fp@0: /******************************************************************************
fp@0:  *
fp@0:  * ec_mini.c
fp@0:  *
fp@0:  * Minimalmodul für EtherCAT
fp@0:  *           
fp@0:  * $Id$
fp@0:  *
fp@0:  ******************************************************************************/
fp@0: 
fp@0: #include <linux/module.h>
fp@0: #include <linux/tqueue.h>
fp@0: #include <linux/slab.h>
fp@0: #include <linux/delay.h>
fp@5: #include <linux/completion.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@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@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@0:   // Block 1
fp@0:   ECAT_INIT_SLAVE(Beckhoff_EK1100),
fp@0:   ECAT_INIT_SLAVE(Beckhoff_EL4102),
fp@0:   ECAT_INIT_SLAVE(Beckhoff_EL3162),
fp@0:   ECAT_INIT_SLAVE(Beckhoff_EL1014),
fp@0:   ECAT_INIT_SLAVE(Beckhoff_EL2004),
fp@0:   ECAT_INIT_SLAVE(Beckhoff_EL3102),
fp@0:   ECAT_INIT_SLAVE(Beckhoff_EL4102),
fp@0:   ECAT_INIT_SLAVE(Beckhoff_EL4102),
fp@0:   ECAT_INIT_SLAVE(Beckhoff_EL4102),
fp@0:   ECAT_INIT_SLAVE(Beckhoff_EL3162),
fp@0:   ECAT_INIT_SLAVE(Beckhoff_EL3162),
fp@0:   ECAT_INIT_SLAVE(Beckhoff_EL3162),
fp@0:   ECAT_INIT_SLAVE(Beckhoff_EL3102),
fp@0:   ECAT_INIT_SLAVE(Beckhoff_EL3102),
fp@0:   ECAT_INIT_SLAVE(Beckhoff_EL2004),
fp@0:   ECAT_INIT_SLAVE(Beckhoff_EL2004),
fp@0:   ECAT_INIT_SLAVE(Beckhoff_EL2004),
fp@0:   ECAT_INIT_SLAVE(Beckhoff_EL2004),
fp@5: #endif
fp@0: 
fp@0:   // Block 2
fp@0:   ECAT_INIT_SLAVE(Beckhoff_EK1100),
fp@0:   ECAT_INIT_SLAVE(Beckhoff_EL4102),
fp@0:   ECAT_INIT_SLAVE(Beckhoff_EL1014),
fp@0:   ECAT_INIT_SLAVE(Beckhoff_EL3162),
fp@0:   ECAT_INIT_SLAVE(Beckhoff_EL2004),
fp@0:   ECAT_INIT_SLAVE(Beckhoff_EL3102),
fp@0: 
fp@0:   // Block 3
fp@0:   ECAT_INIT_SLAVE(Beckhoff_EK1100),
fp@0:   ECAT_INIT_SLAVE(Beckhoff_EL1014),
fp@0:   ECAT_INIT_SLAVE(Beckhoff_EL1014),
fp@0:   ECAT_INIT_SLAVE(Beckhoff_EL1014),
fp@0:   ECAT_INIT_SLAVE(Beckhoff_EL1014),
fp@0:   ECAT_INIT_SLAVE(Beckhoff_EL1014),
fp@0:   ECAT_INIT_SLAVE(Beckhoff_EL2004),
fp@0:   ECAT_INIT_SLAVE(Beckhoff_EL2004),
fp@0:   ECAT_INIT_SLAVE(Beckhoff_EL2004),
fp@0:   ECAT_INIT_SLAVE(Beckhoff_EL2004),
fp@0:   ECAT_INIT_SLAVE(Beckhoff_EL1014),
fp@0:   ECAT_INIT_SLAVE(Beckhoff_EL1014),
fp@0:   ECAT_INIT_SLAVE(Beckhoff_EL1014)
fp@0: };
fp@0: 
fp@0: #define ECAT_SLAVES_COUNT (sizeof(ecat_slaves) / sizeof(EtherCAT_slave_t))
fp@0: #endif
fp@0: 
fp@5: #ifdef ECAT_CYCLIC_DATA
fp@0: double value;
fp@0: int dig1;
fp@5: struct tq_struct cyclic_task;
fp@5: struct clientdata {task_queue *queue;} cyclic_data;
fp@5: static DECLARE_COMPLETION(on_exit);
fp@5: #endif
fp@0: 
