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

     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

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 *  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

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 *

    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

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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

    29

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

    33

    34

#include <linux/module.h>

    35

#include <linux/timer.h>

    36

#include <linux/spinlock.h>

    37

#include <linux/interrupt.h>

    38

    39

#include "../../include/ecrt.h" // EtherCAT realtime interface

    40

    41

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

    42

    43

// Module parameters

    44

#define FREQUENCY 100

    45

    46

// Optional features

    47

#define CONFIGURE_PDOS  1

    48

#define EL3152_ALT_PDOS 0

    49

#define EXTERNAL_MEMORY 1

    50

#define SDO_ACCESS      0

    51

    52

#define PFX "ec_mini: "

    53

    54

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

    55

    56

// EtherCAT

    57

static ec_master_t *master = NULL;

    58

static ec_master_state_t master_state = {};

    59

spinlock_t master_lock = SPIN_LOCK_UNLOCKED;

    60

    61

static ec_domain_t *domain1 = NULL;

    62

static ec_domain_state_t domain1_state = {};

    63

    64

static ec_slave_config_t *sc_ana_in = NULL;

    65

static ec_slave_config_state_t sc_ana_in_state = {};

    66

    67

// Timer

    68

static struct timer_list timer;

    69

    70

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

    71

    72

// process data

    73

static uint8_t *domain1_pd; // process data memory

    74

    75

#define AnaInSlavePos  0, 1

    76

#define AnaOutSlavePos 0, 2

    77

#define DigOutSlavePos 0, 3

    78

    79

#define Beckhoff_EL2004 0x00000002, 0x07D43052

    80

#define Beckhoff_EL3152 0x00000002, 0x0c503052

    81

#define Beckhoff_EL4102 0x00000002, 0x10063052

    82

    83

// offsets for Pdo entries

    84

static unsigned int off_ana_in;

    85

static unsigned int off_ana_out;

    86

static unsigned int off_dig_out;

    87

    88

const static ec_pdo_entry_reg_t domain1_regs[] = {

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#if EL3152_ALT_PDOS

    90

    {AnaInSlavePos,  Beckhoff_EL3152, 0x6401, 1, &off_ana_in},

    91

#else

    92

    {AnaInSlavePos,  Beckhoff_EL3152, 0x3101, 2, &off_ana_in},

    93

#endif

    94

    {AnaOutSlavePos, Beckhoff_EL4102, 0x3001, 1, &off_ana_out},

    95

    {DigOutSlavePos, Beckhoff_EL2004, 0x3001, 1, &off_dig_out},

    96

    {}

    97

};

    98

    99

static unsigned int counter = 0;

   100

static unsigned int blink = 0;

   101

   102

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

   103

   104

#if CONFIGURE_PDOS

   105

   106

// Analog in --------------------------

   107

   108

static ec_pdo_entry_info_t el3152_pdo_entries[] = {

   109

    {0x3101, 1,  8}, // channel 1 status

   110

    {0x3101, 2, 16}, // channel 1 value

   111

    {0x3102, 1,  8}, // channel 2 status

   112

    {0x3102, 2, 16}, // channel 2 value

   113

    {0x6401, 1, 16}, // channel 1 value (alt.)

   114

    {0x6401, 2, 16}  // channel 2 value (alt.)

   115

};

   116

   117

#if EL3152_ALT_PDOS

   118

static ec_pdo_info_t el3152_pdos[] = {

   119

    {0x1A10, 2, el3152_pdo_entries + 4},

   120

};

   121

   122

static ec_sync_info_t el3152_syncs[] = {

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    {2, EC_DIR_OUTPUT},

   124

    {3, EC_DIR_INPUT, 1, el3152_pdos},

   125

    {0xff}

   126

};

   127

#else

   128

static ec_pdo_info_t el3152_pdos[] = {

   129

    {0x1A00, 2, el3152_pdo_entries},

   130

    {0x1A01, 2, el3152_pdo_entries + 2}

   131

};

