1

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

     2

 *

     3

 *  RTAI sample for the IgH EtherCAT master.

     4

 *

     5

 *  $Id$

     6

 *

     7

 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH

     8

 *

     9

 *  This file is part of the IgH EtherCAT Master.

    10

 *

    11

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

    12

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

    13

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

    14

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

    15

 *

    16

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

    17

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

    18

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    19

 *  GNU General Public License for more details.

    20

 *

    21

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

    22

 *  along with the IgH EtherCAT Master; if not, write to the Free Software

    23

 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

    24

 *

    25

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

    26

 *  charge under condition of compatibility of product made by

    27

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

    28

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

    29

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

    30

 *  EtherCAT specification (which are released themselves as an open

    31

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

    32

 *  Technology, IP and trade marks.

    33

 *

    34

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

    35

    36

// Linux

    37

#include <linux/module.h>

    38

    39

// RTAI

    40

#include "rtai_sched.h"

    41

#include "rtai_sem.h"

    42

    43

// EtherCAT

    44

#include "../../include/ecrt.h"

    45

#include "../../include/ecdb.h"

    46

    47

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

    48

    49

// RTAI task frequency in Hz

    50

#define FREQUENCY 2000

    51

#define INHIBIT_TIME 20

    52

    53

#define TIMERTICKS (1000000000 / FREQUENCY)

    54

    55

#define PFX "ec_rtai_sample: "

    56

    57

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

    58

    59

// RTAI

    60

static RT_TASK task;

    61

static SEM master_sem;

    62

static cycles_t t_last_cycle = 0, t_critical;

    63

    64

// EtherCAT

    65

static ec_master_t *master = NULL;

    66

static ec_domain_t *domain1 = NULL;

    67

static ec_master_status_t master_status, old_status = {};

    68

    69

// data fields

    70

static void *r_dig_out;

    71

static void *r_ana_out;

    72

static void *r_count;

    73

//static void *r_freq;

    74

    75

const static ec_pdo_reg_t domain1_pdo_regs[] = {

    76

    {"2",      Beckhoff_EL2004_Outputs,   &r_dig_out},

    77

    {"3",      Beckhoff_EL4132_Output1,   &r_ana_out},

    78

    {"#888:1", Beckhoff_EL5101_Value,     &r_count},

    79

    //{"4",      Beckhoff_EL5101_Frequency, &r_freq},

    80

    {}

    81

};

    82

    83

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

    84

    85

void run(long data)

    86

{

    87

    static unsigned int blink = 0;

    88

    static unsigned int counter = 0;

    89

    90

    while (1) {

    91

        t_last_cycle = get_cycles();

    92

    93

        rt_sem_wait(&master_sem);

    94

        ecrt_master_receive(master);

    95

        ecrt_domain_process(domain1);

    96

        rt_sem_signal(&master_sem);

    97

    98

        // process data

    99

        EC_WRITE_U8(r_dig_out, blink ? 0x0F : 0x00);

   100

   101

        rt_sem_wait(&master_sem);

   102

        ecrt_domain_queue(domain1);

   103

        ecrt_master_send(master);

   104

        rt_sem_signal(&master_sem);

   105

   106

        if (counter) {

   107

            counter--;

   108

        }

   109

        else {

   110

            counter = FREQUENCY;

   111

            blink = !blink;

   112

   113

            rt_sem_wait(&master_sem);

   114

            ecrt_master_get_status(master, &master_status);

   115

            rt_sem_signal(&master_sem);

   116

   117

            if (master_status.bus_status != old_status.bus_status) {

   118

                printk(KERN_INFO PFX "bus status changed to %i.\n",

   119

                        master_status.bus_status);

   120

            }

   121

            if (master_status.bus_tainted != old_status.bus_tainted) {

   122

                printk(KERN_INFO PFX "tainted flag changed to %u.\n",

   123

                        master_status.bus_tainted);

   124

            }

   125

            if (master_status.slaves_responding !=

   126

                    old_status.slaves_responding) {

   127

                printk(KERN_INFO PFX "slaves_responding changed to %u.\n",

   128

                        master_status.slaves_responding);

   129

            }

   130

   131

            old_status = master_status;

   132

        }

   133

   134

        rt_task_wait_period();

   135

    }

   136

}

   137

   138

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

   139

   140

int request_lock(void *data)

   141

{

   142

    // too close to the next real time cycle: deny access...

   143

    if (get_cycles() - t_last_cycle > t_critical) return -1;

   144

   145

    // allow access

   146

    rt_sem_wait(&master_sem);

   147

    return 0;

   148

}

   149

   150

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

   151

   152

void release_lock(void *data)

   153

{

   154

    rt_sem_signal(&master_sem);

   155

}

   156

   157

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

   158

   159

int __init init_mod(void)

   160

{

   161

    RTIME tick_period, requested_ticks, now;

   162

   163

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

   164

   165

    rt_sem_init(&master_sem, 1);

   166

   167

    t_critical = cpu_khz * 1000 / FREQUENCY - cpu_khz * INHIBIT_TIME / 1000;

   168

   169

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

   170

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

   171

        goto out_return;

   172

    }

   173

   174

    ecrt_master_callbacks(master, request_lock, release_lock, NULL);

   175

   176

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

   177

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

   178

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

   179

        goto out_release_master;

   180

    }

   181

   182

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

   183

    if (ecrt_domain_register_pdo_list(domain1, domain1_pdo_regs)) {

   184

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

   185

        goto out_release_master;

   186

    }

   187

   188

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

   189

    if (ecrt_master_activate(master)) {

   190

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

   191

        goto out_release_master;

   192

    }

   193

   194

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

   195

    requested_ticks = nano2count(TIMERTICKS);

   196

    tick_period = start_rt_timer(requested_ticks);

   197

    printk(KERN_INFO PFX "RT timer started with %i/%i ticks.\n",

   198

           (int) tick_period, (int) requested_ticks);

   199

   200

    if (rt_task_init(&task, run, 0, 2000, 0, 1, NULL)) {

   201

        printk(KERN_ERR PFX "Failed to init RTAI task!\n");

   202

        goto out_stop_timer;

   203

    }

   204

   205

    now = rt_get_time();

   206

    if (rt_task_make_periodic(&task, now + tick_period, tick_period)) {

   207

        printk(KERN_ERR PFX "Failed to run RTAI task!\n");

   208

        goto out_stop_task;

   209

    }

   210

   211

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

   212

    return 0;

   213

   214

 out_stop_task:

   215

    rt_task_delete(&task);

   216

 out_stop_timer:

   217

    stop_rt_timer();

   218

 out_release_master:

   219

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

   220

    ecrt_release_master(master);

   221

 out_return:

   222

    rt_sem_delete(&master_sem);

   223

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

   224

    return -1;

   225

}

   226

   227

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

   228

   229

void __exit cleanup_mod(void)

   230

{

   231

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

   232

   233

    rt_task_delete(&task);

   234

    stop_rt_timer();

   235

    ecrt_release_master(master);

   236

    rt_sem_delete(&master_sem);

   237

   238

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

   239

}

   240

   241

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

   242

   243

MODULE_LICENSE("GPL");

   244

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

   245

MODULE_DESCRIPTION("EtherCAT RTAI sample module");

   246

   247

module_init(init_mod);

   248

module_exit(cleanup_mod);

   249

   250

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