/******************************************************************************
*
* RTAI sample for the IgH EtherCAT master.
*
* $Id$
*
* Copyright (C) 2006-2008 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 version 2, as
* published by the Free Software Foundation.
*
* 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
*
* Using the EtherCAT technology and brand is permitted in compliance with
* the industrial property and similar rights of Beckhoff Automation GmbH.
*
*****************************************************************************/
// Linux
#include <linux/module.h>
#include <linux/err.h>
// RTAI
#include <rtai_sched.h>
#include <rtai_sem.h>
// EtherCAT
#include "../../include/ecrt.h"
/*****************************************************************************/
// Module parameters
#define FREQUENCY 2000 // task frequency in Hz
#define INHIBIT_TIME 20
#define TIMERTICKS (1000000000 / FREQUENCY)
// Optional features (comment to disable)
#define CONFIGURE_PDOS
#define PFX "ec_rtai_sample: "
/*****************************************************************************/
// EtherCAT
static ec_master_t *master = NULL;
static ec_master_state_t master_state = {};
spinlock_t master_lock = SPIN_LOCK_UNLOCKED;
static ec_domain_t *domain1 = NULL;
static ec_domain_state_t domain1_state = {};
static ec_slave_config_t *sc_ana_in = NULL;
static ec_slave_config_state_t sc_ana_in_state = {};
// RTAI
static RT_TASK task;
static SEM master_sem;
static cycles_t t_last_cycle = 0, t_critical;
/*****************************************************************************/
// process data
static uint8_t *domain1_pd; // process data memory
#define AnaInSlavePos 0, 1
#define DigOutSlavePos 0, 3
#define Beckhoff_EL2004 0x00000002, 0x07D43052
#define Beckhoff_EL3162 0x00000002, 0x0C5A3052
static unsigned int off_ana_in; // offsets for PDO entries
static unsigned int off_dig_out;
const static ec_pdo_entry_reg_t domain1_regs[] = {
{AnaInSlavePos, Beckhoff_EL3162, 0x3101, 2, &off_ana_in},
{DigOutSlavePos, Beckhoff_EL2004, 0x3001, 1, &off_dig_out},
{}
};
static unsigned int counter = 0;
static unsigned int blink = 0;
/*****************************************************************************/
#ifdef CONFIGURE_PDOS
static ec_pdo_entry_info_t el3162_channel1[] = {
{0x3101, 1, 8}, // status
{0x3101, 2, 16} // value
};
static ec_pdo_entry_info_t el3162_channel2[] = {
{0x3102, 1, 8}, // status
{0x3102, 2, 16} // value
};
static ec_pdo_info_t el3162_pdos[] = {
{0x1A00, 2, el3162_channel1},
{0x1A01, 2, el3162_channel2}
};
static ec_sync_info_t el3162_syncs[] = {
{2, EC_DIR_OUTPUT},
{3, EC_DIR_INPUT, 2, el3162_pdos},
{0xff}
};
static 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
};
static ec_pdo_info_t el2004_pdos[] = {
{0x1600, 1, &el2004_channels[0]},
{0x1601, 1, &el2004_channels[1]},
{0x1602, 1, &el2004_channels[2]},
{0x1603, 1, &el2004_channels[3]}
};
static ec_sync_info_t el2004_syncs[] = {
{0, EC_DIR_OUTPUT, 4, el2004_pdos},
{1, EC_DIR_INPUT},
{0xff}
};
#endif
/*****************************************************************************/
void check_domain1_state(void)
{
ec_domain_state_t ds;
spin_lock(&master_lock);
ecrt_domain_state(domain1, &ds);
spin_unlock(&master_lock);
if (ds.working_counter != domain1_state.working_counter)
printk(KERN_INFO PFX "Domain1: WC %u.\n", ds.working_counter);
if (ds.wc_state != domain1_state.wc_state)
printk(KERN_INFO PFX "Domain1: State %u.\n", ds.wc_state);
domain1_state = ds;
}
/*****************************************************************************/
void check_master_state(void)
{
ec_master_state_t ms;
spin_lock(&master_lock);
ecrt_master_state(master, &ms);
spin_unlock(&master_lock);
if (ms.slaves_responding != master_state.slaves_responding)
printk(KERN_INFO PFX "%u slave(s).\n", ms.slaves_responding);
if (ms.al_states != master_state.al_states)
printk(KERN_INFO PFX "AL states: 0x%02X.\n", ms.al_states);
if (ms.link_up != master_state.link_up)
printk(KERN_INFO PFX "Link is %s.\n", ms.link_up ? "up" : "down");
master_state = ms;
}
/*****************************************************************************/
void check_slave_config_states(void)
{
ec_slave_config_state_t s;
spin_lock(&master_lock);
ecrt_slave_config_state(sc_ana_in, &s);
