author | Florian Pose <fp@igh.de> |
Wed, 06 Dec 2017 10:09:50 +0100 | |
branch | stable-1.5 |
changeset 2692 | cb240525acb6 |
parent 2421 | bc2d4bf9cbe5 |
permissions | -rw-r--r-- |
1414 | 1 |
/****************************************************************************** |
2 |
* |
|
3 |
* Distributed clocks sample for the IgH EtherCAT master. |
|
4 |
* |
|
5 |
* $Id$ |
|
6 |
* |
|
7 |
* Copyright (C) 2006-2008 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 and/or |
|
12 |
* modify it under the terms of the GNU General Public License version 2, as |
|
13 |
* published by the Free Software Foundation. |
|
14 |
* |
|
15 |
* The IgH EtherCAT Master is distributed in the hope that it will be useful, |
|
16 |
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|
17 |
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General |
|
18 |
* Public License for more details. |
|
19 |
* |
|
20 |
* You should have received a copy of the GNU General Public License along |
|
21 |
* with the IgH EtherCAT Master; if not, write to the Free Software |
|
22 |
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
|
23 |
* |
|
24 |
* --- |
|
25 |
* |
|
26 |
* The license mentioned above concerns the source code only. Using the |
|
27 |
* EtherCAT technology and brand is only permitted in compliance with the |
|
28 |
* industrial property and similar rights of Beckhoff Automation GmbH. |
|
29 |
* |
|
30 |
*****************************************************************************/ |
|
31 |
||
32 |
// Linux |
|
33 |
#include <linux/module.h> |
|
34 |
#include <linux/err.h> |
|
35 |
||
36 |
// RTAI |
|
37 |
#include <rtai_sched.h> |
|
38 |
#include <rtai_sem.h> |
|
39 |
||
40 |
// EtherCAT |
|
41 |
#include "../../include/ecrt.h" |
|
42 |
||
43 |
/*****************************************************************************/ |
|
44 |
||
45 |
// Module parameters |
|
46 |
||
47 |
#define FREQUENCY 1000 // task frequency in Hz |
|
48 |
#define INHIBIT_TIME 20 |
|
49 |
||
50 |
#define TIMERTICKS (1000000000 / FREQUENCY) |
|
51 |
||
52 |
#define NUM_DIG_OUT 1 |
|
53 |
||
1434
4c6fe0ae37f1
Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents:
1417
diff
changeset
|
54 |
#define PFX "ec_dc_rtai_sample: " |
1414 | 55 |
|
56 |
/*****************************************************************************/ |
|
57 |
||
58 |
// EtherCAT |
|
59 |
static ec_master_t *master = NULL; |
|
60 |
static ec_master_state_t master_state = {}; |
|
61 |
||
62 |
static ec_domain_t *domain1 = NULL; |
|
63 |
static ec_domain_state_t domain1_state = {}; |
|
64 |
||
65 |
// RTAI |
|
66 |
static RT_TASK task; |
|
67 |
static SEM master_sem; |
|
68 |
static cycles_t t_last_cycle = 0, t_critical; |
|
69 |
||
70 |
/*****************************************************************************/ |
|
71 |
||
72 |
// process data |
|
73 |
static uint8_t *domain1_pd; // process data memory |
|
74 |
||
75 |
#define DigOutSlavePos(X) 0, (1 + (X)) |
|
76 |
#define CounterSlavePos 0, 2 |
|
77 |
||
78 |
#define Beckhoff_EK1100 0x00000002, 0x044c2c52 |
|
79 |
#define Beckhoff_EL2008 0x00000002, 0x07d83052 |
|
80 |
#define IDS_Counter 0x000012ad, 0x05de3052 |
|
81 |
||
82 |
static int off_dig_out[NUM_DIG_OUT]; |
|
83 |
static int off_counter_in; |
|
84 |
static int off_counter_out; |
|
85 |
||
86 |
static unsigned int counter = 0; |
|
87 |
static unsigned int blink_counter = 0; |
