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 <linux/module.h>
fp@1414: #include <linux/err.h>
fp@1414:
fp@1414: // RTAI
fp@1414: #include <rtai_sched.h>
fp@1414: #include <rtai_sem.h>
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@igh-essen.com>");
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: /*****************************************************************************/