--- a/examples/user/main.c Fri Oct 10 07:58:48 2008 +0000
+++ b/examples/user/main.c Fri Oct 10 08:34:15 2008 +0000
@@ -46,13 +46,29 @@
/****************************************************************************/
+// Application parameters
+#define PRIORITY 1
+
// Optional features
#define CONFIGURE_PDOS 1
-#define EL3152_ALT_PDOS 0
-#define SDO_ACCESS 0
-#define VOE_ACCESS 0
-
-#define PRIORITY 1
+
+/****************************************************************************/
+
+// EtherCAT
+static ec_master_t *master = NULL;
+
+static ec_domain_t *domain1 = NULL;
+
+static ec_slave_config_t *sc_ana_in = NULL;
+
+// Timer
+static unsigned int sig_alarms = 0;
+static unsigned int user_alarms = 0;
+
+/****************************************************************************/
+
+// process data
+static uint8_t *domain1_pd = NULL;
#define BusCouplerPos 0, 0
#define AnaOutSlavePos 0, 1
@@ -64,29 +80,20 @@
#define Beckhoff_EL3152 0x00000002, 0x0c503052
#define Beckhoff_EL4102 0x00000002, 0x10063052
-/****************************************************************************/
-
-static unsigned int sig_alarms = 0;
-static unsigned int user_alarms = 0;
-
// offsets for Pdo entries
-static unsigned int off_ana_in;
+static unsigned int off_ana_in_status;
+static unsigned int off_ana_in_value;
static unsigned int off_ana_out;
static unsigned int off_dig_out;
const static ec_pdo_entry_reg_t domain1_regs[] = {
-#if EL3152_ALT_PDOS
- {AnaInSlavePos, Beckhoff_EL3152, 0x6401, 1, &off_ana_in},
-#else
- {AnaInSlavePos, Beckhoff_EL3152, 0x3101, 2, &off_ana_in},
-#endif
+ {AnaInSlavePos, Beckhoff_EL3152, 0x3101, 1, &off_ana_in_status},
+ {AnaInSlavePos, Beckhoff_EL3152, 0x3101, 2, &off_ana_in_value},
{AnaOutSlavePos, Beckhoff_EL4102, 0x3001, 1, &off_ana_out},
{DigOutSlavePos, Beckhoff_EL2004, 0x3001, 1, &off_dig_out},
{}
};
-static ec_slave_config_t *sc_ana_in = NULL;
-
/*****************************************************************************/
#if CONFIGURE_PDOS
@@ -102,17 +109,6 @@
{0x6401, 2, 16} // channel 2 value (alt.)
};
-#if EL3152_ALT_PDOS
-static ec_pdo_info_t el3152_pdos[] = {
- {0x1A10, 2, el3152_pdo_entries + 4},
-};
-
-static ec_sync_info_t el3152_syncs[] = {
- {2, EC_DIR_OUTPUT},
- {3, EC_DIR_INPUT, 1, el3152_pdos},
- {0xff}
-};
-#else
static ec_pdo_info_t el3152_pdos[] = {
{0x1A00, 2, el3152_pdo_entries},
{0x1A01, 2, el3152_pdo_entries + 2}
@@ -123,7 +119,6 @@
{3, EC_DIR_INPUT, 2, el3152_pdos},
{0xff}
};
-#endif
// Analog out -------------------------
@@ -168,6 +163,28 @@
/****************************************************************************/
+void cyclic_task()
+{
+ ecrt_master_receive(master);
+ ecrt_domain_process(domain1);
+
+#if 0
+#if EL3152_ALT_PDOS
+ printf("AnaIn: value %u\n",
+ EC_READ_U16(domain1_pd + off_ana_in_value));
+#else
+ printf("AnaIn: state %u value %u\n",
+ EC_READ_U8(domain1_pd + off_ana_in_status),
+ EC_READ_U16(domain1_pd + off_ana_in_value));
+#endif
+#endif
+
+ ecrt_domain_queue(domain1);
+ ecrt_master_send(master);
+}
+
+/****************************************************************************/
+
void signal_handler(int signum) {
switch (signum) {
case SIGALRM:
@@ -180,8 +197,6 @@
int main(int argc, char **argv)
{
- ec_master_t *master;
- ec_domain_t *domain1;
ec_slave_config_t *sc;
struct sigaction sa;
struct itimerval tv;
@@ -244,6 +259,10 @@
if (ecrt_master_activate(master))
return -1;
+ if (!(domain1_pd = ecrt_domain_data(domain1))) {
+ return -1;
+ }
+
#if PRIORITY
pid_t pid = getpid();
if (setpriority(PRIO_PROCESS, pid, -19))
@@ -271,7 +290,7 @@
printf("Started.\n");
while (1) {
- sleep(1);
+ sleep(1); // always interrupted by SIGALRM
#if 0
struct timeval t;
@@ -280,9 +299,7 @@
#endif
while (sig_alarms != user_alarms) {
- ecrt_master_receive(master);
- ecrt_master_send(master);
-
+ cyclic_task();
user_alarms++;
}
}
--- a/include/ecrt.h Fri Oct 10 07:58:48 2008 +0000
+++ b/include/ecrt.h Fri Oct 10 08:34:15 2008 +0000
@@ -780,6 +780,8 @@
registrations. */
);
+#ifdef __KERNEL__
+
/** Returns the current size of the domain's process data.