|
88 |
static unsigned int blink = 0; |
|
89 |
static u32 counter_value = 0U; |
|
90 |
||
91 |
/*****************************************************************************/ |
|
92 |
||
93 |
static ec_pdo_entry_info_t el2008_channels[] = { |
|
94 |
{0x7000, 1, 1}, |
|
95 |
{0x7010, 1, 1}, |
|
96 |
{0x7020, 1, 1}, |
|
97 |
{0x7030, 1, 1}, |
|
98 |
{0x7040, 1, 1}, |
|
99 |
{0x7050, 1, 1}, |
|
100 |
{0x7060, 1, 1}, |
|
101 |
{0x7070, 1, 1} |
|
102 |
}; |
|
103 |
||
104 |
static ec_pdo_info_t el2008_pdos[] = { |
|
105 |
{0x1600, 1, &el2008_channels[0]}, |
|
106 |
{0x1601, 1, &el2008_channels[1]}, |
|
107 |
{0x1602, 1, &el2008_channels[2]}, |
|
108 |
{0x1603, 1, &el2008_channels[3]}, |
|
109 |
{0x1604, 1, &el2008_channels[4]}, |
|
110 |
{0x1605, 1, &el2008_channels[5]}, |
|
111 |
{0x1606, 1, &el2008_channels[6]}, |
|
112 |
{0x1607, 1, &el2008_channels[7]} |
|
113 |
}; |
|
114 |
||
115 |
static ec_sync_info_t el2008_syncs[] = { |
|
116 |
{0, EC_DIR_OUTPUT, 8, el2008_pdos}, |
|
117 |
{1, EC_DIR_INPUT}, |
|
118 |
{0xff} |
|
119 |
}; |
|
120 |
||
121 |
/*****************************************************************************/ |
|
122 |
||
123 |
void check_domain1_state(void) |
|
124 |
{ |
|
125 |
ec_domain_state_t ds; |
|
126 |
||
1500
ed1a733efbc5
Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents:
1466
diff
changeset
|
127 |
rt_sem_wait(&master_sem); |
1414 | 128 |
ecrt_domain_state(domain1, &ds); |
1500
ed1a733efbc5
Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents:
1466
diff
changeset
|
129 |
rt_sem_signal(&master_sem); |
1414 | 130 |
|
131 |
if (ds.working_counter != domain1_state.working_counter) |
|
132 |
printk(KERN_INFO PFX "Domain1: WC %u.\n", ds.working_counter); |
|
133 |
if (ds.wc_state != domain1_state.wc_state) |
|
134 |
printk(KERN_INFO PFX "Domain1: State %u.\n", ds.wc_state); |
|
135 |
||
136 |
domain1_state = ds; |
|
137 |
} |
|
138 |
||
139 |
/*****************************************************************************/ |
|
140 |
||
141 |
void check_master_state(void) |
|
142 |
{ |
|
143 |
ec_master_state_t ms; |
|
144 |
||
1500
ed1a733efbc5
Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents:
1466
diff
changeset
|
145 |
rt_sem_wait(&master_sem); |
1414 | 146 |
ecrt_master_state(master, &ms); |
1500
ed1a733efbc5
Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents:
1466
diff
changeset
|
147 |
rt_sem_signal(&master_sem); |
1414 | 148 |
|
149 |
if (ms.slaves_responding != master_state.slaves_responding) |
|
150 |
printk(KERN_INFO PFX "%u slave(s).\n", ms.slaves_responding); |
|
151 |
if (ms.al_states != master_state.al_states) |
|
152 |
printk(KERN_INFO PFX "AL states: 0x%02X.\n", ms.al_states); |
|
153 |
if (ms.link_up != master_state.link_up) |
|
154 |
printk(KERN_INFO PFX "Link is %s.\n", ms.link_up ? "up" : "down"); |
|
155 |
||
156 |
master_state = ms; |
|
157 |
} |
|
158 |
||
159 |
/*****************************************************************************/ |
|
160 |
||
161 |
void run(long data) |
|
162 |
{ |
|
163 |
int i; |
|
1508 | 164 |
struct timeval tv; |
1414 | 165 |
unsigned int sync_ref_counter = 0; |
166 |
||
167 |
count2timeval(nano2count(rt_get_real_time_ns()), &tv); |
|
168 |
||
169 |
while (1) { |
|
170 |
t_last_cycle = get_cycles(); |
|
171 |
||
172 |
// receive process data |
|
173 |
rt_sem_wait(&master_sem); |
|
174 |
ecrt_master_receive(master); |
