fp@1414: /****************************************************************************** fp@1414: * fp@1414: * Distributed clocks sample for the IgH EtherCAT master. fp@1414: * fp@1414: * $Id$ fp@1414: * fp@1414: * Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH fp@1414: * fp@1414: * This file is part of the IgH EtherCAT Master. fp@1414: * fp@1414: * The IgH EtherCAT Master is free software; you can redistribute it and/or fp@1414: * modify it under the terms of the GNU General Public License version 2, as fp@1414: * published by the Free Software Foundation. fp@1414: * fp@1414: * The IgH EtherCAT Master is distributed in the hope that it will be useful, fp@1414: * but WITHOUT ANY WARRANTY; without even the implied warranty of fp@1414: * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General fp@1414: * Public License for more details. fp@1414: * fp@1414: * You should have received a copy of the GNU General Public License along fp@1414: * with the IgH EtherCAT Master; if not, write to the Free Software fp@1414: * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA fp@1414: * fp@1414: * --- fp@1414: * fp@1414: * The license mentioned above concerns the source code only. Using the fp@1414: * EtherCAT technology and brand is only permitted in compliance with the fp@1414: * industrial property and similar rights of Beckhoff Automation GmbH. fp@1414: * fp@1414: *****************************************************************************/ fp@1414: fp@1414: // Linux fp@1414: #include fp@1414: #include fp@1414: fp@1414: // RTAI fp@1414: #include fp@1414: #include fp@1414: fp@1414: // EtherCAT fp@1414: #include "../../include/ecrt.h" fp@1414: fp@1414: /*****************************************************************************/ fp@1414: fp@1414: // Module parameters fp@1414: fp@1414: #define FREQUENCY 1000 // task frequency in Hz fp@1414: #define INHIBIT_TIME 20 fp@1414: fp@1414: #define TIMERTICKS (1000000000 / FREQUENCY) fp@1414: fp@1414: #define NUM_DIG_OUT 1 fp@1414: fp@1434: #define PFX "ec_dc_rtai_sample: " fp@1414: fp@1414: /*****************************************************************************/ fp@1414: fp@1414: // EtherCAT fp@1414: static ec_master_t *master = NULL; fp@1414: static ec_master_state_t master_state = {}; fp@1414: fp@1414: static ec_domain_t *domain1 = NULL; fp@1414: static ec_domain_state_t domain1_state = {}; fp@1414: fp@1414: // RTAI fp@1414: static RT_TASK task; fp@1414: static SEM master_sem; fp@1414: static cycles_t t_last_cycle = 0, t_critical; fp@1414: fp@1414: /*****************************************************************************/ fp@1414: fp@1414: // process data fp@1414: static uint8_t *domain1_pd; // process data memory fp@1414: fp@1414: #define DigOutSlavePos(X) 0, (1 + (X)) fp@1414: #define CounterSlavePos 0, 2 fp@1414: fp@1414: #define Beckhoff_EK1100 0x00000002, 0x044c2c52 fp@1414: #define Beckhoff_EL2008 0x00000002, 0x07d83052 fp@1414: #define IDS_Counter 0x000012ad, 0x05de3052 fp@1414: fp@1414: static int off_dig_out[NUM_DIG_OUT]; fp@1414: static int off_counter_in; fp@1414: static int off_counter_out; fp@1414: fp@1414: static unsigned int counter = 0; fp@1414: static unsigned int blink_counter = 0; fp@1414: static unsigned int blink = 0; fp@1414: static u32 counter_value = 0U; fp@1414: fp@1414: /*****************************************************************************/ fp@1414: fp@1414: static ec_pdo_entry_info_t