fp@0: /******************************************************************************
fp@0:  *
fp@0:  * ec_mini.c
fp@0:  *
fp@0:  * Minimalmodul für EtherCAT
fp@13:  *
fp@0:  * $Id$
fp@0:  *
fp@0:  ******************************************************************************/
fp@0: 
fp@0: #include <linux/module.h>
fp@24: //#include <linux/slab.h>
fp@24: #include <linux/delay.h>
fp@22: #include <linux/timer.h>
fp@0: 
fp@0: #include "../drivers/ec_master.h"
fp@0: #include "../drivers/ec_device.h"
fp@0: #include "../drivers/ec_types.h"
fp@0: #include "../drivers/ec_dbg.h"
fp@0: 
fp@5: /******************************************************************************/
fp@5: 
fp@22: #define ECAT
fp@22: 
fp@5: #define ECAT_OPEN
fp@5: #define ECAT_MASTER
fp@5: #define ECAT_SLAVES
fp@5: #define ECAT_CYCLIC_DATA
fp@5: 
fp@5: /******************************************************************************/
fp@5: 
fp@22: #ifdef ECAT
fp@22: 
fp@0: extern EtherCAT_device_t rtl_ecat_dev;
fp@0: 
fp@5: #ifdef ECAT_MASTER
fp@5: static EtherCAT_master_t *ecat_master = NULL;
fp@5: #endif
fp@5: 
fp@5: #ifdef ECAT_SLAVES
fp@5: static EtherCAT_slave_t ecat_slaves[] =
fp@5: {
fp@0: #if 0
fp@22:     // Block 1
fp@22:     ECAT_INIT_SLAVE(Beckhoff_EK1100),
fp@22:     ECAT_INIT_SLAVE(Beckhoff_EL4102),
fp@22:     ECAT_INIT_SLAVE(Beckhoff_EL3162),
fp@22:     ECAT_INIT_SLAVE(Beckhoff_EL1014),
fp@24: 
fp@22:     ECAT_INIT_SLAVE(Beckhoff_EL4102),
fp@22:     ECAT_INIT_SLAVE(Beckhoff_EL4102),
fp@22:     ECAT_INIT_SLAVE(Beckhoff_EL4102),
fp@24: 
fp@22:     ECAT_INIT_SLAVE(Beckhoff_EL3162),
fp@22:     ECAT_INIT_SLAVE(Beckhoff_EL3162),
fp@22:     ECAT_INIT_SLAVE(Beckhoff_EL3162),
fp@22:     ECAT_INIT_SLAVE(Beckhoff_EL3102),
fp@22:     ECAT_INIT_SLAVE(Beckhoff_EL3102),
fp@24:     ECAT_INIT_SLAVE(Beckhoff_EL3102),
fp@24: 
fp@24: #endif
fp@24: 
fp@24: #if 1
fp@22:     // Block 2
fp@22:     ECAT_INIT_SLAVE(Beckhoff_EK1100),
fp@22:     ECAT_INIT_SLAVE(Beckhoff_EL4102),
fp@22:     ECAT_INIT_SLAVE(Beckhoff_EL1014),
fp@22:     ECAT_INIT_SLAVE(Beckhoff_EL3162),
fp@22:     ECAT_INIT_SLAVE(Beckhoff_EL2004),
fp@22:     ECAT_INIT_SLAVE(Beckhoff_EL3102),
fp@24:     ECAT_INIT_SLAVE(Beckhoff_EL2004),
fp@24:     ECAT_INIT_SLAVE(Beckhoff_EL2004),
fp@24:     ECAT_INIT_SLAVE(Beckhoff_EL2004),
fp@24:     ECAT_INIT_SLAVE(Beckhoff_EL2004),
fp@24:     ECAT_INIT_SLAVE(Beckhoff_EL2004),
fp@22: 
fp@22:     // Block 3
fp@22:     ECAT_INIT_SLAVE(Beckhoff_EK1100),
fp@22:     ECAT_INIT_SLAVE(Beckhoff_EL1014),
fp@22:     ECAT_INIT_SLAVE(Beckhoff_EL1014),
fp@22:     ECAT_INIT_SLAVE(Beckhoff_EL1014),
fp@22:     ECAT_INIT_SLAVE(Beckhoff_EL1014),
fp@22:     ECAT_INIT_SLAVE(Beckhoff_EL1014),
fp@22:     ECAT_INIT_SLAVE(Beckhoff_EL2004),
fp@22:     ECAT_INIT_SLAVE(Beckhoff_EL2004),
fp@22:     ECAT_INIT_SLAVE(Beckhoff_EL2004),
fp@22:     ECAT_INIT_SLAVE(Beckhoff_EL2004),
