fp@220: /******************************************************************************
fp@220:  *
fp@220:  *  $Id$
fp@220:  *
fp@1326:  *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
fp@220:  *
fp@220:  *  This file is part of the IgH EtherCAT Master.
fp@220:  *
fp@1326:  *  The IgH EtherCAT Master is free software; you can redistribute it and/or
fp@1326:  *  modify it under the terms of the GNU General Public License version 2, as
fp@1326:  *  published by the Free Software Foundation.
fp@1326:  *
fp@1326:  *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
fp@1326:  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@1326:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
fp@1326:  *  Public License for more details.
fp@1326:  *
fp@1326:  *  You should have received a copy of the GNU General Public License along
fp@1326:  *  with the IgH EtherCAT Master; if not, write to the Free Software
fp@220:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@220:  *
fp@1363:  *  ---
fp@1363:  *
fp@1363:  *  The license mentioned above concerns the source code only. Using the
fp@1363:  *  EtherCAT technology and brand is only permitted in compliance with the
fp@1363:  *  industrial property and similar rights of Beckhoff Automation GmbH.
fp@246:  *
fp@220:  *****************************************************************************/
fp@220: 
fp@1501: #include <linux/version.h>
fp@220: #include <linux/module.h>
fp@220: #include <linux/timer.h>
fp@220: #include <linux/interrupt.h>
fp@1239: #include <linux/err.h>
fp@220: 
fp@1975: #if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 34)
fp@1975: #include <linux/slab.h>
fp@1975: #endif
fp@1975: 
fp@1501: #if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 27)
fp@1501: #include <linux/semaphore.h>
fp@1501: #else
fp@1501: #include <asm/semaphore.h>
fp@1501: #endif
fp@1501: 
fp@223: #include "../../include/ecrt.h" // EtherCAT realtime interface
fp@220: 
fp@820: /*****************************************************************************/
fp@820: 
fp@858: // Module parameters
fp@220: #define FREQUENCY 100
fp@858: 
fp@1171: // Optional features
fp@1171: #define CONFIGURE_PDOS  1
fp@1179: #define EL3152_ALT_PDOS 0
fp@1171: #define EXTERNAL_MEMORY 1
fp@1171: #define SDO_ACCESS      0
fp@1209: #define VOE_ACCESS      0
fp@457: 
fp@820: #define PFX "ec_mini: "
fp@820: 
fp@820: /*****************************************************************************/
fp@220: 
fp@220: // EtherCAT
fp@612: static ec_master_t *master = NULL;
fp@818: static ec_master_state_t master_state = {};
fp@1500: struct semaphore master_sem;
fp@818: 
fp@612: static ec_domain_t *domain1 = NULL;
fp@818: static ec_domain_state_t domain1_state = {};
fp@818: 
fp@1022: static ec_slave_config_t *sc_ana_in = NULL;
fp@1022: static ec_slave_config_state_t sc_ana_in_state = {};
fp@1022: 
fp@1080: // Timer
fp@820: static struct timer_list timer;
fp@820: 
fp@820: /*****************************************************************************/
fp@820: 
fp@820: // process data
fp@820: static uint8_t *domain1_pd; // process data memory
fp@820: 
fp@1212: #define AnaInSlavePos  0, 2
fp@1212: #define AnaOutSlavePos 0, 1
fp@1080: #define DigOutSlavePos 0, 3
fp@1080: 
fp@1080: #define Beckhoff_EL2004 0x00000002, 0x07D43052