spin_unlock(&master_lock);
if (s.al_state != sc_ana_in_state.al_state)
printk(KERN_INFO PFX "AnaIn: State 0x%02X.\n", s.al_state);
if (s.online != sc_ana_in_state.online)
printk(KERN_INFO PFX "AnaIn: %s.\n", s.online ? "online" : "offline");
if (s.operational != sc_ana_in_state.operational)
printk(KERN_INFO PFX "AnaIn: %soperational.\n",
s.operational ? "" : "Not ");
sc_ana_in_state = s;
}
/*****************************************************************************/
void run(long data)
{
while (1) {
t_last_cycle = get_cycles();
// receive process data
rt_sem_wait(&master_sem);
ecrt_master_receive(master);
ecrt_domain_process(domain1);
rt_sem_signal(&master_sem);
// check process data state (optional)
check_domain1_state();
if (counter) {
counter--;
} else { // do this at 1 Hz
counter = FREQUENCY;
// calculate new process data
blink = !blink;
// check for master state (optional)
check_master_state();
// check for islave configuration state(s) (optional)
check_slave_config_states();
}
// write process data
EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x06 : 0x09);
rt_sem_wait(&master_sem);
ecrt_domain_queue(domain1);
ecrt_master_send(master);
rt_sem_signal(&master_sem);
rt_task_wait_period();
}
}
/*****************************************************************************/
int request_lock(void *data)
{
// too close to the next real time cycle: deny access...
if (get_cycles() - t_last_cycle > 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)
{
int ret = -1;
RTIME tick_period, requested_ticks, now;
#ifdef CONFIGURE_PDOS
ec_slave_config_t *sc;
#endif
printk(KERN_INFO PFX "Starting...\n");
rt_sem_init(&master_sem, 1);
t_critical = cpu_khz * 1000 / FREQUENCY - cpu_khz * INHIBIT_TIME / 1000;
master = ecrt_request_master(0);
if (IS_ERR(master)) {
ret = PTR_ERR(master);
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;
}
if (!(sc_ana_in = ecrt_master_slave_config(
master, AnaInSlavePos, Beckhoff_EL3162))) {
printk(KERN_ERR PFX "Failed to get slave configuration.\n");
goto out_release_master;
}
#ifdef CONFIGURE_PDOS
printk(KERN_INFO PFX "Configuring PDOs...\n");
if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3162_syncs)) {
printk(KERN_ERR PFX "Failed to configure PDOs.\n");
goto out_release_master;
}
if (!(sc = ecrt_master_slave_config(master, DigOutSlavePos, Beckhoff_EL2004))) {
printk(KERN_ERR PFX "Failed to get slave configuration.\n");
goto out_release_master;
}
if (ecrt_slave_config_pdos(sc, EC_END, el2004_syncs)) {
printk(KERN_ERR PFX "Failed to configure PDOs.\n");
goto out_release_master;
}
#endif
printk(KERN_INFO PFX "Registering PDO entries...\n");
if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
printk(KERN_ERR PFX "PDO entry registration failed!\n");
goto out_release_master;
}
printk(KERN_INFO PFX "Activating master...\n");
if (ecrt_master_activate(master)) {
printk(KERN_ERR PFX "Failed to activate master!\n");
goto out_release_master;
}
// Get internal process data for domain
domain1_pd = ecrt_domain_data(domain1);
printk(KERN_INFO PFX "Starting cyclic sample thread...\n");
requested_ticks = nano2count(TIMERTICKS);
tick_period = start_rt_timer(requested_ticks);
printk(KERN_INFO PFX "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 PFX "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 PFX "Failed to run RTAI task!\n");
goto out_stop_task;
}
printk(KERN_INFO PFX "Initialized.\n");
return 0;
out_stop_task:
rt_task_delete(&task);
out_stop_timer:
stop_rt_timer();
out_release_master:
printk(KERN_ERR PFX "Releasing master...\n");
ecrt_release_master(master);
out_return:
rt_sem_delete(&master_sem);
printk(KERN_ERR PFX "Failed to load. Aborting.\n");
return ret;
}
/*****************************************************************************/
void __exit cleanup_mod(void)
{
printk(KERN_INFO PFX "Stopping...\n");
rt_task_delete(&task);
stop_rt_timer();
ecrt_release_master(master);
rt_sem_delete(&master_sem);
printk(KERN_INFO PFX "Unloading.\n");
}
/*****************************************************************************/
MODULE_LICENSE("GPL");
MODULE_AUTHOR("Florian Pose <fp@igh-essen.com>");
MODULE_DESCRIPTION("EtherCAT RTAI sample module");
module_init(init_mod);
module_exit(cleanup_mod);
/*****************************************************************************/