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/******************************************************************************
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*
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* m i n i . c
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*
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* Minimal module for EtherCAT.
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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; version 2 of the 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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#include <linux/module.h>
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#include <linux/delay.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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#define ASYNC
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#define FREQUENCY 100
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/*****************************************************************************/
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struct timer_list timer;
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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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spinlock_t master_lock = SPIN_LOCK_UNLOCKED;
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// data fields
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//void *r_ssi_input, *r_ssi_status, *r_4102[3];
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// channels
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uint32_t k_pos;
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uint8_t k_stat;
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ec_field_init_t domain1_fields[] = {
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{NULL, "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(unsigned long data)
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{
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static unsigned int counter = 0;
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spin_lock(&master_lock);
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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);
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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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spin_unlock(&master_lock);
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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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//printk(KERN_INFO "k_pos = %i\n", k_pos);
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//printk(KERN_INFO "k_stat = 0x%02X\n", k_stat);
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}
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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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int request_lock(void *data)
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{
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unsigned int tries = 0;
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while (1) {
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if (spin_trylock(&master_lock)) {
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if (tries) printk(KERN_INFO "lock: %i tries needed.\n", tries);
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return 1;
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}
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tries++;
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}
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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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spin_unlock(&master_lock);
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}
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/*****************************************************************************/
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int __init init_mini_module(void)
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{
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printk(KERN_INFO "=== Starting Minimal EtherCAT environment... ===\n");
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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 1
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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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#endif
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printk("Starting cyclic sample thread.\n");
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init_timer(&timer);
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timer.function = run;
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timer.expires = jiffies + 10;
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add_timer(&timer);
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printk(KERN_INFO "=== Minimal EtherCAT environment started. ===\n");
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return 0;
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#if 1
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out_deactivate:
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ecrt_master_deactivate(master);
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#endif
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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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return -1;
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}
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/*****************************************************************************/
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void __exit cleanup_mini_module(void)
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{
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printk(KERN_INFO "=== Stopping Minimal EtherCAT environment... ===\n");
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if (master) {
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del_timer_sync(&timer);
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printk(KERN_INFO "Deactivating master...\n");
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ecrt_master_deactivate(master);
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ecrt_release_master(master);
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}
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printk(KERN_INFO "=== Minimal EtherCAT environment 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 minimal test environment");
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module_init(init_mini_module);
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module_exit(cleanup_mini_module);
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/*****************************************************************************/
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