fp@232: /****************************************************************************** fp@232: * fp@232: * Sample module for use with IgH MSR library. fp@232: * fp@232: * $Id$ fp@232: * fp@232: * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH fp@232: * fp@232: * This file is part of the IgH EtherCAT Master. fp@232: * fp@232: * The IgH EtherCAT Master is free software; you can redistribute it fp@232: * 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@232: * fp@232: * The IgH EtherCAT Master is distributed in the hope that it will be fp@232: * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of fp@232: * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the fp@232: * GNU General Public License for more details. fp@232: * fp@232: * You should have received a copy of the GNU General Public License fp@232: * along with the IgH EtherCAT Master; if not, write to the Free Software fp@232: * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA fp@232: * 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@232: *****************************************************************************/ fp@232: fp@232: // Linux fp@232: #include fp@232: fp@232: // RTAI fp@232: #include "rtai_sched.h" fp@232: #include "rtai_sem.h" fp@232: fp@232: // RT_lib fp@232: #include fp@232: #include fp@234: #include fp@232: #include "msr_param.h" fp@232: fp@232: // EtherCAT fp@232: #include "../../include/ecrt.h" fp@232: fp@232: #define ASYNC fp@232: fp@232: #define HZREDUCTION (MSR_ABTASTFREQUENZ / HZ) fp@232: #define TIMERTICKS (1000000000 / MSR_ABTASTFREQUENZ) fp@232: fp@232: /*****************************************************************************/ fp@232: fp@232: // RTAI fp@232: RT_TASK task; fp@232: SEM master_sem; fp@232: cycles_t t_start = 0, t_critical; fp@232: fp@232: // EtherCAT fp@232: ec_master_t *master = NULL; fp@232: ec_domain_t *domain1 = NULL; fp@232: fp@234: // raw process data fp@232: void *r_ssi; fp@232: void *r_ssi_st; fp@232: fp@232: // Channels fp@232: uint32_t k_ssi; fp@232: uint32_t k_ssi_st; fp@232: fp@232: ec_field_init_t domain1_fields[] = { fp@232: {&r_ssi, "0:3", "Beckhoff", "EL5001", "InputValue", 0}, fp@232: {&r_ssi_st, "0:3", "Beckhoff", "EL5001", "Status", 0}, fp@232: {} fp@232: }; fp@232: fp@232: /*****************************************************************************/ fp@232: fp@234: void msr_controller_run(void) fp@234: { fp@234: rt_sem_wait(&master_sem); fp@234: fp@234: #ifdef ASYNC fp@234: // Empfangen fp@234: ecrt_master_async_receive(master); fp@234: ecrt_domain_process(domain1); fp@234: #else fp@234: // Senden und empfangen fp@234: ecrt_domain_queue(domain1); fp@234: ecrt_master_run(master); fp@234: ecrt_master_sync_io(master); fp@234: ecrt_domain_process(domain1); fp@234: #endif fp@234: fp@234: // Prozessdaten verarbeiten fp@234: k_ssi = EC_READ_U32(r_ssi); fp@234: k_ssi_st = EC_READ_U8 (r_ssi_st); fp@234: fp@234: #ifdef ASYNC fp@234: // Senden fp@234: ecrt_domain_queue(domain1); fp@234: ecrt_master_run(master); fp@234: ecrt_master_async_send(master); fp@234: #endif fp@234: fp@234: rt_sem_signal(&master_sem); fp@234: fp@234: msr_write_kanal_list(); fp@234: } fp@234: fp@234: /*****************************************************************************/ fp@234: fp@232: void msr_run(long data) fp@232: { fp@234: while (1) { fp@232: t_start = get_cycles(); fp@234: MSR_RTAITHREAD_CODE(msr_controller_run();); fp@232: rt_task_wait_period(); fp@232: } fp@232: } fp@232: fp@232: /*****************************************************************************/ fp@232: fp@232: int msr_reg(void) fp@232: { fp@232: msr_reg_kanal("/ssi_position", "", &k_ssi, TUINT); fp@232: msr_reg_kanal("/ssi_status", "", &k_ssi_st, TUINT); fp@232: return 0; fp@232: } fp@232: fp@232: /*****************************************************************************/ fp@232: fp@232: int request_lock(void *data) fp@232: { fp@232: // too close to the next RT cycle: deny access... fp@232: if (get_cycles() - t_start > t_critical) return -1; fp@232: fp@232: // allow access fp@232: rt_sem_wait(&master_sem); fp@232: return 0; fp@232: } fp@232: fp@232: /*****************************************************************************/ fp@232: fp@232: void release_lock(void *data) fp@232: { fp@232: rt_sem_signal(&master_sem); fp@232: } fp@232: fp@232: /*****************************************************************************/ fp@232: fp@232: int __init init_mod(void) fp@232: { fp@232: RTIME ticks; fp@232: #if 0 fp@232: ec_slave_t *slave; fp@232: #endif fp@232: fp@232: printk(KERN_INFO "=== Starting EtherCAT RTAI MSR sample module... ===\n"); fp@232: fp@232: rt_sem_init(&master_sem, 1); fp@232: t_critical = cpu_khz * 800 / MSR_ABTASTFREQUENZ; // ticks for 80% fp@232: fp@232: if (msr_rtlib_init(1, MSR_ABTASTFREQUENZ, 10, &msr_reg) < 0) { fp@232: printk(KERN_ERR "Failed to initialize rtlib!\n"); fp@232: goto out_return; fp@232: } fp@232: fp@232: if ((master = ecrt_request_master(0)) == NULL) { fp@232: printk(KERN_ERR "Failed to request master 0!\n"); fp@232: goto out_msr_cleanup; fp@232: } fp@232: fp@232: ecrt_master_callbacks(master, request_lock, release_lock, NULL); fp@232: fp@232: printk(KERN_INFO "Creating domains...\n"); fp@232: if (!(domain1 = ecrt_master_create_domain(master))) { fp@232: printk(KERN_ERR "Failed to create domains!\n"); fp@232: goto out_release_master; fp@232: } fp@232: fp@232: printk(KERN_INFO "Registering domain fields...\n"); fp@232: if (ecrt_domain_register_field_list(domain1, domain1_fields)) { fp@232: printk(KERN_ERR "Failed to register domain fields.\n"); fp@232: goto out_release_master; fp@232: } fp@232: fp@232: printk(KERN_INFO "Activating master...\n"); fp@232: if (ecrt_master_activate(master)) { fp@232: printk(KERN_ERR "Could not activate master!\n"); fp@232: goto out_release_master; fp@232: } fp@232: fp@232: #if 0 fp@232: if (ecrt_master_fetch_sdo_lists(master)) { fp@232: printk(KERN_ERR "Failed to fetch SDO lists!\n"); fp@232: goto out_deactivate; fp@232: } fp@232: ecrt_master_print(master, 2); fp@232: #else fp@232: ecrt_master_print(master, 0); fp@232: #endif fp@232: fp@232: #if 0 fp@232: if (!(slave = ecrt_master_get_slave(master, "0:3"))) { fp@232: printk(KERN_ERR "Failed to get slave!