- Initial commit

Makefile

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+all:
+ $(MAKE) -C src all
+
+clean:
+ $(MAKE) -C src realclean
+
+install:
+ $(MAKE) -C src install-rt install-user
+

TODO

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+- (Re-)testing/Documentation of all devices
+- option --enable-ethercat for configure script
+- DOC: don't use EL9010
+- Debug EL5151/EL5152/EL2521 Subindex does not exist
+- DOC: Parameter A60/A61 Stoeber

debian/changelog

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+linuxcnc-ethercat (0.9.0-1) unstable; urgency=low
+
+ * Initial release
+
+ -- Sascha Ittner <sascha.ittner@modusoft.de> Mon, 12 Jan 2015 10:19:04 +0100

debian/compat

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+8

debian/control

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+Source: linuxcnc-ethercat
+Section: unknown
+Priority: extra
+Maintainer: linuxcnc <linuxcnc@localhost.localdomain>
+Build-Depends: debhelper (>= 8.0.0), linuxcnc-dev, etherlabmaster-dev
+Standards-Version: 3.9.3
+
+Package: linuxcnc-ethercat
+Architecture: any
+Depends: ${shlibs:Depends}, ${misc:Depends}, linuxcnc, etherlabmaster
+Description: LinuxCNC EtherCAT HAL driver

debian/copyright

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+Format: http://www.debian.org/doc/packaging-manuals/copyright-format/1.0/
+Upstream-Name: linuxcnc-ethercat
+Source: <https://github.com/sittner/linuxcnc-ethercat>
+
+Files: *
+Copyright: 2015 Sascha Ittner <sascha.ittner@modusoft.de>
+License: GPL-2.0+
+
+Files: debian/*
+Copyright: 2015 Sascha Ittner <sascha.ittner@modusoft.de>
+License: GPL-2.0+
+
+License: GPL-2.0+
+ This package 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 package 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. If not, see <http://www.gnu.org/licenses/>
+ .
+ On Debian systems, the complete text of the GNU General
+ Public License version 2 can be found in "/usr/share/common-licenses/GPL-2".
+
+# Please also look if there are files or directories which have a
+# different copyright/license attached and list them here.
+# Please avoid to pick license terms that are more restrictive than the
+# packaged work, as it may make Debian's contributions unacceptable upstream.

debian/docs

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+TODO

debian/rules

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+#!/usr/bin/make -f
+# -*- makefile -*-
+# Sample debian/rules that uses debhelper.
+# This file was originally written by Joey Hess and Craig Small.
+# As a special exception, when this file is copied by dh-make into a
+# dh-make output file, you may use that output file without restriction.
+# This special exception was added by Craig Small in version 0.37 of dh-make.
+
+# Uncomment this to turn on verbose mode.
+#export DH_VERBOSE=1
+
+%:
+ dh $@ 

debian/source/format

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+1.0

src/Makefile

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+MODINC=$(shell comp --print-modinc)
+
+all: rt user
+
+realclean:
+ rm -f rm *.ko *.mod.c *.o .*.cmd
+ rm -f modules.order Module.symvers
+ rm -rf .tmp_versions
+ rm -f lcec_conf
+
+obj-m += lcec.o
+lcec-objs := \
+ lcec_main.o \
+ lcec_generic.o \
+ lcec_el1xxx.o \
+ lcec_el2521.o \
+ lcec_el2xxx.o \
+ lcec_el31x2.o \
+ lcec_el40x1.o \
+ lcec_el40x2.o \
+ lcec_el41x2.o \
+ lcec_el5101.o \
+ lcec_el5151.o \
+ lcec_el5152.o \
+ lcec_el7342.o \
+ lcec_el95xx.o \
+ lcec_em7004.o \
+ lcec_stmds5k.o \
+ lcec_deasda.o \
+ $(MATHSTUB)
+
+include $(MODINC)
+
+user: lcec_conf
+
+lcec_conf: lcec_conf.c
+ gcc $(EXTRA_CFLAGS) -Wframe-larger-than=16384 -URTAPI -U__MODULE__ -DULAPI -Os -o $@ $< -Wl,-rpath,$(LIBDIR) -L$(LIBDIR) -llinuxcnchal -lexpat
+
+install-user:
+ mkdir -p $(DESTDIR)$(EMC2_HOME)/bin
+ cp lcec_conf $(DESTDIR)$(EMC2_HOME)/bin
+
+rt:
+ $(MAKE) KBUILD_EXTRA_SYMBOLS="$(RTLIBDIR)/Module.symvers $(RTLIBDIR)/../ethercat/Module.symvers" -C $(KERNELDIR) SUBDIRS=`pwd` CC=$(CC) V=0 modules
+
+install-rt:
+ mkdir -p $(DESTDIR)$(RTLIBDIR)
+ $(MAKE) install
+

