author | Florian Pose <fp@igh-essen.com> |
Mon, 03 Mar 2008 16:22:39 +0000 | |
changeset 854 | f4f53be425ac |
parent 851 | 2bb18adcd204 |
child 858 | 69122084d066 |
permissions | -rw-r--r-- |
220 | 1 |
/****************************************************************************** |
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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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||
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#include <linux/module.h> |
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#include <linux/timer.h> |
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#include <linux/spinlock.h> |
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#include <linux/interrupt.h> |
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#include "../../include/ecrt.h" // EtherCAT realtime interface |
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#include "../../include/ecdb.h" // EtherCAT slave database |
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/*****************************************************************************/ |
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// module parameters |
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#define FREQUENCY 100 |
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#define CONFIGURE_MAPPING |
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#define EXTERNAL_MEMORY |
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#define PFX "ec_mini: " |
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/*****************************************************************************/ |
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// EtherCAT |
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static ec_master_t *master = NULL; |
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static ec_master_state_t master_state = {}; |
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spinlock_t master_lock = SPIN_LOCK_UNLOCKED; |
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static ec_domain_t *domain1 = NULL; |
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static ec_domain_state_t domain1_state = {}; |
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static struct timer_list timer; |
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static unsigned int counter = 0; |
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/*****************************************************************************/ |
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// process data |
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static uint8_t *domain1_pd; // process data memory |
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static unsigned int off_ana_in; // offsets for Pdo entries |
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static unsigned int off_dig_out; |
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static unsigned int blink = 0; |
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const static ec_pdo_entry_reg_t domain1_regs[] = { |
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{0, 1, Beckhoff_EL3162, 0x3101, 2, &off_ana_in}, |
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{0, 3, Beckhoff_EL2004, 0x3001, 1, &off_dig_out}, |
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{} |
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}; |
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/*****************************************************************************/ |
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#ifdef CONFIGURE_MAPPING |
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static ec_pdo_entry_info_t el3162_channel1[] = { |
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{0x3101, 1, 8}, // status |
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{0x3101, 2, 16} // value |
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}; |
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static ec_pdo_entry_info_t el3162_channel2[] = { |
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{0x3102, 1, 8}, // status |
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{0x3102, 2, 16} // value |
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}; |
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static ec_pdo_info_t el3162_mapping[] = { |
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{EC_DIR_INPUT, 0x1A00, 2, el3162_channel1}, |
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{EC_DIR_INPUT, 0x1A01, 2, el3162_channel2}, |
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}; |
809 | 97 |
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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 |
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{0x3001, 3, 1}, // Value 3 |
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{0x3001, 4, 1} // Value 4 |
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}; |
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static ec_pdo_info_t el2004_mapping[] = { |
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{EC_DIR_OUTPUT, 0x1600, 1, &el2004_channels[0]}, |
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{EC_DIR_OUTPUT, 0x1601, 1, &el2004_channels[1]}, |
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{EC_DIR_OUTPUT, 0x1602, 1, &el2004_channels[2]}, |
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{EC_DIR_OUTPUT, 0x1603, 1, &el2004_channels[3]}, |
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}; |
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#endif |
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/*****************************************************************************/ |
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void check_domain1_state(void) |
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{ |
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ec_domain_state_t ds; |
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ecrt_domain_state(domain1, &ds); |
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if (ds.working_counter != domain1_state.working_counter) |
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printk(KERN_INFO PFX "domain1 working_counter changed to %u.\n", |
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ds.working_counter); |
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if (ds.wc_state != domain1_state.wc_state) |
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printk(KERN_INFO PFX "domain1 wc_state changed to %u.\n", |
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ds.wc_state); |
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domain1_state = ds; |
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} |