   132

   133

static ec_sync_info_t el3152_syncs[] = {

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    {2, EC_DIR_OUTPUT},

   135

    {3, EC_DIR_INPUT, 1, el3152_pdos},

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    {0xff}

   137

};

   138

#endif

   139

   140

// Analog out -------------------------

   141

   142

static ec_pdo_entry_info_t el4102_pdo_entries[] = {

   143

    {0x3001, 1, 16}, // channel 1 value

   144

    {0x3002, 1, 16}, // channel 2 value

   145

};

   146

   147

static ec_pdo_info_t el4102_pdos[] = {

   148

    {0x1600, 1, el4102_pdo_entries},

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    {0x1601, 1, el4102_pdo_entries + 1}

   150

};

   151

   152

static ec_sync_info_t el4102_syncs[] = {

   153

    {2, EC_DIR_OUTPUT, 2, el4102_pdos},

   154

    {3, EC_DIR_INPUT},

   155

    {0xff}

   156

};

   157

   158

// Digital out ------------------------

   159

   160

static ec_pdo_entry_info_t el2004_channels[] = {

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    {0x3001, 1, 1}, // Value 1

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    {0x3001, 2, 1}, // Value 2

   163

    {0x3001, 3, 1}, // Value 3

   164

    {0x3001, 4, 1}  // Value 4

   165

};

   166

   167

static ec_pdo_info_t el2004_pdos[] = {

   168

    {0x1600, 1, &el2004_channels[0]},

   169

    {0x1601, 1, &el2004_channels[1]},

   170

    {0x1602, 1, &el2004_channels[2]},

   171

    {0x1603, 1, &el2004_channels[3]}

   172

};

   173

   174

static ec_sync_info_t el2004_syncs[] = {

   175

    {0, EC_DIR_OUTPUT, 4, el2004_pdos},

   176

    {1, EC_DIR_INPUT},

   177

    {0xff}

   178

};

   179

#endif

   180

   181

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

   182

   183

#if SDO_ACCESS

   184

static ec_sdo_request_t *sdo;

   185

#endif

   186

   187

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

   188

   189

void check_domain1_state(void)

   190

{

   191

    ec_domain_state_t ds;

   192

   193

    spin_lock(&master_lock);

   194

    ecrt_domain_state(domain1, &ds);

   195

    spin_unlock(&master_lock);

   196

   197

    if (ds.working_counter != domain1_state.working_counter)

   198

        printk(KERN_INFO PFX "Domain1: WC %u.\n", ds.working_counter);

   199

    if (ds.wc_state != domain1_state.wc_state)

   200

        printk(KERN_INFO PFX "Domain1: State %u.\n", ds.wc_state);

   201

   202

    domain1_state = ds;

   203

}

   204

   205

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

   206

   207

void check_master_state(void)

   208

{

   209

    ec_master_state_t ms;

   210

   211

    spin_lock(&master_lock);

   212

    ecrt_master_state(master, &ms);

   213

    spin_unlock(&master_lock);

   214

   215

    if (ms.slaves_responding != master_state.slaves_responding)

   216

        printk(KERN_INFO PFX "%u slave(s).\n", ms.slaves_responding);

   217

    if (ms.al_states != master_state.al_states)

   218

        printk(KERN_INFO PFX "AL states: 0x%02X.\n", ms.al_states);

   219

    if (ms.link_up != master_state.link_up)

   220

        printk(KERN_INFO PFX "Link is %s.\n", ms.link_up ? "up" : "down");

   221

   222

    master_state = ms;

   223

}

   224

   225

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

   226

   227

void check_slave_config_states(void)

   228

{

   229

    ec_slave_config_state_t s;

   230

   231

    spin_lock(&master_lock);

   232

    ecrt_slave_config_state(sc_ana_in, &s);

   233

    spin_unlock(&master_lock);

   234

   235

    if (s.al_state != sc_ana_in_state.al_state)

   236

        printk(KERN_INFO PFX "AnaIn: State 0x%02X.\n", s.al_state);

