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 fp@220: fp@230: // RTAI fp@225: #include "rtai_sched.h" fp@225: #include "rtai_sem.h" fp@225: fp@233: // EtherCAT fp@230: #include "../../include/ecrt.h" fp@230: fp@230: /*****************************************************************************/ fp@230: fp@230: // comment this for synchronous IO fp@220: #define ASYNC fp@230: fp@230: // RTAI task frequency in Hz fp@230: #define FREQUENCY 10000 fp@230: fp@230: #define TIMERTICKS (1000000000 / FREQUENCY) fp@225: fp@225: /*****************************************************************************/ fp@225: fp@225: // RTAI fp@225: RT_TASK task; fp@225: SEM master_sem; fp@230: cycles_t t_last_start = 0; fp@230: cycles_t t_critical; fp@220: fp@220: // EtherCAT fp@220: ec_master_t *master = NULL; fp@220: ec_domain_t *domain1 = NULL; fp@220: fp@220: // data fields fp@230: void *r_ssi_input; fp@220: fp@220: // channels fp@220: uint32_t k_pos; fp@220: fp@220: ec_field_init_t domain1_fields[] = { fp@230: {&r_ssi_input, "3", "Beckhoff", "EL5001", "InputValue", 0}, fp@230: {NULL, "2", "Beckhoff", "EL4132", "OutputValue", 0}, fp@220: {} fp@220: }; fp@220: fp@220: /*****************************************************************************/ fp@220: fp@225: void run(long data) fp@225: { fp@230: while (1) fp@230: { fp@230: t_last_start = get_cycles(); fp@225: rt_sem_wait(&master_sem); fp@220: fp@220: #ifdef ASYNC fp@225: // receive fp@225: ecrt_master_async_receive(master); fp@225: ecrt_domain_process(domain1); fp@220: #else fp@225: // send and receive fp@225: ecrt_domain_queue(domain1); fp@225: ecrt_master_run(master); fp@225: ecrt_master_sync_io(master); fp@225: ecrt_domain_process(domain1); fp@225: #endif fp@225: fp@225: // process data fp@230: k_pos = EC_READ_U32(r_ssi_input); fp@220: fp@220: #ifdef ASYNC fp@225: // send fp@225: ecrt_domain_queue(domain1); fp@225: ecrt_master_run(master); fp@225: ecrt_master_async_send(master); fp@225: #endif fp@225: fp@225: rt_sem_signal(&master_sem); 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@230: // too close to the next RT cycle: deny access... fp@230: if (get_cycles() - t_last_start > 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@225: fp@225: printk(KERN_INFO "=== Starting EtherCAT RTAI sample module... ===\n"); fp@225: fp@225: rt_sem_init(&master_sem, 1); fp@220: fp@230: t_critical = cpu_khz * 800 / FREQUENCY; // ticks for 80% fp@230: fp@220: if ((master = ecrt_request_master(0)) == NULL) { fp@220: printk(KERN_ERR "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@220: printk(KERN_INFO "Registering domain...\n"); fp@220: if (!(domain1 = ecrt_master_create_domain(master))) fp@220: { fp@220: printk(KERN_ERR "Domain creation failed!\n"); fp@220: goto out_release_master; fp@220: } fp@220: fp@220: printk(KERN_INFO "Registering domain fields...\n"); fp@220: if (ecrt_domain_register_field_list(domain1, domain1_fields)) { fp@220: printk(KERN_ERR "Field registration failed!\n"); fp@220: goto out_release_master; fp@220: } fp@220: fp@220: printk(KERN_INFO "Activating master...\n"); fp@220: if (ecrt_master_activate(master)) { fp@220: printk(KERN_ERR "Failed to activate master!