fp@220: /****************************************************************************** fp@220: * fp@225: * RTAI sample for the IgH EtherCAT master. 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@233: // Linux fp@220: #include fp@220: fp@230: // RTAI fp@1080: #include fp@1080: #include fp@225: fp@233: // EtherCAT fp@230: #include "../../include/ecrt.h" fp@1080: fp@1080: /*****************************************************************************/ fp@1080: fp@1080: // Module parameters fp@1080: fp@1681: #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@1681: static unsigned int counter = 0; fp@1681: static unsigned int blink = 0; fp@1681: 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@1681: // receive process data fp@1681: rt_sem_wait(&master_sem); fp@325: ecrt_master_receive(master); fp@225: ecrt_domain_process(domain1); fp@1681: rt_sem_signal(&master_sem); fp@1681: fp@1681: // check process data state (optional) fp@1681: check_domain1_state(); fp@1681: fp@1681: if (counter) { fp@1681: counter--; fp@1681: } else { // do this at 1 Hz fp@1681: counter = FREQUENCY; fp@1681: fp@1681: // calculate new process data fp@1681: blink = !blink; fp@1681: fp@1681: // check for master state (optional) fp@1681: check_master_state(); fp@1681: fp@1681: // check for islave configuration state(s) (optional) fp@1681: check_slave_config_states(); fp@1681: } fp@1681: fp@1681: // write process data fp@1681: EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x06 : 0x09); fp@1681: fp@1681: rt_sem_wait(&master_sem); fp@1680: ecrt_domain_queue(domain1); fp@1680: ecrt_master_send(master); fp@1681: 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@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: /*****************************************************************************/