fp@232: /******************************************************************************
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 <linux/module.h>
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 <msr_main.h>
fp@232: #include <msr_reg.h>
fp@234: #include <msr_time.h>
fp@232:
fp@232: // EtherCAT
fp@232: #include "../../include/ecrt.h"
fp@325: #include "../../include/ecdb.h"
fp@232:
fp@451: #define MSR_ABTASTFREQUENZ 1000
fp@451:
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@325: void *r_ana_out;
fp@232:
fp@512: // channels
fp@325: double k_ana_out;
fp@325:
fp@325: ec_pdo_reg_t domain1_pdos[] = {
fp@325: {"3", Beckhoff_EL4132_Output1, &r_ana_out},
fp@232: {}
fp@232: };
fp@232:
fp@232: /*****************************************************************************/
fp@232:
fp@234: void msr_controller_run(void)
fp@234: {
fp@512: // receive
fp@234: rt_sem_wait(&master_sem);
fp@325: ecrt_master_receive(master);
fp@234: ecrt_domain_process(domain1);
fp@512: rt_sem_signal(&master_sem);
fp@325:
fp@325: // Process data
fp@325: EC_WRITE_S16(r_ana_out, k_ana_out / 10.0 * 0x7FFF);
fp@325:
fp@325: // Send
fp@512: rt_sem_wait(&master_sem);
fp@509: ecrt_domain_queue(domain1);
fp@234: ecrt_master_run(master);
fp@325: ecrt_master_send(master);
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@325: msr_reg_kanal("/ana_out", "", &k_ana_out, TDBL);
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:
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@325: if (!(master = ecrt_request_master(0))) {
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@325: printk(KERN_INFO "Registering PDOs...\n");
fp@325: if (ecrt_domain_register_pdo_list(domain1, domain1_pdos)) {
fp@325: printk(KERN_ERR "Failed to register PDOs.\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: 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_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_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@512: MODULE_AUTHOR("Florian Pose <fp@igh-essen.com>");
fp@512: 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: /*****************************************************************************/