/******************************************************************************
*
* $Id$
*
* 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
*
* ---
*
* The license mentioned above concerns the source code only. Using the
* EtherCAT technology and brand is only permitted in compliance with the
* industrial property and similar rights of Beckhoff Automation GmbH.
*
*****************************************************************************/
#include <linux/version.h>
#include <linux/module.h>
#include <linux/timer.h>
#include <linux/interrupt.h>
#include <linux/err.h>
#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 27)
#include <linux/semaphore.h>
#else
#include <asm/semaphore.h>
#endif
#include "../../include/ecrt.h" // EtherCAT realtime interface
/*****************************************************************************/
// Module parameters
#define FREQUENCY 100
// Optional features
#define PFX "ec_tty_example: "
/*****************************************************************************/
// EtherCAT
static ec_master_t *master = NULL;
static ec_master_state_t master_state = {};
struct semaphore master_sem;
static ec_domain_t *domain1 = NULL;
static ec_domain_state_t domain1_state = {};
// Timer
static struct timer_list timer;
/*****************************************************************************/
// process data
static uint8_t *domain1_pd; // process data memory
#define BusCouplerPos 0, 0
#define SerialPos 0, 1
#define Beckhoff_EK1100 0x00000002, 0x044c2c52
#define Beckhoff_EL6002 0x00000002, 0x17723052
// offsets for PDO entries
static unsigned int off_ctrl;
static unsigned int off_tx;
static unsigned int off_status;
static unsigned int off_rx;
const static ec_pdo_entry_reg_t domain1_regs[] = {
{SerialPos, Beckhoff_EL6002, 0x7001, 0x01, &off_ctrl},
{SerialPos, Beckhoff_EL6002, 0x7000, 0x11, &off_tx},
{SerialPos, Beckhoff_EL6002, 0x6001, 0x01, &off_status},
{SerialPos, Beckhoff_EL6002, 0x6000, 0x11, &off_rx},
{}
};
static unsigned int counter = 0;
typedef enum {
SER_REQUEST_INIT,
SER_WAIT_FOR_INIT_RESPONSE,
SER_READY
} serial_state_t;
typedef struct {
size_t max_tx_data_size;
size_t max_rx_data_size;
uint8_t *tx_data;
uint8_t tx_data_size;
serial_state_t state;
uint8_t tx_request_toggle;
uint8_t tx_accepted_toggle;
uint8_t rx_request_toggle;
uint8_t rx_accepted_toggle;
uint16_t control;
} serial_device_t;
static serial_device_t *ser = NULL;
static char tx_data[] = "ATZ\r\n";
static off_t tx_off = 0;
/*****************************************************************************/
/* Slave 1, "EL6002"
* Vendor ID: 0x00000002
* Product code: 0x17723052
* Revision number: 0x00100000
*/
ec_pdo_entry_info_t slave_1_pdo_entries[] = {
{0x7001, 0x01, 16}, /* Ctrl */
{0x7000, 0x11, 8}, /* Data Out 0 */
{0x7000, 0x12, 8}, /* Data Out 1 */
{0x7000, 0x13, 8}, /* Data Out 2 */
{0x7000, 0x14, 8}, /* Data Out 3 */
{0x7000, 0x15, 8}, /* Data Out 4 */
{0x7000, 0x16, 8}, /* Data Out 5 */
{0x7000, 0x17, 8}, /* Data Out 6 */
{0x7000, 0x18, 8}, /* Data Out 7 */
{0x7000, 0x19, 8}, /* Data Out 8 */
{0x7000, 0x1a, 8}, /* Data Out 9 */