el2008_channels[] = { fp@1414: {0x7000, 1, 1}, fp@1414: {0x7010, 1, 1}, fp@1414: {0x7020, 1, 1}, fp@1414: {0x7030, 1, 1}, fp@1414: {0x7040, 1, 1}, fp@1414: {0x7050, 1, 1}, fp@1414: {0x7060, 1, 1}, fp@1414: {0x7070, 1, 1} fp@1414: }; fp@1414: fp@1414: static ec_pdo_info_t el2008_pdos[] = { fp@1414: {0x1600, 1, &el2008_channels[0]}, fp@1414: {0x1601, 1, &el2008_channels[1]}, fp@1414: {0x1602, 1, &el2008_channels[2]}, fp@1414: {0x1603, 1, &el2008_channels[3]}, fp@1414: {0x1604, 1, &el2008_channels[4]}, fp@1414: {0x1605, 1, &el2008_channels[5]}, fp@1414: {0x1606, 1, &el2008_channels[6]}, fp@1414: {0x1607, 1, &el2008_channels[7]} fp@1414: }; fp@1414: fp@1414: static ec_sync_info_t el2008_syncs[] = { fp@1414: {0, EC_DIR_OUTPUT, 8, el2008_pdos}, fp@1414: {1, EC_DIR_INPUT}, fp@1414: {0xff} fp@1414: }; fp@1414: fp@1414: /*****************************************************************************/ fp@1414: fp@1414: void check_domain1_state(void) fp@1414: { fp@1414: ec_domain_state_t ds; fp@1414: fp@1500: rt_sem_wait(&master_sem); fp@1414: ecrt_domain_state(domain1, &ds); fp@1500: rt_sem_signal(&master_sem); fp@1414: fp@1414: if (ds.working_counter != domain1_state.working_counter) fp@1414: printk(KERN_INFO PFX "Domain1: WC %u.\n", ds.working_counter); fp@1414: if (ds.wc_state != domain1_state.wc_state) fp@1414: printk(KERN_INFO PFX "Domain1: State %u.\n", ds.wc_state); fp@1414: fp@1414: domain1_state = ds; fp@1414: } fp@1414: fp@1414: /*****************************************************************************/ fp@1414: fp@1414: void check_master_state(void) fp@1414: { fp@1414: ec_master_state_t ms; fp@1414: fp@1500: rt_sem_wait(&master_sem); fp@1414: ecrt_master_state(master, &ms); fp@1500: rt_sem_signal(&master_sem); fp@1414: fp@1414: if (ms.slaves_responding != master_state.slaves_responding) fp@1414: printk(KERN_INFO PFX "%u slave(s).\n", ms.slaves_responding); fp@1414: if (ms.al_states != master_state.al_states) fp@1414: printk(KERN_INFO PFX "AL states: 0x%02X.\n", ms.al_states); fp@1414: if (ms.link_up != master_state.link_up) fp@1414: printk(KERN_INFO PFX "Link is %s.\n", ms.link_up ? "up" : "down"); fp@1414: fp@1414: master_state = ms; fp@1414: } fp@1414: fp@1414: /*****************************************************************************/ fp@1414: fp@1414: void run(long data) fp@1414: { fp@1414: int i; fp@1508: struct timeval tv; fp@1414: unsigned int sync_ref_counter = 0; fp@1414: fp@1414: count2timeval(nano2count(rt_get_real_time_ns()), &tv); fp@1414: fp@1414: while (1) { fp@1414: t_last_cycle = get_cycles(); fp@1414: fp@1414: // receive process data fp@1414: rt_sem_wait(&master_sem); fp@1414: ecrt_master_receive(master); fp@1414: ecrt_domain_process(domain1); fp@1414: rt_sem_signal(&master_sem); fp@1414: fp@1414: // check process data state (optional) fp@1414: check_domain1_state(); fp@1414: fp@1414: if (counter) { fp@1414: counter--; fp@1414: } else { fp@1508: u32 c; fp@1508: fp@1414: counter = FREQUENCY; fp@1414: fp@1414: // check for master state (optional) fp@1414: check_master_state(); fp@1414: fp@1508: c = EC_READ_U32(domain1_pd + off_counter_in); fp@1508: if (counter_value != c) { fp@1508: counter_value = c; fp@1508: printk(KERN_INFO PFX "counter=%u\n", counter_value); fp@1508: } fp@1414: fp@1414: } fp@1414: fp@1414: if (blink_counter) { fp@1414: blink_counter--; fp@1414: } else { fp@1414: blink_counter = 9; fp@1414: fp@1414: // calculate new process data fp@1414: blink = !blink; fp@1414: } fp@1414: fp@1414: // write process data fp@1414: for (i = 0; i < NUM_DIG_OUT; i++) { fp@1414: EC_WRITE_U8(domain1_pd + off_dig_out[i], blink ? 0x66 : 0x99); fp@1414: } fp@1414: fp@1508: EC_WRITE_U8(domain1_pd + off_counter_out, blink ? 0x00 : 0x02); fp@1414: fp@1414: rt_sem_wait(&master_sem); fp@1508: fp@1414: tv.tv_usec += 1000; fp@1414: if (tv.tv_usec >= 1000000) { fp@1414: tv.tv_usec -= 1000000; fp@1414: tv.tv_sec++; fp@1414: } fp@1466: ecrt_master_application_time(master, EC_TIMEVAL2NANO(tv)); fp@1414: fp@1414: if (sync_ref_counter) { fp@1414: sync_ref_counter--; fp@1414: } else { fp@1414: sync_ref_counter = 9; fp@1434: ecrt_master_sync_reference_clock(master); fp@1414: } fp@1508: ecrt_master_sync_slave_clocks(master); fp@1414: ecrt_domain_queue(domain1); fp@1414: ecrt_master_send(master); fp@1414: rt_sem_signal(&master_sem); fp@1508: fp@1414: rt_task_wait_period(); fp@1414: } fp@1414: } fp@1414: fp@1414: /*****************************************************************************/ fp@1414: fp@1513: void send_callback(void *cb_data) fp@1513: { fp@1513: ec_master_t *m = (ec_master_t *) cb_data; fp@1513: fp@1414: // too close to the next real time cycle: deny access... fp@1500: if (get_cycles() - t_last_cycle <= t_critical) { fp@1500: rt_sem_wait(&master_sem); fp@1513: ecrt_master_send_ext(m); fp@1500: rt_sem_signal(&master_sem); fp@1500: } fp@1500: } fp@1500: fp@1500: /*****************************************************************************/ fp@1500: fp@1513: void receive_callback(void *cb_data) fp@1513: { fp@1513: ec_master_t *m = (ec_master_t *) cb_data; fp@1513: fp@1500: // too close to the next real time cycle: deny access... fp@1500: if (get_cycles() - t_last_cycle <= t_critical) { fp@1500: rt_sem_wait(&master_sem); fp@1513: ecrt_master_receive(m); fp@1500: rt_sem_signal(&master_sem); fp@1500: } fp@1414: } fp@1414: fp@1414: /*****************************************************************************/ fp@1414: fp@1414: int __init init_mod(void) fp@1414: { fp@1414: int ret = -1, i; fp@1414: RTIME tick_period, requested_ticks, now; fp@1414: ec_slave_config_t *sc; fp@1414: fp@1414: printk(KERN_INFO PFX "Starting...\n"); fp@1414: fp@1414: rt_sem_init(&master_sem, 1); fp@1414: fp@1414: t_critical = cpu_khz * 1000 / FREQUENCY - cpu_khz * INHIBIT_TIME / 1000; fp@1414: fp@1414: master = ecrt_request_master(0); fp@1414: if (!master) { fp@1414: ret = -EBUSY; fp@1414: printk(KERN_ERR PFX "Requesting master 0 failed!\n"); fp@1414: goto out_return; fp@1414: } fp@1414: fp@1513: ecrt_master_callbacks(master, send_callback, receive_callback, master); fp@1414: fp@1414: printk(KERN_INFO PFX "Registering domain...\n"); fp@1414: if (!(domain1 = ecrt_master_create_domain(master))) { fp@1414: printk(KERN_ERR PFX "Domain creation failed!\n"); fp@1414: goto out_release_master; fp@1414: } fp@1414: fp@1414: printk(KERN_INFO PFX "Configuring PDOs...\n"); fp@1414: fp@1414: // create configuration for reference clock FIXME fp@1508: if (!(sc = ecrt_master_slave_config(master, 0, 0, Beckhoff_EK1100))) { fp@1508: printk(KERN_ERR PFX "Failed to get slave configuration.\n"); fp@1508: goto out_release_master; fp@1508: } fp@1414: fp@1414: for (i = 0; i < NUM_DIG_OUT; i++) { fp@1414: if (!(sc = ecrt_master_slave_config(master, fp@1414: DigOutSlavePos(i), Beckhoff_EL2008))) { fp@1414: printk(KERN_ERR PFX "Failed to get slave configuration.\n"); fp@1414: goto out_release_master; fp@1414: } fp@1414: fp@1414: if (ecrt_slave_config_pdos(sc, EC_END, el2008_syncs)) { fp@1414: printk(KERN_ERR PFX "Failed to configure PDOs.\n"); fp@1414: goto out_release_master; fp@1414: } fp@1414: fp@1414: off_dig_out[i] = ecrt_slave_config_reg_pdo_entry(sc, fp@1414: 0x7000, 1, domain1, NULL); fp@1414: fp@1414: if (off_dig_out[i] < 0) fp@1414: goto out_release_master; fp@1414: } fp@1414: fp@1508: if (!(sc = ecrt_master_slave_config(master, fp@1508: CounterSlavePos, IDS_Counter))) { fp@1508: printk(KERN_ERR PFX "Failed to get slave configuration.\n"); fp@1508: goto out_release_master; fp@1508: } fp@1508: off_counter_in = ecrt_slave_config_reg_pdo_entry(sc, fp@1508: 0x6020, 0x11, domain1, NULL); fp@1508: if (off_counter_in < 0) fp@1508: goto out_release_master; fp@1508: off_counter_out = ecrt_slave_config_reg_pdo_entry(sc, fp@1508: 0x7020, 1, domain1, NULL); fp@1508: if (off_counter_out < 0) fp@1508: goto out_release_master; fp@1414: fp@1414: // configure SYNC signals for this slave fp@1508: ecrt_slave_config_dc(sc, 0x0700, 1000000, 440000, 0, 0); fp@1414: fp@1414: printk(KERN_INFO PFX "Activating master...\n"); fp@1414: if (ecrt_master_activate(master)) { fp@1414: printk(KERN_ERR PFX "Failed to activate master!\n"); fp@1414: goto out_release_master; fp@1414: } fp@1414: fp@1414: // Get internal process data for domain fp@1414: domain1_pd = ecrt_domain_data(domain1); fp@1414: fp@1414: printk(KERN_INFO PFX "Starting cyclic sample thread...\n"); fp@1414: requested_ticks = nano2count(TIMERTICKS); fp@1414: tick_period = start_rt_timer(requested_ticks); fp@1414: printk(KERN_INFO PFX "RT timer started with %i/%i ticks.\n", fp@1414: (int) tick_period, (int) requested_ticks); fp@1414: fp@1414: if (rt_task_init(&task, run, 0, 2000, 0, 1, NULL)) { fp@1414: printk(KERN_ERR PFX "Failed to init RTAI task!\n"); fp@1414: goto out_stop_timer; fp@1414: } fp@1414: fp@1414: now = rt_get_time(); fp@1414: if (rt_task_make_periodic(&task, now + tick_period, tick_period)) { fp@1414: printk(KERN_ERR PFX "Failed to run RTAI task!\n"); fp@1414: goto out_stop_task; fp@1414: } fp@1414: fp@1414: printk(KERN_INFO PFX "Initialized.\n"); fp@1414: return 0; fp@1414: fp@1414: out_stop_task: fp@1414: rt_task_delete(&task); fp@1414: out_stop_timer: fp@1414: stop_rt_timer(); fp@1414: out_release_master: fp@1414: printk(KERN_ERR PFX "Releasing master...\n"); fp@1414: ecrt_release_master(master); fp@1414: out_return: fp@1414: rt_sem_delete(&master_sem); fp@1414: printk(KERN_ERR PFX "Failed to load. Aborting.\n"); fp@1414: return ret; fp@1414: } fp@1414: fp@1414: /*****************************************************************************/ fp@1414: fp@1414: void __exit cleanup_mod(void) fp@1414: { fp@1414: printk(KERN_INFO PFX "Stopping...\n"); fp@1414: fp@1414: rt_task_delete(&task); fp@1414: stop_rt_timer(); fp@1414: ecrt_release_master(master); fp@1414: rt_sem_delete(&master_sem); fp@1414: fp@1414: printk(KERN_INFO PFX "Unloading.\n"); fp@1414: } fp@1414: fp@1414: /*****************************************************************************/ fp@1414: fp@1414: MODULE_LICENSE("GPL"); fp@1414: MODULE_AUTHOR("Florian Pose "); fp@1414: MODULE_DESCRIPTION("EtherCAT distributed clocks sample module"); fp@1414: fp@1414: module_init(init_mod); fp@1414: module_exit(cleanup_mod); fp@1414: fp@1414: /*****************************************************************************/