fp@22:     ECAT_INIT_SLAVE(Beckhoff_EL1014),
fp@22:     ECAT_INIT_SLAVE(Beckhoff_EL1014),
fp@22:     ECAT_INIT_SLAVE(Beckhoff_EL1014)
fp@24: #endif
fp@0: };
fp@0: 
fp@0: #define ECAT_SLAVES_COUNT (sizeof(ecat_slaves) / sizeof(EtherCAT_slave_t))
fp@22: 
fp@22: #endif // ECAT_SLAVES
fp@22: 
fp@22: #endif // ECAT
fp@0: 
fp@5: #ifdef ECAT_CYCLIC_DATA
fp@22: 
fp@24: int value;
fp@0: int dig1;
fp@22: 
fp@22: struct timer_list timer;
fp@22: unsigned long last_start_jiffies;
fp@22: 
fp@22: #endif // ECAT_CYCLIC_DATA
fp@0: 
fp@0: /******************************************************************************
fp@0:  *
fp@0:  * Function: next2004
fp@0:  *
fp@0:  *****************************************************************************/
fp@0: 
fp@22: #ifdef ECAT
fp@5: #ifdef ECAT_CYCLIC_DATA
fp@22: 
fp@0: static int next2004(int *wrap)
fp@0: {
fp@22:     static int i = 0;
fp@22:     unsigned int j = 0;
fp@22: 
fp@22:     *wrap = 0;
fp@22: 
fp@22:     for (j = 0; j < ECAT_SLAVES_COUNT; j++)
fp@22:     {
fp@22:         i++;
fp@22: 
fp@22:         i %= ECAT_SLAVES_COUNT;
fp@22: 
fp@22:         if (i == 0) *wrap = 1;
fp@22: 
fp@22:         if (ecat_slaves[i].desc == Beckhoff_EL2004)
fp@22:         {
fp@22:             return i;
fp@22:         }
fp@22:     }
fp@22: 
fp@22:     return -1;
fp@0: }
fp@0: #endif
fp@22: #endif
fp@0: 
fp@0: /******************************************************************************
fp@0:  *
fp@5:  * Function: run
fp@0:  *
fp@0:  * Beschreibung: Zyklischer Prozess
fp@0:  *
fp@0:  *****************************************************************************/
fp@0: 
fp@5: #ifdef ECAT_CYCLIC_DATA
fp@22: 
fp@22: static void run(unsigned long data)
fp@5: {
fp@22: #ifdef ECAT
fp@22:     static int ms = 0;
fp@22:     static int cnt = 0;
fp@22:     static unsigned long int k = 0;
fp@22:     static int firstrun = 1;
fp@22: 
fp@24:     static int klemme = 0;
fp@22:     static int kanal = 0;
fp@22:     static int up_down = 0;
fp@22:     int wrap = 0;
fp@22: 
fp@22:     ms++;
fp@22:     ms %= 1000;
fp@0: 
fp@0: #if 0
fp@22:     ecat_tx_delay = ((unsigned int) (100000 / HZ) * (ecat_master->dev->tx_time-k))
fp@22:         / (current_cpu_data.loops_per_jiffy / 10);
fp@22:     ecat_rx_delay = ((unsigned int) (100000 / HZ) * (ecat_master->dev->rx_time-k))
fp@22:         / (current_cpu_data.loops_per_jiffy / 10);
fp@22: 
fp@22:     rx_intr = ecat_master->dev->rx_intr_cnt;
fp@22:     tx_intr = ecat_master->dev->tx_intr_cnt;
fp@22:     total_intr = ecat_master->dev->intr_cnt;
fp@22: #endif
fp@22: 
fp@22:     // Prozessdaten lesen
fp@22:     if (!firstrun)
fp@22:     {
fp@24:         EtherCAT_read_process_data(ecat_master);
fp@24: 
fp@24:         // Daten lesen und skalieren
fp@24: //        value = EtherCAT_read_value(&ecat_master->slaves[5], 0) / 3276; //.7; FIXME kein FP im Kernel ohne Schutz !!
