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Introduced master status, ecrt_master_get_status(), tainted flag,

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pdos_registered flags and pdo_slaves_offline counter.
This commit is contained in:
Florian Pose
2007-03-05 10:35:50 +00:00
parent 43075a1589
commit b4bfda2e62
10 changed files with 112 additions and 33 deletions
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examples/mini/mini.c
+44 -21
View File
@@ -39,26 +39,29 @@
#include "../../include/ecrt.h" // EtherCAT realtime interface
#include "../../include/ecdb.h" // EtherCAT slave database
#define PFX "ec_mini: "
#define FREQUENCY 100
//#define KBUS
/*****************************************************************************/
struct timer_list timer;
static struct timer_list timer;
// EtherCAT
ec_master_t *master = NULL;
ec_domain_t *domain1 = NULL;
static ec_master_t *master = NULL;
static ec_domain_t *domain1 = NULL;
spinlock_t master_lock = SPIN_LOCK_UNLOCKED;
static ec_master_status_t master_status, old_status = {};
// data fields
#ifdef KBUS
void *r_inputs;
void *r_outputs;
static void *r_inputs;
static void *r_outputs;
#endif
void *r_dig_out;
static void *r_dig_out;
#if 1
ec_pdo_reg_t domain1_pdos[] = {
@@ -90,6 +93,26 @@ void run(unsigned long data)
else {
counter = FREQUENCY;
blink = !blink;
spin_lock(&master_lock);
ecrt_master_get_status(master, &master_status);
spin_unlock(&master_lock);
if (master_status.bus_status != old_status.bus_status) {
printk(KERN_INFO PFX "bus status changed to %u.\n",
master_status.bus_status);
}
if (master_status.bus_tainted != old_status.bus_tainted) {
printk(KERN_INFO PFX "tainted flag changed to %u.\n",
master_status.bus_tainted);
}
if (master_status.slaves_responding !=
old_status.slaves_responding) {
printk(KERN_INFO PFX "slaves_responding changed to %u.\n",
master_status.slaves_responding);
}
old_status = master_status;
}
#ifdef KBUS
@@ -135,25 +158,25 @@ int __init init_mini_module(void)
ec_slave_t *slave;
#endif
printk(KERN_INFO "=== Starting Minimal EtherCAT environment... ===\n");
printk(KERN_INFO PFX "Starting...\n");
if (!(master = ecrt_request_master(0))) {
printk(KERN_ERR "Requesting master 0 failed!\n");
printk(KERN_ERR PFX "Requesting master 0 failed!\n");
goto out_return;
}
ecrt_master_callbacks(master, request_lock, release_lock, NULL);
printk(KERN_INFO "Registering domain...\n");
printk(KERN_INFO PFX "Registering domain...\n");
if (!(domain1 = ecrt_master_create_domain(master))) {
printk(KERN_ERR "Domain creation failed!\n");
printk(KERN_ERR PFX "Domain creation failed!\n");
goto out_release_master;
}
printk(KERN_INFO "Registering PDOs...\n");
printk(KERN_INFO PFX "Registering PDOs...\n");
#if 1
if (ecrt_domain_register_pdo_list(domain1, domain1_pdos)) {
printk(KERN_ERR "PDO registration failed!\n");
printk(KERN_ERR PFX "PDO registration failed!\n");
goto out_release_master;
}
#endif
@@ -161,12 +184,12 @@ int __init init_mini_module(void)
#ifdef KBUS
if (!ecrt_domain_register_pdo_range(domain1, "0", Beckhoff_BK1120,
EC_DIR_OUTPUT, 0, 4, &r_outputs)) {
printk(KERN_ERR "PDO registration failed!\n");
printk(KERN_ERR PFX "PDO registration failed!\n");
goto out_release_master;
}
if (!ecrt_domain_register_pdo_range(domain1, "0", Beckhoff_BK1120,
EC_DIR_INPUT, 0, 4, &r_inputs)) {
printk(KERN_ERR "PDO registration failed!\n");
printk(KERN_ERR PFX "PDO registration failed!\n");
goto out_release_master;
}
#endif
@@ -179,19 +202,19 @@ int __init init_mini_module(void)
goto out_release_master;
#endif
printk(KERN_INFO "Activating master...\n");
printk(KERN_INFO PFX "Activating master...\n");
if (ecrt_master_activate(master)) {
printk(KERN_ERR "Failed to activate master!\n");
printk(KERN_ERR PFX "Failed to activate master!\n");
goto out_release_master;
}
printk("Starting cyclic sample thread.\n");
printk(KERN_INFO PFX "Starting cyclic sample thread.\n");
init_timer(&timer);
timer.function = run;
timer.expires = jiffies + 10;
add_timer(&timer);
printk(KERN_INFO "=== Minimal EtherCAT environment started. ===\n");
printk(KERN_INFO PFX "Started.\n");
return 0;
out_release_master:
@@ -204,13 +227,13 @@ int __init init_mini_module(void)
void __exit cleanup_mini_module(void)
{
printk(KERN_INFO "=== Stopping Minimal EtherCAT environment... ===\n");
printk(KERN_INFO PFX "Stopping...\n");
del_timer_sync(&timer);
printk(KERN_INFO "Releasing master...\n");
printk(KERN_INFO PFX "Releasing master...\n");
ecrt_release_master(master);
printk(KERN_INFO "=== Minimal EtherCAT environment stopped. ===\n");
printk(KERN_INFO PFX "Stopped.\n");
}
/*****************************************************************************/