   237

    if (s.online != sc_ana_in_state.online)

   238

        printk(KERN_INFO PFX "AnaIn: %s.\n", s.online ? "online" : "offline");

   239

    if (s.operational != sc_ana_in_state.operational)

   240

        printk(KERN_INFO PFX "AnaIn: %soperational.\n",

   241

                s.operational ? "" : "Not ");

   242

   243

    sc_ana_in_state = s;

   244

}

   245

   246

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

   247

   248

#if SDO_ACCESS

   249

void read_sdo(void)

   250

{

   251

    switch (ecrt_sdo_request_state(sdo)) {

   252

        case EC_SDO_REQUEST_UNUSED: // request was not used yet

   253

            ecrt_sdo_request_read(sdo); // trigger first read

   254

            break;

   255

        case EC_SDO_REQUEST_BUSY:

   256

            printk(KERN_INFO PFX "Still busy...\n");

   257

            break;

   258

        case EC_SDO_REQUEST_SUCCESS:

   259

            printk(KERN_INFO PFX "Sdo value: 0x%04X\n",

   260

                    EC_READ_U16(ecrt_sdo_request_data(sdo)));

   261

            ecrt_sdo_request_read(sdo); // trigger next read

   262

            break;

   263

        case EC_SDO_REQUEST_ERROR:

   264

            printk(KERN_INFO PFX "Failed to read Sdo!\n");

   265

            ecrt_sdo_request_read(sdo); // retry reading

   266

            break;

   267

    }

   268

}

   269

#endif

   270

   271

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

   272

   273

void cyclic_task(unsigned long data)

   274

{

   275

    // receive process data

   276

    spin_lock(&master_lock);

   277

    ecrt_master_receive(master);

   278

    ecrt_domain_process(domain1);

   279

    spin_unlock(&master_lock);

   280

   281

    // check process data state (optional)

   282

    check_domain1_state();

   283

   284

    if (counter) {

   285

        counter--;

   286

    } else { // do this at 1 Hz

   287

        counter = FREQUENCY;

   288

   289

        // calculate new process data

   290

        blink = !blink;

   291

   292

        // check for master state (optional)

   293

        check_master_state();

   294

   295

        // check for islave configuration state(s) (optional)

   296

        check_slave_config_states();

   297

   298

#if SDO_ACCESS

   299

        // read process data Sdo

   300

        read_sdo();

   301

#endif

   302

    }

   303

   304

    // write process data

   305

    EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x06 : 0x09);

   306

   307

    // send process data

   308

    spin_lock(&master_lock);

   309

    ecrt_domain_queue(domain1);

   310

    ecrt_master_send(master);

   311

    spin_unlock(&master_lock);

   312

   313

    // restart timer

   314

    timer.expires += HZ / FREQUENCY;

   315

    add_timer(&timer);

   316

}

   317

   318

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

   319

   320

int request_lock(void *data)

   321

{

   322

    spin_lock(&master_lock);

   323

    return 0; // access allowed

   324

}

   325

   326

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

   327

   328

void release_lock(void *data)

   329

{

   330

    spin_unlock(&master_lock);

   331

}

   332

   333

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

   334

   335

int __init init_mini_module(void)

   336

{

   337

#if CONFIGURE_PDOS

   338

    ec_slave_config_t *sc;

   339

#endif

   340

#if EXTERNAL_MEMORY

   341

    unsigned int size;

   342

#endif

   343

   344

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

   345

   346

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

   347

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

   348

        goto out_return;

   349

    }

   350

   351

    ecrt_master_callbacks(master, request_lock, release_lock, NULL);

   352

   353

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

   354

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

   355

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

   356

        goto out_release_master;

   357

    }

   358

   359

    if (!(sc_ana_in = ecrt_master_slave_config(

   360

                    master, AnaInSlavePos, Beckhoff_EL3152))) {

   361

        printk(KERN_ERR PFX "Failed to get slave configuration.\n");

   362

        goto out_release_master;

