fp@220: /******************************************************************************
fp@220: *
fp@225: * RTAI sample for the IgH EtherCAT master.
fp@220: *
fp@220: * $Id$
fp@220: *
fp@220: * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
fp@220: *
fp@220: * This file is part of the IgH EtherCAT Master.
fp@220: *
fp@220: * The IgH EtherCAT Master is free software; you can redistribute it
fp@220: * and/or modify it under the terms of the GNU General Public License
fp@246: * as published by the Free Software Foundation; either version 2 of the
fp@246: * License, or (at your option) any later version.
fp@220: *
fp@220: * The IgH EtherCAT Master is distributed in the hope that it will be
fp@220: * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@220: * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
fp@220: * GNU General Public License for more details.
fp@220: *
fp@220: * You should have received a copy of the GNU General Public License
fp@220: * along 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@246: * The right to use EtherCAT Technology is granted and comes free of
fp@246: * charge under condition of compatibility of product made by
fp@246: * Licensee. People intending to distribute/sell products based on the
fp@246: * code, have to sign an agreement to guarantee that products using
fp@246: * software based on IgH EtherCAT master stay compatible with the actual
fp@246: * EtherCAT specification (which are released themselves as an open
fp@246: * standard) as the (only) precondition to have the right to use EtherCAT
fp@246: * Technology, IP and trade marks.
fp@246: *
fp@220: *****************************************************************************/
fp@220:
fp@233: // Linux
fp@220: #include <linux/module.h>
fp@220:
fp@230: // RTAI
fp@1080: #include <rtai_sched.h>
fp@1080: #include <rtai_sem.h>
fp@225:
fp@233: // EtherCAT
fp@230: #include "../../include/ecrt.h"
fp@1080:
fp@1080: /*****************************************************************************/
fp@1080:
fp@1080: // Module parameters
fp@1080:
fp@1080: #define FREQUENCY 2000 // task frequency in Hz
fp@342: #define INHIBIT_TIME 20
fp@342:
fp@230: #define TIMERTICKS (1000000000 / FREQUENCY)
fp@225:
fp@1080: // Optional features (comment to disable)
fp@1080: #define CONFIGURE_PDOS
fp@1080:
fp@643: #define PFX "ec_rtai_sample: "
fp@643:
fp@225: /*****************************************************************************/
fp@225:
fp@1080: // EtherCAT
fp@1080: static ec_master_t *master = NULL;
fp@1080: static ec_master_state_t master_state = {};
fp@1080: spinlock_t master_lock = SPIN_LOCK_UNLOCKED;
fp@1080:
fp@1080: static ec_domain_t *domain1 = NULL;
fp@1080: static ec_domain_state_t domain1_state = {};
fp@1080:
fp@1080: static ec_slave_config_t *sc_ana_in = NULL;
fp@1080: static ec_slave_config_state_t sc_ana_in_state = {};
fp@1080:
fp@225: // RTAI
fp@643: static RT_TASK task;
fp@643: static SEM master_sem;
fp@643: static cycles_t t_last_cycle = 0, t_critical;
fp@220:
fp@1080: /*****************************************************************************/
fp@1080:
fp@1080: // process data
fp@1080: static uint8_t *domain1_pd; // process data memory
fp@1080:
fp@1080: #define AnaInSlavePos 0, 1
fp@1080: #define DigOutSlavePos 0, 3
fp@1080:
fp@1080: #define Beckhoff_EL2004 0x00000002, 0x07D43052
fp@1080: #define Beckhoff_EL3162 0x00000002, 0x0C5A3052
