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/******************************************************************************
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*
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* Distributed clocks 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) 2006-2008 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 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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*
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* 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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* ---
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*
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* The license mentioned above concerns the source code only. Using the
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* EtherCAT technology and brand is only permitted in compliance with the
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* industrial property and similar rights of Beckhoff Automation GmbH.
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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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#include <linux/err.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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// Module parameters
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#define FREQUENCY 1000 // task frequency in Hz
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#define INHIBIT_TIME 20
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#define TIMERTICKS (1000000000 / FREQUENCY)
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#define NUM_DIG_OUT 1
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#define PFX "ec_dc_sample: "
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/*****************************************************************************/
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// 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;
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static ec_domain_t *domain1 = NULL;
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static ec_domain_state_t domain1_state = {};
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// RTAI
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static RT_TASK task;
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static SEM master_sem;
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static cycles_t t_last_cycle = 0, t_critical;
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/*****************************************************************************/
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// process data
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static uint8_t *domain1_pd; // process data memory
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#define DigOutSlavePos(X) 0, (1 + (X))
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#define CounterSlavePos 0, 2
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#define Beckhoff_EK1100 0x00000002, 0x044c2c52
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#define Beckhoff_EL2008 0x00000002, 0x07d83052
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#define IDS_Counter 0x000012ad, 0x05de3052
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static int off_dig_out[NUM_DIG_OUT];
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static int off_counter_in;
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static int off_counter_out;
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static unsigned int counter = 0;
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static unsigned int blink_counter = 0;
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static unsigned int blink = 0;
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static u32 counter_value = 0U;
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/*****************************************************************************/
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static ec_pdo_entry_info_t el2008_channels[] = {
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{0x7000, 1, 1},
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{0x7010, 1, 1},
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{0x7020, 1, 1},
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{0x7030, 1, 1},
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{0x7040, 1, 1},
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{0x7050, 1, 1},
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{0x7060, 1, 1},
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{0x7070, 1, 1}
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};
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static ec_pdo_info_t el2008_pdos[] = {
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{0x1600, 1, &el2008_channels[0]},
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{0x1601, 1, &el2008_channels[1]},
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{0x1602, 1, &el2008_channels[2]},
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{0x1603, 1, &el2008_channels[3]},
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{0x1604, 1, &el2008_channels[4]},
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{0x1605, 1, &el2008_channels[5]},
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{0x1606, 1, &el2008_channels[6]},
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{0x1607, 1, &el2008_channels[7]}
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};
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static ec_sync_info_t el2008_syncs[] = {
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{0, EC_DIR_OUTPUT, 8, el2008_pdos},
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{1, EC_DIR_INPUT},
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{0xff}
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};
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/*****************************************************************************/
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void check_domain1_state(void)
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{
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ec_domain_state_t ds;
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spin_lock(&master_lock);
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ecrt_domain_state(domain1, &ds);
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spin_unlock(&master_lock);
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if (ds.working_counter != domain1_state.working_counter)
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printk(KERN_INFO PFX "Domain1: WC %u.\n", ds.working_counter);
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if (ds.wc_state != domain1_state.wc_state)
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printk(KERN_INFO PFX "Domain1: State %u.\n", ds.wc_state);
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domain1_state = ds;
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}
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/*****************************************************************************/
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void check_master_state(void)
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{
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ec_master_state_t ms;
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spin_lock(&master_lock);
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ecrt_master_state(master, &ms);
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spin_unlock(&master_lock);
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149 |
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if (ms.slaves_responding != master_state.slaves_responding)
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printk(KERN_INFO PFX "%u slave(s).\n", ms.slaves_responding);
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if (ms.al_states != master_state.al_states)
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printk(KERN_INFO PFX "AL states: 0x%02X.\n", ms.al_states);