fp@0: /******************************************************************************
fp@0:  *
fp@0:  * Function: next2004
fp@0:  *
fp@0:  *****************************************************************************/
fp@0: 
fp@5: #ifdef ECAT_CYCLIC_DATA
fp@0: static int next2004(int *wrap)
fp@0: {
fp@0:   static int i = 0;
fp@0:   unsigned int j = 0;
fp@0: 
fp@0:   *wrap = 0;
fp@0: 
fp@0:   for (j = 0; j < ECAT_SLAVES_COUNT; j++)
fp@0:   {
fp@0:     i++;
fp@0: 
fp@0:     i %= ECAT_SLAVES_COUNT;
fp@0: 
fp@0:     if (i == 0) *wrap = 1;
fp@0: 
fp@0:     if (ecat_slaves[i].desc == Beckhoff_EL2004)
fp@0:     {
fp@0:       return i;
fp@0:     }
fp@0:   }
fp@0: 
fp@0:   return -1;
fp@0: }
fp@0: #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@5: void run(void *ptr)
fp@5: {
fp@5:   struct clientdata *data = (struct clientdata *) ptr;
fp@5: 
fp@5: #if 1
fp@0:   static int ms = 0;
fp@0:   static int cnt = 0;
fp@0:   static unsigned long int k = 0;
fp@0:   static int firstrun = 1;
fp@5: 
fp@0:   static int klemme = 12;
fp@0:   static int kanal = 0;
fp@0:   static int up_down = 0;
fp@0:   int wrap = 0;
fp@0: 
fp@0:   ms++;
fp@0:   ms %= 1000;
fp@0: 
fp@0: #if 0
fp@0:   ecat_tx_delay = ((unsigned int) (100000 / HZ) * (ecat_master->dev->tx_time-k))
fp@5:     / (current_cpu_data.loops_per_jiffy / 10);
fp@0:   ecat_rx_delay = ((unsigned int) (100000 / HZ) * (ecat_master->dev->rx_time-k))
fp@5:     / (current_cpu_data.loops_per_jiffy / 10);
fp@5: 
fp@0:   rx_intr = ecat_master->dev->rx_intr_cnt;
fp@0:   tx_intr = ecat_master->dev->tx_intr_cnt;
fp@0:   total_intr = ecat_master->dev->intr_cnt;
fp@0: #endif
fp@0: 
fp@0:   // Prozessdaten lesen
fp@0:   if (!firstrun)
fp@0:   {
fp@5:     klemme = next2004(&wrap);
fp@5: 
fp@0:     EtherCAT_read_process_data(ecat_master);
fp@0: 
fp@0:     // Daten lesen und skalieren
fp@0:     value = EtherCAT_read_value(&ecat_master->slaves[5], 0) / 3276.7;
fp@0:     dig1 = EtherCAT_read_value(&ecat_master->slaves[3], 0);
fp@0:   }
fp@0: 
fp@5: #if 0
fp@0:   // Daten schreiben
fp@0:   EtherCAT_write_value(&ecat_master->slaves[4], 0, ms > 500 ? 1 : 0);
fp@0:   EtherCAT_write_value(&ecat_master->slaves[4], 1, ms > 500 ? 0 : 1);
fp@0:   EtherCAT_write_value(&ecat_master->slaves[4], 2, ms > 500 ? 0 : 1);
fp@0:   EtherCAT_write_value(&ecat_master->slaves[4], 3, ms > 500 ? 1 : 0);
fp@5: #endif
fp@0: 
fp@0:   if (cnt++ > 20)
fp@0:   {
fp@0:     cnt = 0;
fp@0: 
fp@0:     if (++kanal > 3)
fp@0:     {
fp@0:       kanal = 0;
fp@0:       klemme = next2004(&wrap);
fp@0: 
fp@0:       if (wrap == 1)
fp@5:       {
fp@0:         if (up_down == 1) up_down = 0;
fp@0:         else up_down = 1;
fp@0:       }
