1

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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH

     6

 *

     7

 *  This file is part of the IgH EtherCAT Master.

     8

 *

     9

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

    10

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

    11

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

    12

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

    13

 *

    14

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

    15

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

    16

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    17

 *  GNU General Public License for more details.

    18

 *

    19

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

    20

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

    21

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

    22

 *

    23

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

    24

 *  charge under condition of compatibility of product made by

    25

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

    26

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

    27

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

    28

 *  EtherCAT specification (which are released themselves as an open

    29

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

    30

 *  Technology, IP and trade marks.

    31

 *

    32

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

    33

    34

// Linux

    35

#include <linux/module.h>

    36

    37

// RTAI

    38

#include "rtai_sched.h"

    39

#include "rtai_sem.h"

    40

    41

// RT_lib

    42

#include <msr_main.h>

    43

#include <msr_reg.h>

    44

#include <msr_time.h>

    45

    46

// EtherCAT

    47

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

    48

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

    49

    50

#define MSR_ABTASTFREQUENZ 1000

    51

    52

#define HZREDUCTION (MSR_ABTASTFREQUENZ / HZ)

    53

#define TIMERTICKS (1000000000 / MSR_ABTASTFREQUENZ)

    54

    55

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

    56

    57

// RTAI

    58

RT_TASK task;

    59

SEM master_sem;

    60

cycles_t t_start = 0, t_critical;

    61

    62

// EtherCAT

    63

ec_master_t *master = NULL;

    64

ec_domain_t *domain1 = NULL;

    65

    66

// raw process data

    67

void *r_ana_out;

    68

    69

// channels

    70

double k_ana_out;

    71

    72

ec_pdo_reg_t domain1_pdos[] = {

    73

    {"3", Beckhoff_EL4132_Output1, &r_ana_out},

    74

    {}

    75

};

    76

    77

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

    78

    79

void msr_controller_run(void)

    80

{

    81

    // receive

    82

    rt_sem_wait(&master_sem);

    83

    ecrt_master_receive(master);

    84

    ecrt_domain_process(domain1);

    85

    rt_sem_signal(&master_sem);

    86

    87

    // Process data

    88

    EC_WRITE_S16(r_ana_out, k_ana_out / 10.0 * 0x7FFF);

    89

    90

    // Send

    91

    rt_sem_wait(&master_sem);

    92

    ecrt_domain_queue(domain1);

    93

    ecrt_master_run(master);

    94

    ecrt_master_send(master);

    95

    rt_sem_signal(&master_sem);

    96

    97

    msr_write_kanal_list();

    98

}

    99

   100

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

   101

   102

void msr_run(long data)

   103

{

   104

    while (1) {

   105

        t_start = get_cycles();

   106

        MSR_RTAITHREAD_CODE(msr_controller_run(););

   107

        rt_task_wait_period();

   108

    }

   109

}

   110

   111

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

   112

   113

int msr_reg(void)

   114

{

   115

    msr_reg_kanal("/ana_out", "", &k_ana_out, TDBL);

   116

    return 0;

   117

}

   118

   119

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

   120

   121

int request_lock(void *data)

   122

{

   123

    // too close to the next RT cycle: deny access...

   124

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

   125

   126

    // allow access

   127

    rt_sem_wait(&master_sem);

   128

    return 0;

   129

}

   130

   131

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

   132

   133

void release_lock(void *data)

   134

{

   135

    rt_sem_signal(&master_sem);

   136

}

   137

   138

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

   139

   140

int __init init_mod(void)

   141

{

   142

    RTIME ticks;

   143

   144

    printk(KERN_INFO "=== Starting EtherCAT RTAI MSR sample module... ===\n");

   145

   146

    rt_sem_init(&master_sem, 1);

   147

    t_critical = cpu_khz * 800 / MSR_ABTASTFREQUENZ; // ticks for 80%

   148

   149

    if (msr_rtlib_init(1, MSR_ABTASTFREQUENZ, 10, &msr_reg) < 0) {

   150

        printk(KERN_ERR "Failed to initialize rtlib!\n");

   151

        goto out_return;

   152

    }

   153

   154

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

   155

        printk(KERN_ERR "Failed to request master 0!\n");

   156

        goto out_msr_cleanup;

   157

    }

   158

   159

    ecrt_master_callbacks(master, request_lock, release_lock, NULL);

   160

   161

    printk(KERN_INFO "Creating domains...\n");

   162

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

   163

        printk(KERN_ERR "Failed to create domains!\n");

   164

        goto out_release_master;

   165

    }

   166

   167

    printk(KERN_INFO "Registering PDOs...\n");

   168

    if (ecrt_domain_register_pdo_list(domain1, domain1_pdos)) {

   169

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

   170

        goto out_release_master;

   171

    }

   172

   173

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

   174

    if (ecrt_master_activate(master)) {

   175

        printk(KERN_ERR "Could not activate master!\n");

   176

        goto out_release_master;

   177

    }

   178

   179

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

   180

    ticks = start_rt_timer(nano2count(TIMERTICKS));

   181

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

   182

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

   183

        goto out_stop_timer;

   184

    }

   185

    if (rt_task_make_periodic(&task, rt_get_time() + ticks, ticks)) {

   186

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

   187

        goto out_stop_task;

   188

    }

   189

   190

    printk(KERN_INFO "=== EtherCAT RTAI MSR sample module started. ===\n");

   191

    return 0;

   192

   193

 out_stop_task:

   194

    rt_task_delete(&task);

   195

 out_stop_timer:

   196

    stop_rt_timer();

   197

 out_release_master:

   198

    ecrt_release_master(master);

   199

 out_msr_cleanup:

   200

    msr_rtlib_cleanup();

   201

 out_return:

   202

    rt_sem_delete(&master_sem);

   203

    return -1;

   204

}

   205

   206

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

   207

   208

void __exit cleanup_mod(void)

   209

{

   210

    printk(KERN_INFO "=== Unloading EtherCAT RTAI MSR sample module... ===\n");

   211

   212

    rt_task_delete(&task);

   213

    stop_rt_timer();

   214

    ecrt_release_master(master);

   215

    rt_sem_delete(&master_sem);

   216

    msr_rtlib_cleanup();

   217

   218

    printk(KERN_INFO "=== EtherCAT RTAI MSR sample module unloaded. ===\n");

   219

}

   220

   221

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

   222

   223

MODULE_LICENSE("GPL");

   224

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

   225

MODULE_DESCRIPTION("EtherCAT RTAI MSR sample module");

   226

   227

module_init(init_mod);

   228

module_exit(cleanup_mod);

   229

   230

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