diff -r ef1266652c4d -r 088a61306930 examples/rtai/rtai_sample.c --- a/examples/rtai/rtai_sample.c Wed Jul 02 11:26:51 2008 +0000 +++ b/examples/rtai/rtai_sample.c Wed Jul 02 12:16:48 2008 +0000 @@ -37,100 +37,210 @@ #include // RTAI -#include "rtai_sched.h" -#include "rtai_sem.h" +#include +#include // EtherCAT #include "../../include/ecrt.h" -#include "../../include/ecdb.h" - -/*****************************************************************************/ - -// RTAI task frequency in Hz -#define FREQUENCY 2000 + +/*****************************************************************************/ + +// Module parameters + +#define FREQUENCY 2000 // task frequency in Hz #define INHIBIT_TIME 20 #define TIMERTICKS (1000000000 / FREQUENCY) +// Optional features (comment to disable) +#define CONFIGURE_PDOS + #define PFX "ec_rtai_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 = {}; + +static ec_slave_config_t *sc_ana_in = NULL; +static ec_slave_config_state_t sc_ana_in_state = {}; + // RTAI static RT_TASK task; static SEM master_sem; static cycles_t t_last_cycle = 0, t_critical; -// EtherCAT -static ec_master_t *master = NULL; -static ec_domain_t *domain1 = NULL; -static ec_master_status_t master_status, old_status = {}; - -// data fields -static void *r_dig_out; -static void *r_ana_out; -static void *r_count; -//static void *r_freq; - -const static ec_pdo_reg_t domain1_pdo_regs[] = { - {"2", Beckhoff_EL2004_Outputs, &r_dig_out}, - {"3", Beckhoff_EL4132_Output1, &r_ana_out}, - {"#888:1", Beckhoff_EL5101_Value, &r_count}, - //{"4", Beckhoff_EL5101_Frequency, &r_freq}, +/*****************************************************************************/ + +// process data +static uint8_t *domain1_pd; // process data memory + +#define AnaInSlavePos 0, 1 +#define DigOutSlavePos 0, 3 + +#define Beckhoff_EL2004 0x00000002, 0x07D43052 +#define Beckhoff_EL3162 0x00000002, 0x0C5A3052 + +static unsigned int off_ana_in; // offsets for Pdo entries +static unsigned int off_dig_out; + +const static ec_pdo_entry_reg_t domain1_regs[] = { + {AnaInSlavePos, Beckhoff_EL3162, 0x3101, 2, &off_ana_in}, + {DigOutSlavePos, Beckhoff_EL2004, 0x3001, 1, &off_dig_out}, {} }; +static unsigned int counter = 0; +static unsigned int blink = 0; + +/*****************************************************************************/ + +#ifdef CONFIGURE_PDOS +static ec_pdo_entry_info_t el3162_channel1[] = { + {0x3101, 1, 8}, // status + {0x3101, 2, 16} // value +}; + +static ec_pdo_entry_info_t el3162_channel2[] = { + {0x3102, 1, 8}, // status + {0x3102, 2, 16} // value +}; + +static ec_pdo_info_t el3162_pdos[] = { + {0x1A00, 2, el3162_channel1}, + {0x1A01, 2, el3162_channel2} +}; + +static ec_sync_info_t el3162_syncs[] = { + {2, EC_DIR_OUTPUT}, + {3, EC_DIR_INPUT, 2, el3162_pdos}, + {0xff} +}; + +static ec_pdo_entry_info_t el2004_channels[] = { + {0x3001, 1, 1}, // Value 1 + {0x3001, 2, 1}, // Value 2 + {0x3001, 3, 1}, // Value 3 + {0x3001, 4, 1} // Value 4 +}; + +static ec_pdo_info_t el2004_pdos[] = { + {0x1600, 1, &el2004_channels[0]}, + {0x1601, 1, &el2004_channels[1]}, + {0x1602, 1, &el2004_channels[2]}, + {0x1603, 1, &el2004_channels[3]} +}; + +static ec_sync_info_t el2004_syncs[] = { + {0, EC_DIR_OUTPUT, 4, el2004_pdos}, + {1, EC_DIR_INPUT}, + {0xff} +}; +#endif + +/*****************************************************************************/ + +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 check_slave_config_states(void) +{ + ec_slave_config_state_t s; + + spin_lock(&master_lock); + ecrt_slave_config_state(sc_ana_in, &s); + spin_unlock(&master_lock); + + if (s.al_state != sc_ana_in_state.al_state) + printk(KERN_INFO PFX "AnaIn: State 0x%02X.