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1 /****************************************************************************** |
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2 * |
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3 * RTAI sample for the IgH EtherCAT master. |
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4 * |
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5 * $Id$ |
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6 * |
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7 * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH |
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8 * |
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9 * This file is part of the IgH EtherCAT Master. |
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10 * |
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11 * The IgH EtherCAT Master is free software; you can redistribute it |
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12 * and/or modify it under the terms of the GNU General Public License |
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13 * as published by the Free Software Foundation; either version 2 of the |
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14 * License, or (at your option) any later version. |
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15 * |
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16 * The IgH EtherCAT Master is distributed in the hope that it will be |
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17 * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of |
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18 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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19 * GNU General Public License for more details. |
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20 * |
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21 * You should have received a copy of the GNU General Public License |
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22 * along with the IgH EtherCAT Master; if not, write to the Free Software |
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23 * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
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24 * |
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25 * The right to use EtherCAT Technology is granted and comes free of |
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26 * charge under condition of compatibility of product made by |
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27 * Licensee. People intending to distribute/sell products based on the |
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28 * code, have to sign an agreement to guarantee that products using |
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29 * software based on IgH EtherCAT master stay compatible with the actual |
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30 * EtherCAT specification (which are released themselves as an open |
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31 * standard) as the (only) precondition to have the right to use EtherCAT |
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32 * Technology, IP and trade marks. |
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33 * |
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34 *****************************************************************************/ |
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35 |
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36 // Linux |
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37 #include <linux/module.h> |
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38 |
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39 // RTAI |
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40 #include "rtai_sched.h" |
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41 #include "rtai_sem.h" |
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42 |
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43 // EtherCAT |
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44 #include "../../include/ecrt.h" |
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45 |
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46 /*****************************************************************************/ |
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47 |
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48 MODULE_LICENSE("GPL"); |
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49 MODULE_AUTHOR("Florian Pose <fp@igh-essen.com>"); |
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50 MODULE_DESCRIPTION("EtherCAT RTAI sample module"); |
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51 |
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52 /*****************************************************************************/ |
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53 |
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54 // comment this for synchronous IO |
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55 #define ASYNC |
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56 |
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57 // RTAI task frequency in Hz |
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58 #define FREQUENCY 10000 |
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59 |
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60 #define TIMERTICKS (1000000000 / FREQUENCY) |
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61 |
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62 /*****************************************************************************/ |
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63 |
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64 // RTAI |
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65 RT_TASK task; |
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66 SEM master_sem; |
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67 cycles_t t_last_start = 0; |
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68 cycles_t t_critical; |
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69 |
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70 // EtherCAT |
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71 ec_master_t *master = NULL; |
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72 ec_domain_t *domain1 = NULL; |
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73 |
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74 // data fields |
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75 void *r_ssi_input; |
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76 |
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77 // channels |
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78 uint32_t k_pos; |
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79 |
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80 ec_field_init_t domain1_fields[] = { |
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81 {&r_ssi_input, "3", "Beckhoff", "EL5001", "InputValue", 0}, |
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82 {NULL, "2", "Beckhoff", "EL4132", "OutputValue", 0}, |
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83 {} |
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84 }; |
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85 |
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86 /*****************************************************************************/ |
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87 |
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88 void run(long data) |
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89 { |
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90 while (1) |
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91 { |
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92 t_last_start = get_cycles(); |
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93 rt_sem_wait(&master_sem); |
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94 |
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95 #ifdef ASYNC |
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96 // receive |
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97 ecrt_master_async_receive(master); |
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98 ecrt_domain_process(domain1); |
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99 #else |
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100 // send and receive |
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101 ecrt_domain_queue(domain1); |
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102 ecrt_master_run(master); |
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103 ecrt_master_sync_io(master); |
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104 ecrt_domain_process(domain1); |
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105 #endif |
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106 |
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107 // process data |
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108 k_pos = EC_READ_U32(r_ssi_input); |
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109 |
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110 #ifdef ASYNC |
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111 // send |
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112 ecrt_domain_queue(domain1); |
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113 ecrt_master_run(master); |
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114 ecrt_master_async_send(master); |
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115 #endif |
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116 |
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117 rt_sem_signal(&master_sem); |
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118 rt_task_wait_period(); |
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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 |
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124 int request_lock(void *data) |
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125 { |
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126 // too close to the next RT cycle: deny access... |
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127 if (get_cycles() - t_last_start > t_critical) return -1; |
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128 |
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129 // allow access |
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130 rt_sem_wait(&master_sem); |
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131 return 0; |
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132 } |
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133 |
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134 /*****************************************************************************/ |
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135 |
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136 void release_lock(void *data) |
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137 { |
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138 rt_sem_signal(&master_sem); |
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139 } |
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140 |
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141 /*****************************************************************************/ |
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142 |
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143 int __init init_mod(void) |
