fp@1619: /******************************************************************************
fp@1619:  *
fp@1619:  *  Sample module for use with IgH MSR library.
fp@1619:  *
fp@1619:  *  $Id$
fp@1619:  *
fp@1619:  *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
fp@1619:  *
fp@1619:  *  This file is part of the IgH EtherCAT Master.
fp@1619:  *
fp@1619:  *  The IgH EtherCAT Master is free software; you can redistribute it
fp@1619:  *  and/or modify it under the terms of the GNU General Public License
fp@1619:  *  as published by the Free Software Foundation; either version 2 of the
fp@1619:  *  License, or (at your option) any later version.
fp@1619:  *
fp@1619:  *  The IgH EtherCAT Master is distributed in the hope that it will be
fp@1619:  *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@1619:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
fp@1619:  *  GNU General Public License for more details.
fp@1619:  *
fp@1619:  *  You should have received a copy of the GNU General Public License
fp@1619:  *  along with the IgH EtherCAT Master; if not, write to the Free Software
fp@1619:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@1619:  *
fp@1619:  *  The right to use EtherCAT Technology is granted and comes free of
fp@1619:  *  charge under condition of compatibility of product made by
fp@1619:  *  Licensee. People intending to distribute/sell products based on the
fp@1619:  *  code, have to sign an agreement to guarantee that products using
fp@1619:  *  software based on IgH EtherCAT master stay compatible with the actual
fp@1619:  *  EtherCAT specification (which are released themselves as an open
fp@1619:  *  standard) as the (only) precondition to have the right to use EtherCAT
fp@1619:  *  Technology, IP and trade marks.
fp@1619:  *
fp@1619:  *****************************************************************************/
fp@1619: 
fp@1619: // Linux
fp@1619: #include <linux/module.h>
fp@1619: 
fp@1619: // RTAI
fp@1619: #include "rtai_sched.h"
fp@1619: #include "rtai_sem.h"
fp@1619: 
fp@1619: // RT_lib
fp@1619: #include <msr_main.h>
fp@1619: #include <msr_reg.h>
fp@1619: #include <msr_time.h>
fp@1619: #include "msr_param.h"
fp@1619: 
fp@1619: // EtherCAT
fp@1619: #include "../../include/ecrt.h"
fp@1619: 
fp@1619: #define ASYNC
fp@1619: 
fp@1619: #define HZREDUCTION (MSR_ABTASTFREQUENZ / HZ)
fp@1619: #define TIMERTICKS (1000000000 / MSR_ABTASTFREQUENZ)
fp@1619: 
fp@1619: /*****************************************************************************/
fp@1619: 
fp@1619: // RTAI
fp@1619: RT_TASK task;
fp@1619: SEM master_sem;
fp@1619: cycles_t t_start = 0, t_critical;
fp@1619: 
fp@1619: // EtherCAT
fp@1619: ec_master_t *master = NULL;
fp@1619: ec_domain_t *domain1 = NULL;
fp@1619: 
fp@1619: // raw process data
fp@1619: void *r_ssi;
fp@1619: void *r_ssi_st;
fp@1619: 
fp@1619: // Channels
fp@1619: uint32_t k_ssi;
fp@1619: uint32_t k_ssi_st;
fp@1619: 
fp@1619: ec_field_init_t domain1_fields[] = {
fp@1619:     {&r_ssi,    "0:3", "Beckhoff", "EL5001", "InputValue", 0},
fp@1619:     {&r_ssi_st, "0:3", "Beckhoff", "EL5001", "Status",     0},
fp@1619:     {}
fp@1619: };
fp@1619: 
fp@1619: /*****************************************************************************/
fp@1619: 
fp@1619: void msr_controller_run(void)
fp@1619: {
fp@1619:     rt_sem_wait(&master_sem);
fp@1619: 
fp@1619: #ifdef ASYNC
fp@1619:     // Empfangen
fp@1619:     ecrt_master_async_receive(master);
fp@1619:     ecrt_domain_process(domain1);
fp@1619: #else
fp@1619:     // Senden und empfangen
fp@1619:     ecrt_domain_queue(domain1);
fp@1619:     ecrt_master_run(master);
fp@1619:     ecrt_master_sync_io(master);
fp@1619:     ecrt_domain_process(domain1);
fp@1619: #endif
fp@1619: 
fp@1619:     // Prozessdaten verarbeiten
fp@1619:     k_ssi    = EC_READ_U32(r_ssi);
fp@1619:     k_ssi_st = EC_READ_U8 (r_ssi_st);
fp@1619: 
fp@1619: #ifdef ASYNC
fp@1619:     // Senden
fp@1619:     ecrt_domain_queue(domain1);
fp@1619:     ecrt_master_run(master);
fp@1619:     ecrt_master_async_send(master);
fp@1619: #endif
fp@1619: 
fp@1619:     rt_sem_signal(&master_sem);
fp@1619: 
fp@1619:     msr_write_kanal_list();
fp@1619: }
fp@1619: 
fp@1619: /*****************************************************************************/
fp@1619: 
fp@1619: void msr_run(long data)
fp@1619: {
fp@1619:     while (1) {
fp@1619:         t_start = get_cycles();
fp@1619:         MSR_RTAITHREAD_CODE(msr_controller_run(););
fp@1619:         rt_task_wait_period();
fp@1619:     }
fp@1619: }
fp@1619: 
fp@1619: /*****************************************************************************/
fp@1619: 
fp@1619: int msr_reg(void)
fp@1619: {
fp@1619:     msr_reg_kanal("/ssi_position", "", &k_ssi,    TUINT);
fp@1619:     msr_reg_kanal("/ssi_status",   "", &k_ssi_st, TUINT);
fp@1619:     return 0;
fp@1619: }
fp@1619: 
fp@1619: /*****************************************************************************/
fp@1619: 
fp@1619: int request_lock(void *data)
fp@1619: {
fp@1619:     // too close to the next RT cycle: deny access...
