examples/mini/mini.c
author Florian Pose <fp@igh-essen.com>
Thu, 08 Mar 2007 08:10:32 +0000
changeset 636 9114b3a5f9d3
parent 635 d304ef4af542
child 637 d5d04c868e0e
permissions -rw-r--r--
Updated TODO.
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/******************************************************************************
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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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 *  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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 *
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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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 *  The right to use EtherCAT Technology is granted and comes free of
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 *  charge under condition of compatibility of product made by
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 *  Licensee. People intending to distribute/sell products based on the
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 *  code, have to sign an agreement to guarantee that products using
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 *  software based on IgH EtherCAT master stay compatible with the actual
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 *  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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 *
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 *****************************************************************************/
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#include <linux/module.h>
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#include <linux/timer.h>
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#include <linux/spinlock.h>
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#include <linux/interrupt.h>
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#include "../../include/ecrt.h" // EtherCAT realtime interface
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#include "../../include/ecdb.h" // EtherCAT slave database
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#define PFX "ec_mini: "
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#define FREQUENCY 100
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//#define KBUS
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/*****************************************************************************/
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static struct timer_list timer;
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// EtherCAT
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static ec_master_t *master = NULL;
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static ec_domain_t *domain1 = NULL;
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spinlock_t master_lock = SPIN_LOCK_UNLOCKED;
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static ec_master_status_t master_status, old_status = {};
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// data fields
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#ifdef KBUS
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static void *r_inputs;
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static void *r_outputs;
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#endif
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static void *r_dig_out;
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static void *r_ana_out;
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static void *r_count;
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static void *r_freq;
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#if 1
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ec_pdo_reg_t domain1_pdos[] = {
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    {"2", Beckhoff_EL2004_Outputs,   &r_dig_out},
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    {"3", Beckhoff_EL4132_Output1,   &r_ana_out},
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    {"4", Beckhoff_EL5101_Value,     &r_count},
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    {"4", Beckhoff_EL5101_Frequency, &r_freq},
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    {}
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};
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#endif
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/*****************************************************************************/
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void run(unsigned long data)
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{
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    static unsigned int counter = 0;
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    static unsigned int blink = 0;
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    // receive
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    spin_lock(&master_lock);
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    ecrt_master_receive(master);
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    ecrt_domain_process(domain1);
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    spin_unlock(&master_lock);
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    // process data
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    // k_pos = EC_READ_U32(r_ssi);
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    EC_WRITE_U8(r_dig_out, blink ? 0x0F : 0x00);
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    if (counter) {
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        counter--;
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    }
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    else {
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        counter = FREQUENCY;
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        blink = !blink;
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        spin_lock(&master_lock);
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        ecrt_master_get_status(master, &master_status);
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        spin_unlock(&master_lock);
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        if (master_status.bus_status != old_status.bus_status) {
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            printk(KERN_INFO PFX "bus status changed to %u.\n",
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                    master_status.bus_status);
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        }
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        if (master_status.bus_tainted != old_status.bus_tainted) {
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            printk(KERN_INFO PFX "tainted flag changed to %u.\n",
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                    master_status.bus_tainted);
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        }
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        if (master_status.slaves_responding !=
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                old_status.slaves_responding) {
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            printk(KERN_INFO PFX "slaves_responding changed to %u.\n",
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                    master_status.slaves_responding);
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        }
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        old_status = master_status;
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    }
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#ifdef KBUS
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    EC_WRITE_U8(r_outputs + 2, blink ? 0xFF : 0x00);
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#endif
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    // send
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    spin_lock(&master_lock);
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    ecrt_domain_queue(domain1);
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    spin_unlock(&master_lock);
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    ecrt_master_run(master);
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    spin_lock(&master_lock);
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    ecrt_master_send(master);
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    spin_unlock(&master_lock);
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    // restart timer
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    timer.expires += HZ / FREQUENCY;
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    add_timer(&timer);
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}
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/*****************************************************************************/
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342ad851ec78 Added examples directory.
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int request_lock(void *data)
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{
516
f703e33ee395 Adjusted examples to EtherLab starter kit hardware.
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   148
    spin_lock(&master_lock);
226
07247920a7ba EoE with workqueue; bugfix in ec_master_init()
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diff changeset
   149
    return 0; // access allowed
220
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}
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/*****************************************************************************/
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void release_lock(void *data)
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{
516
f703e33ee395 Adjusted examples to EtherLab starter kit hardware.
