/******************************************************************************
*
* $Id$
*
* 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.
*
*****************************************************************************/
#include <linux/module.h>
#include <linux/timer.h>
#include <linux/spinlock.h>
#include <linux/interrupt.h>
#include "../../include/ecrt.h" // EtherCAT realtime interface
#include "../../include/ecdb.h" // EtherCAT slave database
#define PFX "ec_mini: "
#define FREQUENCY 100
//#define KBUS
#define PDOS
#define MAPPING
#define EXTERNAL_MEMORY
/*****************************************************************************/
static struct timer_list timer;
// EtherCAT
static ec_master_t *master = NULL;
static ec_domain_t *domain1 = NULL;
spinlock_t master_lock = SPIN_LOCK_UNLOCKED;
static ec_master_state_t master_state, old_state = {};
// data fields
#ifdef KBUS
static void *r_inputs;
static void *r_outputs;
#endif
#ifdef MAPPING
const ec_pdo_entry_info_t el3162_channel1[] = {
{0x3101, 1, 8}, // status
{0x3101, 2, 16} // value
};
const ec_pdo_entry_info_t el3162_channel2[] = {
{0x3102, 1, 8}, // status
{0x3102, 2, 16} // value
};
const ec_pdo_info_t el3162_mapping[] = {
{EC_DIR_INPUT, 0x1A00, 2, el3162_channel1},
{EC_DIR_INPUT, 0x1A01, 2, el3162_channel2},
};
const ec_pdo_entry_info_t el2004_channels[] = {
{0x3001, 1, 1}, // Value 1
{0x3001, 2, 1}, // Value 2
{0x3001, 3, 1}, // Value 3
{0x3001, 4, 1} // Value 4
};
const ec_pdo_info_t el2004_mapping[] = {
{EC_DIR_OUTPUT, 0x1600, 1, &el2004_channels[0]},
{EC_DIR_OUTPUT, 0x1601, 1, &el2004_channels[1]},
{EC_DIR_OUTPUT, 0x1602, 1, &el2004_channels[2]},
{EC_DIR_OUTPUT, 0x1603, 1, &el2004_channels[3]},
};
#endif
#ifdef PDOS
static uint8_t *pd; /**< Process data. */
static unsigned int off_ana_in;
static unsigned int off_dig_out;
const static ec_pdo_entry_reg_t domain1_regs[] = {
{0, 1, Beckhoff_EL3162, 0x3101, 2, &off_ana_in},
{0, 3, Beckhoff_EL2004, 0x3001, 1, &off_dig_out},
{}
};
#endif
/*****************************************************************************/
void run(unsigned long data)
{
static unsigned int counter = 0;
static unsigned int blink = 0;
// receive
spin_lock(&master_lock);
ecrt_master_receive(master);
ecrt_domain_process(domain1);
spin_unlock(&master_lock);
// process data
EC_WRITE_U8(pd + off_dig_out, blink ? 0x0F : 0x00);
if (counter) {
counter--;
}
else {
counter = FREQUENCY;
blink = !blink;
spin_lock(&master_lock);
ecrt_master_state(master, &master_state);
spin_unlock(&master_lock);
if (master_state.bus_state != old_state.bus_state) {
printk(KERN_INFO PFX "bus state changed to %i.\n",
master_state.bus_state);
}
if (master_state.bus_tainted != old_state.bus_tainted) {
printk(KERN_INFO PFX "tainted flag changed to %u.\n",
master_state.bus_tainted);
}
if (master_state.slaves_responding !=
old_state.slaves_responding) {
printk(KERN_INFO PFX "slaves_responding changed to %u.\n",
master_state.slaves_responding);
}
old_state = master_state;
}
#ifdef KBUS
EC_WRITE_U8(r_outputs + 2, blink ? 0xFF : 0x00);
#endif
// send
spin_lock(&master_lock);
ecrt_domain_queue(domain1);
spin_unlock(&master_lock);
spin_lock(&master_lock);
ecrt_master_send(master);
spin_unlock(&master_lock);
// restart timer
timer.expires += HZ / FREQUENCY;
add_timer(&timer);
}
/*****************************************************************************/
int request_lock(void *data)
{
spin_lock(&master_lock);