\n"); fp@232: goto out_deactivate; fp@232: } fp@232: fp@232: if ( fp@232: ecrt_slave_sdo_write_exp8(slave, 0x4061, 1, 1) || // disable frame error bit fp@232: ecrt_slave_sdo_write_exp8(slave, 0x4061, 2, 0) || // power failure bit fp@232: ecrt_slave_sdo_write_exp8(slave, 0x4061, 3, 1) || // inhibit time fp@232: ecrt_slave_sdo_write_exp8(slave, 0x4061, 4, 0) || // test mode fp@240: ecrt_slave_sdo_write_exp8(slave, 0x4066, 0, 0) || // graycode fp@232: ecrt_slave_sdo_write_exp8(slave, 0x4067, 0, 5) || // 125kbaud fp@232: ecrt_slave_sdo_write_exp8(slave, 0x4068, 0, 0) || // single-turn fp@232: ecrt_slave_sdo_write_exp8(slave, 0x4069, 0, 25) || // frame size fp@232: ecrt_slave_sdo_write_exp8(slave, 0x406A, 0, 25) || // data length fp@240: ecrt_slave_sdo_write_exp16(slave, 0x406B, 0, 50) // inhibit time in us fp@232: ) { fp@232: printk(KERN_ERR "Failed to configure SSI slave!\n"); fp@232: goto out_deactivate; fp@232: } fp@232: #endif fp@232: fp@232: #if 0 fp@232: if (!(slave = ecrt_master_get_slave(master, "1:0"))) { fp@232: printk(KERN_ERR "Failed to get slave!\n"); fp@232: goto out_deactivate; fp@232: } fp@232: if (ecrt_slave_write_alias(slave, 0x5678)) { fp@232: printk(KERN_ERR "Failed to write alias!\n"); fp@232: goto out_deactivate; fp@232: } fp@232: #endif fp@232: fp@232: #ifdef ASYNC fp@232: // Einmal senden und warten... fp@232: ecrt_master_prepare_async_io(master); fp@232: #endif fp@232: fp@232: if (ecrt_master_start_eoe(master)) { fp@232: printk(KERN_ERR "Failed to start EoE processing!\n"); fp@232: goto out_deactivate; fp@232: } fp@232: fp@232: printk("Starting cyclic sample thread...\n"); fp@232: ticks = start_rt_timer(nano2count(TIMERTICKS)); fp@232: if (rt_task_init(&task, msr_run, 0, 2000, 0, 1, NULL)) { fp@232: printk(KERN_ERR "Failed to init RTAI task!\n"); fp@232: goto out_stop_timer; fp@232: } fp@232: if (rt_task_make_periodic(&task, rt_get_time() + ticks, ticks)) { fp@232: printk(KERN_ERR "Failed to run RTAI task!\n"); fp@232: goto out_stop_task; fp@232: } fp@232: fp@232: printk(KERN_INFO "=== EtherCAT RTAI MSR sample module started. ===\n"); fp@232: return 0; fp@232: fp@232: out_stop_task: fp@232: rt_task_delete(&task); fp@232: out_stop_timer: fp@232: stop_rt_timer(); fp@232: out_deactivate: fp@232: ecrt_master_deactivate(master); fp@232: out_release_master: fp@232: ecrt_release_master(master); fp@232: out_msr_cleanup: fp@232: msr_rtlib_cleanup(); fp@232: out_return: fp@232: rt_sem_delete(&master_sem); fp@232: return -1; fp@232: } fp@232: fp@232: /*****************************************************************************/ fp@232: fp@232: void __exit cleanup_mod(void) fp@232: { fp@232: printk(KERN_INFO "=== Unloading EtherCAT RTAI MSR sample module... ===\n"); fp@232: fp@232: rt_task_delete(&task); fp@232: stop_rt_timer(); fp@232: ecrt_master_deactivate(master); fp@232: ecrt_release_master(master); fp@232: rt_sem_delete(&master_sem); fp@232: msr_rtlib_cleanup(); fp@232: fp@232: printk(KERN_INFO "=== EtherCAT RTAI MSR sample module unloaded. ===\n"); fp@232: } fp@232: fp@232: /*****************************************************************************/ fp@232: fp@232: MODULE_LICENSE("GPL"); fp@232: MODULE_AUTHOR ("Florian Pose "); fp@232: MODULE_DESCRIPTION ("EtherCAT RTAI MSR sample module"); fp@232: fp@232: module_init(init_mod); fp@232: module_exit(cleanup_mod); fp@232: fp@232: /*****************************************************************************/