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    spin_unlock(&master_lock);
220
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}
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   159
/*****************************************************************************/
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int __init init_mini_module(void)
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{
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   163
#if 1
454
25cc4a3b9e0a State acknowledgement in master state machine.
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    ec_slave_t *slave;
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   165
#endif
329
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   166
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
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    printk(KERN_INFO PFX "Starting...\n");
220
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   168
509
87baea61d0c7 Adjusted examples to 1.2.0 interface changes.
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   169
    if (!(master = ecrt_request_master(0))) {
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
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        printk(KERN_ERR PFX "Requesting master 0 failed!\n");
220
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        goto out_return;
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   172
    }
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   173
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   174
    ecrt_master_callbacks(master, request_lock, release_lock, NULL);
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   175
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
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   176
    printk(KERN_INFO PFX "Registering domain...\n");
509
87baea61d0c7 Adjusted examples to 1.2.0 interface changes.
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   177
    if (!(domain1 = ecrt_master_create_domain(master))) {
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
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   178
        printk(KERN_ERR PFX "Domain creation failed!\n");
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
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   179
        goto out_release_master;
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   180
    }
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   181
635
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   182
#if 1
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   183
    printk(KERN_INFO PFX "Configuring alternative PDO mapping...\n");
d304ef4af542 Implemented alternative PDO mapping configuration interface.
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diff changeset
   184
    if (!(slave = ecrt_master_get_slave(master, "4")))
d304ef4af542 Implemented alternative PDO mapping configuration interface.
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diff changeset
   185
        goto out_release_master;
d304ef4af542 Implemented alternative PDO mapping configuration interface.
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diff changeset
   186
d304ef4af542 Implemented alternative PDO mapping configuration interface.
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diff changeset
   187
    if (ecrt_slave_pdo_mapping(slave, EC_DIR_INPUT, 2, 0x1A00, 0x1A02))
d304ef4af542 Implemented alternative PDO mapping configuration interface.
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diff changeset
   188
        goto out_release_master;
d304ef4af542 Implemented alternative PDO mapping configuration interface.
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diff changeset
   189
#endif
d304ef4af542 Implemented alternative PDO mapping configuration interface.
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diff changeset
   190
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
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diff changeset
   191
    printk(KERN_INFO PFX "Registering PDOs...\n");
446
8fede404c01f Persistent slave lists.
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diff changeset
   192
#if 1
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
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diff changeset
   193
    if (ecrt_domain_register_pdo_list(domain1, domain1_pdos)) {
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
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diff changeset
   194
        printk(KERN_ERR PFX "PDO registration failed!\n");
220
342ad851ec78 Added examples directory.
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   195
        goto out_release_master;
342ad851ec78 Added examples directory.
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diff changeset
   196
    }
416
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
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diff changeset
   197
#endif
446
8fede404c01f Persistent slave lists.
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diff changeset
   198
457
2b4ba84b6058 Minor changes to minimal example.
Florian Pose <fp@igh-essen.com>
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diff changeset
   199
#ifdef KBUS
416
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
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diff changeset
   200
    if (!ecrt_domain_register_pdo_range(domain1, "0", Beckhoff_BK1120,
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
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diff changeset
   201
                                        EC_DIR_OUTPUT, 0, 4, &r_outputs)) {
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
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diff changeset
   202
        printk(KERN_ERR PFX "PDO registration failed!\n");
416
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
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diff changeset
   203
        goto out_release_master;
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
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diff changeset
   204
    }
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
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diff changeset
   205
    if (!ecrt_domain_register_pdo_range(domain1, "0", Beckhoff_BK1120,
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
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diff changeset
   206
                                        EC_DIR_INPUT, 0, 4, &r_inputs)) {
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
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diff changeset
   207
        printk(KERN_ERR PFX "PDO registration failed!\n");
416
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
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diff changeset
   208
        goto out_release_master;
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
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diff changeset
   209
    }
446
8fede404c01f Persistent slave lists.
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diff changeset
   210
#endif
416
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
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diff changeset
   211
516
f703e33ee395 Adjusted examples to EtherLab starter kit hardware.
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diff changeset
   212
#if 0
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
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diff changeset
   213
    if (!(slave = ecrt_master_get_slave(master, "4")))
329
d004349777fc SDO configuration interface, SDO download state machine.