src/lcec.h

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+//
+// Copyright (C) 2011 Sascha Ittner <sascha.ittner@modusoft.de>
+//
+// 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; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+//
+#ifndef _LCEC_H_
+#define _LCEC_H_
+
+#include "lcnc_rtapi.h"
+
+#include "hal.h"
+
+#include "rtapi.h"
+#include "rtapi_ctype.h"
+#include "rtapi_app.h"
+#include "rtapi_string.h"
+#include "rtapi_math.h"
+
+#include "ecrt.h"
+#include "lcec_conf.h"
+
+// list macros
+#define LCEC_LIST_APPEND(first, last, item) \
+do { \
+ (item)->prev = (last); \
+ if ((item)->prev != NULL) { \
+ (item)->prev->next = (item); \
+ } else { \
+ (first) = (item); \
+ } \
+ (last) = (item); \
+} while (0); \
+
+// pdo macros
+#define LCEC_PDO_INIT(pdo, pos, vid, pid, idx, sidx, off, bpos) \
+do { \
+ pdo->position = pos; \
+ pdo->vendor_id = vid; \
+ pdo->product_code = pid; \
+ pdo->index = idx; \
+ pdo->subindex = sidx; \
+ pdo->offset = off; \
+ pdo->bit_position = bpos; \
+ pdo++; \
+} while (0); \
+
+#define LCEC_MSG_PFX "LCEC: "
+
+// vendor ids
+#define LCEC_BECKHOFF_VID 0x00000002
+#define LCEC_STOEBER_VID 0x000000b9
+#define LCEC_DELTA_VID 0x000001dd
+
+// SDO request timeout (ms)
+#define LCEC_SDO_REQ_TIMEOUT 1000
+
+struct lcec_master;
+struct lcec_slave;
+
+typedef int (*lcec_slave_init_t) (int comp_id, struct lcec_slave *slave, ec_pdo_entry_reg_t *pdo_entry_regs);
+typedef void (*lcec_slave_cleanup_t) (struct lcec_slave *slave);
+typedef void (*lcec_slave_rw_t) (struct lcec_slave *slave, long period);
+
+typedef struct lcec_master_data {
+ hal_u32_t *slaves_responding;
+ hal_bit_t *state_init;
+ hal_bit_t *state_preop;
+ hal_bit_t *state_safeop;
+ hal_bit_t *state_op;
+ hal_bit_t *link_up;
+ hal_bit_t *all_op;
+} lcec_master_data_t;
+
+typedef struct lcec_slave_state {
+ hal_bit_t *online;
+ hal_bit_t *operational;
+ hal_bit_t *state_init;
+ hal_bit_t *state_preop;
+ hal_bit_t *state_safeop;
+ hal_bit_t *state_op;
+} lcec_slave_state_t;
+
+typedef struct lcec_master {
+ struct lcec_master *prev;
+ struct lcec_master *next;
+ int index;
+ char name[LCEC_CONF_STR_MAXLEN];
+ ec_master_t *master;
+ unsigned long mutex;
+ int pdo_entry_count;
+ ec_pdo_entry_reg_t *pdo_entry_regs;
+ ec_domain_t *domain;
+ uint8_t *process_data;
+ int process_data_len;
+ struct lcec_slave *first_slave;
+ struct lcec_slave *last_slave;
+ lcec_master_data_t *hal_data;
+ uint64_t app_time;
+ uint32_t app_time_period;
+ int sync_ref_cnt;
+ int sync_ref_cycles;
+} lcec_master_t;
+
+typedef struct {
+ uint16_t assignActivate;
+ uint32_t sync0Cycle;
+ uint32_t sync0Shift;
+ uint32_t sync1Cycle;
+ uint32_t sync1Shift;
+} lcec_slave_dc_t;
+
+typedef struct {
+ uint16_t divider;
+ uint16_t intervals;
+} lcec_slave_watchdog_t;
+
+typedef struct {
+ uint16_t index;
+ int16_t subindex;
+ size_t length;
+ uint8_t data[];
+} lcec_slave_sdoconf_t;
+
+typedef struct lcec_slave {
+ struct lcec_slave *prev;
+ struct lcec_slave *next;
+ struct lcec_master *master;
+ int index;
+ char name[LCEC_CONF_STR_MAXLEN];
+ uint32_t vid;
+ uint32_t pid;
+ int pdo_entry_count;
+ ec_sync_info_t *sync_info;
+ ec_slave_config_t *config;
+ ec_slave_config_state_t state;
+ lcec_slave_dc_t *dc_conf;
+ lcec_slave_watchdog_t *wd_conf;
+ lcec_slave_init_t proc_init;
+ lcec_slave_cleanup_t proc_cleanup;
+ lcec_slave_rw_t proc_read;
+ lcec_slave_rw_t proc_write;
+ lcec_slave_state_t *hal_state_data;
+ void *hal_data;
+ ec_pdo_entry_info_t *generic_pdo_entries;
+ ec_pdo_info_t *generic_pdos;
+ ec_sync_info_t *generic_sync_managers;
+ lcec_slave_sdoconf_t *sdo_config;
+} lcec_slave_t;
+
+ec_sdo_request_t *lcec_read_sdo(struct lcec_slave *slave, uint16_t index, uint8_t subindex, size_t size);
+
+#endif
+