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

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 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH

     6

 *

     7

 *  This file is part of the IgH EtherCAT Master.

     8

 *

     9

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

    10

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

    11

 *  as published by the Free Software Foundation; either version 2 of the

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 *  License, or (at your option) any later version.

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 *

    14

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

    15

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

    16

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

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 *  GNU General Public License for more details.

    18

 *

    19

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

    20

 *  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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 *

    23

 *  The right to use EtherCAT Technology is granted and comes free of

    24

 *  charge under condition of compatibility of product made by

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 *  Licensee. People intending to distribute/sell products based on the

    26

 *  code, have to sign an agreement to guarantee that products using

    27

 *  software based on IgH EtherCAT master stay compatible with the actual

    28

 *  EtherCAT specification (which are released themselves as an open

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 *  standard) as the (only) precondition to have the right to use EtherCAT

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 *  Technology, IP and trade marks.

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 *

    32

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

    33

    34

#include <linux/module.h>

    35

#include <linux/timer.h>

    36

#include <linux/spinlock.h>

    37

#include <linux/interrupt.h>

    38

    39

#include "../../include/ecrt.h" // EtherCAT realtime interface

    40

    41

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

    42

    43

// Module parameters

    44

#define FREQUENCY 100

    45

    46

// Optional features

    47

#define CONFIGURE_PDOS  1

    48

#define EL3152_ALT_PDOS 0

    49

#define EXTERNAL_MEMORY 1

    50

#define SDO_ACCESS      0

    51

#define VOE_ACCESS      0

    52

    53

#define PFX "ec_mini: "

    54

    55

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

    56

    57

// EtherCAT

    58

static ec_master_t *master = NULL;

    59

static ec_master_state_t master_state = {};

    60

spinlock_t master_lock = SPIN_LOCK_UNLOCKED;

    61

    62

static ec_domain_t *domain1 = NULL;

    63

static ec_domain_state_t domain1_state = {};

    64

    65

static ec_slave_config_t *sc_ana_in = NULL;

    66

static ec_slave_config_state_t sc_ana_in_state = {};

    67

    68

// Timer

    69

static struct timer_list timer;

    70

    71

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

    72

    73

// process data

    74

static uint8_t *domain1_pd; // process data memory

    75

    76

#define AnaInSlavePos  0, 2

    77

#define AnaOutSlavePos 0, 1

    78

#define DigOutSlavePos 0, 3

    79

    80

#define Beckhoff_EL2004 0x00000002, 0x07D43052

    81

#define Beckhoff_EL3152 0x00000002, 0x0c503052

    82

#define Beckhoff_EL4102 0x00000002, 0x10063052

    83

    84

// offsets for Pdo entries

    85

static unsigned int off_ana_in;

    86

static unsigned int off_ana_out;

    87

static unsigned int off_dig_out;

    88

    89

const static ec_pdo_entry_reg_t domain1_regs[] = {

    90

#if EL3152_ALT_PDOS

    91

    {AnaInSlavePos,  Beckhoff_EL3152, 0x6401, 1, &off_ana_in},

    92

#else

    93

    {AnaInSlavePos,  Beckhoff_EL3152, 0x3101, 2, &off_ana_in},

    94

#endif

    95

    {AnaOutSlavePos, Beckhoff_EL4102, 0x3001, 1, &off_ana_out},

    96

    {DigOutSlavePos, Beckhoff_EL2004, 0x3001, 1, &off_dig_out},

    97

    {}

    98

};

    99

   100

static unsigned int counter = 0;

   101

static unsigned int blink = 0;

   102

   103

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

   104

   105

#if CONFIGURE_PDOS

   106

   107

// Analog in --------------------------

   108

   109

static ec_pdo_entry_info_t el3152_pdo_entries[] = {

   110

    {0x3101, 1,  8}, // channel 1 status

   111

    {0x3101, 2, 16}, // channel 1 value

   112

    {0x3102, 1,  8}, // channel 2 status

   113

    {0x3102, 2, 16}, // channel 2 value

   114

    {0x6401, 1, 16}, // channel 1 value (alt.)

   115

    {0x6401, 2, 16}  // channel 2 value (alt.)

