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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH

     6

 *

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 *  This file is part of the IgH EtherCAT Master.

     8

 *

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

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 *  modify it under the terms of the GNU General Public License version 2, as

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 *  published by the Free Software Foundation.

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 *

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

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

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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General

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 *  Public License for more details.

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 *

    18

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

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 *  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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 *  Using the EtherCAT technology and brand is permitted in compliance with

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 *  the industrial property and similar rights of Beckhoff Automation GmbH.

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 *

    25

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

    26

    27

#include <linux/module.h>

    28

#include <linux/timer.h>

    29

#include <linux/spinlock.h>

    30

#include <linux/interrupt.h>

    31

    32

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

    33

    34

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

    35

    36

// Module parameters

    37

#define FREQUENCY 100

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    39

// Optional features

    40

#define CONFIGURE_PDOS  1

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#define EL3152_ALT_PDOS 0

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#define EXTERNAL_MEMORY 1

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#define SDO_ACCESS      0

    44

    45

#define PFX "ec_mini: "

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    47

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

    48

    49

// EtherCAT

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static ec_master_t *master = NULL;

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static ec_master_state_t master_state = {};

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spinlock_t master_lock = SPIN_LOCK_UNLOCKED;

    53

    54

static ec_domain_t *domain1 = NULL;

    55

static ec_domain_state_t domain1_state = {};

    56

    57

static ec_slave_config_t *sc_ana_in = NULL;

    58

static ec_slave_config_state_t sc_ana_in_state = {};

    59

    60

// Timer

    61

static struct timer_list timer;

    62

    63

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

    64

    65

// process data

    66

static uint8_t *domain1_pd; // process data memory

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    68

#define AnaInSlavePos  0, 1

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#define AnaOutSlavePos 0, 2

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#define DigOutSlavePos 0, 3

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    72

#define Beckhoff_EL2004 0x00000002, 0x07D43052

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#define Beckhoff_EL3152 0x00000002, 0x0c503052

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#define Beckhoff_EL4102 0x00000002, 0x10063052

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// offsets for PDO entries

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static unsigned int off_ana_in;

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static unsigned int off_ana_out;

    79

static unsigned int off_dig_out;

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    81

const static ec_pdo_entry_reg_t domain1_regs[] = {

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#if EL3152_ALT_PDOS

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

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#else

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

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#endif

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

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

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    {}

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};

    91

    92

static unsigned int counter = 0;

    93

static unsigned int blink = 0;

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    95

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

    96

    97

#if CONFIGURE_PDOS

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    99

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

   100

   101

static ec_pdo_entry_info_t el3152_pdo_entries[] = {

   102

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

   103

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

   104

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

   105

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

   106

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

   107

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

   108

};

   109

   110

#if EL3152_ALT_PDOS

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static ec_pdo_info_t el3152_pdos[] = {

   112

    {0x1A10, 2, el3152_pdo_entries + 4},

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};

   114

   115

static ec_sync_info_t el3152_syncs[] = {

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    {2, EC_DIR_OUTPUT},

   117

    {3, EC_DIR_INPUT, 1, el3152_pdos},

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    {0xff}

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};

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#else

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static ec_pdo_info_t el3152_pdos[] = {

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    {0x1A00, 2, el3152_pdo_entries},

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    {0x1A01, 2, el3152_pdo_entries + 2}

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};

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   126

static ec_sync_info_t el3152_syncs[] = {

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    {2, EC_DIR_OUTPUT},

   128

    {3, EC_DIR_INPUT, 1, el3152_pdos},

   129

    {0xff}

   130

};

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#endif

   132

   133

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

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   135

static ec_pdo_entry_info_t el4102_pdo_entries[] = {

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

   137

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

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};

   139

   140

static ec_pdo_info_t el4102_pdos[] = {

   141

    {0x1600, 1, el4102_pdo_entries},

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    {0x1601, 1, el4102_pdo_entries + 1}

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};

   144

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static ec_sync_info_t el4102_syncs[] = {

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    {2, EC_DIR_OUTPUT, 2, el4102_pdos},

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    {3, EC_DIR_INPUT},

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    {0xff}

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};

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

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   153

static ec_pdo_entry_info_t el2004_channels[] = {

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

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

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

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

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};

