--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/rtai/rtai_sample.c Mon May 29 09:08:56 2006 +0000
@@ -0,0 +1,281 @@
+/******************************************************************************
+ *
+ * RTAI sample for the IgH EtherCAT master.
+ *
+ * $Id$
+ *
+ * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ * This file is part of the IgH EtherCAT Master.
+ *
+ * The IgH EtherCAT Master is free software; you can redistribute it
+ * and/or modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2 of the
+ * License, or (at your option) any later version.
+ *
+ * The IgH EtherCAT Master is distributed in the hope that it will be
+ * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the IgH EtherCAT Master; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ * The right to use EtherCAT Technology is granted and comes free of
+ * charge under condition of compatibility of product made by
+ * Licensee. People intending to distribute/sell products based on the
+ * code, have to sign an agreement to guarantee that products using
+ * software based on IgH EtherCAT master stay compatible with the actual
+ * EtherCAT specification (which are released themselves as an open
+ * standard) as the (only) precondition to have the right to use EtherCAT
+ * Technology, IP and trade marks.
+ *
+ *****************************************************************************/
+
+// Linux
+#include <linux/module.h>
+
+// RTAI
+#include "rtai_sched.h"
+#include "rtai_sem.h"
+
+// EtherCAT
+#include "../../include/ecrt.h"
+
+/*****************************************************************************/
+
+MODULE_LICENSE("GPL");
+MODULE_AUTHOR("Florian Pose <fp@igh-essen.com>");
+MODULE_DESCRIPTION("EtherCAT RTAI sample module");
+
+/*****************************************************************************/
+
+// comment this for synchronous IO
+#define ASYNC
+
+// RTAI task frequency in Hz
+#define FREQUENCY 10000
+
+#define TIMERTICKS (1000000000 / FREQUENCY)
+
+/*****************************************************************************/
+
+// RTAI
+RT_TASK task;
+SEM master_sem;
+cycles_t t_last_start = 0;
+cycles_t t_critical;
+
+// EtherCAT
+ec_master_t *master = NULL;
+ec_domain_t *domain1 = NULL;
+
+// data fields
+void *r_ssi_input;
+
+// channels
+uint32_t k_pos;
+
+ec_field_init_t domain1_fields[] = {
+ {&r_ssi_input, "3", "Beckhoff", "EL5001", "InputValue", 0},
+ {NULL, "2", "Beckhoff", "EL4132", "OutputValue", 0},
+ {}
+};
+
+/*****************************************************************************/
+
+void run(long data)
+{
+ while (1)
+ {
+ t_last_start = get_cycles();
+ rt_sem_wait(&master_sem);
+
+#ifdef ASYNC
+ // receive
+ ecrt_master_async_receive(master);
+ ecrt_domain_process(domain1);
+#else
+ // send and receive
+ ecrt_domain_queue(domain1);
+ ecrt_master_run(master);
+ ecrt_master_sync_io(master);
+ ecrt_domain_process(domain1);
+#endif
+
+ // process data
+ k_pos = EC_READ_U32(r_ssi_input);
+
+#ifdef ASYNC
+ // send
+ ecrt_domain_queue(domain1);
+ ecrt_master_run(master);
+ ecrt_master_async_send(master);
+#endif
+
+ rt_sem_signal(&master_sem);
+ rt_task_wait_period();
+ }
+}
+
+/*****************************************************************************/
+
+int request_lock(void *data)
+{
+ // too close to the next RT cycle: deny access...