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diff changeset
   214
        goto out_release_master;
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   215
d004349777fc SDO configuration interface, SDO download state machine.
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diff changeset
   216
    if (ecrt_slave_conf_sdo8(slave, 0x4061, 1, 0))
d004349777fc SDO configuration interface, SDO download state machine.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   217
        goto out_release_master;
416
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents: 348
diff changeset
   218
#endif
329
d004349777fc SDO configuration interface, SDO download state machine.
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parents: 325
diff changeset
   219
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
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diff changeset
   220
#if 1
d304ef4af542 Implemented alternative PDO mapping configuration interface.
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diff changeset
   221
#endif
d304ef4af542 Implemented alternative PDO mapping configuration interface.
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diff changeset
   222
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
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diff changeset
   223
    printk(KERN_INFO PFX "Activating master...\n");
220
342ad851ec78 Added examples directory.
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diff changeset
   224
    if (ecrt_master_activate(master)) {
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
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diff changeset
   225
        printk(KERN_ERR PFX "Failed to activate master!\n");
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 551
diff changeset
   226
        goto out_release_master;
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 551
diff changeset
   227
    }
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
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parents: 551
diff changeset
   228
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
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diff changeset
   229
    printk(KERN_INFO PFX "Starting cyclic sample thread.\n");
220
342ad851ec78 Added examples directory.
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diff changeset
   230
    init_timer(&timer);
342ad851ec78 Added examples directory.
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parents:
diff changeset
   231
    timer.function = run;
342ad851ec78 Added examples directory.
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parents:
diff changeset
   232
    timer.expires = jiffies + 10;
342ad851ec78 Added examples directory.
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parents:
diff changeset
   233
    add_timer(&timer);
342ad851ec78 Added examples directory.
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parents:
diff changeset
   234
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
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diff changeset
   235
    printk(KERN_INFO PFX "Started.\n");
220
342ad851ec78 Added examples directory.
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parents:
diff changeset
   236
    return 0;
342ad851ec78 Added examples directory.
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parents:
diff changeset
   237
342ad851ec78 Added examples directory.
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parents:
diff changeset
   238
 out_release_master:
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   239
    ecrt_release_master(master);
342ad851ec78 Added examples directory.
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parents:
diff changeset
   240
 out_return:
342ad851ec78 Added examples directory.
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parents:
diff changeset
   241
    return -1;
342ad851ec78 Added examples directory.
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parents:
diff changeset
   242
}
342ad851ec78 Added examples directory.
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parents:
diff changeset
   243
342ad851ec78 Added examples directory.
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parents:
diff changeset
   244
/*****************************************************************************/
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   245
342ad851ec78 Added examples directory.
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parents:
diff changeset
   246
void __exit cleanup_mini_module(void)
342ad851ec78 Added examples directory.
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parents:
diff changeset
   247
{
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 551
diff changeset
   248
    printk(KERN_INFO PFX "Stopping...\n");
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   249
449
3caf8ff4d8a2 Moved functionality of ecrt_master_deactivate() (now deprecated) to ecrt_master_release().
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   250
    del_timer_sync(&timer);
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 551
diff changeset
   251
    printk(KERN_INFO PFX "Releasing master...\n");
449
3caf8ff4d8a2 Moved functionality of ecrt_master_deactivate() (now deprecated) to ecrt_master_release().
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   252
    ecrt_release_master(master);
220
342ad851ec78 Added examples directory.
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parents:
diff changeset
   253
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 551
diff changeset
   254
    printk(KERN_INFO PFX "Stopped.\n");
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   255
}
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   256
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   257
/*****************************************************************************/
342ad851ec78 Added examples directory.
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parents:
diff changeset
   258
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   259
MODULE_LICENSE("GPL");
512
24292123d174 Shorter critical sections in examples.
Florian Pose <fp@igh-essen.com>
parents: 509
diff changeset
   260
MODULE_AUTHOR("Florian Pose <fp@igh-essen.com>");
24292123d174 Shorter critical sections in examples.
Florian Pose <fp@igh-essen.com>
parents: 509
diff changeset
   261
MODULE_DESCRIPTION("EtherCAT minimal test environment");
220
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   262
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   263
module_init(init_mini_module);
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   264
module_exit(cleanup_mini_module);
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   265
342ad851ec78 Added examples directory.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   266
/*****************************************************************************/