Added rtai example.

examples/rtai/Makefile

+#----------------------------------------------------------------
+#
+#  Makefile
+#
+#  Minimal EtherCAT module.
+#
+#  $Id$
+#
+#  Copyright (C) 2006  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
+#  as published by the Free Software Foundation; version 2 of the License.
+#
+#  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
+#
+#----------------------------------------------------------------
+
+ifneq ($(KERNELRELEASE),)
+
+#----------------------------------------------------------------
+#  kbuild section
+#----------------------------------------------------------------
+
+obj-m := ec_mini.o
+
+ec_mini-objs := mini.o
+
+#----------------------------------------------------------------
+
+else
+
+#----------------------------------------------------------------
+#  default section
+#----------------------------------------------------------------
+
+ifneq ($(wildcard ethercat.conf),)
+include ethercat.conf
+else
+KERNELDIR = /usr/src/linux
+endif
+
+modules:
+	$(MAKE) -C $(KERNELDIR) M=`pwd`
+
+clean:
+	$(MAKE) -C $(KERNELDIR) M=`pwd` clean
+
+#----------------------------------------------------------------
+
+endif

examples/rtai/ethercat.conf.tmpl

+#------------------------------------------------------------------------------
+#
+#  EtherCAT Konfigurationsdatei Kernel 2.6
+#
+#  $Id$
+#
+#  This file is a versioned template configuration. Copy it to "ethercat.conf"
+#  (which is ignored by Subversion) and adjust it to your needs.
+#
+#------------------------------------------------------------------------------
+
+KERNELDIR = /usr/src/linux
+

