALL_MOD_DIR)" modules_install
|
||||
|
||||
clean-local:
|
||||
$(MAKE) -C "$(LINUX_SOURCE_DIR)" M="@abs_srcdir@" clean
|
||||
|
||||
#------------------------------------------------------------------------------
|
||||
+719
File diff suppressed because it is too large
Load Diff
Reference in New Issue
Block a user