*
* \return Size of the process data image.
@@ -788,8 +790,6 @@
const ec_domain_t *domain /**< Domain. */
);
-#ifdef __KERNEL__
-
/** Provide external memory to store the domain's process data.
*
* Call this after all Pdo entries have been registered and before activating
@@ -808,12 +808,14 @@
/** Returns the domain's process data.
*
- * If external memory was provided with ecrt_domain_external_memory(), the
- * returned pointer will contain the address of that memory. Otherwise it will
- * point to the internally allocated memory.
- *
- * \attention In case of internal domain memory (default), this method may not
- * be called before ecrt_master_activate().
+ * - In kernel context: If external memory was provided with
+ * ecrt_domain_external_memory(), the returned pointer will contain the
+ * address of that memory. Otherwise it will point to the internally allocated
+ * memory. In the latter case, this method may not be called before
+ * ecrt_master_activate().
+ *
+ * - In userspace context: This method has to be called after
+ * ecrt_master_activate() to get the mapped domain process data memory.
*
* \return Pointer to the process data memory.
*/
--- a/lib/common.c Fri Oct 10 07:58:48 2008 +0000
+++ b/lib/common.c Fri Oct 10 08:34:15 2008 +0000
@@ -39,6 +39,7 @@
#include <errno.h>
#include <string.h>
#include <sys/ioctl.h>
+#include <sys/mman.h>
#include "master.h"
#include "master/ioctl.h"
@@ -65,6 +66,9 @@
return 0;
}
+ master->process_data = NULL;
+ master->process_data_size = 0;
+
snprintf(path, MAX_PATH_LEN - 1, "/dev/EtherCAT%u", master_index);
master->fd = open(path, O_RDWR);
@@ -89,6 +93,10 @@
void ecrt_release_master(ec_master_t *master)
{
+ if (master->process_data) {
+ munmap(master->process_data, master->process_data_size);
+ }
+
close(master->fd);
free(master);
}
--- a/lib/domain.c Fri Oct 10 07:58:48 2008 +0000
+++ b/lib/domain.c Fri Oct 10 08:34:15 2008 +0000
@@ -38,7 +38,15 @@
/*****************************************************************************/
+#include <sys/ioctl.h>
+#include <sys/mman.h>
+#include <stdio.h>
+#include <errno.h>
+#include <string.h>
+
#include "domain.h"
+#include "master.h"
+#include "master/ioctl.h"
/*****************************************************************************/
@@ -68,19 +76,43 @@
uint8_t *ecrt_domain_data(ec_domain_t *domain)
{
- return 0;
+ if (!domain->process_data) {
+ int offset = 0;
+
+ offset = ioctl(domain->master->fd, EC_IOCTL_DOMAIN_OFFSET,
+ domain->index);
+ if (offset == -1) {
+ fprintf(stderr, "Failed to get domain offset: %s\n",
+ strerror(errno));
+ return NULL;
+ }
+
+ domain->process_data = domain->master->process_data + offset;
+ }
+
+ return domain->process_data;
}
/*****************************************************************************/
void ecrt_domain_process(ec_domain_t *domain)
{
+ if (ioctl(domain->master->fd, EC_IOCTL_DOMAIN_PROCESS,
+ domain->index) == -1) {
+ fprintf(stderr, "Failed to process domain offset: %s\n",