   159

   160

static ec_pdo_info_t el2004_pdos[] = {

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

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

   163

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

   164

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

   165

};

   166

   167

static ec_sync_info_t el2004_syncs[] = {

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    {0, EC_DIR_OUTPUT, 4, el2004_pdos},

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    {1, EC_DIR_INPUT},

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    {0xff}

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};

   172

#endif

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   174

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

   175

   176

#if SDO_ACCESS

   177

static ec_sdo_request_t *sdo;

   178

#endif

   179

   180

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

   181

   182

void check_domain1_state(void)

   183

{

   184

    ec_domain_state_t ds;

   185

   186

    spin_lock(&master_lock);

   187

    ecrt_domain_state(domain1, &ds);

   188

    spin_unlock(&master_lock);

   189

   190

    if (ds.working_counter != domain1_state.working_counter)

   191

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

   192

    if (ds.wc_state != domain1_state.wc_state)

   193

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

   194

   195

    domain1_state = ds;

   196

}

   197

   198

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

   199

   200

void check_master_state(void)

   201

{

   202

    ec_master_state_t ms;

   203

   204

    spin_lock(&master_lock);

   205

    ecrt_master_state(master, &ms);

   206

    spin_unlock(&master_lock);

   207

   208

    if (ms.slaves_responding != master_state.slaves_responding)

   209

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

   210

    if (ms.al_states != master_state.al_states)

   211

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

   212

    if (ms.link_up != master_state.link_up)

   213

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

   214

   215

    master_state = ms;

   216

}

   217

   218

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

   219

   220

void check_slave_config_states(void)

   221

{

   222

    ec_slave_config_state_t s;

   223

   224

    spin_lock(&master_lock);

   225

    ecrt_slave_config_state(sc_ana_in, &s);

   226

    spin_unlock(&master_lock);

   227

   228

    if (s.al_state != sc_ana_in_state.al_state)

   229

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

   230

    if (s.online != sc_ana_in_state.online)

   231

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

   232

    if (s.operational != sc_ana_in_state.operational)

   233

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

   234

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

   235

   236

    sc_ana_in_state = s;

   237

}

   238

   239

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

   240

   241

#if SDO_ACCESS

   242

void read_sdo(void)

   243

{

   244

    switch (ecrt_sdo_request_state(sdo)) {

   245

        case EC_SDO_REQUEST_UNUSED: // request was not used yet

   246

            ecrt_sdo_request_read(sdo); // trigger first read

   247

            break;

   248

        case EC_SDO_REQUEST_BUSY:

   249

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

   250

            break;

   251

        case EC_SDO_REQUEST_SUCCESS:

   252

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

   253

                    EC_READ_U16(ecrt_sdo_request_data(sdo)));

   254

            ecrt_sdo_request_read(sdo); // trigger next read

   255

            break;

   256

        case EC_SDO_REQUEST_ERROR:

   257

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

   258

            ecrt_sdo_request_read(sdo); // retry reading

   259

            break;

   260

    }

   261

}

   262

#endif

   263

   264

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

   265

   266

void cyclic_task(unsigned long data)

   267

{

   268

    // receive process data

   269

    spin_lock(&master_lock);

   270

    ecrt_master_receive(master);

   271

    ecrt_domain_process(domain1);

   272

    spin_unlock(&master_lock);

   273

   274

    // check process data state (optional)

   275

    check_domain1_state();

   276

   277

    if (counter) {

   278

        counter--;

   279

    } else { // do this at 1 Hz

   280

        counter = FREQUENCY;

   281

   282

        // calculate new process data

   283

        blink = !blink;

   284

   285

        // check for master state (optional)

   286

        check_master_state();

   287

   288

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

   289

        check_slave_config_states();

   290

   291

#if SDO_ACCESS

   292

        // read process data SDO

   293

        read_sdo();

   294

#endif

   295

    }

   296

   297

    // write process data

   298

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

   299

   300

    // send process data

   301

    spin_lock(&master_lock);

   302

    ecrt_domain_queue(domain1);

   303

    ecrt_master_send(master);

   304

    spin_unlock(&master_lock);

   305

   306

    // restart timer

   307

    timer.expires += HZ / FREQUENCY;