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if (ms.link_up != master_state.link_up)
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printk(KERN_INFO PFX "Link is %s.\n", ms.link_up ? "up" : "down");
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master_state = ms;
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}
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/*****************************************************************************/
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void run(long data)
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{
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int i;
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struct timeval tv;
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unsigned int sync_ref_counter = 0;
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count2timeval(nano2count(rt_get_real_time_ns()), &tv);
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while (1) {
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t_last_cycle = get_cycles();
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// receive process data
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rt_sem_wait(&master_sem);
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ecrt_master_receive(master);
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ecrt_domain_process(domain1);
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rt_sem_signal(&master_sem);
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// check process data state (optional)
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check_domain1_state();
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if (counter) {
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counter--;
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} else {
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u32 c;
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counter = FREQUENCY;
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// check for master state (optional)
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check_master_state();
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c = EC_READ_U32(domain1_pd + off_counter_in);
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if (counter_value != c) {
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counter_value = c;
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printk(KERN_INFO PFX "counter=%u\n", counter_value);
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}
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}
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if (blink_counter) {
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blink_counter--;
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} else {
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blink_counter = 9;
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// calculate new process data
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blink = !blink;
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}
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// write process data
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for (i = 0; i < NUM_DIG_OUT; i++) {
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EC_WRITE_U8(domain1_pd + off_dig_out[i], blink ? 0x66 : 0x99);
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}
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213 |
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EC_WRITE_U8(domain1_pd + off_counter_out, blink ? 0x00 : 0x02);
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215 |
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rt_sem_wait(&master_sem);
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217 |
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tv.tv_usec += 1000;
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if (tv.tv_usec >= 1000000) {
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tv.tv_usec -= 1000000;
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tv.tv_sec++;
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}
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//printk(KERN_INFO PFX "tv=%u.%06u\n", (u32) tv.tv_sec, (u32) tv.tv_usec);
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224 |
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if (sync_ref_counter) {
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sync_ref_counter--;
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} else {
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sync_ref_counter = 9;
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ecrt_master_sync_reference_clock(master, &tv);
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}
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ecrt_master_sync_slave_clocks(master);
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ecrt_domain_queue(domain1);
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ecrt_master_send(master);
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rt_sem_signal(&master_sem);
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235 |
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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 real time cycle: deny access...
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if (get_cycles() - t_last_cycle > t_critical) return -1;
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246 |
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// allow access
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248 |
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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255 |
{
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256 |
rt_sem_signal(&master_sem);
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257 |
}
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258 |
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259 |
/*****************************************************************************/
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260 |
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int __init init_mod(void)
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262 |
{
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263 |
int ret = -1, i;
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264 |
RTIME tick_period, requested_ticks, now;
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265 |
ec_slave_config_t *sc;
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266 |
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267 |
printk(KERN_INFO PFX "Starting...\n");
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268 |
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269 |
rt_sem_init(&master_sem, 1);
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270 |
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271 |
t_critical = cpu_khz * 1000 / FREQUENCY - cpu_khz * INHIBIT_TIME / 1000;
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272 |
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273 |
master = ecrt_request_master(0);
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274 |
if (!master) {
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275 |
ret = -EBUSY;
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276 |
printk(KERN_ERR PFX "Requesting master 0 failed!\n");
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277 |
goto out_return;
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278 |
}
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279 |
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280 |
ecrt_master_callbacks(master, request_lock, release_lock, NULL);
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281 |
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282 |
printk(KERN_INFO PFX "Registering domain...\n");
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283 |
if (!(domain1 = ecrt_master_create_domain(master))) {
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284 |
printk(KERN_ERR PFX "Domain creation failed!\n");
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285 |
goto out_release_master;
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286 |
}