fp@1619:     if (get_cycles() - t_start > t_critical) return -1;
fp@1619: 
fp@1619:     // allow access
fp@1619:     rt_sem_wait(&master_sem);
fp@1619:     return 0;
fp@1619: }
fp@1619: 
fp@1619: /*****************************************************************************/
fp@1619: 
fp@1619: void release_lock(void *data)
fp@1619: {
fp@1619:     rt_sem_signal(&master_sem);
fp@1619: }
fp@1619: 
fp@1619: /*****************************************************************************/
fp@1619: 
fp@1619: int __init init_mod(void)
fp@1619: {
fp@1619:     RTIME ticks;
fp@1619: #if 0
fp@1619:     ec_slave_t *slave;
fp@1619: #endif
fp@1619: 
fp@1619:     printk(KERN_INFO "=== Starting EtherCAT RTAI MSR sample module... ===\n");
fp@1619: 
fp@1619:     rt_sem_init(&master_sem, 1);
fp@1619:     t_critical = cpu_khz * 800 / MSR_ABTASTFREQUENZ; // ticks for 80%
fp@1619: 
fp@1619:     if (msr_rtlib_init(1, MSR_ABTASTFREQUENZ, 10, &msr_reg) < 0) {
fp@1619:         printk(KERN_ERR "Failed to initialize rtlib!\n");
fp@1619:         goto out_return;
fp@1619:     }
fp@1619: 
fp@1619:     if ((master = ecrt_request_master(0)) == NULL) {
fp@1619:         printk(KERN_ERR "Failed to request master 0!\n");
fp@1619:         goto out_msr_cleanup;
fp@1619:     }
fp@1619: 
fp@1619:     ecrt_master_callbacks(master, request_lock, release_lock, NULL);
fp@1619: 
fp@1619:     printk(KERN_INFO "Creating domains...\n");
fp@1619:     if (!(domain1 = ecrt_master_create_domain(master))) {
fp@1619:         printk(KERN_ERR "Failed to create domains!\n");
fp@1619:         goto out_release_master;
fp@1619:     }
fp@1619: 
fp@1619:     printk(KERN_INFO "Registering domain fields...\n");
fp@1619:     if (ecrt_domain_register_field_list(domain1, domain1_fields)) {
fp@1619:         printk(KERN_ERR "Failed to register domain fields.\n");
fp@1619:         goto out_release_master;
fp@1619:     }
fp@1619: 
fp@1619:     printk(KERN_INFO "Activating master...\n");
fp@1619:     if (ecrt_master_activate(master)) {
fp@1619:         printk(KERN_ERR "Could not activate master!\n");
fp@1619:         goto out_release_master;
fp@1619:     }
fp@1619: 
fp@1619: #if 0
fp@1619:     if (ecrt_master_fetch_sdo_lists(master)) {
fp@1619:         printk(KERN_ERR "Failed to fetch SDO lists!\n");
fp@1619:         goto out_deactivate;
fp@1619:     }
fp@1619:     ecrt_master_print(master, 2);
fp@1619: #else
fp@1619:     ecrt_master_print(master, 0);
fp@1619: #endif
fp@1619: 
fp@1619: #if 0
fp@1619:     if (!(slave = ecrt_master_get_slave(master, "0:3"))) {
fp@1619:         printk(KERN_ERR "Failed to get slave!\n");
fp@1619:         goto out_deactivate;
fp@1619:     }
fp@1619: 
fp@1619:     if (
fp@1619:         ecrt_slave_sdo_write_exp8(slave, 0x4061, 1,  1) || // disable frame error bit
fp@1619:         ecrt_slave_sdo_write_exp8(slave, 0x4061, 2,  0) || // power failure bit
fp@1619:         ecrt_slave_sdo_write_exp8(slave, 0x4061, 3,  1) || // inhibit time
fp@1619:         ecrt_slave_sdo_write_exp8(slave, 0x4061, 4,  0) || // test mode
fp@1619:         ecrt_slave_sdo_write_exp8(slave, 0x4066, 0,  0) || // graycode
fp@1619:         ecrt_slave_sdo_write_exp8(slave, 0x4067, 0,  5) || // 125kbaud
fp@1619:         ecrt_slave_sdo_write_exp8(slave, 0x4068, 0,  0) || // single-turn