+ strerror(errno));
+ }
}
/*****************************************************************************/
void ecrt_domain_queue(ec_domain_t *domain)
{
+ if (ioctl(domain->master->fd, EC_IOCTL_DOMAIN_QUEUE,
+ domain->index) == -1) {
+ fprintf(stderr, "Failed to queue domain offset: %s\n",
+ strerror(errno));
+ }
}
/*****************************************************************************/
--- a/lib/domain.h Fri Oct 10 07:58:48 2008 +0000
+++ b/lib/domain.h Fri Oct 10 08:34:15 2008 +0000
@@ -38,6 +38,7 @@
struct ec_domain {
unsigned int index;
ec_master_t *master;
+ uint8_t *process_data;
};
/*****************************************************************************/
--- a/lib/master.c Fri Oct 10 07:58:48 2008 +0000
+++ b/lib/master.c Fri Oct 10 08:34:15 2008 +0000
@@ -36,6 +36,7 @@
#include <stdio.h>
#include <errno.h>
#include <string.h>
+#include <sys/mman.h>
#include "master.h"
#include "domain.h"
@@ -64,6 +65,7 @@
domain->index = (unsigned int) index;
domain->master = master;
+ domain->process_data = NULL;
return domain;
}
@@ -106,12 +108,27 @@
int ecrt_master_activate(ec_master_t *master)
{
- if (ioctl(master->fd, EC_IOCTL_ACTIVATE, NULL) == -1) {
+ if (ioctl(master->fd, EC_IOCTL_ACTIVATE,
+ &master->process_data_size) == -1) {
fprintf(stderr, "Failed to activate master: %s\n",
strerror(errno));
return -1;
}
+ if (master->process_data_size) {
+ master->process_data = mmap(0, master->process_data_size,
+ PROT_READ | PROT_WRITE, MAP_PRIVATE, master->fd, 0);
+ if (master->process_data == MAP_FAILED) {
+ fprintf(stderr, "Failed to map process data: %s", strerror(errno));
+ master->process_data = NULL;
+ master->process_data_size = 0;
+ return -1;
+ }
+
+ // Access the mapped region to cause the initial page fault
+ printf("pd: %x\n", master->process_data[0]);
+ }
+
return 0;
}
--- a/lib/master.h Fri Oct 10 07:58:48 2008 +0000
+++ b/lib/master.h Fri Oct 10 08:34:15 2008 +0000
@@ -37,6 +37,8 @@
struct ec_master {
int fd;
+ uint8_t *process_data;
+ size_t process_data_size;
};
/*****************************************************************************/
--- a/master/cdev.c Fri Oct 10 07:58:48 2008 +0000
+++ b/master/cdev.c Fri Oct 10 08:34:15 2008 +0000
@@ -39,6 +39,8 @@
/*****************************************************************************/
#include <linux/module.h>
+#include <linux/vmalloc.h>
+#include <linux/mm.h>
#include "cdev.h"
#include "master.h"
@@ -52,6 +54,10 @@
int eccdev_open(struct inode *, struct file *);
int eccdev_release(struct inode *, struct file *);
long eccdev_ioctl(struct file *, unsigned int, unsigned long);
+int eccdev_mmap(struct file *, struct vm_area_struct *);
+
+static struct page *eccdev_vma_nopage(
+ struct vm_area_struct *, unsigned long, int *);
/*****************************************************************************/
@@ -59,7 +65,12 @@
.owner = THIS_MODULE,
.open = eccdev_open,
.release = eccdev_release,
- .unlocked_ioctl = eccdev_ioctl
+ .unlocked_ioctl = eccdev_ioctl,