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/*****************************************************************************/ |
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void check_master_state(void) |
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{ |
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ec_master_state_t ms; |
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spin_lock(&master_lock); |
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ecrt_master_state(master, &ms); |
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spin_unlock(&master_lock); |
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if (ms.bus_state != master_state.bus_state) { |
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printk(KERN_INFO PFX "bus state changed to %i.\n", ms.bus_state); |
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} |
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if (ms.bus_tainted != master_state.bus_tainted) { |
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printk(KERN_INFO PFX "tainted flag changed to %u.\n", |
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ms.bus_tainted); |
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} |
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if (ms.slaves_responding != master_state.slaves_responding) { |
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printk(KERN_INFO PFX "slaves_responding changed to %u.\n", |
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ms.slaves_responding); |
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} |
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|
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master_state = ms; |
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} |
220 | 155 |
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156 |
/*****************************************************************************/ |
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157 |
||
820 | 158 |
void cyclic_task(unsigned long data) |
159 |
{ |
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// receive process data |
220 | 161 |
spin_lock(&master_lock); |
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162 |
ecrt_master_receive(master); |
220 | 163 |
ecrt_domain_process(domain1); |
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164 |
spin_unlock(&master_lock); |
220 | 165 |
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166 |
// check process data state (optional) |
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167 |
check_domain1_state(); |
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169 |
if (counter) { |
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counter--; |
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171 |
} else { // do this at FREQUENCY |
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counter = FREQUENCY; |
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// calculate new process data |
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175 |
blink = !blink; |
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176 |
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177 |
// check for master state (optional) |
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178 |
check_master_state(); |
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Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
179 |
} |
b6c87ae254c9
Calculate expected working counter for domains.
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changeset
|
180 |
|
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|
181 |
// write process data |
846 | 182 |
EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x06 : 0x09); |
818
b6c87ae254c9
Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
183 |
|
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|
184 |
// send process data |
512
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|
185 |
spin_lock(&master_lock); |
509
87baea61d0c7
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|
186 |
ecrt_domain_queue(domain1); |
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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changeset
|
187 |
ecrt_master_send(master); |
220 | 188 |
spin_unlock(&master_lock); |
189 |
||
190 |
// restart timer |
|
191 |
timer.expires += HZ / FREQUENCY; |
|
192 |
add_timer(&timer); |
|
193 |
} |
|
194 |
||
195 |
/*****************************************************************************/ |
|
196 |
||
197 |
int request_lock(void *data) |
|
198 |
{ |
|
516
f703e33ee395
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diff
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|
199 |
spin_lock(&master_lock); |
226
07247920a7ba
EoE with workqueue; bugfix in ec_master_init()
Florian Pose <fp@igh-essen.com>
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223
diff
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|
200 |
return 0; // access allowed |
220 | 201 |
} |
202 |
||
203 |
/*****************************************************************************/ |
|
204 |
||
205 |
void release_lock(void *data) |
|
206 |
{ |
|
516
f703e33ee395
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|
207 |
spin_unlock(&master_lock); |
220 | 208 |
} |
209 |
||
210 |
/*****************************************************************************/ |
|
211 |
||
212 |
int __init init_mini_module(void) |
|
213 |
{ |
|
818
b6c87ae254c9
Calculate expected working counter for domains.
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diff
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|
214 |
#ifdef CONFIGURE_MAPPING |
792
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|
215 |
ec_slave_config_t *sc; |
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|
216 |
#endif |
809 | 217 |
#ifdef EXTERNAL_MEMORY |
218 |
unsigned int size; |
|
219 |
#endif |
|
792
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Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
220 |
|
612
aede068f9a74
Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
221 |
printk(KERN_INFO PFX "Starting...\n"); |
220 | 222 |
|
509
87baea61d0c7
Adjusted examples to 1.2.0 interface changes.
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parents:
472
diff
changeset
|
223 |
if (!(master = ecrt_request_master(0))) { |
612
aede068f9a74
Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
224 |
printk(KERN_ERR PFX "Requesting master 0 failed!\n"); |
220 | 225 |
goto out_return; |
226 |
} |
|
227 |
||
228 |
ecrt_master_callbacks(master, request_lock, release_lock, NULL); |
|
229 |
||
612
aede068f9a74
Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents:
551
diff
changeset
|
230 |
printk(KERN_INFO PFX "Registering domain...\n"); |
509
87baea61d0c7
Adjusted examples to 1.2.0 interface changes.