|
175 |
ecrt_domain_process(domain1); |
|
176 |
rt_sem_signal(&master_sem); |
|
177 |
||
178 |
// check process data state (optional) |
|
179 |
check_domain1_state(); |
|
180 |
||
181 |
if (counter) { |
|
182 |
counter--; |
|
183 |
} else { |
|
1508 | 184 |
u32 c; |
185 |
||
1414 | 186 |
counter = FREQUENCY; |
187 |
||
188 |
// check for master state (optional) |
|
189 |
check_master_state(); |
|
190 |
||
1508 | 191 |
c = EC_READ_U32(domain1_pd + off_counter_in); |
192 |
if (counter_value != c) { |
|
193 |
counter_value = c; |
|
194 |
printk(KERN_INFO PFX "counter=%u\n", counter_value); |
|
195 |
} |
|
1414 | 196 |
|
197 |
} |
|
198 |
||
199 |
if (blink_counter) { |
|
200 |
blink_counter--; |
|
201 |
} else { |
|
202 |
blink_counter = 9; |
|
203 |
||
204 |
// calculate new process data |
|
205 |
blink = !blink; |
|
206 |
} |
|
207 |
||
208 |
// write process data |
|
209 |
for (i = 0; i < NUM_DIG_OUT; i++) { |
|
210 |
EC_WRITE_U8(domain1_pd + off_dig_out[i], blink ? 0x66 : 0x99); |
|
211 |
} |
|
212 |
||
1508 | 213 |
EC_WRITE_U8(domain1_pd + off_counter_out, blink ? 0x00 : 0x02); |
1414 | 214 |
|
215 |
rt_sem_wait(&master_sem); |
|
1508 | 216 |
|
1414 | 217 |
tv.tv_usec += 1000; |
218 |
if (tv.tv_usec >= 1000000) { |
|
219 |
tv.tv_usec -= 1000000; |
|
220 |
tv.tv_sec++; |
|
221 |
} |
|
1466
362147819ca1
EC_TIMEVAL2NANO() takes no pointer argument any more.
Florian Pose <fp@igh-essen.com>
parents:
1449
diff
changeset
|
222 |
ecrt_master_application_time(master, EC_TIMEVAL2NANO(tv)); |
2421 | 223 |
|
1414 | 224 |
if (sync_ref_counter) { |
225 |
sync_ref_counter--; |
|
226 |
} else { |
|
227 |
sync_ref_counter = 9; |
|
1434
4c6fe0ae37f1
Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents:
1417
diff
changeset
|
228 |
ecrt_master_sync_reference_clock(master); |
1414 | 229 |
} |
1508 | 230 |
ecrt_master_sync_slave_clocks(master); |
1414 | 231 |
ecrt_domain_queue(domain1); |
232 |
ecrt_master_send(master); |
|
233 |
rt_sem_signal(&master_sem); |
|
1508 | 234 |
|
1414 | 235 |
rt_task_wait_period(); |
236 |
} |
|
237 |
} |
|
238 |
||
239 |
/*****************************************************************************/ |
|
240 |
||
1513
60ca68d853b8
Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
241 |
void send_callback(void *cb_data) |
60ca68d853b8
Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
242 |
{ |
60ca68d853b8
Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
243 |
ec_master_t *m = (ec_master_t *) cb_data; |
60ca68d853b8
Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
244 |
|
1414 | 245 |
// too close to the next real time cycle: deny access... |
1500
ed1a733efbc5
Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents:
1466
diff
changeset
|
246 |
if (get_cycles() - t_last_cycle <= t_critical) { |
ed1a733efbc5
Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents:
1466
diff
changeset
|
247 |
rt_sem_wait(&master_sem); |
1513
60ca68d853b8
Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
248 |
ecrt_master_send_ext(m); |
1500
ed1a733efbc5
Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents:
1466
diff
changeset
|
249 |
rt_sem_signal(&master_sem); |
ed1a733efbc5
Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents:
1466
diff
changeset
|
250 |
} |
ed1a733efbc5
Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents:
1466
diff
changeset
|
251 |
} |
ed1a733efbc5
Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents:
1466
diff
changeset
|
252 |
|
ed1a733efbc5
Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents:
1466
diff
changeset
|
253 |
/*****************************************************************************/ |
ed1a733efbc5
Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents:
1466
diff
changeset
|
254 |
|
1513
60ca68d853b8
Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
255 |
void receive_callback(void *cb_data) |
60ca68d853b8
Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
256 |
{ |
60ca68d853b8
Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
257 |
ec_master_t *m = (ec_master_t *) cb_data; |
60ca68d853b8
Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
258 |
|
1500
ed1a733efbc5
Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents:
1466
diff
changeset
|
259 |
// too close to the next real time cycle: deny access... |
ed1a733efbc5
Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents:
1466
diff
changeset
|
260 |
if (get_cycles() - t_last_cycle <= t_critical) { |
ed1a733efbc5
Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents:
1466
diff
changeset
|
261 |
rt_sem_wait(&master_sem); |
1513
60ca68d853b8
Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
262 |
ecrt_master_receive(m); |
1500
ed1a733efbc5
Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents:
1466
diff
changeset
|
263 |
rt_sem_signal(&master_sem); |
ed1a733efbc5
Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents:
1466
diff
changeset
|
264 |
} |
1414 | 265 |
} |
266 |
||
267 |
/*****************************************************************************/ |
|
268 |
||
269 |
int __init init_mod(void) |
|
270 |
{ |
|
271 |
int ret = -1, i; |
|
272 |
RTIME tick_period, requested_ticks, now; |
|
273 |
ec_slave_config_t *sc; |
|
274 |
||
275 |
printk(KERN_INFO PFX "Starting...\n"); |
|
276 |
||
277 |
rt_sem_init(&master_sem, 1); |
|
278 |
||
279 |
t_critical = cpu_khz * 1000 / FREQUENCY - cpu_khz * INHIBIT_TIME / 1000; |
|
280 |
||
281 |
master = ecrt_request_master(0); |
|
282 |
if (!master) { |
|
2421 | 283 |
ret = -EBUSY; |
1414 | 284 |
printk(KERN_ERR PFX "Requesting master 0 failed!\n"); |
285 |
goto out_return; |
|
286 |
} |
|
287 |
||
1513
60ca68d853b8
Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
288 |
ecrt_master_callbacks(master, send_callback, receive_callback, master); |
1414 | 289 |
|
290 |
printk(KERN_INFO PFX "Registering domain...\n"); |
|
291 |
if (!(domain1 = ecrt_master_create_domain(master))) { |
|
292 |
printk(KERN_ERR PFX "Domain creation failed!\n"); |
|
293 |
goto out_release_master; |
|
294 |
} |
|
295 |
||
296 |
printk(KERN_INFO PFX "Configuring PDOs...\n"); |
|
297 |
||
298 |
// create configuration for reference clock FIXME |
|
1508 | 299 |
if (!(sc = ecrt_master_slave_config(master, 0, 0, Beckhoff_EK1100))) { |
300 |
printk(KERN_ERR PFX "Failed to get slave configuration.\n"); |
|
301 |
goto out_release_master; |
|
302 |
} |
|
1414 | 303 |
|
304 |
for (i = 0; i < NUM_DIG_OUT; i++) { |
|
305 |
if (!(sc = ecrt_master_slave_config(master, |
|
306 |
DigOutSlavePos(i), Beckhoff_EL2008))) { |
|
307 |
printk(KERN_ERR PFX "Failed to get slave configuration.\n"); |
|
308 |
goto out_release_master; |
|
309 |
} |
|
310 |
||
311 |
if (ecrt_slave_config_pdos(sc, EC_END, el2008_syncs)) { |
|
312 |
printk(KERN_ERR PFX "Failed to configure PDOs.\n"); |
