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External domain memory.

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This commit is contained in:
Florian Pose
2008-02-21 15:49:02 +00:00
parent 69f702dc92
commit 7db358b508
8 changed files with 321 additions and 182 deletions
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examples/mini/mini.c
+66 -9
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@@ -46,6 +46,7 @@
//#define KBUS
#define PDOS
#define MAPPING
#define EXTERNAL_MEMORY
/*****************************************************************************/
@@ -74,19 +75,34 @@ const ec_pdo_entry_info_t el3162_channel2[] = {
{0x3102, 2, 16} // value
};
const ec_pdo_info_t mapping[] = {
const ec_pdo_info_t el3162_mapping[] = {
{EC_DIR_INPUT, 0x1A00, 2, el3162_channel1},
{EC_DIR_INPUT, 0x1A01, 2, el3162_channel2},
};
const ec_pdo_entry_info_t el2004_channels[] = {
{0x3001, 1, 1}, // Value 1
{0x3001, 2, 1}, // Value 2
{0x3001, 3, 1}, // Value 3
{0x3001, 4, 1} // Value 4
};
const ec_pdo_info_t el2004_mapping[] = {
{EC_DIR_OUTPUT, 0x1600, 1, &el2004_channels[0]},
{EC_DIR_OUTPUT, 0x1601, 1, &el2004_channels[1]},
{EC_DIR_OUTPUT, 0x1602, 1, &el2004_channels[2]},
{EC_DIR_OUTPUT, 0x1603, 1, &el2004_channels[3]},
};
#endif
#ifdef PDOS
static uint8_t off_ana_in;
//static uint8_t off_ana_out;
static uint8_t *pd; /**< Process data. */
static unsigned int off_ana_in;
static unsigned int off_dig_out;
const static ec_pdo_entry_reg_t domain1_regs[] = {
{0, 1, Beckhoff_EL3162, 0x3101, 2, &off_ana_in},
//{0, 2, Beckhoff_EL4102, 0x3001, 1, &off_ana_out},
{0, 3, Beckhoff_EL2004, 0x3001, 1, &off_dig_out},
{}
};
#endif
@@ -105,8 +121,7 @@ void run(unsigned long data)
spin_unlock(&master_lock);
// process data
// k_pos = EC_READ_U32(r_ssi);
//EC_WRITE_U8(r_dig_out, blink ? 0x0F : 0x00);
EC_WRITE_U8(pd + off_dig_out, blink ? 0x0F : 0x00);
if (counter) {
counter--;
@@ -176,6 +191,9 @@ int __init init_mini_module(void)
#ifdef MAPPING
ec_slave_config_t *sc;
#endif
#ifdef EXTERNAL_MEMORY
unsigned int size;
#endif
printk(KERN_INFO PFX "Starting...\n");
@@ -199,7 +217,17 @@ int __init init_mini_module(void)
goto out_release_master;
}
if (ecrt_slave_config_mapping(sc, 2, mapping)) {
if (ecrt_slave_config_mapping(sc, 2, el3162_mapping)) {
printk(KERN_ERR PFX "Failed to configure Pdo mapping.\n");
goto out_release_master;
}
if (!(sc = ecrt_master_slave_config(master, 0, 3, Beckhoff_EL2004))) {
printk(KERN_ERR PFX "Failed to get slave configuration.\n");
goto out_release_master;
}
if (ecrt_slave_config_mapping(sc, 4, el2004_mapping)) {
printk(KERN_ERR PFX "Failed to configure Pdo mapping.\n");
goto out_release_master;
}
@@ -213,12 +241,32 @@ int __init init_mini_module(void)
}
#endif
#ifdef EXTERNAL_MEMORY
if ((size = ecrt_domain_size(domain1))) {
if (!(pd = (uint8_t *) kmalloc(size, GFP_KERNEL))) {
printk(KERN_ERR PFX "Failed to allocate %u bytes of process data"
" memory!\n", size);
goto out_release_master;
}
ecrt_domain_external_memory(domain1, pd);
}
#endif
printk(KERN_INFO PFX "Activating master...\n");
if (ecrt_master_activate(master)) {
printk(KERN_ERR PFX "Failed to activate master!\n");
#ifdef EXTERNAL_MEMORY
goto out_free_process_data;
#else
goto out_release_master;
#endif
}
#ifndef EXTERNAL_MEMORY
// Get internal process data for domain
pd = ecrt_domain_data(domain1);
#endif
printk(KERN_INFO PFX "Starting cyclic sample thread.\n");
init_timer(&timer);
timer.function = run;
@@ -228,10 +276,14 @@ int __init init_mini_module(void)
printk(KERN_INFO PFX "Started.\n");
return 0;
out_release_master:
#ifdef EXTERNAL_MEMORY
out_free_process_data:
kfree(pd);
#endif
out_release_master:
printk(KERN_ERR PFX "Releasing master...\n");
ecrt_release_master(master);
out_return:
out_return:
printk(KERN_ERR PFX "Failed to load. Aborting.\n");
return -1;
}
@@ -243,6 +295,11 @@ void __exit cleanup_mini_module(void)
printk(KERN_INFO PFX "Stopping...\n");
del_timer_sync(&timer);
#ifdef EXTERNAL_MEMORY
kfree(pd);
#endif
printk(KERN_INFO PFX "Releasing master...\n");
ecrt_release_master(master);