   116

};

   117

   118

#if EL3152_ALT_PDOS

   119

static ec_pdo_info_t el3152_pdos[] = {

   120

    {0x1A10, 2, el3152_pdo_entries + 4},

   121

};

   122

   123

static ec_sync_info_t el3152_syncs[] = {

   124

    {2, EC_DIR_OUTPUT},

   125

    {3, EC_DIR_INPUT, 1, el3152_pdos},

   126

    {0xff}

   127

};

   128

#else

   129

static ec_pdo_info_t el3152_pdos[] = {

   130

    {0x1A00, 2, el3152_pdo_entries},

   131

    {0x1A01, 2, el3152_pdo_entries + 2}

   132

};

   133

   134

static ec_sync_info_t el3152_syncs[] = {

   135

    {2, EC_DIR_OUTPUT},

   136

    {3, EC_DIR_INPUT, 1, el3152_pdos},

   137

    {0xff}

   138

};

   139

#endif

   140

   141

// Analog out -------------------------

   142

   143

static ec_pdo_entry_info_t el4102_pdo_entries[] = {

   144

    {0x3001, 1, 16}, // channel 1 value

   145

    {0x3002, 1, 16}, // channel 2 value

   146

};

   147

   148

static ec_pdo_info_t el4102_pdos[] = {

   149

    {0x1600, 1, el4102_pdo_entries},

   150

    {0x1601, 1, el4102_pdo_entries + 1}

   151

};

   152

   153

static ec_sync_info_t el4102_syncs[] = {

   154

    {2, EC_DIR_OUTPUT, 2, el4102_pdos},

   155

    {3, EC_DIR_INPUT},

   156

    {0xff}

   157

};

   158

   159

// Digital out ------------------------

   160

   161

static ec_pdo_entry_info_t el2004_channels[] = {

   162

    {0x3001, 1, 1}, // Value 1

   163

    {0x3001, 2, 1}, // Value 2

   164

    {0x3001, 3, 1}, // Value 3

   165

    {0x3001, 4, 1}  // Value 4

   166

};

   167

   168

static ec_pdo_info_t el2004_pdos[] = {

   169

    {0x1600, 1, &el2004_channels[0]},

   170

    {0x1601, 1, &el2004_channels[1]},

   171

    {0x1602, 1, &el2004_channels[2]},

   172

    {0x1603, 1, &el2004_channels[3]}

   173

};

   174

   175

static ec_sync_info_t el2004_syncs[] = {

   176

    {0, EC_DIR_OUTPUT, 4, el2004_pdos},

   177

    {1, EC_DIR_INPUT},

   178

    {0xff}

   179

};

   180

#endif

   181

   182

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

   183

   184

#if SDO_ACCESS

   185

static ec_sdo_request_t *sdo;

   186

#endif

   187

   188

#if VOE_ACCESS

   189

static ec_voe_handler_t *voe;

   190

#endif

   191

   192

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

   193

   194

void check_domain1_state(void)

   195

{

   196

    ec_domain_state_t ds;

   197

   198

    spin_lock(&master_lock);

   199

    ecrt_domain_state(domain1, &ds);

   200

    spin_unlock(&master_lock);

   201

   202

    if (ds.working_counter != domain1_state.working_counter)

   203

        printk(KERN_INFO PFX "Domain1: WC %u.\n", ds.working_counter);

   204

    if (ds.wc_state != domain1_state.wc_state)

   205

        printk(KERN_INFO PFX "Domain1: State %u.\n", ds.wc_state);

   206

   207

    domain1_state = ds;

   208

}

   209

   210

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

   211

   212

void check_master_state(void)

   213

{

   214

    ec_master_state_t ms;

   215

   216

    spin_lock(&master_lock);

   217

    ecrt_master_state(master, &ms);

   218

    spin_unlock(&master_lock);

   219

   220

    if (ms.slaves_responding != master_state.slaves_responding)

   221

        printk(KERN_INFO PFX "%u slave(s).\n", ms.slaves_responding);

   222

    if (ms.al_states != master_state.al_states)

   223

        printk(KERN_INFO PFX "AL states: 0x%02X.\n", ms.al_states);

   224

    if (ms.link_up != master_state.link_up)

   225

        printk(KERN_INFO PFX "Link is %s.\n", ms.link_up ? "up" : "down");

   226

   227

    master_state = ms;

   228

}

   229

   230

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

   231

   232

void check_slave_config_states(void)

   233

{

   234

    ec_slave_config_state_t s;

   235

   236

    spin_lock(&master_lock);

   237

    ecrt_slave_config_state(sc_ana_in, &s);

   238

    spin_unlock(&master_lock);

   239

   240

    if (s.al_state != sc_ana_in_state.al_state)