|
313 |
goto out_release_master; |
|
314 |
} |
|
315 |
||
316 |
off_dig_out[i] = ecrt_slave_config_reg_pdo_entry(sc, |
|
317 |
0x7000, 1, domain1, NULL); |
|
318 |
||
319 |
if (off_dig_out[i] < 0) |
|
320 |
goto out_release_master; |
|
321 |
} |
|
322 |
||
1508 | 323 |
if (!(sc = ecrt_master_slave_config(master, |
324 |
CounterSlavePos, IDS_Counter))) { |
|
325 |
printk(KERN_ERR PFX "Failed to get slave configuration.\n"); |
|
326 |
goto out_release_master; |
|
327 |
} |
|
328 |
off_counter_in = ecrt_slave_config_reg_pdo_entry(sc, |
|
329 |
0x6020, 0x11, domain1, NULL); |
|
330 |
if (off_counter_in < 0) |
|
331 |
goto out_release_master; |
|
332 |
off_counter_out = ecrt_slave_config_reg_pdo_entry(sc, |
|
333 |
0x7020, 1, domain1, NULL); |
|
334 |
if (off_counter_out < 0) |
|
335 |
goto out_release_master; |
|
1414 | 336 |
|
337 |
// configure SYNC signals for this slave |
|
1508 | 338 |
ecrt_slave_config_dc(sc, 0x0700, 1000000, 440000, 0, 0); |
1414 | 339 |
|
340 |
printk(KERN_INFO PFX "Activating master...\n"); |
|
341 |
if (ecrt_master_activate(master)) { |
|
342 |
printk(KERN_ERR PFX "Failed to activate master!\n"); |
|
343 |
goto out_release_master; |
|
344 |
} |
|
345 |
||
346 |
// Get internal process data for domain |
|
347 |
domain1_pd = ecrt_domain_data(domain1); |
|
348 |
||
349 |
printk(KERN_INFO PFX "Starting cyclic sample thread...\n"); |
|
350 |
requested_ticks = nano2count(TIMERTICKS); |
|
351 |
tick_period = start_rt_timer(requested_ticks); |
|
352 |
printk(KERN_INFO PFX "RT timer started with %i/%i ticks.\n", |
|
353 |
(int) tick_period, (int) requested_ticks); |
|
354 |
||
355 |
if (rt_task_init(&task, run, 0, 2000, 0, 1, NULL)) { |
|
356 |
printk(KERN_ERR PFX "Failed to init RTAI task!\n"); |
|
357 |
goto out_stop_timer; |
|
358 |
} |
|
359 |
||
360 |
now = rt_get_time(); |
|
361 |
if (rt_task_make_periodic(&task, now + tick_period, tick_period)) { |
|
362 |
printk(KERN_ERR PFX "Failed to run RTAI task!\n"); |
|
363 |
goto out_stop_task; |
|
364 |
} |
|
365 |
||
366 |
printk(KERN_INFO PFX "Initialized.\n"); |
|
367 |
return 0; |
|
368 |
||
369 |
out_stop_task: |
|
370 |
rt_task_delete(&task); |
|
371 |
out_stop_timer: |
|
372 |
stop_rt_timer(); |
|
373 |
out_release_master: |
|
374 |
printk(KERN_ERR PFX "Releasing master...\n"); |
|
375 |
ecrt_release_master(master); |
|
376 |
out_return: |
|
377 |
rt_sem_delete(&master_sem); |
|
378 |
printk(KERN_ERR PFX "Failed to load. Aborting.\n"); |
|
379 |
return ret; |
|
380 |
} |
|
381 |
||
382 |
/*****************************************************************************/ |
|
383 |
||
384 |
void __exit cleanup_mod(void) |
|
385 |
{ |
|
386 |
printk(KERN_INFO PFX "Stopping...\n"); |
|
387 |
||
388 |
rt_task_delete(&task); |
|
389 |
stop_rt_timer(); |
|
390 |
ecrt_release_master(master); |
|
391 |
rt_sem_delete(&master_sem); |
|
392 |
||
393 |
printk(KERN_INFO PFX "Unloading.\n"); |
|
394 |
} |
|
395 |
||
396 |
/*****************************************************************************/ |
|
397 |
||
398 |
MODULE_LICENSE("GPL"); |
|
399 |
MODULE_AUTHOR("Florian Pose <fp@igh-essen.com>"); |
|
400 |
MODULE_DESCRIPTION("EtherCAT distributed clocks sample module"); |
|
401 |
||
402 |
module_init(init_mod); |
|
403 |
module_exit(cleanup_mod); |
|
404 |
||
405 |
/*****************************************************************************/ |