fp@1179: #define Beckhoff_EL3152 0x00000002, 0x0c503052
fp@1179: #define Beckhoff_EL4102 0x00000002, 0x10063052
fp@1179: 
fp@1327: // offsets for PDO entries
fp@1179: static unsigned int off_ana_in;
fp@1179: static unsigned int off_ana_out;
fp@820: static unsigned int off_dig_out;
fp@820: 
fp@1080: const static ec_pdo_entry_reg_t domain1_regs[] = {
fp@1179: #if EL3152_ALT_PDOS
fp@1179:     {AnaInSlavePos,  Beckhoff_EL3152, 0x6401, 1, &off_ana_in},
fp@1171: #else
fp@1179:     {AnaInSlavePos,  Beckhoff_EL3152, 0x3101, 2, &off_ana_in},
fp@1179: #endif
fp@1179:     {AnaOutSlavePos, Beckhoff_EL4102, 0x3001, 1, &off_ana_out},
fp@1080:     {DigOutSlavePos, Beckhoff_EL2004, 0x3001, 1, &off_dig_out},
fp@1080:     {}
fp@1080: };
fp@1080: 
fp@1080: static unsigned int counter = 0;
fp@820: static unsigned int blink = 0;
fp@820: 
fp@820: /*****************************************************************************/
fp@820: 
fp@1171: #if CONFIGURE_PDOS
fp@1171: 
fp@1179: // Analog in --------------------------
fp@1179: 
fp@1179: static ec_pdo_entry_info_t el3152_pdo_entries[] = {
fp@1171:     {0x3101, 1,  8}, // channel 1 status
fp@1171:     {0x3101, 2, 16}, // channel 1 value
fp@1171:     {0x3102, 1,  8}, // channel 2 status
fp@1171:     {0x3102, 2, 16}, // channel 2 value
fp@1171:     {0x6401, 1, 16}, // channel 1 value (alt.)
fp@1171:     {0x6401, 2, 16}  // channel 2 value (alt.)
fp@1171: };
fp@1171: 
fp@1179: #if EL3152_ALT_PDOS
fp@1179: static ec_pdo_info_t el3152_pdos[] = {
fp@1179:     {0x1A10, 2, el3152_pdo_entries + 4},
fp@1179: };
fp@1179: 
fp@1179: static ec_sync_info_t el3152_syncs[] = {
fp@1171:     {2, EC_DIR_OUTPUT},
fp@1179:     {3, EC_DIR_INPUT, 1, el3152_pdos},
fp@1171:     {0xff}
fp@1171: };
fp@1171: #else
fp@1179: static ec_pdo_info_t el3152_pdos[] = {
fp@1179:     {0x1A00, 2, el3152_pdo_entries},
fp@1179:     {0x1A01, 2, el3152_pdo_entries + 2}
fp@1179: };
fp@1179: 
fp@1179: static ec_sync_info_t el3152_syncs[] = {
fp@1061:     {2, EC_DIR_OUTPUT},
fp@1179:     {3, EC_DIR_INPUT, 1, el3152_pdos},
fp@1061:     {0xff}
fp@792: };
fp@1171: #endif
fp@809: 
fp@1179: // Analog out -------------------------
fp@1179: 
fp@1179: static ec_pdo_entry_info_t el4102_pdo_entries[] = {
fp@1179:     {0x3001, 1, 16}, // channel 1 value
fp@1179:     {0x3002, 1, 16}, // channel 2 value
fp@1179: };
fp@1179: 
fp@1179: static ec_pdo_info_t el4102_pdos[] = {
fp@1179:     {0x1600, 1, el4102_pdo_entries},
fp@1179:     {0x1601, 1, el4102_pdo_entries + 1}
fp@1179: };
fp@1179: 
fp@1179: static ec_sync_info_t el4102_syncs[] = {
fp@1179:     {2, EC_DIR_OUTPUT, 2, el4102_pdos},
fp@1179:     {3, EC_DIR_INPUT},
fp@1179:     {0xff}
fp@1179: };
fp@1179: 
fp@1179: // Digital out ------------------------
fp@1179: 
fp@851: static ec_pdo_entry_info_t el2004_channels[] = {
fp@809:     {0x3001, 1, 1}, // Value 1
fp@809:     {0x3001, 2, 1}, // Value 2
fp@809:     {0x3001, 3, 1}, // Value 3
fp@809:     {0x3001, 4, 1}  // Value 4
fp@809: };
fp@809: 
fp@879: static ec_pdo_info_t el2004_pdos[] = {
fp@1061:     {0x1600, 1, &el2004_channels[0]},
fp@1061:     {0x1601, 1, &el2004_channels[1]},
fp@1061:     {0x1602, 1, &el2004_channels[2]},
fp@1061:     {0x1603, 1, &el2004_channels[3]}
fp@1061: };
fp@1061: 
fp@1061: static ec_sync_info_t el2004_syncs[] = {
