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/******************************************************************************

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 *

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 *  RTAI sample for the IgH EtherCAT master.

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 *

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 *  $Id$

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 *

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 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH

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 *

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 *  This file is part of the IgH EtherCAT Master.

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 *

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 *  The IgH EtherCAT Master is free software; you can redistribute it

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 *  and/or modify it under the terms of the GNU General Public License

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 *

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 *  The IgH EtherCAT Master is distributed in the hope that it will be

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 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of

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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

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 *  GNU General Public License for more details.

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 *

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 *  You should have received a copy of the GNU General Public License

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 *  along with the IgH EtherCAT Master; if not, write to the Free Software

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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

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 *

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 *****************************************************************************/

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// Linux

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#include <linux/module.h>

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// RTAI

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#include "rtai_sched.h"

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#include "rtai_sem.h"

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// EtherCAT

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#include "../../include/ecrt.h"

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/*****************************************************************************/

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// comment this for synchronous IO

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#define ASYNC

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// RTAI task frequency in Hz

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#define FREQUENCY 10000

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#define TIMERTICKS (1000000000 / FREQUENCY)

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/*****************************************************************************/

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// RTAI

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RT_TASK task;

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SEM master_sem;

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cycles_t t_last_start = 0;

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cycles_t t_critical;

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// EtherCAT

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ec_master_t *master = NULL;

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ec_domain_t *domain1 = NULL;

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// data fields

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void *r_ssi_input;

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// channels

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uint32_t k_pos;

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ec_field_init_t domain1_fields[] = {

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    {&r_ssi_input, "3", "Beckhoff", "EL5001", "InputValue",   0},

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    {NULL,         "2", "Beckhoff", "EL4132", "OutputValue",  0},

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    {}

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};

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/*****************************************************************************/

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void run(long data)

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{

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    while (1)

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    {

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        t_last_start = get_cycles();

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        rt_sem_wait(&master_sem);

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#ifdef ASYNC

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        // receive

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        ecrt_master_async_receive(master);

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        ecrt_domain_process(domain1);

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#else

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        // send and receive

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        ecrt_domain_queue(domain1);

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        ecrt_master_run(master);

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        ecrt_master_sync_io(master);

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        ecrt_domain_process(domain1);

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#endif

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        // process data

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        k_pos = EC_READ_U32(r_ssi_input);

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#ifdef ASYNC

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        // send

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        ecrt_domain_queue(domain1);

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        ecrt_master_run(master);

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        ecrt_master_async_send(master);

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#endif

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        rt_sem_signal(&master_sem);

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        rt_task_wait_period();

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    }

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}

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/*****************************************************************************/

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int request_lock(void *data)

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{

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    // too close to the next RT cycle: deny access...

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    if (get_cycles() - t_last_start > t_critical) return -1;

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    // allow access

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    rt_sem_wait(&master_sem);

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    return 0;

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}

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/*****************************************************************************/

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void release_lock(void *data)

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{

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    rt_sem_signal(&master_sem);

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}

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/*****************************************************************************/

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int __init init_mod(void)

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{

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    RTIME tick_period, requested_ticks, now;

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    printk(KERN_INFO "=== Starting EtherCAT RTAI sample module... ===\n");

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    rt_sem_init(&master_sem, 1);

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    t_critical = cpu_khz * 800 / FREQUENCY; // ticks for 80%

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    if ((master = ecrt_request_master(0)) == NULL) {

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        printk(KERN_ERR "Requesting master 0 failed!\n");

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        goto out_return;

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    }

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    ecrt_master_callbacks(master, request_lock, release_lock, NULL);

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    printk(KERN_INFO "Registering domain...\n");

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    if (!(domain1 = ecrt_master_create_domain(master)))

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    {

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        printk(KERN_ERR "Domain creation failed!\n");

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        goto out_release_master;

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    }

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    printk(KERN_INFO "Registering domain fields...\n");

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    if (ecrt_domain_register_field_list(domain1, domain1_fields)) {

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        printk(KERN_ERR "Field registration failed!\n");

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        goto out_release_master;

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    }

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    printk(KERN_INFO "Activating master...\n");

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    if (ecrt_master_activate(master)) {

