--- /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 <linux/version.h>
+#include <linux/module.h>
+#include <linux/timer.h>
+#include <linux/interrupt.h>
+#include <linux/err.h>
+
+#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 27)
+#include <linux/semaphore.h>
+#else
+#include <asm/semaphore.h>
+#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 <fp@igh-essen.com>");
+MODULE_DESCRIPTION("EtherCAT minimal test environment");
+
+module_init(init_mini_module);
+module_exit(cleanup_mini_module);
+
+/*****************************************************************************/