   241

        printk(KERN_INFO PFX "AnaIn: State 0x%02X.\n", s.al_state);

   242

    if (s.online != sc_ana_in_state.online)

   243

        printk(KERN_INFO PFX "AnaIn: %s.\n", s.online ? "online" : "offline");

   244

    if (s.operational != sc_ana_in_state.operational)

   245

        printk(KERN_INFO PFX "AnaIn: %soperational.\n",

   246

                s.operational ? "" : "Not ");

   247

   248

    sc_ana_in_state = s;

   249

}

   250

   251

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

   252

   253

#if SDO_ACCESS

   254

void read_sdo(void)

   255

{

   256

    switch (ecrt_sdo_request_state(sdo)) {

   257

        case EC_REQUEST_UNUSED: // request was not used yet

   258

            ecrt_sdo_request_read(sdo); // trigger first read

   259

            break;

   260

        case EC_REQUEST_BUSY:

   261

            printk(KERN_INFO PFX "Still busy...\n");

   262

            break;

   263

        case EC_REQUEST_SUCCESS:

   264

            printk(KERN_INFO PFX "Sdo value: 0x%04X\n",

   265

                    EC_READ_U16(ecrt_sdo_request_data(sdo)));

   266

            ecrt_sdo_request_read(sdo); // trigger next read

   267

            break;

   268

        case EC_REQUEST_ERROR:

   269

            printk(KERN_INFO PFX "Failed to read Sdo!\n");

   270

            ecrt_sdo_request_read(sdo); // retry reading

   271

            break;

   272

    }

   273

}

   274

#endif

   275

   276

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

   277

   278

#if VOE_ACCESS

   279

void read_voe(void)

   280

{

   281

    switch (ecrt_voe_handler_execute(voe)) {

   282

        case EC_REQUEST_UNUSED:

   283

            ecrt_voe_handler_read(voe); // trigger first read

   284

            break;

   285

        case EC_REQUEST_BUSY:

   286

            printk(KERN_INFO PFX "VoE read still busy...\n");

   287

            break;

   288

        case EC_REQUEST_SUCCESS:

   289

            printk(KERN_INFO PFX "VoE received.\n");

   290

            // get data via ecrt_voe_handler_data(voe)

   291

            ecrt_voe_handler_read(voe); // trigger next read

   292

            break;

   293

        case EC_REQUEST_ERROR:

   294

            printk(KERN_INFO PFX "Failed to read VoE data!\n");

   295

            ecrt_voe_handler_read(voe); // retry reading

   296

            break;

   297

    }

   298

}

   299

#endif

   300

   301

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

   302

   303

void cyclic_task(unsigned long data)

   304

{

   305

    // receive process data

   306

    spin_lock(&master_lock);

   307

    ecrt_master_receive(master);

   308

    ecrt_domain_process(domain1);

   309

    spin_unlock(&master_lock);

   310

   311

    // check process data state (optional)

   312

    check_domain1_state();

   313

   314

    if (counter) {

   315

        counter--;

   316

    } else { // do this at 1 Hz

   317

        counter = FREQUENCY;

   318

   319

        // calculate new process data

   320

        blink = !blink;

   321

   322

        // check for master state (optional)

   323

        check_master_state();

   324

   325

        // check for islave configuration state(s) (optional)

   326

        check_slave_config_states();

   327

   328

#if SDO_ACCESS

   329

        // read process data Sdo

   330

        read_sdo();

   331

#endif

   332

   333

#if VOE_ACCESS

   334

        read_voe();

   335

#endif

   336

    }

   337

   338

    // write process data

   339

    EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x06 : 0x09);

   340

   341

    // send process data

   342

    spin_lock(&master_lock);

   343

    ecrt_domain_queue(domain1);

   344

    ecrt_master_send(master);

   345

    spin_unlock(&master_lock);

   346

   347

    // restart timer

   348

    timer.expires += HZ / FREQUENCY;

   349

    add_timer(&timer);

   350

}

   351

   352

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

   353

   354

int request_lock(void *data)

   355

{

   356

    spin_lock(&master_lock);

   357

    return 0; // access allowed

   358

}

   359

   360

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

   361

   362

void release_lock(void *data)

   363

{

   364

    spin_unlock(&master_lock);

   365

}

   366

   367

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

   368

   369

int __init init_mini_module(void)

   370

{

   371

#if CONFIGURE_PDOS

   372

    ec_slave_config_t *sc;

   373

#endif

   374

#if EXTERNAL_MEMORY

   375

    unsigned int size;