{0x7000, 0x1b, 8}, /* Data Out 10 */
{0x7000, 0x1c, 8}, /* Data Out 11 */
{0x7000, 0x1d, 8}, /* Data Out 12 */
{0x7000, 0x1e, 8}, /* Data Out 13 */
{0x7000, 0x1f, 8}, /* Data Out 14 */
{0x7000, 0x20, 8}, /* Data Out 15 */
{0x7000, 0x21, 8}, /* Data Out 16 */
{0x7000, 0x22, 8}, /* Data Out 17 */
{0x7000, 0x23, 8}, /* Data Out 18 */
{0x7000, 0x24, 8}, /* Data Out 19 */
{0x7000, 0x25, 8}, /* Data Out 20 */
{0x7000, 0x26, 8}, /* Data Out 21 */
{0x7011, 0x01, 16}, /* Ctrl */
{0x7010, 0x11, 8}, /* Data Out 0 */
{0x7010, 0x12, 8}, /* Data Out 1 */
{0x7010, 0x13, 8}, /* Data Out 2 */
{0x7010, 0x14, 8}, /* Data Out 3 */
{0x7010, 0x15, 8}, /* Data Out 4 */
{0x7010, 0x16, 8}, /* Data Out 5 */
{0x7010, 0x17, 8}, /* Data Out 6 */
{0x7010, 0x18, 8}, /* Data Out 7 */
{0x7010, 0x19, 8}, /* Data Out 8 */
{0x7010, 0x1a, 8}, /* Data Out 9 */
{0x7010, 0x1b, 8}, /* Data Out 10 */
{0x7010, 0x1c, 8}, /* Data Out 11 */
{0x7010, 0x1d, 8}, /* Data Out 12 */
{0x7010, 0x1e, 8}, /* Data Out 13 */
{0x7010, 0x1f, 8}, /* Data Out 14 */
{0x7010, 0x20, 8}, /* Data Out 15 */
{0x7010, 0x21, 8}, /* Data Out 16 */
{0x7010, 0x22, 8}, /* Data Out 17 */
{0x7010, 0x23, 8}, /* Data Out 18 */
{0x7010, 0x24, 8}, /* Data Out 19 */
{0x7010, 0x25, 8}, /* Data Out 20 */
{0x7010, 0x26, 8}, /* Data Out 21 */
{0x6001, 0x01, 16}, /* Status */
{0x6000, 0x11, 8}, /* Data In 0 */
{0x6000, 0x12, 8}, /* Data In 1 */
{0x6000, 0x13, 8}, /* Data In 2 */
{0x6000, 0x14, 8}, /* Data In 3 */
{0x6000, 0x15, 8}, /* Data In 4 */
{0x6000, 0x16, 8}, /* Data In 5 */
{0x6000, 0x17, 8}, /* Data In 6 */
{0x6000, 0x18, 8}, /* Data In 7 */
{0x6000, 0x19, 8}, /* Data In 8 */
{0x6000, 0x1a, 8}, /* Data In 9 */
{0x6000, 0x1b, 8}, /* Data In 10 */
{0x6000, 0x1c, 8}, /* Data In 11 */
{0x6000, 0x1d, 8}, /* Data In 12 */
{0x6000, 0x1e, 8}, /* Data In 13 */
{0x6000, 0x1f, 8}, /* Data In 14 */
{0x6000, 0x20, 8}, /* Data In 15 */
{0x6000, 0x21, 8}, /* Data In 16 */
{0x6000, 0x22, 8}, /* Data In 17 */
{0x6000, 0x23, 8}, /* Data In 18 */
{0x6000, 0x24, 8}, /* Data In 19 */
{0x6000, 0x25, 8}, /* Data In 20 */
{0x6000, 0x26, 8}, /* Data In 21 */
{0x6011, 0x01, 16}, /* Status */
{0x6010, 0x11, 8}, /* Data In 0 */
{0x6010, 0x12, 8}, /* Data In 1 */
{0x6010, 0x13, 8}, /* Data In 2 */
{0x6010, 0x14, 8}, /* Data In 3 */
{0x6010, 0x15, 8}, /* Data In 4 */
{0x6010, 0x16, 8}, /* Data In 5 */
{0x6010, 0x17, 8}, /* Data In 6 */
{0x6010, 0x18, 8}, /* Data In 7 */
{0x6010, 0x19, 8}, /* Data In 8 */
{0x6010, 0x1a, 8}, /* Data In 9 */
{0x6010, 0x1b, 8}, /* Data In 10 */
{0x6010, 0x1c, 8}, /* Data In 11 */
{0x6010, 0x1d, 8}, /* Data In 12 */
{0x6010, 0x1e, 8}, /* Data In 13 */
{0x6010, 0x1f, 8}, /* Data In 14 */
{0x6010, 0x20, 8}, /* Data In 15 */
{0x6010, 0x21, 8}, /* Data In 16 */
{0x6010, 0x22, 8}, /* Data In 17 */
{0x6010, 0x23, 8}, /* Data In 18 */
{0x6010, 0x24, 8}, /* Data In 19 */
{0x6010, 0x25, 8}, /* Data In 20 */
{0x6010, 0x26, 8}, /* Data In 21 */
};
ec_pdo_info_t slave_1_pdos[] = {
{0x1604, 23, slave_1_pdo_entries + 0}, /* COM RxPDO-Map Outputs Ch.1 */
{0x1605, 23, slave_1_pdo_entries + 23}, /* COM RxPDO-Map Outputs Ch.2 */