+ .mmap = eccdev_mmap
+};
+
+struct vm_operations_struct eccdev_vm_ops = {
+ .nopage = eccdev_vma_nopage
};
/** \endcond */
@@ -71,6 +82,8 @@
typedef struct {
ec_cdev_t *cdev;
unsigned int requested;
+ uint8_t *process_data;
+ size_t process_data_size;
} ec_cdev_priv_t;
/*****************************************************************************/
@@ -1462,12 +1475,48 @@
ec_cdev_priv_t *priv /**< Private data structure of file handle. */
)
{
+ ec_domain_t *domain;
+ off_t offset;
+
if (unlikely(!priv->requested))
return -EPERM;
+ /* Get the sum of the domains' process data sizes. */
+
+ priv->process_data_size = 0;
+
+ if (down_interruptible(&master->master_sem))
+ return -EINTR;
+
+ list_for_each_entry(domain, &master->domains, list) {
+ priv->process_data_size += ecrt_domain_size(domain);
+ }
+
+ up(&master->master_sem);
+
+ if (priv->process_data_size) {
+ priv->process_data = vmalloc(priv->process_data_size);
+ if (!priv->process_data) {
+ priv->process_data_size = 0;
+ return -ENOMEM;
+ }
+
+ /* Set the memory as external process data memory for the domains. */
+
+ offset = 0;
+ list_for_each_entry(domain, &master->domains, list) {
+ ecrt_domain_external_memory(domain, priv->process_data + offset);
+ offset += ecrt_domain_size(domain);
+ }
+ }
+
if (ecrt_master_activate(master))
return -EIO;
+ if (copy_to_user((void __user *) arg,
+ &priv->process_data_size, sizeof(size_t)))
+ return -EFAULT;
+
return 0;
}
@@ -1788,6 +1837,94 @@
return ret;
}
+/*****************************************************************************/
+
+/** Gets the domain's offset in the total process data.
+ */
+int ec_cdev_ioctl_domain_offset(
+ ec_master_t *master, /**< EtherCAT master. */
+ unsigned long arg, /**< ioctl() argument. */
+ ec_cdev_priv_t *priv /**< Private data structure of file handle. */
+ )
+{
+ int offset = 0;
+ const ec_domain_t *domain;
+
+ if (unlikely(!priv->requested))
+ return -EPERM;
+
+ if (down_interruptible(&master->master_sem)) {
+ return -EINTR;
+ }
+
+ list_for_each_entry(domain, &master->domains, list) {
+ if (domain->index == arg) {
+ up(&master->master_sem);
+ return offset;
+ }
+ offset += ecrt_domain_size(domain);
+ }
+
+ up(&master->master_sem);
+ return -ESRCH;
+}
+
+/*****************************************************************************/
+
+/** Process the domain.
+ */
+int ec_cdev_ioctl_domain_process(
+ ec_master_t *master, /**< EtherCAT master. */
+ unsigned long arg, /**< ioctl() argument. */
+ ec_cdev_priv_t *priv /**< Private data structure of file handle. */
+ )
+{
+ ec_domain_t *domain;
+
+ if (unlikely(!priv->requested))
+ return -EPERM;
+
+ if (down_interruptible(&master->master_sem))
+ return -EINTR;
+
+ if (!(domain = ec_master_find_domain(master, arg))) {
+ up(&master->master_sem);
+ return -ESRCH;
+ }
+
+ ecrt_domain_process(domain);
+ up(&master->master_sem);
+ return 0;
+}
+
+/*****************************************************************************/
+
+/** Queue the domain.
