diff -r 44c2b7c0ae1a -r 0037a63d3cc5 examples/dc_rtai/dc_rtai_sample.c --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/examples/dc_rtai/dc_rtai_sample.c Thu Apr 23 14:50:23 2009 +0000 @@ -0,0 +1,401 @@ +/****************************************************************************** + * + * Distributed clocks sample for the IgH EtherCAT master. + * + * $Id$ + * + * Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH + * + * This file is part of the IgH EtherCAT Master. + * + * The IgH EtherCAT Master is free software; you can redistribute it and/or + * modify it under the terms of the GNU General Public License version 2, as + * published by the Free Software Foundation. + * + * The IgH EtherCAT Master is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General + * Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with the IgH EtherCAT Master; if not, write to the Free Software + * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + * + * --- + * + * The license mentioned above concerns the source code only. Using the + * EtherCAT technology and brand is only permitted in compliance with the + * industrial property and similar rights of Beckhoff Automation GmbH. + * + *****************************************************************************/ + +// Linux +#include +#include + +// RTAI +#include +#include + +// EtherCAT +#include "../../include/ecrt.h" + +/*****************************************************************************/ + +// Module parameters + +#define FREQUENCY 1000 // task frequency in Hz +#define INHIBIT_TIME 20 + +#define TIMERTICKS (1000000000 / FREQUENCY) + +#define NUM_DIG_OUT 1 + +#define PFX "ec_dc_sample: " + +/*****************************************************************************/ + +// EtherCAT +static ec_master_t *master = NULL; +static ec_master_state_t master_state = {}; +spinlock_t master_lock = SPIN_LOCK_UNLOCKED; + +static ec_domain_t *domain1 = NULL; +static ec_domain_state_t domain1_state = {}; + +// RTAI +static RT_TASK task; +static SEM master_sem; +static cycles_t t_last_cycle = 0, t_critical; + +/*****************************************************************************/ + +// process data +static uint8_t *domain1_pd; // process data memory + +#define DigOutSlavePos(X) 0, (1 + (X)) +#define CounterSlavePos 0, 2 + +#define Beckhoff_EK1100 0x00000002, 0x044c2c52 +#define Beckhoff_EL2008 0x00000002, 0x07d83052 +#define IDS_Counter 0x000012ad, 0x05de3052 + +static int off_dig_out[NUM_DIG_OUT]; +static int off_counter_in; +static int off_counter_out; + +static unsigned int counter = 0; +static unsigned int blink_counter = 0; +static unsigned int blink = 0; +static u32 counter_value = 0U; + +/*****************************************************************************/ + +static ec_pdo_entry_info_t el2008_channels[] = { + {0x7000, 1, 1}, + {0x7010, 1, 1}, + {0x7020, 1, 1}, + {0x7030, 1, 1}, + {0x7040, 1, 1}, + {0x7050, 1, 1}, + {0x7060, 1, 1}, + {0x7070, 1, 1} +}; + +static ec_pdo_info_t el2008_pdos[] = { + {0x1600, 1, &el2008_channels[0]}, + {0x1601, 1, &el2008_channels[1]}, + {0x1602, 1, &el2008_channels[2]}, + {0x1603, 1, &el2008_channels[3]}, + {0x1604, 1, &el2008_channels[4]}, + {0x1605, 1, &el2008_channels[5]}, + {0x1606, 1, &el2008_channels[6]}, + {0x1607, 1, &el2008_channels[7]} +}; + +static ec_sync_info_t el2008_syncs[] = { + {0, EC_DIR_OUTPUT, 8, el2008_pdos}, + {1, EC_DIR_INPUT}, + {0xff} +}; + +/*****************************************************************************/ + +void check_domain1_state(void) +{ + ec_domain_state_t ds; + + spin_lock(&master_lock); + ecrt_domain_state(domain1, &ds); + spin_unlock(&master_lock); + + if (ds.working_counter != domain1_state.working_counter) + printk(KERN_INFO PFX "Domain1: WC %u.