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144 { |
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145 RTIME tick_period, requested_ticks, now; |
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146 |
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147 printk(KERN_INFO "=== Starting EtherCAT RTAI sample module... ===\n"); |
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148 |
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149 rt_sem_init(&master_sem, 1); |
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150 |
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151 t_critical = cpu_khz * 800 / FREQUENCY; // ticks for 80% |
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152 |
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153 if ((master = ecrt_request_master(0)) == NULL) { |
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154 printk(KERN_ERR "Requesting master 0 failed!\n"); |
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155 goto out_return; |
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156 } |
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157 |
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158 ecrt_master_callbacks(master, request_lock, release_lock, NULL); |
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159 |
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160 printk(KERN_INFO "Registering domain...\n"); |
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161 if (!(domain1 = ecrt_master_create_domain(master))) |
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162 { |
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163 printk(KERN_ERR "Domain creation failed!\n"); |
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164 goto out_release_master; |
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165 } |
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166 |
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167 printk(KERN_INFO "Registering domain fields...\n"); |
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168 if (ecrt_domain_register_field_list(domain1, domain1_fields)) { |
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169 printk(KERN_ERR "Field registration failed!\n"); |
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170 goto out_release_master; |
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171 } |
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172 |
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173 printk(KERN_INFO "Activating master...\n"); |
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174 if (ecrt_master_activate(master)) { |
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175 printk(KERN_ERR "Failed to activate master!\n"); |
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176 goto out_release_master; |
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177 } |
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178 |
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179 #if 0 |
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180 if (ecrt_master_fetch_sdo_lists(master)) { |
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181 printk(KERN_ERR "Failed to fetch SDO lists!\n"); |
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182 goto out_deactivate; |
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183 } |
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184 ecrt_master_print(master, 2); |
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185 #else |
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186 ecrt_master_print(master, 0); |
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187 #endif |
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188 |
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189 #if 0 |
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190 if (!(slave = ecrt_master_get_slave(master, "5"))) { |
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191 printk(KERN_ERR "Failed to get slave 5!\n"); |
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192 goto out_deactivate; |
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193 } |
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194 |
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195 if (ecrt_slave_sdo_write_exp8(slave, 0x4061, 1, 0) || |
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196 ecrt_slave_sdo_write_exp8(slave, 0x4061, 2, 1) || |
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197 ecrt_slave_sdo_write_exp8(slave, 0x4061, 3, 1) || |
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198 ecrt_slave_sdo_write_exp8(slave, 0x4066, 0, 0) || |
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199 ecrt_slave_sdo_write_exp8(slave, 0x4067, 0, 4) || |
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200 ecrt_slave_sdo_write_exp8(slave, 0x4068, 0, 0) || |
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201 ecrt_slave_sdo_write_exp8(slave, 0x4069, 0, 25) || |
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202 ecrt_slave_sdo_write_exp8(slave, 0x406A, 0, 25) || |
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203 ecrt_slave_sdo_write_exp8(slave, 0x406B, 0, 50)) { |
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204 printk(KERN_ERR "Failed to configure SSI slave!\n"); |
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205 goto out_deactivate; |
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206 } |
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207 #endif |
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208 |
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209 #if 0 |
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210 printk(KERN_INFO "Writing alias...\n"); |
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211 if (ecrt_slave_sdo_write_exp16(slave, 0xBEEF)) { |
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212 printk(KERN_ERR "Failed to write alias!\n"); |
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213 goto out_deactivate; |
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214 } |
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215 #endif |
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216 |
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217 #ifdef ASYNC |
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218 // send once and wait... |
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219 ecrt_master_prepare_async_io(master); |
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220 #endif |
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221 |
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222 if (ecrt_master_start_eoe(master)) { |
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223 printk(KERN_ERR "Failed to start EoE processing!\n"); |
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224 goto out_deactivate; |
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225 } |
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226 |
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227 printk("Starting cyclic sample thread...\n"); |
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228 requested_ticks = nano2count(TIMERTICKS); |
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229 tick_period = start_rt_timer(requested_ticks); |
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230 printk(KERN_INFO "RT timer started with %i/%i ticks.\n", |
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231 (int) tick_period, (int) requested_ticks); |
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232 |
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233 if (rt_task_init(&task, run, 0, 2000, 0, 1, NULL)) { |
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234 printk(KERN_ERR "Failed to init RTAI task!\n"); |
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235 goto out_stop_timer; |
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236 } |
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237 |
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238 now = rt_get_time(); |
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239 if (rt_task_make_periodic(&task, now + tick_period, tick_period)) { |
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240 printk(KERN_ERR "Failed to run RTAI task!\n"); |
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241 goto out_stop_task; |
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242 } |
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243 |
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244 printk(KERN_INFO "=== EtherCAT RTAI sample module started. ===\n"); |
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245 return 0; |
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246 |
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247 out_stop_task: |
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248 rt_task_delete(&task); |
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249 out_stop_timer: |
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250 stop_rt_timer(); |
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251 out_deactivate: |
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252 ecrt_master_deactivate(master); |
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253 out_release_master: |
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254 ecrt_release_master(master); |
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255 out_return: |
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256 rt_sem_delete(&master_sem); |
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257 return -1; |
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258 } |
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259 |
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260 /*****************************************************************************/ |
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261 |
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262 void __exit cleanup_mod(void) |
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263 { |
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264 printk(KERN_INFO "=== Stopping EtherCAT RTAI sample module... ===\n"); |
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265 |
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266 rt_task_delete(&task); |
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267 stop_rt_timer(); |
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268 ecrt_master_deactivate(master); |
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269 ecrt_release_master(master); |
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270 rt_sem_delete(&master_sem); |
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271 |
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272 printk(KERN_INFO "=== EtherCAT RTAI sample module stopped. ===\n"); |
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273 } |
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274 |
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275 /*****************************************************************************/ |
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276 |
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277 module_init(init_mod); |
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278 module_exit(cleanup_mod); |
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279 |
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280 /*****************************************************************************/ |
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281 |