{0x1a04, 23, slave_1_pdo_entries + 46}, /* COM TxPDO-Map Inputs Ch.1 */
{0x1a05, 23, slave_1_pdo_entries + 69}, /* COM TxPDO-Map Inputs Ch.2 */
};
ec_sync_info_t slave_1_syncs[] = {
{0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
{1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
{2, EC_DIR_OUTPUT, 2, slave_1_pdos + 0, EC_WD_DISABLE},
{3, EC_DIR_INPUT, 2, slave_1_pdos + 2, EC_WD_DISABLE},
{0xff}
};
/****************************************************************************/
int serial_init(serial_device_t *ser, size_t max_tx, size_t max_rx)
{
ser->max_tx_data_size = max_tx;
ser->max_rx_data_size = max_rx;
ser->tx_data = NULL;
ser->tx_data_size = 0;
ser->state = SER_REQUEST_INIT;
ser->tx_request_toggle = 0;
ser->rx_accepted_toggle = 0;
ser->control = 0x0000;
if (max_tx > 0) {
ser->tx_data = kmalloc(max_tx, GFP_KERNEL);
if (ser->tx_data == NULL) {
return -ENOMEM;
}
}
return 0;
}
/****************************************************************************/
void serial_clear(serial_device_t *ser)
{
if (ser->tx_data) {
kfree(ser->tx_data);
}
}
/****************************************************************************/
void serial_run(serial_device_t *ser, uint16_t status, uint8_t *rx_data)
{
uint8_t tx_accepted_toggle, rx_request_toggle;
switch (ser->state) {
case SER_READY:
/* Send data */
tx_accepted_toggle = status & 0x0001;
if (tx_accepted_toggle != ser->tx_accepted_toggle) { // ready
// send new data
size_t rem = sizeof(tx_data) - tx_off;
if (rem > 0) {
if (rem < ser->max_tx_data_size) {
ser->tx_data_size = rem;
} else {
ser->tx_data_size = ser->max_tx_data_size;
}
printk(KERN_INFO PFX "Sending %u bytes.\n", ser->tx_data_size);
memcpy(ser->tx_data, tx_data, ser->tx_data_size);
tx_off += ser->tx_data_size;
ser->tx_request_toggle = !ser->tx_request_toggle;
ser->tx_accepted_toggle = tx_accepted_toggle;
}
}
/* Receive data */
rx_request_toggle = status & 0x0002;
if (rx_request_toggle != ser->rx_request_toggle) {
uint8_t rx_data_size = status >> 8, i;
ser->rx_request_toggle = rx_request_toggle;
printk(KERN_INFO PFX "Received %u bytes:\n", rx_data_size);
for (i = 0; i < rx_data_size; i++) {
printk(KERN_INFO PFX "%02x\n", rx_data[i]);
}
ser->rx_accepted_toggle = !ser->rx_accepted_toggle;
}
ser->control =
ser->tx_request_toggle |
ser->rx_accepted_toggle << 1 |
ser->tx_data_size << 8;
break;
case SER_REQUEST_INIT:
if (status & (1 << 2)) {
ser->control = 0x0000;
ser->state = SER_WAIT_FOR_INIT_RESPONSE;
} else {
ser->control = 1 << 2; // CW.2, request initialization
}
break;
case SER_WAIT_FOR_INIT_RESPONSE:
if (!(status & (1 << 2))) {
printk(KERN_INFO PFX "Init successful.\n");
ser->tx_accepted_toggle = 1;
ser->control = 0x0000;
ser->state = SER_READY;
}
break;
}
}
/*****************************************************************************/
void check_domain1_state(void)
{
ec_domain_state_t ds;
down(&master_sem);
ecrt_domain_state(domain1, &ds);
up(&master_sem);
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;
down(&master_sem);
ecrt_master_state(master, &ms);
up(&master_sem);
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 cyclic_task(unsigned long data)
{
// receive process data
down(&master_sem);
ecrt_master_receive(master);
ecrt_domain_process(domain1);
up(&master_sem);
// check process data state (optional)
check_domain1_state();
if (counter) {
counter--;
} else { // do this at 1 Hz
counter = FREQUENCY;
// check for master state (optional)
check_master_state();
tx_off = 0;
}
serial_run(ser, EC_READ_U16(domain1_pd + off_status), domain1_pd + off_rx);
EC_WRITE_U16(domain1_pd + off_ctrl, ser->control);
memcpy(domain1_pd + off_tx, ser->tx_data, 22);
// send process data
down(&master_sem);
ecrt_domain_queue(domain1);
ecrt_master_send(master);
up(&master_sem);
// restart timer
timer.expires += HZ / FREQUENCY;
add_timer(&timer);
}
/*****************************************************************************/
void send_callback(void *cb_data)
{
ec_master_t *m = (ec_master_t *) cb_data;
down(&master_sem);
ecrt_master_send_ext(m);
up(&master_sem);
}
/*****************************************************************************/
void receive_callback(void *cb_data)
{
ec_master_t *m = (ec_master_t *) cb_data;
down(&master_sem);
ecrt_master_receive(m);
up(&master_sem);
}
/*****************************************************************************/
int __init init_mini_module(void)
{
int ret = -1;
ec_slave_config_t *sc;
printk(KERN_INFO PFX "Starting...\n");
ser = kmalloc(sizeof(*ser), GFP_KERNEL);
if (ser == NULL) {
printk(KERN_ERR PFX "Failed to allocate serial device object.\n");
return -ENOMEM;
}
ret = serial_init(ser, 22, 22);
if (ret) {
printk(KERN_ERR PFX "Failed to init serial device object.\n");
return ret;
}
master = ecrt_request_master(0);
if (!master) {
ret = -EBUSY;
printk(KERN_ERR PFX "Requesting master 0 failed.\n");
goto out_return;
}
init_MUTEX(&master_sem);
ecrt_master_callbacks(master, send_callback, receive_callback, master);
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;
}
// Create configuration for bus coupler
sc = ecrt_master_slave_config(master, BusCouplerPos, Beckhoff_EK1100);
if (!sc)
return -1;
if (!(sc = ecrt_master_slave_config(
master, SerialPos, Beckhoff_EL6002))) {
printk(KERN_ERR PFX "Failed to get slave configuration.\n");
return -1;
}
printk("Configuring PDOs...\n");
if (ecrt_slave_config_pdos(sc, EC_END, slave_1_syncs)) {
printk(KERN_ERR PFX "Failed to configure PDOs.\n");
return -1;
}
if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
printk(KERN_ERR PFX "PDO entry registration failed!\n");
return -1;
}
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");
init_timer(&timer);
timer.function = cyclic_task;
timer.expires = jiffies + 10;
add_timer(&timer);
printk(KERN_INFO PFX "Started.\n");
return 0;
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 ret;
}
/*****************************************************************************/
void __exit cleanup_mini_module(void)
{
printk(KERN_INFO PFX "Stopping...\n");
del_timer_sync(&timer);
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);
/*****************************************************************************/