   363

    }

   364

   365

#if CONFIGURE_PDOS

   366

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

   367

    if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3152_syncs)) {

   368

        printk(KERN_ERR PFX "Failed to configure Pdos.\n");

   369

        goto out_release_master;

   370

    }

   371

   372

    if (!(sc = ecrt_master_slave_config(

   373

                    master, AnaOutSlavePos, Beckhoff_EL4102))) {

   374

        printk(KERN_ERR PFX "Failed to get slave configuration.\n");

   375

        goto out_release_master;

   376

    }

   377

   378

    if (ecrt_slave_config_pdos(sc, EC_END, el4102_syncs)) {

   379

        printk(KERN_ERR PFX "Failed to configure Pdos.\n");

   380

        goto out_release_master;

   381

    }

   382

   383

    if (!(sc = ecrt_master_slave_config(

   384

                    master, DigOutSlavePos, Beckhoff_EL2004))) {

   385

        printk(KERN_ERR PFX "Failed to get slave configuration.\n");

   386

        goto out_release_master;

   387

    }

   388

   389

    if (ecrt_slave_config_pdos(sc, EC_END, el2004_syncs)) {

   390

        printk(KERN_ERR PFX "Failed to configure Pdos.\n");

   391

        goto out_release_master;

   392

    }

   393

#endif

   394

   395

#if SDO_ACCESS

   396

    printk(KERN_INFO PFX "Creating Sdo requests...\n");

   397

    if (!(sdo = ecrt_slave_config_create_sdo_request(sc_ana_in, 0x3102, 2, 2))) {

   398

        printk(KERN_ERR PFX "Failed to create Sdo request.\n");

   399

        goto out_release_master;

   400

    }

   401

    ecrt_sdo_request_timeout(sdo, 500); // ms

   402

#endif

   403

   404

    printk(KERN_INFO PFX "Registering Pdo entries...\n");

   405

    if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {

   406

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

   407

        goto out_release_master;

   408

    }

   409

   410

#if EXTERNAL_MEMORY

   411

    if ((size = ecrt_domain_size(domain1))) {

   412

        if (!(domain1_pd = (uint8_t *) kmalloc(size, GFP_KERNEL))) {

   413

            printk(KERN_ERR PFX "Failed to allocate %u bytes of process data"

   414

                    " memory!\n", size);

   415

            goto out_release_master;

   416

        }

   417

        ecrt_domain_external_memory(domain1, domain1_pd);

   418

    }

   419

#endif

   420

   421

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

   422

    if (ecrt_master_activate(master)) {

   423

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

   424

#if EXTERNAL_MEMORY

   425

        goto out_free_process_data;

   426

#else

   427

        goto out_release_master;

   428

#endif

   429

    }

   430

   431

#if !EXTERNAL_MEMORY

   432

    // Get internal process data for domain

   433

    domain1_pd = ecrt_domain_data(domain1);

   434

#endif

   435

   436

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

   437

    init_timer(&timer);

   438

    timer.function = cyclic_task;

   439

    timer.expires = jiffies + 10;

   440

    add_timer(&timer);

   441

   442

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

   443

    return 0;

   444

   445

#if EXTERNAL_MEMORY

   446

out_free_process_data:

   447

    kfree(domain1_pd);

   448

#endif

   449

out_release_master:

   450

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

   451

    ecrt_release_master(master);

   452

out_return:

   453

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

   454

    return -1;

   455

}

   456

   457

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

   458

   459

void __exit cleanup_mini_module(void)

   460

{

   461

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

   462

   463

    del_timer_sync(&timer);

   464

   465

#if EXTERNAL_MEMORY

   466

    kfree(domain1_pd);

   467

#endif

   468

   469

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

   470

    ecrt_release_master(master);

   471

   472

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

   473

}

   474

   475

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

   476

   477

MODULE_LICENSE("GPL");

   478

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

   479

MODULE_DESCRIPTION("EtherCAT minimal test environment");

   480

   481

module_init(init_mini_module);

   482

module_exit(cleanup_mini_module);

   483

   484

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