# HG changeset patch # User Florian Pose # Date 1259682899 -3600 # Node ID 1babaa430b7b602a0505b0a771c08038e7995183 # Parent d214707257980746ed9538d6b671ce814074830c Added tty example. diff -r d21470725798 -r 1babaa430b7b configure.ac --- a/configure.ac Mon Nov 30 18:10:36 2009 +0100 +++ b/configure.ac Tue Dec 01 16:54:59 2009 +0100 @@ -560,6 +560,8 @@ examples/mini/Makefile examples/rtai/Kbuild examples/rtai/Makefile + examples/tty/Makefile + examples/tty/Kbuild examples/user/Makefile include/Makefile lib/Makefile diff -r d21470725798 -r 1babaa430b7b examples/Kbuild.in --- a/examples/Kbuild.in Mon Nov 30 18:10:36 2009 +0100 +++ b/examples/Kbuild.in Tue Dec 01 16:54:59 2009 +0100 @@ -25,8 +25,14 @@ # EtherCAT technology and brand is only permitted in compliance with the # industrial property and similar rights of Beckhoff Automation GmbH. # +# vi: syntax=make +# #------------------------------------------------------------------------------ obj-m := mini/ +ifeq (@ENABLE_TTY@,1) + obj-m += tty/ +endif + #------------------------------------------------------------------------------ diff -r d21470725798 -r 1babaa430b7b examples/tty/Kbuild.in --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/examples/tty/Kbuild.in Tue Dec 01 16:54:59 2009 +0100 @@ -0,0 +1,42 @@ +#------------------------------------------------------------------------------ +# +# $Id$ +# +# 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. +# +# --- +# +# vi: syntax=make +# +#------------------------------------------------------------------------------ + +obj-m := ec_tty_example.o + +ec_tty_example-objs := tty.o + +KBUILD_EXTRA_SYMBOLS := \ + @abs_top_builddir@/Module.symvers \ + @abs_top_builddir@/master/Module.symvers + +#------------------------------------------------------------------------------ diff -r d21470725798 -r 1babaa430b7b examples/tty/Makefile.am --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/examples/tty/Makefile.am Tue Dec 01 16:54:59 2009 +0100 @@ -0,0 +1,51 @@ +#------------------------------------------------------------------------------ +# +# Makefile.am +# +# IgH EtherCAT master module +# +# $Id$ +# +# 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. +# +#------------------------------------------------------------------------------ + +EXTRA_DIST = \ + Kbuild.in \ + tty.c + +BUILT_SOURCES = \ + Kbuild + +modules: + $(MAKE) -C "$(LINUX_SOURCE_DIR)" M="@abs_srcdir@" modules + +modules_install: + mkdir -p $(DESTDIR)$(LINUX_MOD_PATH) + cp $(srcdir)/ec_tty_example.ko $(DESTDIR)$(LINUX_MOD_PATH) + +clean-local: + $(MAKE) -C "$(LINUX_SOURCE_DIR)" M="@abs_srcdir@" clean + +#------------------------------------------------------------------------------ diff -r d21470725798 -r 1babaa430b7b examples/tty/tty.c --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/examples/tty/tty.c Tue Dec 01 16:54:59 2009 +0100 @@ -0,0 +1,544 @@ +/****************************************************************************** + * + * $Id$ + * + * 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. + * + *****************************************************************************/ + +#include +#include +#include +#include +#include + +#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 