Florian Pose <fp@igh-essen.com>
parents:
472
diff
changeset
|
231 |
if (!(domain1 = ecrt_master_create_domain(master))) { |
612
aede068f9a74
Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents:
551
diff
changeset
|
232 |
printk(KERN_ERR PFX "Domain creation failed!\n"); |
aede068f9a74
Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents:
551
diff
changeset
|
233 |
goto out_release_master; |
aede068f9a74
Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents:
551
diff
changeset
|
234 |
} |
aede068f9a74
Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents:
551
diff
changeset
|
235 |
|
818
b6c87ae254c9
Calculate expected working counter for domains.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
236 |
#ifdef CONFIGURE_MAPPING |
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
654
diff
changeset
|
237 |
printk(KERN_INFO PFX "Configuring Pdo mapping...\n"); |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
654
diff
changeset
|
238 |
if (!(sc = ecrt_master_slave_config(master, 0, 1, Beckhoff_EL3162))) { |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
654
diff
changeset
|
239 |
printk(KERN_ERR PFX "Failed to get slave configuration.\n"); |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
654
diff
changeset
|
240 |
goto out_release_master; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
654
diff
changeset
|
241 |
} |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
654
diff
changeset
|
242 |
|
809 | 243 |
if (ecrt_slave_config_mapping(sc, 2, el3162_mapping)) { |
244 |
printk(KERN_ERR PFX "Failed to configure Pdo mapping.\n"); |
|
245 |
goto out_release_master; |
|
246 |
} |
|
247 |
||
248 |
if (!(sc = ecrt_master_slave_config(master, 0, 3, Beckhoff_EL2004))) { |
|
249 |
printk(KERN_ERR PFX "Failed to get slave configuration.\n"); |
|
250 |
goto out_release_master; |
|
251 |
} |
|
252 |
||
253 |
if (ecrt_slave_config_mapping(sc, 4, el2004_mapping)) { |
|
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
654
diff
changeset
|
254 |
printk(KERN_ERR PFX "Failed to configure Pdo mapping.\n"); |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
654
diff
changeset
|
255 |
goto out_release_master; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
654
diff
changeset
|
256 |
} |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
654
diff
changeset
|
257 |
#endif |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
654
diff
changeset
|
258 |
|
814 | 259 |
printk(KERN_INFO PFX "Registering Pdo entries...\n"); |
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
654
diff
changeset
|
260 |
if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) { |
814 | 261 |
printk(KERN_ERR PFX "Pdo entry registration failed!\n"); |
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
654
diff
changeset
|
262 |
goto out_release_master; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
654
diff
changeset
|
263 |
} |
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
612
diff
changeset
|
264 |
|
809 | 265 |
#ifdef EXTERNAL_MEMORY |
266 |
if ((size = ecrt_domain_size(domain1))) { |
|
820 | 267 |
if (!(domain1_pd = (uint8_t *) kmalloc(size, GFP_KERNEL))) { |
809 | 268 |
printk(KERN_ERR PFX "Failed to allocate %u bytes of process data" |
269 |
" memory!\n", size); |
|
270 |
goto out_release_master; |
|
271 |
} |
|
820 | 272 |
ecrt_domain_external_memory(domain1, domain1_pd); |
809 | 273 |
} |
274 |
#endif |
|
275 |
||
612
aede068f9a74
Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents:
551
diff
changeset
|
276 |
printk(KERN_INFO PFX "Activating master...\n"); |
220 | 277 |
