fp@220: /****************************************************************************** fp@220: * fp@220: * $Id$ fp@220: * fp@1685: * Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH fp@220: * fp@220: * This file is part of the IgH EtherCAT Master. fp@220: * fp@1685: * The IgH EtherCAT Master is free software; you can redistribute it and/or fp@1685: * modify it under the terms of the GNU General Public License version 2, as fp@1685: * published by the Free Software Foundation. fp@1685: * fp@1685: * The IgH EtherCAT Master is distributed in the hope that it will be useful, fp@1685: * but WITHOUT ANY WARRANTY; without even the implied warranty of fp@1685: * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General fp@1685: * Public License for more details. fp@1685: * fp@1685: * You should have received a copy of the GNU General Public License along fp@1685: * 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@1685: * Using the EtherCAT technology and brand is permitted in compliance with fp@1685: * the industrial property and similar rights of Beckhoff Automation GmbH. fp@246: * fp@220: *****************************************************************************/ fp@220: fp@220: #include fp@220: #include fp@220: #include fp@220: #include fp@220: 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@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@818: spinlock_t master_lock = SPIN_LOCK_UNLOCKED; 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@1080: #define AnaInSlavePos 0, 1 fp@1179: #define AnaOutSlavePos 0, 2 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@1179: // 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@858: /*****************************************************************************/ fp@858: fp@818: void check_domain1_state(void) fp@818: { fp@818: ec_domain_state_t ds; fp@818: fp@1022: spin_lock(&master_lock); fp@818: ecrt_domain_state(domain1, &ds); fp@1022: spin_unlock(&master_lock); 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@818: spin_lock(&master_lock); fp@818: ecrt_master_state(master, &ms); fp@818: spin_unlock(&master_lock); 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@1022: spin_lock(&master_lock); fp@1022: ecrt_slave_config_state(sc_ana_in, &s); fp@1022: spin_unlock(&master_lock); 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@861: case EC_SDO_REQUEST_UNUSED: // request was not used yet fp@867: ecrt_sdo_request_read(sdo); // trigger first read fp@858: break; fp@861: case EC_SDO_REQUEST_BUSY: fp@861: printk(KERN_INFO PFX "Still busy...\n"); fp@861: break; fp@861: case EC_SDO_REQUEST_SUCCESS: fp@861: 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@861: case EC_SDO_REQUEST_ERROR: fp@858: 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@820: void cyclic_task(unsigned long data) fp@820: { fp@818: // receive process data 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@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@858: // read process data Sdo fp@858: read_sdo(); fp@858: #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@512: spin_lock(&master_lock); fp@509: ecrt_domain_queue(domain1); 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@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@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@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@879: printk(KERN_INFO PFX "Configuring Pdos...\n"); fp@1179: if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3152_syncs)) { fp@1179: 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@879: 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@879: 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@858: 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@858: 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@814: printk(KERN_INFO PFX "Registering Pdo entries...\n"); fp@792: if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) { fp@814: 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@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@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@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: /*****************************************************************************/