fp@220: /******************************************************************************
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@220: #include <linux/module.h>
fp@220: #include <linux/timer.h>
fp@220: #include <linux/spinlock.h>
fp@220: #include <linux/interrupt.h>
fp@220:
fp@223: #include "../../include/ecrt.h" // EtherCAT realtime interface
fp@325: #include "../../include/ecdb.h" // EtherCAT slave database
fp@220:
fp@612: #define PFX "ec_mini: "
fp@612:
fp@220: #define FREQUENCY 100
fp@220:
fp@516: //#define KBUS
fp@457:
fp@220: /*****************************************************************************/
fp@220:
fp@612: static struct timer_list timer;
fp@220:
fp@220: // EtherCAT
fp@612: static ec_master_t *master = NULL;
fp@612: static ec_domain_t *domain1 = NULL;
fp@220: spinlock_t master_lock = SPIN_LOCK_UNLOCKED;
fp@612: static ec_master_status_t master_status, old_status = {};
fp@220:
fp@220: // data fields
fp@457: #ifdef KBUS
fp@612: static void *r_inputs;
fp@612: static void *r_outputs;
fp@612: #endif
fp@612:
fp@612: static void *r_dig_out;
fp@635: static void *r_ana_out;
fp@635: static void *r_count;
fp@635: static void *r_freq;
fp@446:
fp@446: #if 1
fp@643: const static ec_pdo_reg_t domain1_pdo_regs[] = {
fp@643: {"2", Beckhoff_EL2004_Outputs, &r_dig_out},
fp@643: {"3", Beckhoff_EL4132_Output1, &r_ana_out},
fp@643: {"#888:1", Beckhoff_EL5101_Value, &r_count},
fp@643: {"4", Beckhoff_EL5101_Frequency, &r_freq},
fp@220: {}
fp@220: };
fp@416: #endif
fp@220:
fp@220: /*****************************************************************************/
fp@220:
fp@220: void run(unsigned long data)
fp@220: {
fp@220: static unsigned int counter = 0;
fp@512: static unsigned int blink = 0;
fp@512:
fp@512: // receive
fp@220: spin_lock(&master_lock);
fp@325: ecrt_master_receive(master);
fp@220: ecrt_domain_process(domain1);
fp@512: spin_unlock(&master_lock);
fp@220:
fp@220: // process data
fp@512: // k_pos = EC_READ_U32(r_ssi);
fp@516: EC_WRITE_U8(r_dig_out, blink ? 0x0F : 0x00);
fp@512:
fp@512: if (counter) {
fp@512: counter--;
fp@512: }
fp@512: else {
fp@512: counter = FREQUENCY;
fp@512: blink = !blink;
fp@612:
fp@612: spin_lock(&master_lock);
fp@612: ecrt_master_get_status(master, &master_status);
fp@612: spin_unlock(&master_lock);
fp@612:
fp@612: if (master_status.bus_status != old_status.bus_status) {
fp@643: printk(KERN_INFO PFX "bus status changed to %i.\n",
fp@612: master_status.bus_status);
fp@612: }
fp@612: if (master_status.bus_tainted != old_status.bus_tainted) {
fp@612: printk(KERN_INFO PFX "tainted flag changed to %u.\n",
fp@612: master_status.bus_tainted);
fp@612: }
fp@612: if (master_status.slaves_responding !=
fp@612: old_status.slaves_responding) {
fp@612: printk(KERN_INFO PFX "slaves_responding changed to %u.\n",
fp@612: master_status.slaves_responding);
fp@612: }
fp@612:
fp@612: old_status = master_status;
fp@512: }
fp@512:
fp@457: #ifdef KBUS
fp@512: EC_WRITE_U8(r_outputs + 2, blink ? 0xFF : 0x00);
fp@512: #endif
fp@513:
fp@220: // send
fp@512: spin_lock(&master_lock);
fp@509: ecrt_domain_queue(domain1);
fp@516: spin_unlock(&master_lock);
fp@516:
fp@516: spin_lock(&master_lock);
fp@325: ecrt_master_send(master);
fp@220: spin_unlock(&master_lock);
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@220: int request_lock(void *data)
fp@220: {
fp@516: spin_lock(&master_lock);
fp@226: return 0; // access allowed
fp@220: }
fp@220:
fp@220: /*****************************************************************************/
fp@220:
fp@220: void release_lock(void *data)
fp@220: {
fp@516: spin_unlock(&master_lock);
fp@220: }
fp@220:
fp@220: /*****************************************************************************/
fp@220:
fp@220: int __init init_mini_module(void)
fp@220: {
fp@635: #if 1
fp@454: ec_slave_t *slave;
fp@454: #endif
fp@329:
fp@612: printk(KERN_INFO PFX "Starting...\n");
fp@220:
fp@509: if (!(master = ecrt_request_master(0))) {
fp@612: 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@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@635: #if 1
fp@635: printk(KERN_INFO PFX "Configuring alternative PDO mapping...\n");
fp@641: if (!(slave = ecrt_master_get_slave(master, "4", Beckhoff_EL5101)))
fp@635: goto out_release_master;
fp@635:
fp@635: if (ecrt_slave_pdo_mapping(slave, EC_DIR_INPUT, 2, 0x1A00, 0x1A02))
fp@635: goto out_release_master;
fp@635: #endif
fp@635:
fp@612: printk(KERN_INFO PFX "Registering PDOs...\n");
fp@446: #if 1
fp@641: if (ecrt_domain_register_pdo_list(domain1, domain1_pdo_regs)) {
fp@612: printk(KERN_ERR PFX "PDO registration failed!\n");
fp@220: goto out_release_master;
fp@220: }
fp@416: #endif
fp@446:
fp@457: #ifdef KBUS
fp@641: if (!(slave = ecrt_master_get_slave(master, "0", Beckhoff_BK1120)))
fp@641: goto out_release_master;
fp@641:
fp@641: if (!ecrt_domain_register_pdo_range(
fp@641: domain1, slave, EC_DIR_OUTPUT, 0, 4, &r_outputs)) {
fp@612: printk(KERN_ERR PFX "PDO registration failed!\n");
fp@416: goto out_release_master;
fp@416: }
fp@641:
fp@641: if (!ecrt_domain_register_pdo_range(
fp@641: domain1, slave, EC_DIR_INPUT, 0, 4, &r_inputs)) {
fp@612: printk(KERN_ERR PFX "PDO registration failed!\n");
fp@416: goto out_release_master;
fp@416: }
fp@446: #endif
fp@416:
fp@516: #if 0
fp@641: if (!(slave = ecrt_master_get_slave(master, "4", Beckhoff_EL5001)))
fp@329: goto out_release_master;
fp@329:
fp@329: if (ecrt_slave_conf_sdo8(slave, 0x4061, 1, 0))
fp@329: goto out_release_master;
fp@416: #endif
fp@329:
fp@635: #if 1
fp@635: #endif
fp@635:
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@612: goto out_release_master;
fp@612: }
fp@612:
fp@612: printk(KERN_INFO PFX "Starting cyclic sample thread.\n");
fp@220: init_timer(&timer);
fp@220: timer.function = run;
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@220: out_release_master:
fp@654: printk(KERN_ERR PFX "Releasing master...\n");
fp@220: ecrt_release_master(master);
fp@220: out_return:
fp@654: printk(KERN_ERR PFX "Failed to load. Aborting.\n");
fp@220: return -1;
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@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: /*****************************************************************************/