\n"); fp@220: goto out_release_master; fp@220: } fp@220: fp@220: #if 0 fp@220: if (ecrt_master_fetch_sdo_lists(master)) { fp@220: printk(KERN_ERR "Failed to fetch SDO lists!\n"); fp@220: goto out_deactivate; fp@220: } fp@220: ecrt_master_print(master, 2); fp@220: #else fp@220: ecrt_master_print(master, 0); fp@220: #endif fp@220: fp@220: #if 0 fp@220: if (!(slave = ecrt_master_get_slave(master, "5"))) { fp@220: printk(KERN_ERR "Failed to get slave 5!\n"); fp@220: goto out_deactivate; fp@220: } fp@220: fp@220: if (ecrt_slave_sdo_write_exp8(slave, 0x4061, 1, 0) || fp@220: ecrt_slave_sdo_write_exp8(slave, 0x4061, 2, 1) || fp@220: ecrt_slave_sdo_write_exp8(slave, 0x4061, 3, 1) || fp@220: ecrt_slave_sdo_write_exp8(slave, 0x4066, 0, 0) || fp@220: ecrt_slave_sdo_write_exp8(slave, 0x4067, 0, 4) || fp@220: ecrt_slave_sdo_write_exp8(slave, 0x4068, 0, 0) || fp@220: ecrt_slave_sdo_write_exp8(slave, 0x4069, 0, 25) || fp@220: ecrt_slave_sdo_write_exp8(slave, 0x406A, 0, 25) || fp@220: ecrt_slave_sdo_write_exp8(slave, 0x406B, 0, 50)) { fp@220: printk(KERN_ERR "Failed to configure SSI slave!\n"); fp@220: goto out_deactivate; fp@220: } fp@220: #endif fp@220: fp@220: #if 0 fp@220: printk(KERN_INFO "Writing alias...\n"); fp@220: if (ecrt_slave_sdo_write_exp16(slave, 0xBEEF)) { fp@220: printk(KERN_ERR "Failed to write alias!\n"); fp@220: goto out_deactivate; fp@220: } fp@220: #endif fp@220: fp@220: #ifdef ASYNC fp@220: // send once and wait... fp@220: ecrt_master_prepare_async_io(master); fp@220: #endif fp@220: fp@220: if (ecrt_master_start_eoe(master)) { fp@220: printk(KERN_ERR "Failed to start EoE processing!\n"); fp@220: goto out_deactivate; fp@220: } fp@220: fp@225: printk("Starting cyclic sample thread...\n"); fp@225: requested_ticks = nano2count(TIMERTICKS); fp@225: tick_period = start_rt_timer(requested_ticks); fp@225: printk(KERN_INFO "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@225: printk(KERN_ERR "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@225: printk(KERN_ERR "Failed to run RTAI task!\n"); fp@225: goto out_stop_task; fp@225: } fp@225: fp@225: printk(KERN_INFO "=== EtherCAT RTAI sample module started. ===\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_deactivate: fp@220: ecrt_master_deactivate(master); fp@220: out_release_master: fp@220: ecrt_release_master(master); fp@220: out_return: fp@225: rt_sem_delete(&master_sem); fp@220: return -1; fp@220: } fp@220: fp@220: /*****************************************************************************/ fp@220: fp@225: void __exit cleanup_mod(void) fp@225: { fp@225: printk(KERN_INFO "=== Stopping EtherCAT RTAI sample module... ===\n"); fp@225: fp@225: rt_task_delete(&task); fp@225: stop_rt_timer(); fp@225: ecrt_master_deactivate(master); fp@225: ecrt_release_master(master); fp@225: rt_sem_delete(&master_sem); fp@225: fp@225: printk(KERN_INFO "=== EtherCAT RTAI sample module stopped. ===\n"); fp@220: } fp@220: fp@220: /*****************************************************************************/ fp@220: fp@220: MODULE_LICENSE("GPL"); fp@220: MODULE_AUTHOR ("Florian Pose "); fp@225: MODULE_DESCRIPTION ("EtherCAT RTAI sample module"); fp@225: fp@225: module_init(init_mod); fp@225: module_exit(cleanup_mod); fp@225: fp@225: /*****************************************************************************/ fp@225: