Eoe mac address now derived from unique mac.
The EoE MAC address is now derived from the NIC part of the first global
unique MAC address of the linked list of available network interfaces or
otherwise the MAC address used by the EtherCAT master. The EoE MAC address
will get the format 02:NIC:NIC:NIC:RP:RP where NIC comes from the unique MAC
address (if available) and RP is the ring position of the EoE slave.
/******************************************************************************
*
* $Id$
*
* 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, 34)
#include <linux/slab.h>
#endif
#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 CONFIGURE_PDOS 1
#define EL3152_ALT_PDOS 0
#define EXTERNAL_MEMORY 1
#define SDO_ACCESS 0
#define VOE_ACCESS 0
#define PFX "ec_mini: "
/*****************************************************************************/
// 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 = {};
static ec_slave_config_t *sc_ana_in = NULL;
static ec_slave_config_state_t sc_ana_in_state = {};
// Timer
static struct timer_list timer;
/*****************************************************************************/
// process data
static uint8_t *domain1_pd; // process data memory
#define AnaInSlavePos 0, 2
#define AnaOutSlavePos 0, 1
#define DigOutSlavePos 0, 3
#define Beckhoff_EL2004 0x00000002, 0x07D43052
#define Beckhoff_EL3152 0x00000002, 0x0c503052
#define Beckhoff_EL4102 0x00000002, 0x10063052
// offsets for PDO entries
static unsigned int off_ana_in;
static unsigned int off_ana_out;
static unsigned int off_dig_out;
const static ec_pdo_entry_reg_t domain1_regs[] = {
#if EL3152_ALT_PDOS
{AnaInSlavePos, Beckhoff_EL3152, 0x6401, 1, &off_ana_in},
#else
{AnaInSlavePos, Beckhoff_EL3152, 0x3101, 2, &off_ana_in},
#endif
{AnaOutSlavePos, Beckhoff_EL4102, 0x3001, 1, &off_ana_out},
{DigOutSlavePos, Beckhoff_EL2004, 0x3001, 1, &off_dig_out},
{}
};
static unsigned int counter = 0;
static unsigned int blink = 0;
/*****************************************************************************/
#if CONFIGURE_PDOS
// Analog in --------------------------
static ec_pdo_entry_info_t el3152_pdo_entries[] = {
{0x3101, 1, 8}, // channel 1 status
{0x3101, 2, 16}, // channel 1 value
{0x3102, 1, 8}, // channel 2 status
{0x3102, 2, 16}, // channel 2 value
{0x6401, 1, 16}, // channel 1 value (alt.)
{0x6401, 2, 16} // channel 2 value (alt.)
};
#if EL3152_ALT_PDOS
static ec_pdo_info_t el3152_pdos[] = {
{0x1A10, 2, el3152_pdo_entries + 4},
};
static ec_sync_info_t el3152_syncs[] = {
{2, EC_DIR_OUTPUT},
{3, EC_DIR_INPUT, 1, el3152_pdos},
{0xff}
};
#else
static ec_pdo_info_t el3152_pdos[] = {
{0x1A00, 2, el3152_pdo_entries},
{0x1A01, 2, el3152_pdo_entries + 2}
};
static ec_sync_info_t el3152_syncs[] = {
{2, EC_DIR_OUTPUT},
{3, EC_DIR_INPUT, 1, el3152_pdos},
{0xff}
};
#endif
// Analog out -------------------------
static ec_pdo_entry_info_t el4102_pdo_entries[] = {
{0x3001, 1, 16}, // channel 1 value
{0x3002, 1, 16}, // channel 2 value
};
static ec_pdo_info_t el4102_pdos[] = {
{0x1600, 1, el4102_pdo_entries},
{0x1601, 1, el4102_pdo_entries + 1}
};
static ec_sync_info_t el4102_syncs[] = {
{2, EC_DIR_OUTPUT, 2, el4102_pdos},
{3, EC_DIR_INPUT},
{0xff}
};
// Digital out ------------------------
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
/*****************************************************************************/
#if SDO_ACCESS
static ec_sdo_request_t *sdo;
#endif
#if VOE_ACCESS
static ec_voe_handler_t *voe;
#endif
/*****************************************************************************/
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 check_slave_config_states(void)
{
ec_slave_config_state_t s;
down(&master_sem);
ecrt_slave_config_state(sc_ana_in, &s);
up(&master_sem);
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;
}
/*****************************************************************************/
#if SDO_ACCESS
void read_sdo(void)
{
switch (ecrt_sdo_request_state(sdo)) {
case EC_REQUEST_UNUSED: // request was not used yet