   376

#endif

   377

   378

    printk(KERN_INFO PFX "Starting...\n");

   379

   380

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

   381

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

   382

        goto out_return;

   383

    }

   384

   385

    ecrt_master_callbacks(master, request_lock, release_lock, NULL);

   386

   387

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

   388

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

   389

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

   390

        goto out_release_master;

   391

    }

   392

   393

    if (!(sc_ana_in = ecrt_master_slave_config(

   394

                    master, AnaInSlavePos, Beckhoff_EL3152))) {

   395

        printk(KERN_ERR PFX "Failed to get slave configuration.\n");

   396

        goto out_release_master;

   397

    }

   398

   399

#if CONFIGURE_PDOS

   400

    printk(KERN_INFO PFX "Configuring Pdos...\n");

   401

    if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3152_syncs)) {

   402

        printk(KERN_ERR PFX "Failed to configure Pdos.\n");

   403

        goto out_release_master;

   404

    }

   405

   406

    if (!(sc = ecrt_master_slave_config(

   407

                    master, AnaOutSlavePos, Beckhoff_EL4102))) {

   408

        printk(KERN_ERR PFX "Failed to get slave configuration.\n");

   409

        goto out_release_master;

   410

    }

   411

   412

    if (ecrt_slave_config_pdos(sc, EC_END, el4102_syncs)) {

   413

        printk(KERN_ERR PFX "Failed to configure Pdos.\n");

   414

        goto out_release_master;

   415

    }

   416

   417

    if (!(sc = ecrt_master_slave_config(

   418

                    master, DigOutSlavePos, Beckhoff_EL2004))) {

   419

        printk(KERN_ERR PFX "Failed to get slave configuration.\n");

   420

        goto out_release_master;

   421

    }

   422

   423

    if (ecrt_slave_config_pdos(sc, EC_END, el2004_syncs)) {

   424

        printk(KERN_ERR PFX "Failed to configure Pdos.\n");

   425

        goto out_release_master;

   426

    }

   427

#endif

   428

   429

#if SDO_ACCESS

   430

    printk(KERN_INFO PFX "Creating Sdo requests...\n");

   431

    if (!(sdo = ecrt_slave_config_create_sdo_request(sc_ana_in, 0x3102, 2, 2))) {

   432

        printk(KERN_ERR PFX "Failed to create Sdo request.\n");

   433

        goto out_release_master;

   434

    }

   435

    ecrt_sdo_request_timeout(sdo, 500); // ms

   436

#endif

   437

   438

#if VOE_ACCESS

   439

    printk(KERN_INFO PFX "Creating VoE handlers...\n");

   440

    if (!(voe = ecrt_slave_config_create_voe_handler(sc_ana_in, 1000))) {

   441

        printk(KERN_ERR PFX "Failed to create VoE handler.\n");

   442

        goto out_release_master;

   443

    }

   444

#endif

   445

   446

    printk(KERN_INFO PFX "Registering Pdo entries...\n");

   447

    if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {

   448

        printk(KERN_ERR PFX "Pdo entry registration failed!\n");

   449

        goto out_release_master;

   450

    }

   451

   452

#if EXTERNAL_MEMORY

   453

    if ((size = ecrt_domain_size(domain1))) {

   454

        if (!(domain1_pd = (uint8_t *) kmalloc(size, GFP_KERNEL))) {

   455

            printk(KERN_ERR PFX "Failed to allocate %u bytes of process data"

   456

                    " memory!\n", size);

   457

            goto out_release_master;

   458

        }

   459

        ecrt_domain_external_memory(domain1, domain1_pd);

   460

    }

   461

#endif

   462

   463

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

   464

    if (ecrt_master_activate(master)) {

   465

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

   466

#if EXTERNAL_MEMORY

   467

        goto out_free_process_data;

   468

#else

   469

        goto out_release_master;

   470

#endif

   471

    }

   472

   473

#if !EXTERNAL_MEMORY

   474

    // Get internal process data for domain

   475

    domain1_pd = ecrt_domain_data(domain1);

   476

#endif

   477

   478

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

   479

    init_timer(&timer);

   480

    timer.function = cyclic_task;

   481

    timer.expires = jiffies + 10;

   482

    add_timer(&timer);

   483

   484

    printk(KERN_INFO PFX "Started.\n");

   485

    return 0;

   486

   487

#if EXTERNAL_MEMORY

   488

out_free_process_data:

   489

    kfree(domain1_pd);