examples/rtai/mini.c

+/******************************************************************************
+ *
+ *  m i n i . c
+ *
+ *  Minimal module for EtherCAT.
+ *
+ *  $Id$
+ *
+ *  Copyright (C) 2006  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
+ *  as published by the Free Software Foundation; version 2 of the License.
+ *
+ *  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
+ *
+ *****************************************************************************/
+
+#include <linux/module.h>
+#include <linux/delay.h>
+#include <linux/timer.h>
+#include <linux/spinlock.h>
+#include <linux/interrupt.h>
+
+#include "../include/ecrt.h" // EtherCAT realtime interface
+
+#define ASYNC
+#define FREQUENCY 100
+
+/*****************************************************************************/
+
+struct timer_list timer;
+
+// EtherCAT
+ec_master_t *master = NULL;
+ec_domain_t *domain1 = NULL;
+spinlock_t master_lock = SPIN_LOCK_UNLOCKED;
+
+// data fields
+//void *r_ssi_input, *r_ssi_status, *r_4102[3];
+
+// channels
+uint32_t k_pos;
+uint8_t k_stat;
+
+ec_field_init_t domain1_fields[] = {
+    {NULL, "3", "Beckhoff", "EL5001", "InputValue",   0},
+    {NULL, "2", "Beckhoff", "EL4132", "OutputValue",  0},
+    {}
+};
+
+/*****************************************************************************/
+
+void run(unsigned long data)
+{
+    static unsigned int counter = 0;
+
+    spin_lock(&master_lock);
+
+#ifdef ASYNC
+    // receive
+    ecrt_master_async_receive(master);
+    ecrt_domain_process(domain1);
+#else
+    // send and receive
+    ecrt_domain_queue(domain1);
+    ecrt_master_run(master);
+    ecrt_master_sync_io(master);
+    ecrt_domain_process(domain1);
+#endif
+
+    // process data
+    //k_pos = EC_READ_U32(r_ssi);
+
+#ifdef ASYNC
+    // send
+    ecrt_domain_queue(domain1);
+    ecrt_master_run(master);
+    ecrt_master_async_send(master);
+#endif
+
+    spin_unlock(&master_lock);
+
+    if (counter) {
+        counter--;
+    }
+    else {
+        counter = FREQUENCY;
+        //printk(KERN_INFO "k_pos    = %i\n", k_pos);
+        //printk(KERN_INFO "k_stat   = 0x%02X\n", k_stat);
+    }
+
+    // restart timer
+    timer.expires += HZ / FREQUENCY;
+    add_timer(&timer);
+}
+
+/*****************************************************************************/
+
+int request_lock(void *data)
+{
+    unsigned int tries = 0;
+    while (1) {
+        if (spin_trylock(&master_lock)) {
+            if (tries) printk(KERN_INFO "lock: %i tries needed.\n", tries);
+            return 1;
+        }
+        tries++;
+    }
+}
+
+/*****************************************************************************/
+
+void release_lock(void *data)
+{
+    spin_unlock(&master_lock);
+}
+
+/*****************************************************************************/
+
+int __init init_mini_module(void)
+{
+    printk(KERN_INFO "=== Starting Minimal EtherCAT environment... ===\n");
+
+    if ((master = ecrt_request_master(0)) == NULL) {
+        printk(KERN_ERR "Requesting master 0 failed!\n");
+        goto out_return;
+    }
+
+    ecrt_master_callbacks(master, request_lock, release_lock, NULL);
+
+    printk(KERN_INFO "Registering domain...\n");
+    if (!(domain1 = ecrt_master_create_domain(master)))
+    {
+        printk(KERN_ERR "Domain creation failed!\n");
+        goto out_release_master;
+    }
+
+    printk(KERN_INFO "Registering domain fields...\n");
+    if (ecrt_domain_register_field_list(domain1, domain1_fields)) {
+        printk(KERN_ERR "Field registration failed!\n");
+        goto out_release_master;
+    }
+
+    printk(KERN_INFO "Activating master...\n");
+    if (ecrt_master_activate(master)) {
+        printk(KERN_ERR "Failed to activate master!\n");
+        goto out_release_master;
+    }
+
+#if 0
+    if (ecrt_master_fetch_sdo_lists(master)) {
+        printk(KERN_ERR "Failed to fetch SDO lists!\n");
+        goto out_deactivate;
+    }
+    ecrt_master_print(master, 2);
+#else
+    ecrt_master_print(master, 0);
+#endif
+
+#if 0
+    if (!(slave = ecrt_master_get_slave(master, "5"))) {
+        printk(KERN_ERR "Failed to get slave 5!\n");
+        goto out_deactivate;
+    }
+
+    if (ecrt_slave_sdo_write_exp8(slave, 0x4061, 1,  0) ||
+        ecrt_slave_sdo_write_exp8(slave, 0x4061, 2,  1) ||
+        ecrt_slave_sdo_write_exp8(slave, 0x4061, 3,  1) ||
+        ecrt_slave_sdo_write_exp8(slave, 0x4066, 0,  0) ||
+        ecrt_slave_sdo_write_exp8(slave, 0x4067, 0,  4) ||
+        ecrt_slave_sdo_write_exp8(slave, 0x4068, 0,  0) ||
+        ecrt_slave_sdo_write_exp8(slave, 0x4069, 0, 25) ||
+        ecrt_slave_sdo_write_exp8(slave, 0x406A, 0, 25) ||
+        ecrt_slave_sdo_write_exp8(slave, 0x406B, 0, 50)) {
+        printk(KERN_ERR "Failed to configure SSI slave!\n");
+        goto out_deactivate;
+    }
+#endif
+
+#if 0
+    printk(KERN_INFO "Writing alias...\n");
+    if (ecrt_slave_sdo_write_exp16(slave, 0xBEEF)) {
+        printk(KERN_ERR "Failed to write alias!\n");
+        goto out_deactivate;
+    }
+#endif
+
+#ifdef ASYNC
+    // send once and wait...
+    ecrt_master_prepare_async_io(master);
+#endif
+
+#if 1
+    if (ecrt_master_start_eoe(master)) {
+        printk(KERN_ERR "Failed to start EoE processing!\n");
+        goto out_deactivate;
+    }
+#endif
+
+    printk("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");
+    return 0;
+
+#if 1
+ out_deactivate:
+    ecrt_master_deactivate(master);
+#endif
+ out_release_master:
+    ecrt_release_master(master);
+ out_return:
+    return -1;
+}
+
+/*****************************************************************************/
+
+void __exit cleanup_mini_module(void)
+{
+    printk(KERN_INFO "=== Stopping Minimal EtherCAT environment... ===\n");
+
+    if (master) {
+        del_timer_sync(&timer);
+        printk(KERN_INFO "Deactivating master...\n");
+        ecrt_master_deactivate(master);
+        ecrt_release_master(master);
+    }
+
+    printk(KERN_INFO "=== Minimal EtherCAT environment stopped. ===\n");
+}
+
+/*****************************************************************************/
+
+MODULE_LICENSE("GPL");
+MODULE_AUTHOR ("Florian Pose <fp@igh-essen.com>");
+MODULE_DESCRIPTION ("EtherCAT minimal test environment");
+
+module_init(init_mini_module);
+module_exit(cleanup_mini_module);
+
+/*****************************************************************************/
+