fp@0:     }
fp@0:   }
fp@0: 
fp@0:   if (klemme >= 0)
fp@0:     EtherCAT_write_value(&ecat_master->slaves[klemme], kanal,up_down);
fp@5: 
fp@5: #if 0
fp@5:   EtherCAT_write_value(&ecat_master->slaves[13], 1, ms > 500 ? 0 : 1);
fp@5:   EtherCAT_write_value(&ecat_master->slaves[14], 2, ms > 500 ? 0 : 1);
fp@5:   EtherCAT_write_value(&ecat_master->slaves[15], 3, ms > 500 ? 1 : 0);
fp@5: #endif
fp@5: 
fp@0:   // Prozessdaten schreiben
fp@0:   rdtscl(k);
fp@0:   EtherCAT_write_process_data(ecat_master);
fp@0:   firstrun = 0;
fp@5: #endif
fp@5: 
fp@5:   if (data->queue)
fp@5:   {
fp@5:     // Neu in die Taskqueue eintragen
fp@5:     queue_task(&cyclic_task, data->queue);
fp@5:   }
fp@5:   else
fp@5:   {
fp@5:     //last_queue_finished = 0;
fp@5:     complete(&on_exit);
fp@5:   }
fp@0: }
fp@0: #endif
fp@0: 
fp@0: /******************************************************************************
fp@0: *
fp@0: * Function: init
fp@0: *
fp@0: ******************************************************************************/
fp@0: 
fp@0: int init()
fp@5: {
fp@0: #ifdef ECAT_OPEN
fp@0:   int rv = -1;
fp@0: #endif
fp@0: 
fp@0:   EC_DBG(KERN_INFO "=== Starting Minimal EtherCAT environment... ===\n");
fp@0: 
fp@0:   EtherCAT_device_debug(&rtl_ecat_dev);
fp@0:   //mdelay(5000);
fp@0: 
fp@0: #ifdef ECAT_OPEN
fp@0:   EC_DBG("Opening EtherCAT device.\n");
fp@0: 
fp@0:   // HIER PASSIERT DER FEHLER:
fp@0:   if (EtherCAT_device_open(&rtl_ecat_dev) < 0)
fp@0:   {
fp@0:     EC_DBG(KERN_ERR "msr_modul: Could not initialize EtherCAT NIC.\n");
fp@0:     goto out_nothing;
fp@0:   }
fp@0: 
fp@0:   if (!rtl_ecat_dev.dev) // Es gibt kein EtherCAT-Device
fp@5:   {
fp@0:     EC_DBG(KERN_ERR "msr_modul: No EtherCAT device!\n");
fp@0:     goto out_close;
fp@0:   }
fp@0: #endif
fp@0: 
fp@5: #ifdef ECAT_MASTER
fp@0:   EC_DBG("Initialising EtherCAT master\n");
fp@0: 
fp@0:   if ((ecat_master = (EtherCAT_master_t *) kmalloc(sizeof(EtherCAT_master_t), GFP_KERNEL)) == 0)
fp@0:   {
fp@0:     EC_DBG(KERN_ERR "msr_modul: Could not alloc memory for EtherCAT master!\n");
fp@0:     goto out_close;
fp@0:   }
fp@0: 
fp@0:   if (EtherCAT_master_init(ecat_master, &rtl_ecat_dev) < 0)
fp@0:   {
fp@0:     EC_DBG(KERN_ERR "EtherCAT could not init master!\n");
fp@0:     goto out_master;
fp@0:   }
fp@5: 
fp@5:   ecat_master->debug_level = 1;
fp@5: #endif
fp@5: 
fp@5: #ifdef ECAT_SLAVES
fp@0:   EC_DBG("Checking EtherCAT slaves.\n");
fp@0: 
fp@0:   if (EtherCAT_check_slaves(ecat_master, ecat_slaves, ECAT_SLAVES_COUNT) != 0)
fp@0:   {
fp@0:     EC_DBG(KERN_ERR "EtherCAT: Could not init slaves!\n");
fp@0:     goto out_masterclear;
fp@0:   }