27) +#include +#else +#include +#endif + +#include "../../include/ecrt.h" // EtherCAT realtime interface + +/*****************************************************************************/ + +// Module parameters +#define FREQUENCY 100 + +// Optional features + +#define PFX "ec_tty_example: " + +/*****************************************************************************/ + +// EtherCAT +static ec_master_t *master = NULL; +static ec_master_state_t master_state = {}; +struct semaphore master_sem; + +static ec_domain_t *domain1 = NULL; +static ec_domain_state_t domain1_state = {}; + +// Timer +static struct timer_list timer; + +/*****************************************************************************/ + +// process data +static uint8_t *domain1_pd; // process data memory + +#define BusCouplerPos 0, 0 +#define SerialPos 0, 1 + +#define Beckhoff_EK1100 0x00000002, 0x044c2c52 +#define Beckhoff_EL6002 0x00000002, 0x17723052 + +// offsets for PDO entries +static unsigned int off_ctrl; +static unsigned int off_tx; +static unsigned int off_status; +static unsigned int off_rx; + +const static ec_pdo_entry_reg_t domain1_regs[] = { + {SerialPos, Beckhoff_EL6002, 0x7001, 0x01, &off_ctrl}, + {SerialPos, Beckhoff_EL6002, 0x7000, 0x11, &off_tx}, + {SerialPos, Beckhoff_EL6002, 0x6001, 0x01, &off_status}, + {SerialPos, Beckhoff_EL6002, 0x6000, 0x11, &off_rx}, + {} +}; + +static unsigned int counter = 0; + +typedef enum { + SER_REQUEST_INIT, + SER_WAIT_FOR_INIT_RESPONSE, + SER_READY +} serial_state_t; + +typedef struct { + size_t max_tx_data_size; + size_t max_rx_data_size; + + uint8_t *tx_data; + uint8_t tx_data_size; + + serial_state_t state; + + uint8_t tx_request_toggle; + uint8_t tx_accepted_toggle; + + uint8_t rx_request_toggle; + uint8_t rx_accepted_toggle; + + uint16_t control; +} serial_device_t; + +static serial_device_t *ser = NULL; +static char tx_data[] = "ATZ\r\n"; +static off_t tx_off = 0; + +/*****************************************************************************/ + +/* Slave 1, "EL6002" + * Vendor ID: 0x00000002 + * Product code: 0x17723052 + * Revision number: 0x00100000 + */ + +ec_pdo_entry_info_t slave_1_pdo_entries[] = { + {0x7001, 0x01, 16}, /* Ctrl */ + {0x7000, 0x11, 8}, /* Data Out 0 */ + {0x7000, 0x12, 8}, /* Data Out 1 */ + {0x7000, 0x13, 8}, /* Data Out 2 */ + {0x7000, 0x14, 8}, /* Data Out 3 */ + {0x7000, 0x15, 8}, /* Data Out 4 */ + {0x7000, 0x16, 8}, /* Data Out 5 */ + {0x7000, 0x17, 8}, /* Data Out 6 */ + {0x7000, 0x18, 8}, /* Data Out 7 */ + {0x7000, 0x19, 8}, /* Data Out 8 */ + {0x7000, 0x1a, 8}, /* Data Out 9 */ + {0x7000, 0x1b, 8}, /* Data Out 10 */ + {0x7000, 0x1c, 8}, /* Data Out 11 */ + {0x7000, 0x1d, 8}, /* Data Out 12 */ + {0x7000, 0x1e, 8}, /* Data Out 13 */ + {0x7000, 0x1f, 8}, /* Data Out 14 */ + {0x7000, 0x20, 8}, /* Data Out 15 */ + {0x7000, 0x21, 8}, /* Data Out 16 */ + {0x7000, 0x22, 8}, /* Data Out 17 */ + {0x7000, 0x23, 8}, /* Data Out 18 */ + {0x7000, 0x24, 8}, /* Data Out 19 */ + {0x7000, 0x25, 8}, /* Data Out 20 */ + {0x7000, 0x26, 8}, /* Data Out 21 */ + {0x7011, 0x01, 16}, /* Ctrl */ + {0x7010, 0x11, 8}, /* Data Out 0 */ + {0x7010, 0x12, 8}, /* Data Out 1 */ + {0x7010, 0x13, 8}, /* Data Out 2 */ + {0x7010, 0x14, 8}, /* Data Out 3 */ + {0x7010, 0x15, 8}, /* Data Out 4 */ + {0x7010, 0x16, 8}, /* Data Out 5 */ + {0x7010, 0x17, 8}, /* Data Out 6 */ + {0x7010, 0x18, 8}, /* Data Out 7 */ + {0x7010, 0x19, 8}, /* Data Out 8 */ + {0x7010, 0x1a, 8}, /* Data Out 9 */ + {0x7010, 0x1b, 8}, /* Data Out 10 */ + {0x7010, 0x1c, 8}, /* Data Out 11 */ + {0x7010, 0x1d, 8}, /* Data Out 12 */ + {0x7010, 0x1e, 8}, /* Data Out 13 */ + {0x7010, 0x1f, 8}, /* Data Out 14 */ + {0x7010, 0x20, 8}, /* Data Out 15 */ + {0x7010, 0x21, 8}, /* Data Out 16 */ + {0x7010, 0x22, 8}, /* Data Out 17 */ + {0x7010, 0x23, 8}, /* Data Out 18 */ + {0x7010, 0x24, 8}, /* Data Out 19 */ + {0x7010, 0x25, 8}, /* Data Out 20 */ + {0x7010, 0x26, 8}, /* Data Out 21 */ + {0x6001, 0x01, 16}, /* Status */ + {0x6000, 0x11, 8}, /* Data In 0 */ + {0x6000, 0x12, 8}, /* Data In 1 */ + {0x6000, 0x13, 8}, /* Data In 2 */ + {0x6000, 0x14, 8}, /* Data In 3 */ + {0x6000, 0x15, 8}, /* Data In 4 */ + {0x6000, 0x16, 8}, /* Data In 5 */ + {0x6000, 0x17, 8}, /* Data In 6 */ + {0x6000, 0x18, 8}, /* Data In 7 */ + {0x6000, 0x19, 8}, /* Data In 8 */ + {0x6000, 0x1a, 8}, /* Data In 9 */ + {0x6000, 0x1b, 8}, /* Data In 10 */ + {0x6000, 0x1c, 8}, /* Data In 11 */ + {0x6000, 0x1d, 8}, /* Data In 12 */ + {0x6000, 0x1e, 8}, /* Data In 13 */ + {0x6000, 0x1f, 8}, /* Data In 14 */ + {0x6000, 0x20, 8}, /* Data In 15 */ + {0x6000, 0x21, 8}, /* Data In 16 */ + {0x6000, 0x22, 8}, /* Data In 17 */ + {0x6000, 0x23, 8}, /* Data In 18 */ + {0x6000, 0x24, 8}, /* Data In 19 */ + {0x6000, 0x25, 8}, /* Data In 20 */ + {0x6000, 0x26, 8}, /* Data In 21 */ + {0x6011, 0x01, 16}, /* Status */ + {0x6010, 0x11, 8}, /* Data In 0 */ + {0x6010, 0x12, 8}, /* Data In 1 */ + {0x6010, 0x13, 8}, /* Data In 2 */ + {0x6010, 0x14, 8}, /* Data In 3 */ + {0x6010, 0x15, 8}, /* Data In 4 */ + {0x6010, 0x16, 8}, /* Data In 5 */ + {0x6010, 0x17, 8}, /* Data In 6 */ + {0x6010, 0x18, 8}, /* Data In 7 */ + {0x6010, 0x19, 8}, /* Data In 8 */ + {0x6010, 0x1a, 8}, /* Data In 9 */ + {0x6010, 0x1b, 8}, /* Data In 10 */ + {0x6010, 0x1c, 8}, /* Data In 11 */ + {0x6010, 0x1d, 8}, /* Data In 12 */ + {0x6010, 0x1e, 8}, /* Data In 13 */ + {0x6010, 0x1f, 8}, /* Data In 14 */ + {0x6010, 0x20, 8}, /* Data In 15 */ + {0x6010, 0x21, 8}, /* Data In 16 */ + {0x6010, 0x22, 8}, /* Data In 17 */ + {0x6010, 0x23, 8}, /* Data In 18 */ + {0x6010, 0x24, 8}, /* Data In 19 */ + {0x6010, 0x25, 8}, /* Data In 20 */ + {0x6010, 0x26, 8}, /* Data In 21 */ +}; + +ec_pdo_info_t slave_1_pdos[] = { + {0x1604, 23, slave_1_pdo_entries + 0}, /* COM RxPDO-Map Outputs Ch.1 */ + {0x1605, 23, slave_1_pdo_entries + 23}, /* COM RxPDO-Map Outputs Ch.2 */ + {0x1a04, 23, slave_1_pdo_entries + 46}, /* COM TxPDO-Map Inputs Ch.1 */ + {0x1a05, 23, slave_1_pdo_entries + 69}, /* COM TxPDO-Map Inputs Ch.2 */ +}; + +ec_sync_info_t slave_1_syncs[] = { + {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, + {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, + {2, EC_DIR_OUTPUT, 2, slave_1_pdos + 0, EC_WD_DISABLE}, + {3, EC_DIR_INPUT, 2, slave_1_pdos + 2, EC_WD_DISABLE}, + {0xff} +}; + +/****************************************************************************/ + +int serial_init(serial_device_t *ser, size_t max_tx, size_t max_rx) +{ + ser->max_tx_data_size = max_tx; + ser->max_rx_data_size = max_rx; + ser->tx_data = NULL; + ser->tx_data_size = 0; + ser->state = SER_REQUEST_INIT; + ser->tx_request_toggle = 0; + ser->rx_accepted_toggle = 0; + ser->control = 0x0000; + + if (max_tx > 0) { + ser->tx_data = kmalloc(max_tx, GFP_KERNEL); + if (ser->tx_data == NULL) { + return -ENOMEM; + } + } + + return 0; +} + +/****************************************************************************/ + +void serial_clear(serial_device_t *ser) +{ + if (ser->tx_data) { + kfree(ser->tx_data); + } +} + +/****************************************************************************/ + +void serial_run(serial_device_t *ser, uint16_t status, uint8_t *rx_data) +{ + uint8_t tx_accepted_toggle, rx_request_toggle; + + switch (ser->state) { + case SER_READY: + + /* Send data */ + + tx_accepted_toggle = status & 0x0001; + if (tx_accepted_toggle != ser->tx_accepted_toggle) { // ready + // send new data + size_t rem = sizeof(tx_data) - tx_off; + if (rem > 0) { + if (rem < ser->max_tx_data_size) { + ser->tx_data_size = rem; + } else { + ser->tx_data_size = ser->max_tx_data_size; + } + printk(KERN_INFO PFX "Sending %u bytes.\n", ser->tx_data_size); + memcpy(ser->tx_data, tx_data, ser->tx_data_size); + tx_off += ser->tx_data_size; + ser->tx_request_toggle = !ser->tx_request_toggle; + ser->tx_accepted_toggle = tx_accepted_toggle; + } + } + + /* Receive data */ + + rx_request_toggle = status & 0x0002; + if (rx_request_toggle != ser->rx_request_toggle) { + uint8_t rx_data_size = status >> 8, i; + ser->rx_request_toggle = rx_request_toggle; + printk(KERN_INFO PFX "Received %u bytes:\n", rx_data_size); + for (i = 0; i < rx_data_size; i++) { + printk(KERN_INFO PFX "%02x\n", rx_data[i]); + } + ser->rx_accepted_toggle = !ser->rx_accepted_toggle; + } + + ser->control = + ser->tx_request_toggle | + ser->rx_accepted_toggle << 1 | + ser->tx_data_size << 8; + break; + + case SER_REQUEST_INIT: + if (status & (1 << 2)) { + ser->control = 0x0000; + ser->state = SER_WAIT_FOR_INIT_RESPONSE; + } else { + ser->control = 1 << 2; // CW.2, request initialization + } + break; + + case SER_WAIT_FOR_INIT_RESPONSE: + if (!(status & (1 << 2))) { + printk(KERN_INFO PFX "Init successful.\n"); + ser->tx_accepted_toggle = 1; + ser->control = 0x0000; + ser->state = SER_READY; + } + break; + } + +} + +/*****************************************************************************/ + +void check_domain1_state(void) +{ + ec_domain_state_t ds; + + down(&master_sem); + ecrt_domain_state(domain1, &ds); + up(&master_sem); + + 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; + + down(&master_sem); + ecrt_master_state(master, &ms); + up(&master_sem); + + 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 cyclic_task(unsigned long data) +{ + // receive process data + down(&master_sem); + ecrt_master_receive(master); + ecrt_domain_process(domain1); + up(&master_sem); + + // check process data state (optional) + check_domain1_state(); + + if (counter) { + counter--; + } else { // do this at 1 Hz + counter = FREQUENCY; + + // check for master state (optional) + check_master_state(); + + tx_off = 0; + } + + serial_run(ser, EC_READ_U16(domain1_pd + off_status), domain1_pd + off_rx); + EC_WRITE_U16(domain1_pd + off_ctrl, ser->control); + memcpy(domain1_pd + off_tx, ser->tx_data, 22); + + // send process data + down(&master_sem); + ecrt_domain_queue(domain1); + ecrt_master_send(master); + up(&master_sem); + + // restart timer + timer.expires += HZ / FREQUENCY; + add_timer(&timer); +} + +/*****************************************************************************/ + +void send_callback(void *cb_data) +{ + ec_master_t *m = (ec_master_t *) cb_data; + down(&master_sem); + ecrt_master_send_ext(m); + up(&master_sem); +} + +/*****************************************************************************/ + +void receive_callback(void *cb_data) +{ + ec_master_t *m = (ec_master_t *) cb_data; + down(&master_sem); + ecrt_master_receive(m); + up(&master_sem); +} + +/*****************************************************************************/ + +int __init init_mini_module(void) +{ + int ret = -1; + ec_slave_config_t *sc; + + printk(KERN_INFO PFX "Starting...\n"); + + ser = kmalloc(sizeof(*ser), GFP_KERNEL); + if (ser == NULL) { + printk(KERN_ERR PFX "Failed to allocate serial device object.\n"); + return -ENOMEM; + } + ret = serial_init(ser, 22, 22); + if (ret) { + printk(KERN_ERR PFX "Failed to init serial device object.\n"); + return ret; + } + + master = ecrt_request_master(0); + if (!master) { + ret = -EBUSY; + printk(KERN_ERR PFX "Requesting master 0 failed.\n"); + goto out_return; + } + + init_MUTEX(&master_sem); + ecrt_master_callbacks(master, send_callback, receive_callback, master); + + 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; + } + + // Create configuration for bus coupler + sc = ecrt_master_slave_config(master, BusCouplerPos, Beckhoff_EK1100); + if (!sc) + return -1; + + if (!(sc = ecrt_master_slave_config( + master, SerialPos, Beckhoff_EL6002))) { + printk(KERN_ERR PFX "Failed to get slave configuration.\n"); + return -1; + } + + printk("Configuring PDOs...\n"); + if (ecrt_slave_config_pdos(sc, EC_END, slave_1_syncs)) { + printk(KERN_ERR PFX "Failed to configure PDOs.\n"); + return -1; + } + + if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) { + printk(KERN_ERR PFX "PDO entry registration failed!\n"); + return -1; + } + + 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"); + init_timer(&timer); + timer.function = cyclic_task; + timer.expires = jiffies + 10; + add_timer(&timer); + + printk(KERN_INFO PFX "Started.\n"); + return 0; + +out_release_master: + printk(KERN_ERR PFX "Releasing master...\n"); + ecrt_release_master(master); +out_return: + printk(KERN_ERR PFX "Failed to load. Aborting.\n"); + return ret; +} + +/*****************************************************************************/ + +void __exit cleanup_mini_module(void) +{ + printk(KERN_INFO PFX "Stopping...\n"); + + del_timer_sync(&timer); + + printk(KERN_INFO PFX "Releasing master...\n"); + ecrt_release_master(master); + + printk(KERN_INFO PFX "Unloading.\n"); +} + +/*****************************************************************************/ + +MODULE_LICENSE("GPL"); +MODULE_AUTHOR("Florian Pose "); +MODULE_DESCRIPTION("EtherCAT minimal test environment"); + +module_init(init_mini_module); +module_exit(cleanup_mini_module); + +/*****************************************************************************/