ecrt_sdo_request_read(sdo); // trigger first read
break;
case EC_REQUEST_BUSY:
printk(KERN_INFO PFX "Still busy...\n");
break;
case EC_REQUEST_SUCCESS:
printk(KERN_INFO PFX "SDO value: 0x%04X\n",
EC_READ_U16(ecrt_sdo_request_data(sdo)));
ecrt_sdo_request_read(sdo); // trigger next read
break;
case EC_REQUEST_ERROR:
printk(KERN_INFO PFX "Failed to read SDO!\n");
ecrt_sdo_request_read(sdo); // retry reading
break;
}
}
#endif
/*****************************************************************************/
#if VOE_ACCESS
void read_voe(void)
{
switch (ecrt_voe_handler_execute(voe)) {
case EC_REQUEST_UNUSED:
ecrt_voe_handler_read(voe); // trigger first read
break;
case EC_REQUEST_BUSY:
printk(KERN_INFO PFX "VoE read still busy...\n");
break;
case EC_REQUEST_SUCCESS:
printk(KERN_INFO PFX "VoE received.\n");
// get data via ecrt_voe_handler_data(voe)
ecrt_voe_handler_read(voe); // trigger next read
break;
case EC_REQUEST_ERROR:
printk(KERN_INFO PFX "Failed to read VoE data!\n");
ecrt_voe_handler_read(voe); // retry reading
break;
}
}
#endif
/*****************************************************************************/
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;
// 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();
#if SDO_ACCESS
// read process data SDO
read_sdo();
#endif
#if VOE_ACCESS
read_voe();
#endif
}
// write process data
EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x06 : 0x09);
// 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;
#if CONFIGURE_PDOS
ec_slave_config_t *sc;
#endif
#if EXTERNAL_MEMORY
unsigned int size;
#endif
printk(KERN_INFO PFX "Starting...\n");
master = ecrt_request_master(0);
if (!master) {
ret = -EBUSY;
printk(KERN_ERR PFX "Requesting master 0 failed.\n");
goto out_return;
}
sema_init(&master_sem, 1);
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;
}
if (!(sc_ana_in = ecrt_master_slave_config(
master, AnaInSlavePos, Beckhoff_EL3152))) {
printk(KERN_ERR PFX "Failed to get slave configuration.\n");
goto out_release_master;
}
#if CONFIGURE_PDOS
printk(KERN_INFO PFX "Configuring PDOs...\n");
if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3152_syncs)) {
printk(KERN_ERR PFX "Failed to configure PDOs.\n");
goto out_release_master;
}
if (!(sc = ecrt_master_slave_config(
master, AnaOutSlavePos, Beckhoff_EL4102))) {
printk(KERN_ERR PFX "Failed to get slave configuration.\n");
goto out_release_master;
}
if (ecrt_slave_config_pdos(sc, EC_END, el4102_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
#if SDO_ACCESS
printk(KERN_INFO PFX "Creating SDO requests...\n");
if (!(sdo = ecrt_slave_config_create_sdo_request(sc_ana_in, 0x3102, 2, 2))) {
printk(KERN_ERR PFX "Failed to create SDO request.\n");
goto out_release_master;
}
ecrt_sdo_request_timeout(sdo, 500); // ms
#endif
#if VOE_ACCESS
printk(KERN_INFO PFX "Creating VoE handlers...\n");
if (!(voe = ecrt_slave_config_create_voe_handler(sc_ana_in, 1000))) {
printk(KERN_ERR PFX "Failed to create VoE handler.\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;
}
#if EXTERNAL_MEMORY
if ((size = ecrt_domain_size(domain1))) {
if (!(domain1_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, domain1_pd);
}
#endif
printk(KERN_INFO PFX "Activating master...\n");
if (ecrt_master_activate(master)) {
printk(KERN_ERR PFX "Failed to activate master!\n");
#if EXTERNAL_MEMORY
goto out_free_process_data;
#else
goto out_release_master;
#endif
}
#if !EXTERNAL_MEMORY
// Get internal process data for domain
domain1_pd = ecrt_domain_data(domain1);
#endif
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;
#if EXTERNAL_MEMORY
out_free_process_data:
kfree(domain1_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 ret;
}
/*****************************************************************************/
void __exit cleanup_mini_module(void)
{
printk(KERN_INFO PFX "Stopping...\n");
del_timer_sync(&timer);
#if EXTERNAL_MEMORY
kfree(domain1_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);
/*****************************************************************************/