fp@1061:     {0, EC_DIR_OUTPUT, 4, el2004_pdos},
fp@1061:     {1, EC_DIR_INPUT},
fp@1061:     {0xff}
fp@809: };
fp@792: #endif
fp@792: 
fp@818: /*****************************************************************************/
fp@818: 
fp@1171: #if SDO_ACCESS
fp@858: static ec_sdo_request_t *sdo;
fp@858: #endif
fp@858: 
fp@1209: #if VOE_ACCESS
fp@1209: static ec_voe_handler_t *voe;
fp@1209: #endif
fp@1209: 
fp@858: /*****************************************************************************/
fp@858: 
fp@818: void check_domain1_state(void)
fp@818: {
fp@818:     ec_domain_state_t ds;
fp@818: 
fp@1500:     down(&master_sem);
fp@818:     ecrt_domain_state(domain1, &ds);
fp@1500:     up(&master_sem);
fp@1022: 
fp@818:     if (ds.working_counter != domain1_state.working_counter)
fp@1022:         printk(KERN_INFO PFX "Domain1: WC %u.\n", ds.working_counter);
fp@818:     if (ds.wc_state != domain1_state.wc_state)
fp@1022:         printk(KERN_INFO PFX "Domain1: State %u.\n", ds.wc_state);
fp@818: 
fp@818:     domain1_state = ds;
fp@818: }
fp@818: 
fp@818: /*****************************************************************************/
fp@818: 
fp@818: void check_master_state(void)
fp@818: {
fp@818:     ec_master_state_t ms;
fp@818: 
fp@1500:     down(&master_sem);
fp@818:     ecrt_master_state(master, &ms);
fp@1500:     up(&master_sem);
fp@818: 
fp@1022:     if (ms.slaves_responding != master_state.slaves_responding)
fp@1022:         printk(KERN_INFO PFX "%u slave(s).\n", ms.slaves_responding);
fp@1022:     if (ms.al_states != master_state.al_states)
fp@1022:         printk(KERN_INFO PFX "AL states: 0x%02X.\n", ms.al_states);
fp@1022:     if (ms.link_up != master_state.link_up)
fp@1022:         printk(KERN_INFO PFX "Link is %s.\n", ms.link_up ? "up" : "down");
fp@818: 
fp@818:     master_state = ms;
fp@818: }
fp@220: 
fp@220: /*****************************************************************************/
fp@220: 
fp@1022: void check_slave_config_states(void)
fp@1022: {
fp@1022:     ec_slave_config_state_t s;
fp@1022: 
fp@1500:     down(&master_sem);
fp@1022:     ecrt_slave_config_state(sc_ana_in, &s);
fp@1500:     up(&master_sem);
fp@1022: 
fp@1022:     if (s.al_state != sc_ana_in_state.al_state)
fp@1022:         printk(KERN_INFO PFX "AnaIn: State 0x%02X.\n", s.al_state);
fp@1022:     if (s.online != sc_ana_in_state.online)
fp@1022:         printk(KERN_INFO PFX "AnaIn: %s.\n", s.online ? "online" : "offline");
fp@1022:     if (s.operational != sc_ana_in_state.operational)
fp@1022:         printk(KERN_INFO PFX "AnaIn: %soperational.\n",
fp@1022:                 s.operational ? "" : "Not ");
fp@1022: 
fp@1022:     sc_ana_in_state = s;
fp@1022: }
fp@1022: 
fp@1022: /*****************************************************************************/
fp@1022: 
fp@1171: #if SDO_ACCESS
fp@858: void read_sdo(void)
fp@858: {
fp@858:     switch (ecrt_sdo_request_state(sdo)) {
fp@1209:         case EC_REQUEST_UNUSED: // request was not used yet
fp@867:             ecrt_sdo_request_read(sdo); // trigger first read
fp@858:             break;
fp@1209:         case EC_REQUEST_BUSY:
fp@861:             printk(KERN_INFO PFX "Still busy...\n");
fp@861:             break;
fp@1209:         case EC_REQUEST_SUCCESS:
fp@1327:             printk(KERN_INFO PFX "SDO value: 0x%04X\n",
fp@861:                     EC_READ_U16(ecrt_sdo_request_data(sdo)));
fp@867:             ecrt_sdo_request_read(sdo); // trigger next read
fp@861:             break;
fp@1209:         case EC_REQUEST_ERROR:
fp@1327:             printk(KERN_INFO PFX "Failed to read SDO!\n");
fp@867:             ecrt_sdo_request_read(sdo); // retry reading
fp@858:             break;
fp@858:     }
fp@858: }
fp@858: #endif
fp@858: 
fp@858: /*****************************************************************************/
fp@858: 
fp@1209: #if VOE_ACCESS
fp@1209: void read_voe(void)
fp@1209: {
fp@1209:     switch (ecrt_voe_handler_execute(voe)) {
fp@1209:         case EC_REQUEST_UNUSED:
fp@1209:             ecrt_voe_handler_read(voe); // trigger first read
fp@1209:             break;
fp@1209:         case EC_REQUEST_BUSY:
fp@1209:             printk(KERN_INFO PFX "VoE read still busy...\n");
fp@1209:             break;
fp@1209:         case EC_REQUEST_SUCCESS:
fp@1209:             printk(KERN_INFO PFX "VoE received.\n");
fp@1209:             // get data via ecrt_voe_handler_data(voe)
fp@1209:             ecrt_voe_handler_read(voe); // trigger next read
fp@1209:             break;
fp@1209:         case EC_REQUEST_ERROR:
fp@1209:             printk(KERN_INFO PFX "Failed to read VoE data!\n");
fp@1209:             ecrt_voe_handler_read(voe); // retry reading
fp@1209:             break;
fp@1209:     }
fp@1209: }
fp@1209: #endif
fp@1209: 
fp@1209: /*****************************************************************************/
fp@1209: 
fp@820: void cyclic_task(unsigned long data)
fp@820: {
fp@818:     // receive process data
fp@1500:     down(&master_sem);
fp@325:     ecrt_master_receive(master);
fp@220:     ecrt_domain_process(domain1);
fp@1500:     up(&master_sem);
fp@220: 
fp@818:     // check process data state (optional)
fp@818:     check_domain1_state();
fp@512: 
fp@512:     if (counter) {
fp@512:         counter--;
fp@858:     } else { // do this at 1 Hz
fp@512:         counter = FREQUENCY;
fp@818: 
fp@818:         // calculate new process data
fp@512:         blink = !blink;
fp@612: 
fp@818:         // check for master state (optional)
fp@818:         check_master_state();
fp@1022: 
fp@1022:         // check for islave configuration state(s) (optional)
fp@1022:         check_slave_config_states();
fp@858:         
fp@1171: #if SDO_ACCESS
fp@1327:         // read process data SDO
fp@858:         read_sdo();
fp@858: #endif
fp@1209: 
fp@1209: #if VOE_ACCESS
fp@1209:         read_voe();
fp@1209: #endif
fp@818:     }
fp@818: 
fp@818:     // write process data
fp@846:     EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x06 : 0x09);
fp@818: 
fp@818:     // send process data
fp@1500:     down(&master_sem);
fp@509:     ecrt_domain_queue(domain1);
fp@325:     ecrt_master_send(master);
fp@1500:     up(&master_sem);
fp@220: 
fp@220:     // restart timer
fp@220:     timer.expires += HZ / FREQUENCY;
fp@220:     add_timer(&timer);
fp@220: }
fp@220: 
fp@220: /*****************************************************************************/
fp@220: 
fp@1513: void send_callback(void *cb_data)
fp@1513: {
fp@1513:     ec_master_t *m = (ec_master_t *) cb_data;
fp@1513:     down(&master_sem);