fp@0: 
fp@0:   EC_DBG("Activating all EtherCAT slaves.\n");
fp@0: 
fp@0:   if (EtherCAT_activate_all_slaves(ecat_master) != 0)
fp@0:   {
fp@0:     EC_DBG(KERN_ERR "EtherCAT: Could not activate slaves!\n");
fp@0:     goto out_masterclear;
fp@0:   }
fp@5: #endif
fp@5: 
fp@5: #ifdef ECAT_CYCLIC_DATA
fp@0:   EC_DBG("Starting cyclic sample thread.\n");
fp@0: 
fp@5:   cyclic_task.routine = run;
fp@5:   cyclic_task.data = (void *) &cyclic_data;
fp@5:   cyclic_data.queue = &tq_timer;
fp@5:   queue_task(&cyclic_task, &tq_timer);
fp@0: 
fp@0:   EC_DBG("Initialised sample thread.\n");
fp@0: #endif
fp@0: 
fp@0:   EC_DBG(KERN_INFO "=== Minimal EtherCAT environment started. ===\n");
fp@0: 
fp@0:   return 0;
fp@0: 
fp@5: #ifdef ECAT_SLAVES
fp@0:  out_masterclear:
fp@0:   EC_DBG(KERN_INFO "Clearing EtherCAT master.\n");
fp@0:   EtherCAT_master_clear(ecat_master);
fp@0: #endif
fp@0: 
fp@5: #ifdef ECAT_MASTER
fp@0:  out_master:
fp@0:   EC_DBG(KERN_INFO "Freeing EtherCAT master.\n");
fp@0:   kfree(ecat_master);
fp@0: #endif
fp@0: 
fp@0: #ifdef ECAT_OPEN
fp@0:  out_close:
fp@0:   EC_DBG(KERN_INFO "Closing device.\n");
fp@0:   EtherCAT_device_close(&rtl_ecat_dev);
fp@0: 
fp@0:  out_nothing:
fp@0:   return rv;
fp@0: #endif
fp@0: }
fp@0: 
fp@0: /******************************************************************************
fp@0: *
fp@0: * Function: cleanup
fp@0: *
fp@0: ******************************************************************************/
fp@0: 
fp@0: void cleanup()
fp@0: {
fp@0:   EC_DBG(KERN_INFO "=== Stopping Minimal EtherCAT environment... ===\n");
fp@0: 
fp@5: #ifdef ECAT_MASTER
fp@0:   if (ecat_master)
fp@0:   {
fp@5:     //ecat_master->debug_level = 1;
fp@5: 
fp@5: #ifdef ECAT_CYCLIC_DATA
fp@5:     cyclic_data.queue = NULL;
fp@5:     wait_for_completion(&on_exit);
fp@5:     EtherCAT_clear_process_data(ecat_master);
fp@5: #endif
fp@5: 
fp@5: #ifdef ECAT_SLAVES
fp@0:     EC_DBG(KERN_INFO "Deactivating slaves.\n");
fp@0:     EtherCAT_deactivate_all_slaves(ecat_master);
fp@0: #endif
fp@0: 
fp@0:     EC_DBG(KERN_INFO "Clearing EtherCAT master.\n");
fp@0:     EtherCAT_master_clear(ecat_master);
fp@0: 
fp@0:     EC_DBG(KERN_INFO "Freeing EtherCAT master.\n");
fp@0:     kfree(ecat_master);
fp@0:     ecat_master = NULL;
fp@0:   }
fp@0: #endif
fp@0: 
fp@0: #ifdef ECAT_OPEN
fp@0:   EC_DBG(KERN_INFO "Closing device.\n");
fp@0:   EtherCAT_device_close(&rtl_ecat_dev);
fp@0: #endif
fp@0: 
fp@0:   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@0: module_init(init);
fp@0: module_exit(cleanup);
fp@0: 
fp@0: /*****************************************************************************/