   308

    add_timer(&timer);

   309

}

   310

   311

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

   312

   313

int request_lock(void *data)

   314

{

   315

    spin_lock(&master_lock);

   316

    return 0; // access allowed

   317

}

   318

   319

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

   320

   321

void release_lock(void *data)

   322

{

   323

    spin_unlock(&master_lock);

   324

}

   325

   326

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

   327

   328

int __init init_mini_module(void)

   329

{

   330

#if CONFIGURE_PDOS

   331

    ec_slave_config_t *sc;

   332

#endif

   333

#if EXTERNAL_MEMORY

   334

    unsigned int size;

   335

#endif

   336

   337

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

   338

   339

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

   340

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

   341

        goto out_return;

   342

    }

   343

   344

    ecrt_master_callbacks(master, request_lock, release_lock, NULL);

   345

   346

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

   347

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

   348

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

   349

        goto out_release_master;

   350

    }

   351

   352

    if (!(sc_ana_in = ecrt_master_slave_config(

   353

                    master, AnaInSlavePos, Beckhoff_EL3152))) {

   354

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

   355

        goto out_release_master;

   356

    }

   357

   358

#if CONFIGURE_PDOS

   359

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

   360

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

   361

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

   362

        goto out_release_master;

   363

    }

   364

   365

    if (!(sc = ecrt_master_slave_config(

   366

                    master, AnaOutSlavePos, Beckhoff_EL4102))) {

   367

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

   368

        goto out_release_master;

   369

    }

   370

   371

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

   372

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

   373

        goto out_release_master;

   374

    }

   375

   376

    if (!(sc = ecrt_master_slave_config(

   377

                    master, DigOutSlavePos, Beckhoff_EL2004))) {

   378

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

   379

        goto out_release_master;

   380

    }

   381

   382

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

   383

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

   384

        goto out_release_master;

   385

    }

   386

#endif

   387

   388

#if SDO_ACCESS

   389

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

   390

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

   391

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

   392

        goto out_release_master;

   393

    }

   394

    ecrt_sdo_request_timeout(sdo, 500); // ms

   395

#endif

   396

   397

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

   398

    if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {

   399

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

   400

        goto out_release_master;

   401

    }

   402

   403

#if EXTERNAL_MEMORY

   404

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

   405

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

   406

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

   407

                    " memory!\n", size);

   408

            goto out_release_master;

   409

        }

   410

        ecrt_domain_external_memory(domain1, domain1_pd);

   411

    }

   412

#endif

   413

   414

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

   415

    if (ecrt_master_activate(master)) {

   416

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

   417

#if EXTERNAL_MEMORY

   418

        goto out_free_process_data;

   419

#else

   420

        goto out_release_master;

   421

#endif

   422

    }

   423

   424

#if !EXTERNAL_MEMORY

   425

    // Get internal process data for domain

   426

    domain1_pd = ecrt_domain_data(domain1);

   427

#endif

   428

   429

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

   430

    init_timer(&timer);

   431

    timer.function = cyclic_task;

   432

    timer.expires = jiffies + 10;

   433

    add_timer(&timer);

   434

   435

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

   436

    return 0;

   437

   438

#if EXTERNAL_MEMORY

   439

out_free_process_data:

   440

    kfree(domain1_pd);

   441

#endif

   442

out_release_master:

   443

    printk(KERN_ERR PFX "Releasing master...\n");

   444

    ecrt_release_master(master);

   445

out_return:

   446

    printk(KERN_ERR PFX "Failed to load. Aborting.\n");

   447

    return -1;

   448

}

   449

   450

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

   451

   452

void __exit cleanup_mini_module(void)

   453

{

   454

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

   455

   456

    del_timer_sync(&timer);

   457

   458

#if EXTERNAL_MEMORY

   459

    kfree(domain1_pd);

   460

#endif

   461

   462

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

   463

    ecrt_release_master(master);

   464

   465

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

   466

}

   467

   468

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

   469

   470

MODULE_LICENSE("GPL");

   471

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

   472

MODULE_DESCRIPTION("EtherCAT minimal test environment");

   473

   474

module_init(init_mini_module);

   475

module_exit(cleanup_mini_module);

   476

   477

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