fp@24: //        dig1 = EtherCAT_read_value(&ecat_master->slaves[3], 0);
fp@24:     }
fp@24:     else
fp@22:         klemme = next2004(&wrap);
fp@22: 
fp@0: 
fp@5: #if 0
fp@22:     // Daten schreiben
fp@22:     EtherCAT_write_value(&ecat_master->slaves[4], 0, ms > 500 ? 1 : 0);
fp@22:     EtherCAT_write_value(&ecat_master->slaves[4], 1, ms > 500 ? 0 : 1);
fp@22:     EtherCAT_write_value(&ecat_master->slaves[4], 2, ms > 500 ? 0 : 1);
fp@22:     EtherCAT_write_value(&ecat_master->slaves[4], 3, ms > 500 ? 1 : 0);
fp@22: #endif
fp@22: 
fp@22:     if (cnt++ > 20)
fp@22:     {
fp@22:         cnt = 0;
fp@22: 
fp@22:         if (++kanal > 3)
fp@22:         {
fp@22:             kanal = 0;
fp@22:             klemme = next2004(&wrap);
fp@22: 
fp@22:             if (wrap == 1)
fp@22:             {
fp@22:                 if (up_down == 1) up_down = 0;
fp@22:                 else up_down = 1;
fp@22:             }
fp@22:         }
fp@22:     }
fp@22: 
fp@24:     if (klemme >= 0) {
fp@22:         EtherCAT_write_value(&ecat_master->slaves[klemme], kanal,up_down);
fp@24: 	//printk("ECAT write: Klemme: %d, Kanal: %d, Wert: %d\n",klemme,kanal,up_down); 
fp@24:     }
fp@5: 
fp@5: #if 0
fp@22:     EtherCAT_write_value(&ecat_master->slaves[13], 1, ms > 500 ? 0 : 1);
fp@22:     EtherCAT_write_value(&ecat_master->slaves[14], 2, ms > 500 ? 0 : 1);
fp@22:     EtherCAT_write_value(&ecat_master->slaves[15], 3, ms > 500 ? 1 : 0);
fp@22: #endif
fp@22: 
fp@22:     // Prozessdaten schreiben
fp@22:     rdtscl(k);
fp@22:     EtherCAT_write_process_data(ecat_master);
fp@22:     firstrun = 0;
fp@22: #endif
fp@22: 
fp@24:     timer.expires += HZ / 1000;
fp@22:     add_timer(&timer);
fp@0: }
fp@22: 
fp@22: #endif // ECAT_CYCLIC_DATA
fp@0: 
fp@0: /******************************************************************************
fp@22:  *
fp@22:  * Function: init
fp@22:  *
fp@22:  ******************************************************************************/
fp@22: 
fp@22: int __init init_module()
fp@5: {
fp@22: #ifdef ECAT
fp@0: #ifdef ECAT_OPEN
fp@22:     int rv = -1;
fp@22: #endif
fp@22: #endif
fp@22: 
fp@22:     EC_DBG(KERN_INFO "=== Starting Minimal EtherCAT environment... ===\n");
fp@22: 
fp@22: #ifdef ECAT
fp@22: 
fp@22:     EtherCAT_device_debug(&rtl_ecat_dev);
fp@0: 
fp@0: #ifdef ECAT_OPEN
fp@22:     EC_DBG("Opening EtherCAT device.\n");
fp@22: 
fp@22:     // HIER PASSIERT DER FEHLER:
fp@22:     if (EtherCAT_device_open(&rtl_ecat_dev) < 0)
fp@22:     {
fp@22:         EC_DBG(KERN_ERR "msr_modul: Could not initialize EtherCAT NIC.\n");
fp@22:         goto out_nothing;
fp@22:     }
fp@22: 
fp@22:     if (!rtl_ecat_dev.dev) // Es gibt kein EtherCAT-Device
fp@22:     {
fp@22:         EC_DBG(KERN_ERR "msr_modul: No EtherCAT device!\n");
fp@22:         goto out_close;
fp@22:     }
fp@22: #endif // ECAT_OPEN
fp@0: 
fp@5: #ifdef ECAT_MASTER
fp@22:     EC_DBG("Initialising EtherCAT master\n");
fp@22: 
fp@22:     if ((ecat_master = (EtherCAT_master_t *) kmalloc(sizeof(EtherCAT_master_t), GFP_KERNEL)) == 0)
fp@22:     {
fp@22:         EC_DBG(KERN_ERR "msr_modul: Could not alloc memory for EtherCAT master!\n");
fp@22:         goto out_close;
fp@22:     }
fp@22: 
fp@22:     if (EtherCAT_master_init(ecat_master, &rtl_ecat_dev) < 0)
fp@22:     {
fp@22:         EC_DBG(KERN_ERR "EtherCAT could not init master!\n");
fp@22:         goto out_master;
fp@22:     }
fp@22: 
fp@22:     //ecat_master->debug_level = 1;
fp@22: 
fp@22: #endif // ECAT_MASTER
fp@5: 
fp@5: #ifdef ECAT_SLAVES
fp@22:     EC_DBG("Checking EtherCAT slaves.\n");
fp@22: 
fp@22:     if (EtherCAT_check_slaves(ecat_master, ecat_slaves, ECAT_SLAVES_COUNT) != 0)