\n", ds.working_counter); + if (ds.wc_state != domain1_state.wc_state) + printk(KERN_INFO PFX "Domain1: State %u.\n", ds.wc_state); + + domain1_state = ds; +} + +/*****************************************************************************/ + +void check_master_state(void) +{ + ec_master_state_t ms; + + spin_lock(&master_lock); + ecrt_master_state(master, &ms); + spin_unlock(&master_lock); + + if (ms.slaves_responding != master_state.slaves_responding) + printk(KERN_INFO PFX "%u slave(s).\n", ms.slaves_responding); + if (ms.al_states != master_state.al_states) + printk(KERN_INFO PFX "AL states: 0x%02X.\n", ms.al_states); + if (ms.link_up != master_state.link_up) + printk(KERN_INFO PFX "Link is %s.\n", ms.link_up ? "up" : "down"); + + master_state = ms; +} + +/*****************************************************************************/ + +void run(long data) +{ + int i; + struct timeval tv; + unsigned int sync_ref_counter = 0; + + count2timeval(nano2count(rt_get_real_time_ns()), &tv); + + while (1) { + t_last_cycle = get_cycles(); + + // receive process data + rt_sem_wait(&master_sem); + ecrt_master_receive(master); + ecrt_domain_process(domain1); + rt_sem_signal(&master_sem); + + // check process data state (optional) + check_domain1_state(); + + if (counter) { + counter--; + } else { + u32 c; + + counter = FREQUENCY; + + // check for master state (optional) + check_master_state(); + + c = EC_READ_U32(domain1_pd + off_counter_in); + if (counter_value != c) { + counter_value = c; + printk(KERN_INFO PFX "counter=%u\n", counter_value); + } + + } + + if (blink_counter) { + blink_counter--; + } else { + blink_counter = 9; + + // calculate new process data + blink = !blink; + } + + // write process data + for (i = 0; i < NUM_DIG_OUT; i++) { + EC_WRITE_U8(domain1_pd + off_dig_out[i], blink ? 0x66 : 0x99); + } + + EC_WRITE_U8(domain1_pd + off_counter_out, blink ? 0x00 : 0x02); + + rt_sem_wait(&master_sem); + + tv.tv_usec += 1000; + if (tv.tv_usec >= 1000000) { + tv.tv_usec -= 1000000; + tv.tv_sec++; + } + //printk(KERN_INFO PFX "tv=%u.%06u\n", (u32) tv.tv_sec, (u32) tv.tv_usec); + + if (sync_ref_counter) { + sync_ref_counter--; + } else { + sync_ref_counter = 9; + ecrt_master_sync_reference_clock(master, &tv); + } + ecrt_master_sync_slave_clocks(master); + ecrt_domain_queue(domain1); + ecrt_master_send(master); + rt_sem_signal(&master_sem); + + rt_task_wait_period(); + } +} + +/*****************************************************************************/ + +int request_lock(void *data) +{ + // too close to the next real time cycle: deny access... + if (get_cycles() - t_last_cycle > t_critical) return -1; + + // allow access + rt_sem_wait(&master_sem); + return 0; +} + +/*****************************************************************************/ + +void release_lock(void *data) +{ + rt_sem_signal(&master_sem); +} + +/*****************************************************************************/ + +int __init init_mod(void) +{ + int ret = -1, i; + RTIME tick_period, requested_ticks, now; + ec_slave_config_t *sc; + + printk(KERN_INFO PFX "Starting...\n"); + + rt_sem_init(&master_sem, 1); + + t_critical = cpu_khz * 1000 / FREQUENCY - cpu_khz * INHIBIT_TIME / 1000; + + master = ecrt_request_master(0); + if (!master) { + ret = -EBUSY; + printk(KERN_ERR PFX "Requesting master 0 failed!