\n", s.al_state); + if (s.online != sc_ana_in_state.online) + printk(KERN_INFO PFX "AnaIn: %s.\n", s.online ? "online" : "offline"); + if (s.operational != sc_ana_in_state.operational) + printk(KERN_INFO PFX "AnaIn: %soperational.\n", + s.operational ? "" : "Not "); + + sc_ana_in_state = s; +} + /*****************************************************************************/ void run(long data) { - static unsigned int blink = 0; - static unsigned int counter = 0; - 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); - // process data - EC_WRITE_U8(r_dig_out, blink ? 0x0F : 0x00); + // check process data state (optional) + check_domain1_state(); + + if (counter) { + counter--; + } else { // do this at 1 Hz + counter = FREQUENCY; + + // calculate new process data + blink = !blink; + + // check for master state (optional) + check_master_state(); + + // check for islave configuration state(s) (optional) + check_slave_config_states(); + } + + // write process data + EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x06 : 0x09); rt_sem_wait(&master_sem); ecrt_domain_queue(domain1); ecrt_master_send(master); rt_sem_signal(&master_sem); - if (counter) { - counter--; - } - else { - counter = FREQUENCY; - blink = !blink; - - rt_sem_wait(&master_sem); - ecrt_master_get_status(master, &master_status); - rt_sem_signal(&master_sem); - - if (master_status.bus_status != old_status.bus_status) { - printk(KERN_INFO PFX "bus status changed to %i.\n", - master_status.bus_status); - } - if (master_status.bus_tainted != old_status.bus_tainted) { - printk(KERN_INFO PFX "tainted flag changed to %u.\n", - master_status.bus_tainted); - } - if (master_status.slaves_responding != - old_status.slaves_responding) { - printk(KERN_INFO PFX "slaves_responding changed to %u.\n", - master_status.slaves_responding); - } - - old_status = master_status; - } - rt_task_wait_period(); } } @@ -159,6 +269,9 @@ int __init init_mod(void) { RTIME tick_period, requested_ticks, now; +#ifdef CONFIGURE_PDOS + ec_slave_config_t *sc; +#endif printk(KERN_INFO PFX "Starting...\n"); @@ -173,15 +286,39 @@ ecrt_master_callbacks(master, request_lock, release_lock, NULL); - printk(KERN_INFO PFX "Creating domain...\n"); + 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 "Registering Pdos...\n"); - if (ecrt_domain_register_pdo_list(domain1, domain1_pdo_regs)) { - printk(KERN_ERR PFX "Pdo registration failed!\n"); + if (!(sc_ana_in = ecrt_master_slave_config( + master, AnaInSlavePos, Beckhoff_EL3162))) { + printk(KERN_ERR PFX "Failed to get slave configuration.\n"); + goto out_release_master; + } + +#ifdef CONFIGURE_PDOS + printk(KERN_INFO PFX "Configuring Pdos...\n"); + if (ecrt_slave_config_sync_managers(sc_ana_in, EC_END, el3162_syncs)) { + printk(KERN_ERR PFX "Failed to configure Pdos.\n"); + goto out_release_master; + } + + if (!(sc = ecrt_master_slave_config(master, DigOutSlavePos, Beckhoff_EL2004))) { + printk(KERN_ERR PFX "Failed to get slave configuration.\n"); + goto out_release_master; + } + + if (ecrt_slave_config_sync_managers(sc, EC_END, el2004_syncs)) { + printk(KERN_ERR PFX "Failed to configure Pdos.\n"); + goto out_release_master; + } +#endif + + printk(KERN_INFO PFX "Registering Pdo entries...\n"); + if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) { + printk(KERN_ERR PFX "Pdo entry registration failed!\n"); goto out_release_master; } @@ -191,6 +328,9 @@ 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);