+ if (get_cycles() - t_last_start > t_critical) return -1;
+
+ // allow access
+ rt_sem_wait(&master_sem);
+ return 0;
+}
+
+/*****************************************************************************/
+
+void release_lock(void *data)
+{
+ rt_sem_signal(&master_sem);
+}
+
+/*****************************************************************************/
+
+int __init init_mod(void)
+{
+ RTIME tick_period, requested_ticks, now;
+
+ printk(KERN_INFO "=== Starting EtherCAT RTAI sample module... ===\n");
+
+ rt_sem_init(&master_sem, 1);
+
+ t_critical = cpu_khz * 800 / FREQUENCY; // ticks for 80%
+
+ if ((master = ecrt_request_master(0)) == NULL) {
+ printk(KERN_ERR "Requesting master 0 failed!\n");
+ goto out_return;
+ }
+
+ ecrt_master_callbacks(master, request_lock, release_lock, NULL);
+
+ printk(KERN_INFO "Registering domain...\n");
+ if (!(domain1 = ecrt_master_create_domain(master)))
+ {
+ printk(KERN_ERR "Domain creation failed!\n");
+ goto out_release_master;
+ }
+
+ printk(KERN_INFO "Registering domain fields...\n");
+ if (ecrt_domain_register_field_list(domain1, domain1_fields)) {
+ printk(KERN_ERR "Field registration failed!\n");
+ goto out_release_master;
+ }
+
+ printk(KERN_INFO "Activating master...\n");
+ if (ecrt_master_activate(master)) {
+ printk(KERN_ERR "Failed to activate master!\n");
+ goto out_release_master;
+ }
+
+#if 0
+ if (ecrt_master_fetch_sdo_lists(master)) {
+ printk(KERN_ERR "Failed to fetch SDO lists!\n");
+ goto out_deactivate;
+ }
+ ecrt_master_print(master, 2);
+#else
+ ecrt_master_print(master, 0);
+#endif
+
+#if 0
+ if (!(slave = ecrt_master_get_slave(master, "5"))) {
+ printk(KERN_ERR "Failed to get slave 5!\n");
+ goto out_deactivate;
+ }
+
+ if (ecrt_slave_sdo_write_exp8(slave, 0x4061, 1, 0) ||
+ ecrt_slave_sdo_write_exp8(slave, 0x4061, 2, 1) ||
+ ecrt_slave_sdo_write_exp8(slave, 0x4061, 3, 1) ||
+ ecrt_slave_sdo_write_exp8(slave, 0x4066, 0, 0) ||
+ ecrt_slave_sdo_write_exp8(slave, 0x4067, 0, 4) ||
+ ecrt_slave_sdo_write_exp8(slave, 0x4068, 0, 0) ||
+ ecrt_slave_sdo_write_exp8(slave, 0x4069, 0, 25) ||
+ ecrt_slave_sdo_write_exp8(slave, 0x406A, 0, 25) ||
+ ecrt_slave_sdo_write_exp8(slave, 0x406B, 0, 50)) {
+ printk(KERN_ERR "Failed to configure SSI slave!\n");
+ goto out_deactivate;
+ }
+#endif
+
+#if 0
+ printk(KERN_INFO "Writing alias...\n");
+ if (ecrt_slave_sdo_write_exp16(slave, 0xBEEF)) {
+ printk(KERN_ERR "Failed to write alias!\n");
+ goto out_deactivate;
+ }
+#endif
+
+#ifdef ASYNC
+ // send once and wait...
+ ecrt_master_prepare_async_io(master);
+#endif
+
+ if (ecrt_master_start_eoe(master)) {
+ printk(KERN_ERR "Failed to start EoE processing!\n");
+ goto out_deactivate;
+ }
+
+ printk("Starting cyclic sample thread...\n");
+ requested_ticks = nano2count(TIMERTICKS);
+ tick_period = start_rt_timer(requested_ticks);
+ printk(KERN_INFO "RT timer started with %i/%i ticks.\n",
+ (int) tick_period, (int) requested_ticks);
+
+ if (rt_task_init(&task, run, 0, 2000, 0, 1, NULL)) {
+ printk(KERN_ERR "Failed to init RTAI task!\n");
+ goto out_stop_timer;
+ }
+
+ now = rt_get_time();
+ if (rt_task_make_periodic(&task, now + tick_period, tick_period)) {
+ printk(KERN_ERR "Failed to run RTAI task!\n");
+ goto out_stop_task;
+ }
+
+ printk(KERN_INFO "=== EtherCAT RTAI sample module started. ===\n");
+ return 0;
+
+ out_stop_task:
+ rt_task_delete(&task);
+ out_stop_timer:
+ stop_rt_timer();
+ out_deactivate:
+ ecrt_master_deactivate(master);
+ out_release_master:
+ ecrt_release_master(master);
+ out_return:
+ rt_sem_delete(&master_sem);
+ return -1;
+}
+
+/*****************************************************************************/
+
+void __exit cleanup_mod(void)
+{
+ printk(KERN_INFO "=== Stopping EtherCAT RTAI sample module... ===\n");
+
+ rt_task_delete(&task);
+ stop_rt_timer();
+ ecrt_master_deactivate(master);
+ ecrt_release_master(master);
+ rt_sem_delete(&master_sem);
+
+ printk(KERN_INFO "=== EtherCAT RTAI sample module stopped. ===\n");
+}
+
+/*****************************************************************************/
+
+module_init(init_mod);
+module_exit(cleanup_mod);
+
+/*****************************************************************************/
+