if (ecrt_master_activate(master)) { |
612
aede068f9a74
Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents:
551
diff
changeset
|
278 |
printk(KERN_ERR PFX "Failed to activate master!\n"); |
809 | 279 |
#ifdef EXTERNAL_MEMORY |
280 |
goto out_free_process_data; |
|
281 |
#else |
|
282 |
goto out_release_master; |
|
283 |
#endif |
|
284 |
} |
|
285 |
||
286 |
#ifndef EXTERNAL_MEMORY |
|
287 |
// Get internal process data for domain |
|
820 | 288 |
domain1_pd = ecrt_domain_data(domain1); |
809 | 289 |
#endif |
612
aede068f9a74
Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents:
551
diff
changeset
|
290 |
|
aede068f9a74
Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents:
551
diff
changeset
|
291 |
printk(KERN_INFO PFX "Starting cyclic sample thread.\n"); |
220 | 292 |
init_timer(&timer); |
820 | 293 |
timer.function = cyclic_task; |
220 | 294 |
timer.expires = jiffies + 10; |
295 |
add_timer(&timer); |
|
296 |
||
612
aede068f9a74
Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents:
551
diff
changeset
|
297 |
printk(KERN_INFO PFX "Started.\n"); |
220 | 298 |
return 0; |
299 |
||
809 | 300 |
#ifdef EXTERNAL_MEMORY |
301 |
out_free_process_data: |
|
820 | 302 |
kfree(domain1_pd); |
809 | 303 |
#endif |
304 |
out_release_master: |
|
654
8278e1e27010
Minor changes in minimal example.
Florian Pose <fp@igh-essen.com>
parents:
643
diff
changeset
|
305 |
printk(KERN_ERR PFX "Releasing master...\n"); |
220 | 306 |
ecrt_release_master(master); |
809 | 307 |
out_return: |
654
8278e1e27010
Minor changes in minimal example.
Florian Pose <fp@igh-essen.com>
parents:
643
diff
changeset
|
308 |
printk(KERN_ERR PFX "Failed to load. Aborting.\n"); |
220 | 309 |
return -1; |
310 |
} |
|
311 |
||
312 |
/*****************************************************************************/ |
|
313 |
||
314 |
void __exit cleanup_mini_module(void) |
|
315 |
{ |
|
612
aede068f9a74
Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents:
551
diff
changeset
|
316 |
printk(KERN_INFO PFX "Stopping...\n"); |
220 | 317 |
|
449
3caf8ff4d8a2
Moved functionality of ecrt_master_deactivate() (now deprecated) to ecrt_master_release().
Florian Pose <fp@igh-essen.com>
parents:
446
diff
changeset
|
318 |
del_timer_sync(&timer); |
809 | 319 |
|
320 |
#ifdef EXTERNAL_MEMORY |
|
820 | 321 |
kfree(domain1_pd); |
809 | 322 |
#endif |
323 |
||
612
aede068f9a74
Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents:
551
diff
changeset
|
324 |
printk(KERN_INFO PFX "Releasing master...\n"); |
449
3caf8ff4d8a2
Moved functionality of ecrt_master_deactivate() (now deprecated) to ecrt_master_release().
Florian Pose <fp@igh-essen.com>
parents:
446
diff
changeset
|
325 |
ecrt_release_master(master); |
220 | 326 |
|
654
8278e1e27010
Minor changes in minimal example.
Florian Pose <fp@igh-essen.com>
parents:
643
diff
changeset
|
327 |
printk(KERN_INFO PFX "Unloading.\n"); |
220 | 328 |
} |
329 |
||
330 |
/*****************************************************************************/ |
|
331 |
||
332 |
MODULE_LICENSE("GPL"); |
|
512
24292123d174
Shorter critical sections in examples.
Florian Pose <fp@igh-essen.com>
parents:
509
diff
changeset
|
333 |
MODULE_AUTHOR("Florian Pose <fp@igh-essen.com>"); |
24292123d174
Shorter critical sections in examples.
Florian Pose <fp@igh-essen.com>
parents:
509
diff
changeset
|
334 |
MODULE_DESCRIPTION("EtherCAT minimal test environment"); |
220 | 335 |
|
336 |
module_init(init_mini_module); |
|
337 |
module_exit(cleanup_mini_module); |
|
338 |
||
339 |
/*****************************************************************************/ |