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287 |
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288 |
printk(KERN_INFO PFX "Configuring PDOs...\n");
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289 |
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290 |
// create configuration for reference clock FIXME
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291 |
if (!(sc = ecrt_master_slave_config(master, 0, 0, Beckhoff_EK1100))) {
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292 |
printk(KERN_ERR PFX "Failed to get slave configuration.\n");
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293 |
goto out_release_master;
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294 |
}
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295 |
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296 |
for (i = 0; i < NUM_DIG_OUT; i++) {
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297 |
if (!(sc = ecrt_master_slave_config(master,
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298 |
DigOutSlavePos(i), Beckhoff_EL2008))) {
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299 |
printk(KERN_ERR PFX "Failed to get slave configuration.\n");
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300 |
goto out_release_master;
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301 |
}
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302 |
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303 |
if (ecrt_slave_config_pdos(sc, EC_END, el2008_syncs)) {
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304 |
printk(KERN_ERR PFX "Failed to configure PDOs.\n");
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305 |
goto out_release_master;
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306 |
}
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307 |
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308 |
off_dig_out[i] = ecrt_slave_config_reg_pdo_entry(sc,
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309 |
0x7000, 1, domain1, NULL);
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310 |
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311 |
if (off_dig_out[i] < 0)
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312 |
goto out_release_master;
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313 |
}
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314 |
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315 |
if (!(sc = ecrt_master_slave_config(master,
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316 |
CounterSlavePos, IDS_Counter))) {
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317 |
printk(KERN_ERR PFX "Failed to get slave configuration.\n");
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318 |
goto out_release_master;
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319 |
}
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320 |
off_counter_in = ecrt_slave_config_reg_pdo_entry(sc,
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321 |
0x6020, 0x11, domain1, NULL);
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322 |
if (off_counter_in < 0)
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323 |
goto out_release_master;
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324 |
off_counter_out = ecrt_slave_config_reg_pdo_entry(sc,
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325 |
0x7020, 1, domain1, NULL);
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326 |
if (off_counter_out < 0)
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327 |
goto out_release_master;
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328 |
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329 |
#if 1
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330 |
// configure SYNC signals for this slave
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331 |
ecrt_slave_config_dc_assign_activate(sc, 0x0700);
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332 |
ecrt_slave_config_dc_sync_cycle_times(sc, 1000000, 0);
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333 |
ecrt_slave_config_dc_sync_shift_times(sc, 440000, 0);
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334 |
#endif
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335 |
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336 |
printk(KERN_INFO PFX "Activating master...\n");
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337 |
if (ecrt_master_activate(master)) {
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338 |
printk(KERN_ERR PFX "Failed to activate master!\n");
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339 |
goto out_release_master;
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340 |
}
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341 |
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342 |
// Get internal process data for domain
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343 |
domain1_pd = ecrt_domain_data(domain1);
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344 |
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345 |
printk(KERN_INFO PFX "Starting cyclic sample thread...\n");
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346 |
requested_ticks = nano2count(TIMERTICKS);
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347 |
tick_period = start_rt_timer(requested_ticks);
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348 |
printk(KERN_INFO PFX "RT timer started with %i/%i ticks.\n",
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349 |
(int) tick_period, (int) requested_ticks);
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350 |
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351 |
if (rt_task_init(&task, run, 0, 2000, 0, 1, NULL)) {
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352 |
printk(KERN_ERR PFX "Failed to init RTAI task!\n");
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353 |
goto out_stop_timer;
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354 |
}
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355 |
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|
356 |
now = rt_get_time();
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|
357 |
if (rt_task_make_periodic(&task, now + tick_period, tick_period)) {
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358 |
printk(KERN_ERR PFX "Failed to run RTAI task!\n");
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359 |
goto out_stop_task;
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360 |
}
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361 |
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|
362 |
printk(KERN_INFO PFX "Initialized.\n");
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363 |
return 0;
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|
364 |
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365 |
out_stop_task:
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|
366 |
rt_task_delete(&task);
|
|
|
367 |
out_stop_timer:
|
|
|
368 |
stop_rt_timer();
|
|
|
369 |
out_release_master:
|
|
|
370 |
printk(KERN_ERR PFX "Releasing master...\n");
|
|
|
371 |
ecrt_release_master(master);
|
|
|
372 |
out_return:
|
|
|
373 |
rt_sem_delete(&master_sem);
|
|
|
374 |
printk(KERN_ERR PFX "Failed to load. Aborting.\n");
|
|
|
375 |
return ret;
|
|
|
376 |
}
|
|
|
377 |
|
|
|
378 |
/*****************************************************************************/
|
|
|
379 |
|
|
|
380 |
void __exit cleanup_mod(void)
|
|
|
381 |
{
|
|
|
382 |
printk(KERN_INFO PFX "Stopping...\n");
|
|
|
383 |
|
|
|
384 |
rt_task_delete(&task);
|
|
|
385 |
stop_rt_timer();
|
|
|
386 |
ecrt_release_master(master);
|
|
|
387 |
rt_sem_delete(&master_sem);
|
|
|
388 |
|
|
|
389 |
printk(KERN_INFO PFX "Unloading.\n");
|
|
|
390 |
}
|
|
|
391 |
|
|
|
392 |
/*****************************************************************************/
|
|
|
393 |
|
|
|
394 |
MODULE_LICENSE("GPL");
|
|
|
395 |
MODULE_AUTHOR("Florian Pose <fp@igh-essen.com>");
|
|
|
396 |
MODULE_DESCRIPTION("EtherCAT distributed clocks sample module");
|
|
|
397 |
|
|
|
398 |
module_init(init_mod);
|
|
|
399 |
module_exit(cleanup_mod);
|
|
|
400 |
|
|
|
401 |
/*****************************************************************************/
|