+ */
+int ec_cdev_ioctl_domain_queue(
+ ec_master_t *master, /**< EtherCAT master. */
+ unsigned long arg, /**< ioctl() argument. */
+ ec_cdev_priv_t *priv /**< Private data structure of file handle. */
+ )
+{
+ ec_domain_t *domain;
+
+ if (unlikely(!priv->requested))
+ return -EPERM;
+
+ if (down_interruptible(&master->master_sem))
+ return -EINTR;
+
+ if (!(domain = ec_master_find_domain(master, arg))) {
+ up(&master->master_sem);
+ return -ESRCH;
+ }
+
+ ecrt_domain_queue(domain);
+ up(&master->master_sem);
+ return 0;
+}
+
/******************************************************************************
* File operations
*****************************************************************************/
@@ -1808,6 +1945,8 @@
priv->cdev = cdev;
priv->requested = 0;
+ priv->process_data = NULL;
+ priv->process_data_size = 0;
filp->private_data = priv;
if (master->debug_level)
@@ -1827,6 +1966,9 @@
if (priv->requested)
ecrt_release_master(master);
+ if (priv->process_data)
+ vfree(priv->process_data);
+
if (master->debug_level)
EC_DBG("File closed.\n");
kfree(priv);
@@ -1953,9 +2095,68 @@
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
return ec_cdev_ioctl_sc_sdo(master, arg, priv);
+ case EC_IOCTL_DOMAIN_OFFSET:
+ return ec_cdev_ioctl_domain_offset(master, arg, priv);
+ case EC_IOCTL_DOMAIN_PROCESS:
+ if (!(filp->f_mode & FMODE_WRITE))
+ return -EPERM;
+ return ec_cdev_ioctl_domain_process(master, arg, priv);
+ case EC_IOCTL_DOMAIN_QUEUE:
+ if (!(filp->f_mode & FMODE_WRITE))
+ return -EPERM;
+ return ec_cdev_ioctl_domain_queue(master, arg, priv);
default:
return -ENOTTY;
}
}
/*****************************************************************************/
+
+int eccdev_mmap(
+ struct file *filp,
+ struct vm_area_struct *vma
+ )
+{
+ ec_cdev_priv_t *priv = (ec_cdev_priv_t *) filp->private_data;
+
+ if (priv->cdev->master->debug_level)
+ EC_DBG("mmap()\n");
+
+ vma->vm_ops = &eccdev_vm_ops;
+ vma->vm_flags |= VM_RESERVED; /* Pages will not be swapped out */
+ vma->vm_private_data = priv;
+
+ return 0;
+}
+
+/*****************************************************************************/
+
+struct page *eccdev_vma_nopage(
+ struct vm_area_struct *vma,
+ unsigned long address,
+ int *type
+ )
+{
+ unsigned long offset;
+ struct page *page = NOPAGE_SIGBUS;
+ ec_cdev_priv_t *priv = (ec_cdev_priv_t *) vma->vm_private_data;
+
+ offset = (address - vma->vm_start) + (vma->vm_pgoff << PAGE_SHIFT);
+
+ if (offset >= priv->process_data_size)
+ return NOPAGE_SIGBUS;
+
+ page = vmalloc_to_page(priv->process_data + offset);
+
+ if (priv->cdev->master->debug_level)
+ EC_DBG("Nopage fault vma, address = %#lx, offset = %#lx, page = %p\n",
+ address, offset, page);
+
+ get_page(page);
+ if (type)
+ *type = VM_FAULT_MINOR;
+
+ return page;
+}
+
+/*****************************************************************************/
--- a/master/ioctl.h Fri Oct 10 07:58:48 2008 +0000
+++ b/master/ioctl.h Fri Oct 10 08:34:15 2008 +0000
@@ -82,7 +82,7 @@
#define EC_IOCTL_REQUEST EC_IO(0x16)
#define EC_IOCTL_CREATE_DOMAIN EC_IO(0x17)
#define EC_IOCTL_CREATE_SLAVE_CONFIG EC_IOWR(0x18, ec_ioctl_config_t)
-#define EC_IOCTL_ACTIVATE EC_IO(0x19)
+#define EC_IOCTL_ACTIVATE EC_IOR(0x19, size_t)
#define EC_IOCTL_SEND EC_IO(0x1a)
#define EC_IOCTL_RECEIVE EC_IO(0x1b)
#define EC_IOCTL_SC_SYNC EC_IOW(0x1c, ec_ioctl_config_t)
@@ -92,6 +92,9 @@
#define EC_IOCTL_SC_CLEAR_ENTRIES EC_IOW(0x1f, ec_ioctl_config_pdo_t)
#define EC_IOCTL_SC_REG_PDO_ENTRY EC_IOWR(0x20, ec_ioctl_reg_pdo_entry_t)
#define EC_IOCTL_SC_SDO EC_IOW(0x21, ec_ioctl_sc_sdo_t)
+#define EC_IOCTL_DOMAIN_OFFSET EC_IO(0x22)
+#define EC_IOCTL_DOMAIN_PROCESS EC_IO(0x23)
+#define EC_IOCTL_DOMAIN_QUEUE EC_IO(0x24)
#define EC_IOCTL_STRING_SIZE 64