fp@1080:
fp@1080: static unsigned int off_ana_in; // offsets for Pdo entries
fp@1080: static unsigned int off_dig_out;
fp@1080:
fp@1080: const static ec_pdo_entry_reg_t domain1_regs[] = {
fp@1080: {AnaInSlavePos, Beckhoff_EL3162, 0x3101, 2, &off_ana_in},
fp@1080: {DigOutSlavePos, Beckhoff_EL2004, 0x3001, 1, &off_dig_out},
fp@220: {}
fp@220: };
fp@220:
fp@1080: static unsigned int counter = 0;
fp@1080: static unsigned int blink = 0;
fp@1080:
fp@1080: /*****************************************************************************/
fp@1080:
fp@1080: #ifdef CONFIGURE_PDOS
fp@1080: static ec_pdo_entry_info_t el3162_channel1[] = {
fp@1080: {0x3101, 1, 8}, // status
fp@1080: {0x3101, 2, 16} // value
fp@1080: };
fp@1080:
fp@1080: static ec_pdo_entry_info_t el3162_channel2[] = {
fp@1080: {0x3102, 1, 8}, // status
fp@1080: {0x3102, 2, 16} // value
fp@1080: };
fp@1080:
fp@1080: static ec_pdo_info_t el3162_pdos[] = {
fp@1080: {0x1A00, 2, el3162_channel1},
fp@1080: {0x1A01, 2, el3162_channel2}
fp@1080: };
fp@1080:
fp@1080: static ec_sync_info_t el3162_syncs[] = {
fp@1080: {2, EC_DIR_OUTPUT},
fp@1080: {3, EC_DIR_INPUT, 2, el3162_pdos},
fp@1080: {0xff}
fp@1080: };
fp@1080:
fp@1080: static ec_pdo_entry_info_t el2004_channels[] = {
fp@1080: {0x3001, 1, 1}, // Value 1
fp@1080: {0x3001, 2, 1}, // Value 2
fp@1080: {0x3001, 3, 1}, // Value 3
fp@1080: {0x3001, 4, 1} // Value 4
fp@1080: };
fp@1080:
fp@1080: static ec_pdo_info_t el2004_pdos[] = {
fp@1080: {0x1600, 1, &el2004_channels[0]},
fp@1080: {0x1601, 1, &el2004_channels[1]},
fp@1080: {0x1602, 1, &el2004_channels[2]},
fp@1080: {0x1603, 1, &el2004_channels[3]}
fp@1080: };
fp@1080:
fp@1080: static ec_sync_info_t el2004_syncs[] = {
fp@1080: {0, EC_DIR_OUTPUT, 4, el2004_pdos},
fp@1080: {1, EC_DIR_INPUT},
fp@1080: {0xff}
fp@1080: };
fp@1080: #endif
fp@1080:
fp@1080: /*****************************************************************************/
fp@1080:
fp@1080: void check_domain1_state(void)
fp@1080: {
fp@1080: ec_domain_state_t ds;
fp@1080:
fp@1080: spin_lock(&master_lock);
fp@1080: ecrt_domain_state(domain1, &ds);
fp@1080: spin_unlock(&master_lock);
fp@1080:
fp@1080: if (ds.working_counter != domain1_state.working_counter)
fp@1080: printk(KERN_INFO PFX "Domain1: WC %u.\n", ds.working_counter);
fp@1080: if (ds.wc_state != domain1_state.wc_state)
fp@1080: printk(KERN_INFO PFX "Domain1: State %u.\n", ds.wc_state);
fp@1080:
fp@1080: domain1_state = ds;
fp@1080: }
fp@1080:
fp@1080: /*****************************************************************************/
fp@1080:
fp@1080: void check_master_state(void)
fp@1080: {
fp@1080: ec_master_state_t ms;
fp@1080:
fp@1080: spin_lock(&master_lock);
fp@1080: ecrt_master_state(master, &ms);
fp@1080: spin_unlock(&master_lock);
fp@1080:
fp@1080: if (ms.slaves_responding != master_state.slaves_responding)
fp@1080: printk(KERN_INFO PFX "%u slave(s).\n", ms.slaves_responding);
fp@1080: if (ms.al_states != master_state.al_states)
fp@1080: printk(KERN_INFO PFX "AL states: 0x%02X.\n", ms.al_states);
fp@1080: if (ms.link_up != master_state.link_up)
fp@1080: printk(KERN_INFO PFX "Link is %s.\n", ms.link_up ? "up" : "down");
fp@1080:
fp@1080: master_state = ms;
fp@1080: }
fp@1080:
fp@1080: /*****************************************************************************/
fp@1080:
fp@1080: void check_slave_config_states(void)
fp@1080: {
fp@1080: ec_slave_config_state_t s;
fp@1080:
fp@1080: spin_lock(&master_lock);
fp@1080: ecrt_slave_config_state(sc_ana_in, &s);
fp@1080: spin_unlock(&master_lock);
fp@1080:
fp@1080: if (s.al_state != sc_ana_in_state.al_state)
fp@1080: printk(KERN_INFO PFX "AnaIn: State 0x%02X.\n", s.al_state);
fp@1080: if (s.online != sc_ana_in_state.online)
fp@1080: printk(KERN_INFO PFX "AnaIn: %s.\n", s.online ? "online" : "offline");
fp@1080: if (s.operational != sc_ana_in_state.operational)
fp@1080: printk(KERN_INFO PFX "AnaIn: %soperational.\n",
fp@1080: s.operational ? "" : "Not ");
fp@1080:
fp@1080: sc_ana_in_state = s;
fp@1080: }
fp@1080:
fp@220: /*****************************************************************************/
fp@220:
fp@225: void run(long data)
fp@225: {
fp@512: while (1) {
fp@342: t_last_cycle = get_cycles();
fp@512:
fp@1080: // receive process data
fp@225: rt_sem_wait(&master_sem);
fp@325: ecrt_master_receive(master);
fp@225: ecrt_domain_process(domain1);
fp@512: rt_sem_signal(&master_sem);
fp@325:
fp@1080: // check process data state (optional)
fp@1080: check_domain1_state();
fp@1080:
fp@1080: if (counter) {
fp@1080: counter--;
fp@1080: } else { // do this at 1 Hz
fp@1080: counter = FREQUENCY;
fp@1080:
fp@1080: // calculate new process data
fp@1080: blink = !blink;
fp@1080:
fp@1080: // check for master state (optional)
fp@1080: check_master_state();
fp@1080:
fp@1080: // check for islave configuration state(s) (optional)
fp@1080: check_slave_config_states();
fp@1080: }
fp@1080:
fp@1080: // write process data
fp@1080: EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x06 : 0x09);
fp@325:
fp@512: rt_sem_wait(&master_sem);
fp@509: ecrt_domain_queue(domain1);
fp@325: ecrt_master_send(master);
fp@225: rt_sem_signal(&master_sem);
fp@516:
fp@225: rt_task_wait_period();
fp@225: }
fp@220: }
fp@220:
fp@220: /*****************************************************************************/
fp@220:
fp@220: int request_lock(void *data)
fp@220: {
fp@512: // too close to the next real time cycle: deny access...
fp@342: if (get_cycles() - t_last_cycle > t_critical) return -1;
fp@230:
fp@230: // allow access
fp@225: rt_sem_wait(&master_sem);
fp@230: return 0;
fp@220: }
fp@220:
fp@220: /*****************************************************************************/
fp@220:
fp@220: void release_lock(void *data)
fp@220: {
fp@225: rt_sem_signal(&master_sem);
fp@225: }
fp@225:
fp@225: /*****************************************************************************/
fp@225:
fp@225: int __init init_mod(void)
fp@225: {
fp@225: RTIME tick_period, requested_ticks, now;
fp@1080: #ifdef CONFIGURE_PDOS
fp@1080: ec_slave_config_t *sc;
fp@1080: #endif
fp@225:
fp@643: printk(KERN_INFO PFX "Starting...\n");
fp@225:
fp@225: rt_sem_init(&master_sem, 1);
fp@220:
fp@342: t_critical = cpu_khz * 1000 / FREQUENCY - cpu_khz * INHIBIT_TIME / 1000;
fp@342:
fp@342: if (!(master = ecrt_request_master(0))) {
fp@643: printk(KERN_ERR PFX "Requesting master 0 failed!\n");
fp@220: goto out_return;
fp@220: }
fp@220:
fp@220: ecrt_master_callbacks(master, request_lock, release_lock, NULL);
fp@220:
fp@1080: printk(KERN_INFO PFX "Registering domain...\n");
fp@325: if (!(domain1 = ecrt_master_create_domain(master))) {
fp@643: printk(KERN_ERR PFX "Domain creation failed!\n");
fp@220: goto out_release_master;
fp@220: }
fp@220:
fp@1080: if (!(sc_ana_in = ecrt_master_slave_config(