fp@1619:         ecrt_slave_sdo_write_exp8(slave, 0x4069, 0, 25) || // frame size
fp@1619:         ecrt_slave_sdo_write_exp8(slave, 0x406A, 0, 25) || // data length
fp@1619:         ecrt_slave_sdo_write_exp16(slave, 0x406B, 0, 50) // inhibit time in us
fp@1619:         ) {
fp@1619:         printk(KERN_ERR "Failed to configure SSI slave!\n");
fp@1619:         goto out_deactivate;
fp@1619:     }
fp@1619: #endif
fp@1619: 
fp@1619: #if 0
fp@1619:     if (!(slave = ecrt_master_get_slave(master, "1:0"))) {
fp@1619:         printk(KERN_ERR "Failed to get slave!\n");
fp@1619:         goto out_deactivate;
fp@1619:     }
fp@1619:     if (ecrt_slave_write_alias(slave, 0x5678)) {
fp@1619:         printk(KERN_ERR "Failed to write alias!\n");
fp@1619:         goto out_deactivate;
fp@1619:     }
fp@1619: #endif
fp@1619: 
fp@1619: #ifdef ASYNC
fp@1619:     // Einmal senden und warten...
fp@1619:     ecrt_master_prepare_async_io(master);
fp@1619: #endif
fp@1619: 
fp@1619:     if (ecrt_master_start_eoe(master)) {
fp@1619:         printk(KERN_ERR "Failed to start EoE processing!\n");
fp@1619:         goto out_deactivate;
fp@1619:     }
fp@1619: 
fp@1619:     printk("Starting cyclic sample thread...\n");
fp@1619:     ticks = start_rt_timer(nano2count(TIMERTICKS));
fp@1619:     if (rt_task_init(&task, msr_run, 0, 2000, 0, 1, NULL)) {
fp@1619:         printk(KERN_ERR "Failed to init RTAI task!\n");
fp@1619:         goto out_stop_timer;
fp@1619:     }
fp@1619:     if (rt_task_make_periodic(&task, rt_get_time() + ticks, ticks)) {
fp@1619:         printk(KERN_ERR "Failed to run RTAI task!\n");
fp@1619:         goto out_stop_task;
fp@1619:     }
fp@1619: 
fp@1619:     printk(KERN_INFO "=== EtherCAT RTAI MSR sample module started. ===\n");
fp@1619:     return 0;
fp@1619: 
fp@1619:  out_stop_task:
fp@1619:     rt_task_delete(&task);
fp@1619:  out_stop_timer:
fp@1619:     stop_rt_timer();
fp@1619:  out_deactivate:
fp@1619:     ecrt_master_deactivate(master);
fp@1619:  out_release_master:
fp@1619:     ecrt_release_master(master);
fp@1619:  out_msr_cleanup:
fp@1619:     msr_rtlib_cleanup();
fp@1619:  out_return:
fp@1619:     rt_sem_delete(&master_sem);
fp@1619:     return -1;
fp@1619: }
fp@1619: 
fp@1619: /*****************************************************************************/
fp@1619: 
fp@1619: void __exit cleanup_mod(void)
fp@1619: {
fp@1619:     printk(KERN_INFO "=== Unloading EtherCAT RTAI MSR sample module... ===\n");
fp@1619: 
fp@1619:     rt_task_delete(&task);
fp@1619:     stop_rt_timer();
fp@1619:     ecrt_master_deactivate(master);
fp@1619:     ecrt_release_master(master);
fp@1619:     rt_sem_delete(&master_sem);
fp@1619:     msr_rtlib_cleanup();
fp@1619: 
fp@1619:     printk(KERN_INFO "=== EtherCAT RTAI MSR sample module unloaded. ===\n");
fp@1619: }
fp@1619: 
fp@1619: /*****************************************************************************/
fp@1619: 
fp@1619: MODULE_LICENSE("GPL");
fp@1619: MODULE_AUTHOR ("Florian Pose <fp@igh-essen.com>");
fp@1619: MODULE_DESCRIPTION ("EtherCAT RTAI MSR sample module");
fp@1619: 
fp@1619: module_init(init_mod);
fp@1619: module_exit(cleanup_mod);
fp@1619: 
fp@1619: /*****************************************************************************/