fp@22:     {
fp@22:         EC_DBG(KERN_ERR "EtherCAT: Could not init slaves!\n");
fp@22:         goto out_masterclear;
fp@22:     }
fp@22: 
fp@22:     EC_DBG("Activating all EtherCAT slaves.\n");
fp@22: 
fp@22:     if (EtherCAT_activate_all_slaves(ecat_master) != 0)
fp@22:     {
fp@22:         EC_DBG(KERN_ERR "EtherCAT: Could not activate slaves!\n");
fp@22:         goto out_masterclear;
fp@22:     }
fp@22: #endif
fp@22: 
fp@22: #endif // ECAT
fp@5: 
fp@5: #ifdef ECAT_CYCLIC_DATA
fp@22:     EC_DBG("Starting cyclic sample thread.\n");
fp@22: 
fp@24:     schedule();
fp@24:     mdelay(1000);
fp@24:     schedule();
fp@22:     init_timer(&timer);
fp@22: 
fp@22:     timer.function = run;
fp@22:     timer.data = 0;
fp@24:     timer.expires = jiffies+10; // Das erste Mal sofort feuern
fp@22:     last_start_jiffies = timer.expires;
fp@22:     add_timer(&timer);
fp@22: 
fp@22:     EC_DBG("Initialised sample thread.\n");
fp@22: #endif
fp@22: 
fp@22:     EC_DBG(KERN_INFO "=== Minimal EtherCAT environment started. ===\n");
fp@22: 
fp@22:     return 0;
fp@22: 
fp@22: #ifdef ECAT
fp@0: 
fp@5: #ifdef ECAT_SLAVES
fp@0:  out_masterclear:
fp@22:     EC_DBG(KERN_INFO "Clearing EtherCAT master.\n");
fp@22:     EtherCAT_master_clear(ecat_master);
fp@0: #endif
fp@0: 
fp@5: #ifdef ECAT_MASTER
fp@0:  out_master:
fp@22:     EC_DBG(KERN_INFO "Freeing EtherCAT master.\n");
fp@22:     kfree(ecat_master);
fp@0: #endif
fp@0: 
fp@0: #ifdef ECAT_OPEN
fp@0:  out_close:
fp@22:     EC_DBG(KERN_INFO "Closing device.\n");
fp@22:     EtherCAT_device_close(&rtl_ecat_dev);
fp@0: 
fp@0:  out_nothing:
fp@22:     return rv;
fp@22: #endif
fp@22: 
fp@22: #endif // ECAT
fp@0: }
fp@0: 
fp@0: /******************************************************************************
fp@22:  *
fp@22:  * Function: cleanup
fp@22:  *
fp@22:  ******************************************************************************/
fp@22: 
fp@22: void __exit cleanup_module()
fp@0: {
fp@22:     EC_DBG(KERN_INFO "=== Stopping Minimal EtherCAT environment... ===\n");
fp@0: 
fp@5: #ifdef ECAT_MASTER
fp@22: 
fp@22: #ifdef ECAT
fp@22:     if (ecat_master)
fp@22:     {
fp@22: #endif
fp@22:         //ecat_master->debug_level = 1;
fp@5: 
fp@5: #ifdef ECAT_CYCLIC_DATA
fp@22: 
fp@22:         del_timer_sync(&timer);
fp@22: 
fp@22: #ifdef ECAT
fp@22:         EtherCAT_clear_process_data(ecat_master);
fp@22: #endif
fp@22: 
fp@22: #endif // ECAT_CYCLIC_DATA
fp@22: 
fp@22: #ifdef ECAT
fp@5: 
fp@5: #ifdef ECAT_SLAVES
fp@22:         EC_DBG(KERN_INFO "Deactivating slaves.\n");
fp@22:         EtherCAT_deactivate_all_slaves(ecat_master);
fp@22: #endif
fp@22: 
fp@22:         EC_DBG(KERN_INFO "Clearing EtherCAT master.\n");
fp@22:         EtherCAT_master_clear(ecat_master);
fp@22: 
fp@22:         EC_DBG(KERN_INFO "Freeing EtherCAT master.\n");
fp@22:         kfree(ecat_master);
fp@22:         ecat_master = NULL;
fp@22:     }
fp@22: #endif // ECAT
fp@22: 
fp@22: #endif // ECAT_MASTER
fp@22: 
fp@22: #ifdef ECAT
fp@0: #ifdef ECAT_OPEN
fp@22:     EC_DBG(KERN_INFO "Closing device.\n");
fp@22:     EtherCAT_device_close(&rtl_ecat_dev);
fp@22: #endif
fp@22: #endif
fp@22: 
fp@22:     EC_DBG(KERN_INFO "=== Minimal EtherCAT environment stopped. ===\n");
fp@0: }
fp@0: 
fp@0: /*****************************************************************************/
fp@0: 
fp@0: MODULE_LICENSE("GPL");
fp@0: MODULE_AUTHOR ("Florian Pose <fp@igh-essen.com>");
fp@0: MODULE_DESCRIPTION ("Minimal EtherCAT environment");
fp@0: 
fp@22: module_init(init_module);
fp@22: module_exit(cleanup_module);
fp@0: 
fp@0: /*****************************************************************************/