fp@1513:     ecrt_master_send_ext(m);
fp@1513:     up(&master_sem);
fp@1513: }
fp@1513: 
fp@1513: /*****************************************************************************/
fp@1513: 
fp@1513: void receive_callback(void *cb_data)
fp@1513: {
fp@1513:     ec_master_t *m = (ec_master_t *) cb_data;
fp@1513:     down(&master_sem);
fp@1513:     ecrt_master_receive(m);
fp@1500:     up(&master_sem);
fp@220: }
fp@220: 
fp@220: /*****************************************************************************/
fp@220: 
fp@220: int __init init_mini_module(void)
fp@220: {
fp@1239:     int ret = -1;
fp@1171: #if CONFIGURE_PDOS
fp@792:     ec_slave_config_t *sc;
fp@792: #endif
fp@1171: #if EXTERNAL_MEMORY
fp@809:     unsigned int size;
fp@809: #endif
fp@792:     
fp@612:     printk(KERN_INFO PFX "Starting...\n");
fp@220: 
fp@1239:     master = ecrt_request_master(0);
fp@1378:     if (!master) {
fp@1378:         ret = -EBUSY; 
fp@1239:         printk(KERN_ERR PFX "Requesting master 0 failed.\n");
fp@220:         goto out_return;
fp@220:     }
fp@220: 
martin@1579:     sema_init(&master_sem, 1);
fp@1513:     ecrt_master_callbacks(master, send_callback, receive_callback, master);
fp@220: 
fp@612:     printk(KERN_INFO PFX "Registering domain...\n");
fp@509:     if (!(domain1 = ecrt_master_create_domain(master))) {
fp@612:         printk(KERN_ERR PFX "Domain creation failed!\n");
fp@612:         goto out_release_master;
fp@612:     }
fp@612: 
fp@1022:     if (!(sc_ana_in = ecrt_master_slave_config(
fp@1179:                     master, AnaInSlavePos, Beckhoff_EL3152))) {
fp@1022:         printk(KERN_ERR PFX "Failed to get slave configuration.\n");
fp@1022:         goto out_release_master;
fp@1022:     }
fp@1022: 
fp@1171: #if CONFIGURE_PDOS
fp@1327:     printk(KERN_INFO PFX "Configuring PDOs...\n");
fp@1179:     if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3152_syncs)) {
fp@1327:         printk(KERN_ERR PFX "Failed to configure PDOs.\n");
fp@1179:         goto out_release_master;
fp@1179:     }
fp@1179: 
fp@1179:     if (!(sc = ecrt_master_slave_config(
fp@1179:                     master, AnaOutSlavePos, Beckhoff_EL4102))) {
fp@1179:         printk(KERN_ERR PFX "Failed to get slave configuration.\n");
fp@1179:         goto out_release_master;
fp@1179:     }
fp@1179: 
fp@1179:     if (ecrt_slave_config_pdos(sc, EC_END, el4102_syncs)) {
fp@1327:         printk(KERN_ERR PFX "Failed to configure PDOs.\n");
fp@809:         goto out_release_master;
fp@809:     }
fp@809: 
fp@1080:     if (!(sc = ecrt_master_slave_config(
fp@1080:                     master, DigOutSlavePos, Beckhoff_EL2004))) {
fp@809:         printk(KERN_ERR PFX "Failed to get slave configuration.\n");
fp@809:         goto out_release_master;
fp@809:     }
fp@809: 
fp@1082:     if (ecrt_slave_config_pdos(sc, EC_END, el2004_syncs)) {
fp@1327:         printk(KERN_ERR PFX "Failed to configure PDOs.\n");
fp@792:         goto out_release_master;
fp@792:     }
fp@792: #endif
fp@792: 
fp@1171: #if SDO_ACCESS
fp@1327:     printk(KERN_INFO PFX "Creating SDO requests...\n");
fp@1026:     if (!(sdo = ecrt_slave_config_create_sdo_request(sc_ana_in, 0x3102, 2, 2))) {
fp@1327:         printk(KERN_ERR PFX "Failed to create SDO request.\n");
fp@858:         goto out_release_master;
fp@858:     }