\n"); + goto out_return; + } + + ecrt_master_callbacks(master, request_lock, release_lock, NULL); + + printk(KERN_INFO PFX "Registering domain...\n"); + if (!(domain1 = ecrt_master_create_domain(master))) { + printk(KERN_ERR PFX "Domain creation failed!\n"); + goto out_release_master; + } + + printk(KERN_INFO PFX "Configuring PDOs...\n"); + + // create configuration for reference clock FIXME + if (!(sc = ecrt_master_slave_config(master, 0, 0, Beckhoff_EK1100))) { + printk(KERN_ERR PFX "Failed to get slave configuration.\n"); + goto out_release_master; + } + + for (i = 0; i < NUM_DIG_OUT; i++) { + if (!(sc = ecrt_master_slave_config(master, + DigOutSlavePos(i), Beckhoff_EL2008))) { + printk(KERN_ERR PFX "Failed to get slave configuration.\n"); + goto out_release_master; + } + + if (ecrt_slave_config_pdos(sc, EC_END, el2008_syncs)) { + printk(KERN_ERR PFX "Failed to configure PDOs.\n"); + goto out_release_master; + } + + off_dig_out[i] = ecrt_slave_config_reg_pdo_entry(sc, + 0x7000, 1, domain1, NULL); + + if (off_dig_out[i] < 0) + goto out_release_master; + } + + if (!(sc = ecrt_master_slave_config(master, + CounterSlavePos, IDS_Counter))) { + printk(KERN_ERR PFX "Failed to get slave configuration.\n"); + goto out_release_master; + } + off_counter_in = ecrt_slave_config_reg_pdo_entry(sc, + 0x6020, 0x11, domain1, NULL); + if (off_counter_in < 0) + goto out_release_master; + off_counter_out = ecrt_slave_config_reg_pdo_entry(sc, + 0x7020, 1, domain1, NULL); + if (off_counter_out < 0) + goto out_release_master; + +#if 1 + // configure SYNC signals for this slave + ecrt_slave_config_dc_assign_activate(sc, 0x0700); + ecrt_slave_config_dc_sync_cycle_times(sc, 1000000, 0); + ecrt_slave_config_dc_sync_shift_times(sc, 440000, 0); +#endif + + printk(KERN_INFO PFX "Activating master...\n"); + if (ecrt_master_activate(master)) { + printk(KERN_ERR PFX "Failed to activate master!\n"); + goto out_release_master; + } + + // Get internal process data for domain + domain1_pd = ecrt_domain_data(domain1); + + printk(KERN_INFO PFX "Starting cyclic sample thread...\n"); + requested_ticks = nano2count(TIMERTICKS); + tick_period = start_rt_timer(requested_ticks); + printk(KERN_INFO PFX "RT timer started with %i/%i ticks.\n", + (int) tick_period, (int) requested_ticks); + + if (rt_task_init(&task, run, 0, 2000, 0, 1, NULL)) { + printk(KERN_ERR PFX "Failed to init RTAI task!\n"); + goto out_stop_timer; + } + + now = rt_get_time(); + if (rt_task_make_periodic(&task, now + tick_period, tick_period)) { + printk(KERN_ERR PFX "Failed to run RTAI task!\n"); + goto out_stop_task; + } + + printk(KERN_INFO PFX "Initialized.\n"); + return 0; + + out_stop_task: + rt_task_delete(&task); + out_stop_timer: + stop_rt_timer(); + out_release_master: + printk(KERN_ERR PFX "Releasing master...\n"); + ecrt_release_master(master); + out_return: + rt_sem_delete(&master_sem); + printk(KERN_ERR PFX "Failed to load. Aborting.\n"); + return ret; +} + +/*****************************************************************************/ + +void __exit cleanup_mod(void) +{ + printk(KERN_INFO PFX "Stopping...\n"); + + rt_task_delete(&task); + stop_rt_timer(); + ecrt_release_master(master); + rt_sem_delete(&master_sem); + + printk(KERN_INFO PFX "Unloading.\n"); +} + +/*****************************************************************************/ + +MODULE_LICENSE("GPL"); +MODULE_AUTHOR("Florian Pose "); +MODULE_DESCRIPTION("EtherCAT distributed clocks sample module"); + +module_init(init_mod); +module_exit(cleanup_mod); + +/*****************************************************************************/