author | Florian Pose <fp@igh-essen.com> |
Mon, 08 Jan 2007 08:36:57 +0000 | |
changeset 513 | d91976aea8c8 |
parent 512 | 24292123d174 |
child 516 | f703e33ee395 |
permissions | -rw-r--r-- |
220 | 1 |
/****************************************************************************** |
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* |
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* RTAI 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 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; either version 2 of the |
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* License, or (at your option) any later version. |
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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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* The right to use EtherCAT Technology is granted and comes free of |
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* charge under condition of compatibility of product made by |
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* Licensee. People intending to distribute/sell products based on the |
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* code, have to sign an agreement to guarantee that products using |
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* software based on IgH EtherCAT master stay compatible with the actual |
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* EtherCAT specification (which are released themselves as an open |
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* standard) as the (only) precondition to have the right to use EtherCAT |
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* Technology, IP and trade marks. |
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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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// 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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#include "../../include/ecdb.h" |
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/*****************************************************************************/ |
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// RTAI task frequency in Hz |
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#define FREQUENCY 10000 |
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#define INHIBIT_TIME 20 |
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#define TIMERTICKS (1000000000 / FREQUENCY) |
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/*****************************************************************************/ |
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// RTAI |
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RT_TASK task; |
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SEM master_sem; |
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cycles_t t_last_cycle = 0, t_critical; |
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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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// data fields |
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void *r_ana_out; |
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// channels |
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uint32_t k_pos; |
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ec_pdo_reg_t domain1_pdos[] = { |
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{"2", Beckhoff_EL4132_Output1, &r_ana_out}, |
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{} |
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}; |
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/*****************************************************************************/ |
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void run(long data) |
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{ |
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while (1) { |
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t_last_cycle = get_cycles(); |
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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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// process data |
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//k_pos = EC_READ_U32(r_ssi_input); |
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rt_sem_wait(&master_sem); |
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93 |
ecrt_domain_queue(domain1); |
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ecrt_master_run(master); |
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ecrt_master_send(master); |
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96 |
rt_sem_signal(&master_sem); |
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97 |
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98 |
rt_task_wait_period(); |
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99 |
} |
220 | 100 |
} |
101 |
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102 |
/*****************************************************************************/ |
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103 |
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104 |
int request_lock(void *data) |
|
105 |
{ |
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106 |
// too close to the next real time cycle: deny access... |
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107 |
if (get_cycles() - t_last_cycle > t_critical) return -1; |
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108 |
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109 |
// allow access |
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110 |
rt_sem_wait(&master_sem); |
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111 |
return 0; |
220 | 112 |
} |
113 |
||
114 |
/*****************************************************************************/ |
|
115 |
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116 |
void release_lock(void *data) |
|
117 |
{ |
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118 |
rt_sem_signal(&master_sem); |
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119 |
} |
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120 |
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121 |
/*****************************************************************************/ |
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122 |
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123 |
int __init init_mod(void) |
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124 |
{ |
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125 |
RTIME tick_period, requested_ticks, now; |
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126 |
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printk(KERN_INFO "=== Starting EtherCAT RTAI sample module... ===\n"); |
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128 |
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129 |
rt_sem_init(&master_sem, 1); |
220 | 130 |
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131 |
t_critical = cpu_khz * 1000 / FREQUENCY - cpu_khz * INHIBIT_TIME / 1000; |
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133 |
if (!(master = ecrt_request_master(0))) { |
220 | 134 |
printk(KERN_ERR "Requesting master 0 failed!\n"); |
135 |
goto out_return; |
|
136 |
} |
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137 |
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138 |
ecrt_master_callbacks(master, request_lock, release_lock, NULL); |
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139 |
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140 |
printk(KERN_INFO "Creating domain...\n"); |
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141 |
if (!(domain1 = ecrt_master_create_domain(master))) { |
220 | 142 |
printk(KERN_ERR "Domain creation failed!\n"); |
143 |
goto out_release_master; |
|
144 |
} |
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145 |
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146 |
printk(KERN_INFO "Registering PDOs...\n"); |
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147 |
if (ecrt_domain_register_pdo_list(domain1, domain1_pdos)) { |
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148 |
printk(KERN_ERR "PDO registration failed!\n"); |
220 | 149 |
goto out_release_master; |
150 |
} |
|
151 |
||
152 |
printk(KERN_INFO "Activating master...\n"); |
|
153 |
if (ecrt_master_activate(master)) { |
|
154 |
printk(KERN_ERR "Failed to activate master!\n"); |
|
155 |
goto out_release_master; |
|
156 |
} |
|
157 |
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158 |
printk("Starting cyclic sample thread...\n"); |
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159 |
requested_ticks = nano2count(TIMERTICKS); |
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160 |
tick_period = start_rt_timer(requested_ticks); |
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161 |
printk(KERN_INFO "RT timer started with %i/%i ticks.\n", |
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162 |
(int) tick_period, (int) requested_ticks); |
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164 |
if (rt_task_init(&task, run, 0, 2000, 0, 1, NULL)) { |
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165 |
printk(KERN_ERR "Failed to init RTAI task!\n"); |
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166 |
goto out_stop_timer; |
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167 |
} |
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168 |
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169 |
now = rt_get_time(); |
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170 |
if (rt_task_make_periodic(&task, now + tick_period, tick_period)) { |
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171 |
printk(KERN_ERR "Failed to run RTAI task!\n"); |
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goto out_stop_task; |
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173 |
} |
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174 |
|
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printk(KERN_INFO "=== EtherCAT RTAI sample module started. ===\n"); |
220 | 176 |
return 0; |
177 |
||
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out_stop_task: |
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rt_task_delete(&task); |
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out_stop_timer: |
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stop_rt_timer(); |
220 | 182 |
out_release_master: |
183 |
ecrt_release_master(master); |
|
184 |
out_return: |
|
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rt_sem_delete(&master_sem); |
220 | 186 |
return -1; |
187 |
} |
|
188 |
||
189 |
/*****************************************************************************/ |
|
190 |
||
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191 |
void __exit cleanup_mod(void) |
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192 |
{ |
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193 |
printk(KERN_INFO "=== Stopping EtherCAT RTAI sample module... ===\n"); |
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194 |
|
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195 |
rt_task_delete(&task); |
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196 |
stop_rt_timer(); |
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197 |
ecrt_release_master(master); |
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198 |
rt_sem_delete(&master_sem); |
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199 |
|
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printk(KERN_INFO "=== EtherCAT RTAI sample module stopped. ===\n"); |
220 | 201 |
} |
202 |
||
203 |
/*****************************************************************************/ |
|
204 |
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205 |
MODULE_LICENSE("GPL"); |
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MODULE_AUTHOR("Florian Pose <fp@igh-essen.com>"); |
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MODULE_DESCRIPTION("EtherCAT RTAI sample module"); |
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208 |
|
225
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209 |
module_init(init_mod); |
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210 |
module_exit(cleanup_mod); |
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211 |
|
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212 |
/*****************************************************************************/ |