fp@1026:     ecrt_sdo_request_timeout(sdo, 500); // ms
fp@858: #endif
fp@858: 
fp@1209: #if VOE_ACCESS
fp@1209:     printk(KERN_INFO PFX "Creating VoE handlers...\n");
fp@1209:     if (!(voe = ecrt_slave_config_create_voe_handler(sc_ana_in, 1000))) {
fp@1209:         printk(KERN_ERR PFX "Failed to create VoE handler.\n");
fp@1209:         goto out_release_master;
fp@1209:     }
fp@1209: #endif
fp@1209: 
fp@1327:     printk(KERN_INFO PFX "Registering PDO entries...\n");
fp@792:     if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
fp@1327:         printk(KERN_ERR PFX "PDO entry registration failed!\n");
fp@792:         goto out_release_master;
fp@792:     }
fp@635: 
fp@1171: #if EXTERNAL_MEMORY
fp@809:     if ((size = ecrt_domain_size(domain1))) {
fp@820:         if (!(domain1_pd = (uint8_t *) kmalloc(size, GFP_KERNEL))) {
fp@809:             printk(KERN_ERR PFX "Failed to allocate %u bytes of process data"
fp@809:                     " memory!\n", size);
fp@809:             goto out_release_master;
fp@809:         }
fp@820:         ecrt_domain_external_memory(domain1, domain1_pd);
fp@809:     }
fp@809: #endif
fp@809: 
fp@612:     printk(KERN_INFO PFX "Activating master...\n");
fp@220:     if (ecrt_master_activate(master)) {
fp@612:         printk(KERN_ERR PFX "Failed to activate master!\n");
fp@1171: #if EXTERNAL_MEMORY
fp@809:         goto out_free_process_data;
fp@809: #else
fp@809:         goto out_release_master;
fp@809: #endif
fp@809:     }
fp@809: 
fp@1171: #if !EXTERNAL_MEMORY
fp@809:     // Get internal process data for domain
fp@820:     domain1_pd = ecrt_domain_data(domain1);
fp@809: #endif
fp@612: 
fp@612:     printk(KERN_INFO PFX "Starting cyclic sample thread.\n");
fp@220:     init_timer(&timer);
fp@820:     timer.function = cyclic_task;
fp@220:     timer.expires = jiffies + 10;
fp@220:     add_timer(&timer);
fp@220: 
fp@612:     printk(KERN_INFO PFX "Started.\n");
fp@220:     return 0;
fp@220: 
fp@1171: #if EXTERNAL_MEMORY
fp@809: out_free_process_data:
fp@820:     kfree(domain1_pd);
fp@809: #endif
fp@809: out_release_master:
fp@654:     printk(KERN_ERR PFX "Releasing master...\n");
fp@220:     ecrt_release_master(master);
fp@809: out_return:
fp@654:     printk(KERN_ERR PFX "Failed to load. Aborting.\n");
fp@1239:     return ret;
fp@220: }
fp@220: 
fp@220: /*****************************************************************************/
fp@220: 
fp@220: void __exit cleanup_mini_module(void)
fp@220: {
fp@612:     printk(KERN_INFO PFX "Stopping...\n");
fp@220: 
fp@449:     del_timer_sync(&timer);
fp@809: 
fp@1171: #if EXTERNAL_MEMORY
fp@820:     kfree(domain1_pd);
fp@809: #endif
fp@809: 
fp@612:     printk(KERN_INFO PFX "Releasing master...\n");
fp@449:     ecrt_release_master(master);
fp@220: 
fp@654:     printk(KERN_INFO PFX "Unloading.\n");
fp@220: }
fp@220: 
fp@220: /*****************************************************************************/
fp@220: 
fp@220: MODULE_LICENSE("GPL");
fp@512: MODULE_AUTHOR("Florian Pose <fp@igh-essen.com>");
fp@512: MODULE_DESCRIPTION("EtherCAT minimal test environment");
fp@220: 
fp@220: module_init(init_mini_module);
fp@220: module_exit(cleanup_mini_module);
fp@220: 
fp@220: /*****************************************************************************/