return 0; // access allowed
}
/*****************************************************************************/
void release_lock(void *data)
{
spin_unlock(&master_lock);
}
/*****************************************************************************/
int __init init_mini_module(void)
{
#ifdef MAPPING
ec_slave_config_t *sc;
#endif
#ifdef EXTERNAL_MEMORY
unsigned int size;
#endif
printk(KERN_INFO PFX "Starting...\n");
if (!(master = ecrt_request_master(0))) {
printk(KERN_ERR PFX "Requesting master 0 failed!\n");
goto out_return;
}
ecrt_master_callbacks(master, request_lock, release_lock, NULL);
printk(KERN_INFO PFX "Registering domain...\n");
if (!(domain1 = ecrt_master_create_domain(master))) {
printk(KERN_ERR PFX "Domain creation failed!\n");
goto out_release_master;
}
#ifdef MAPPING
printk(KERN_INFO PFX "Configuring Pdo mapping...\n");
if (!(sc = ecrt_master_slave_config(master, 0, 1, Beckhoff_EL3162))) {
printk(KERN_ERR PFX "Failed to get slave configuration.\n");
goto out_release_master;
}
if (ecrt_slave_config_mapping(sc, 2, el3162_mapping)) {
printk(KERN_ERR PFX "Failed to configure Pdo mapping.\n");
goto out_release_master;
}
if (!(sc = ecrt_master_slave_config(master, 0, 3, Beckhoff_EL2004))) {
printk(KERN_ERR PFX "Failed to get slave configuration.\n");
goto out_release_master;
}
if (ecrt_slave_config_mapping(sc, 4, el2004_mapping)) {
printk(KERN_ERR PFX "Failed to configure Pdo mapping.\n");
goto out_release_master;
}
#endif
printk(KERN_INFO PFX "Registering Pdo entries...\n");
#ifdef PDOS
if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
printk(KERN_ERR PFX "Pdo entry registration failed!\n");
goto out_release_master;
}
#endif
#ifdef EXTERNAL_MEMORY
if ((size = ecrt_domain_size(domain1))) {
if (!(pd = (uint8_t *) kmalloc(size, GFP_KERNEL))) {
printk(KERN_ERR PFX "Failed to allocate %u bytes of process data"
" memory!\n", size);
goto out_release_master;
}
ecrt_domain_external_memory(domain1, pd);
}
#endif
printk(KERN_INFO PFX "Activating master...\n");
if (ecrt_master_activate(master)) {
printk(KERN_ERR PFX "Failed to activate master!\n");
#ifdef EXTERNAL_MEMORY
goto out_free_process_data;
#else
goto out_release_master;
#endif
}
#ifndef EXTERNAL_MEMORY
// Get internal process data for domain
pd = ecrt_domain_data(domain1);
#endif
printk(KERN_INFO PFX "Starting cyclic sample thread.\n");
init_timer(&timer);
timer.function = run;
timer.expires = jiffies + 10;
add_timer(&timer);
printk(KERN_INFO PFX "Started.\n");
return 0;
#ifdef EXTERNAL_MEMORY
out_free_process_data:
kfree(pd);
#endif
out_release_master:
printk(KERN_ERR PFX "Releasing master...\n");
ecrt_release_master(master);
out_return:
printk(KERN_ERR PFX "Failed to load. Aborting.\n");
return -1;
}
/*****************************************************************************/
void __exit cleanup_mini_module(void)
{
printk(KERN_INFO PFX "Stopping...\n");
del_timer_sync(&timer);
#ifdef EXTERNAL_MEMORY
kfree(pd);
#endif
printk(KERN_INFO PFX "Releasing master...\n");
ecrt_release_master(master);
printk(KERN_INFO PFX "Unloading.\n");
}
/*****************************************************************************/
MODULE_LICENSE("GPL");
MODULE_AUTHOR("Florian Pose <fp@igh-essen.com>");
MODULE_DESCRIPTION("EtherCAT minimal test environment");
module_init(init_mini_module);
module_exit(cleanup_mini_module);
/*****************************************************************************/