fp@1080: master, AnaInSlavePos, Beckhoff_EL3162))) {
fp@1080: printk(KERN_ERR PFX "Failed to get slave configuration.\n");
fp@1080: goto out_release_master;
fp@1080: }
fp@1080:
fp@1080: #ifdef CONFIGURE_PDOS
fp@1080: printk(KERN_INFO PFX "Configuring Pdos...\n");
fp@1082: if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3162_syncs)) {
fp@1080: printk(KERN_ERR PFX "Failed to configure Pdos.\n");
fp@1080: goto out_release_master;
fp@1080: }
fp@1080:
fp@1080: if (!(sc = ecrt_master_slave_config(master, DigOutSlavePos, Beckhoff_EL2004))) {
fp@1080: printk(KERN_ERR PFX "Failed to get slave configuration.\n");
fp@1080: goto out_release_master;
fp@1080: }
fp@1080:
fp@1082: if (ecrt_slave_config_pdos(sc, EC_END, el2004_syncs)) {
fp@1080: printk(KERN_ERR PFX "Failed to configure Pdos.\n");
fp@1080: goto out_release_master;
fp@1080: }
fp@1080: #endif
fp@1080:
fp@1080: printk(KERN_INFO PFX "Registering Pdo entries...\n");
fp@1080: if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
fp@1080: printk(KERN_ERR PFX "Pdo entry registration failed!\n");
fp@220: goto out_release_master;
fp@220: }
fp@220:
fp@643: printk(KERN_INFO PFX "Activating master...\n");
fp@220: if (ecrt_master_activate(master)) {
fp@643: printk(KERN_ERR PFX "Failed to activate master!\n");
fp@220: goto out_release_master;
fp@220: }
fp@220:
fp@1080: // Get internal process data for domain
fp@1080: domain1_pd = ecrt_domain_data(domain1);
fp@1080:
fp@643: printk(KERN_INFO PFX "Starting cyclic sample thread...\n");
fp@225: requested_ticks = nano2count(TIMERTICKS);
fp@225: tick_period = start_rt_timer(requested_ticks);
fp@643: printk(KERN_INFO PFX "RT timer started with %i/%i ticks.\n",
fp@225: (int) tick_period, (int) requested_ticks);
fp@225:
fp@225: if (rt_task_init(&task, run, 0, 2000, 0, 1, NULL)) {
fp@643: printk(KERN_ERR PFX "Failed to init RTAI task!\n");
fp@225: goto out_stop_timer;
fp@225: }
fp@225:
fp@225: now = rt_get_time();
fp@225: if (rt_task_make_periodic(&task, now + tick_period, tick_period)) {
fp@643: printk(KERN_ERR PFX "Failed to run RTAI task!\n");
fp@225: goto out_stop_task;
fp@225: }
fp@225:
fp@643: printk(KERN_INFO PFX "Initialized.\n");
fp@220: return 0;
fp@220:
fp@225: out_stop_task:
fp@225: rt_task_delete(&task);
fp@225: out_stop_timer:
fp@225: stop_rt_timer();
fp@220: out_release_master:
fp@655: printk(KERN_ERR PFX "Releasing master...\n");
fp@220: ecrt_release_master(master);
fp@220: out_return:
fp@225: rt_sem_delete(&master_sem);
fp@655: printk(KERN_ERR PFX "Failed to load. Aborting.\n");
fp@220: return -1;
fp@220: }
fp@220:
fp@220: /*****************************************************************************/
fp@220:
fp@225: void __exit cleanup_mod(void)
fp@225: {
fp@655: printk(KERN_INFO PFX "Stopping...\n");
fp@225:
fp@225: rt_task_delete(&task);
fp@225: stop_rt_timer();
fp@225: ecrt_release_master(master);
fp@225: rt_sem_delete(&master_sem);
fp@225:
fp@655: printk(KERN_INFO PFX "Unloading.\n");
fp@220: }
fp@220:
fp@220: /*****************************************************************************/
fp@220:
fp@512: MODULE_LICENSE("GPL");
fp@512: MODULE_AUTHOR("Florian Pose <fp@igh-essen.com>");
fp@512: MODULE_DESCRIPTION("EtherCAT RTAI sample module");
fp@512:
fp@225: module_init(init_mod);
fp@225: module_exit(cleanup_mod);
fp@225:
fp@225: /*****************************************************************************/