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        printk(KERN_ERR "Failed to activate master!\n");

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        goto out_release_master;

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    }

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#if 0

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    if (ecrt_master_fetch_sdo_lists(master)) {

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        printk(KERN_ERR "Failed to fetch SDO lists!\n");

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        goto out_deactivate;

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    }

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    ecrt_master_print(master, 2);

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#else

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    ecrt_master_print(master, 0);

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#endif

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#if 0

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    if (!(slave = ecrt_master_get_slave(master, "5"))) {

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        printk(KERN_ERR "Failed to get slave 5!\n");

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        goto out_deactivate;

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    }

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    if (ecrt_slave_sdo_write_exp8(slave, 0x4061, 1,  0) ||

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        ecrt_slave_sdo_write_exp8(slave, 0x4061, 2,  1) ||

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        ecrt_slave_sdo_write_exp8(slave, 0x4061, 3,  1) ||

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        ecrt_slave_sdo_write_exp8(slave, 0x4066, 0,  0) ||

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        ecrt_slave_sdo_write_exp8(slave, 0x4067, 0,  4) ||

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        ecrt_slave_sdo_write_exp8(slave, 0x4068, 0,  0) ||

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        ecrt_slave_sdo_write_exp8(slave, 0x4069, 0, 25) ||

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        ecrt_slave_sdo_write_exp8(slave, 0x406A, 0, 25) ||

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        ecrt_slave_sdo_write_exp8(slave, 0x406B, 0, 50)) {

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        printk(KERN_ERR "Failed to configure SSI slave!\n");

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        goto out_deactivate;

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    }

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#endif

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#if 0

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    printk(KERN_INFO "Writing alias...\n");

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    if (ecrt_slave_sdo_write_exp16(slave, 0xBEEF)) {

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        printk(KERN_ERR "Failed to write alias!\n");

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        goto out_deactivate;

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    }

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#endif

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#ifdef ASYNC

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    // send once and wait...

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    ecrt_master_prepare_async_io(master);

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#endif

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    if (ecrt_master_start_eoe(master)) {

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        printk(KERN_ERR "Failed to start EoE processing!\n");

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        goto out_deactivate;

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    }

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    printk("Starting cyclic sample thread...\n");

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    requested_ticks = nano2count(TIMERTICKS);

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    tick_period = start_rt_timer(requested_ticks);

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    printk(KERN_INFO "RT timer started with %i/%i ticks.\n",

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           (int) tick_period, (int) requested_ticks);

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    if (rt_task_init(&task, run, 0, 2000, 0, 1, NULL)) {

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        printk(KERN_ERR "Failed to init RTAI task!\n");

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        goto out_stop_timer;

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    }

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    now = rt_get_time();

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    if (rt_task_make_periodic(&task, now + tick_period, tick_period)) {

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        printk(KERN_ERR "Failed to run RTAI task!\n");

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        goto out_stop_task;

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    }

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    printk(KERN_INFO "=== EtherCAT RTAI sample module started. ===\n");

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    return 0;

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 out_stop_task:

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    rt_task_delete(&task);

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 out_stop_timer:

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    stop_rt_timer();

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 out_deactivate:

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    ecrt_master_deactivate(master);

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 out_release_master:

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    ecrt_release_master(master);

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 out_return:

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    rt_sem_delete(&master_sem);

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    return -1;

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}

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/*****************************************************************************/

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void __exit cleanup_mod(void)

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{

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    printk(KERN_INFO "=== Stopping EtherCAT RTAI sample module... ===\n");

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    rt_task_delete(&task);

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    stop_rt_timer();

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    ecrt_master_deactivate(master);

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    ecrt_release_master(master);

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    rt_sem_delete(&master_sem);

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    printk(KERN_INFO "=== EtherCAT RTAI sample module stopped. ===\n");

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}

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/*****************************************************************************/

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MODULE_LICENSE("GPL");

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MODULE_AUTHOR ("Florian Pose <fp@igh-essen.com>");

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MODULE_DESCRIPTION ("EtherCAT RTAI sample module");

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module_init(init_mod);

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module_exit(cleanup_mod);

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/*****************************************************************************/

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