/****************************************************************************** * * $Id$ * * 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, 34) #include #endif #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 CONFIGURE_PDOS 1 #define EL3152_ALT_PDOS 0 #define EXTERNAL_MEMORY 1 #define SDO_ACCESS 0 #define VOE_ACCESS 0 #define PFX "ec_mini: " /*****************************************************************************/ // 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 = {}; static ec_slave_config_t *sc_ana_in = NULL; static ec_slave_config_state_t sc_ana_in_state = {}; // Timer static struct timer_list timer; /*****************************************************************************/ // process data static uint8_t *domain1_pd; // process data memory #define AnaInSlavePos 0, 2 #define AnaOutSlavePos 0, 1 #define DigOutSlavePos 0, 3 #define Beckhoff_EL2004 0x00000002, 0x07D43052 #define Beckhoff_EL3152 0x00000002, 0x0c503052 #define Beckhoff_EL4102 0x00000002, 0x10063052 // offsets for PDO entries static unsigned int off_ana_in; 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 {AnaOutSlavePos, Beckhoff_EL4102, 0x3001, 1, &off_ana_out}, {DigOutSlavePos, Beckhoff_EL2004, 0x3001, 1, &off_dig_out}, {} }; static unsigned int counter = 0; static unsigned int blink = 0; /*****************************************************************************/ #if CONFIGURE_PDOS // Analog in -------------------------- static ec_pdo_entry_info_t el3152_pdo_entries[] = { {0x3101, 1, 8}, // channel 1 status {0x3101, 2, 16}, // channel 1 value {0x3102, 1, 8}, // channel 2 status {0x3102, 2, 16}, // channel 2 value {0x6401, 1, 16}, // channel 1 value (alt.) {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} }; static ec_sync_info_t el3152_syncs[] = { {2, EC_DIR_OUTPUT}, {3, EC_DIR_INPUT, 1, el3152_pdos}, {0xff} }; #endif // Analog out ------------------------- static ec_pdo_entry_info_t el4102_pdo_entries[] = { {0x3001, 1, 16}, // channel 1 value {0x3002, 1, 16}, // channel 2 value }; static ec_pdo_info_t el4102_pdos[] = { {0x1600, 1, el4102_pdo_entries}, {0x1601, 1, el4102_pdo_entries + 1} }; static ec_sync_info_t el4102_syncs[] = { {2, EC_DIR_OUTPUT, 2, el4102_pdos}, {3, EC_DIR_INPUT}, {0xff} }; // Digital out ------------------------ 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 /*****************************************************************************/ #if SDO_ACCESS static ec_sdo_request_t *sdo; #endif #if VOE_ACCESS static ec_voe_handler_t *voe; #endif /*****************************************************************************/ 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 check_slave_config_states(void) { ec_slave_config_state_t s; down(&master_sem); ecrt_slave_config_state(sc_ana_in, &s); up(&master_sem); 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; } /*****************************************************************************/ #if SDO_ACCESS void read_sdo(void) { switch (ecrt_sdo_request_state(sdo)) { case EC_REQUEST_UNUSED: // request was not used yet ecrt_sdo_request_read(sdo); // trigger first read break; case EC_REQUEST_BUSY: printk(KERN_INFO PFX "Still busy...\n"); break; case EC_REQUEST_SUCCESS: printk(KERN_INFO PFX "SDO value: 0x%04X\n", EC_READ_U16(ecrt_sdo_request_data(sdo))); ecrt_sdo_request_read(sdo); // trigger next read break; case EC_REQUEST_ERROR: printk(KERN_INFO PFX "Failed to read SDO!\n"); ecrt_sdo_request_read(sdo); // retry reading break; } } #endif /*****************************************************************************/ #if VOE_ACCESS void read_voe(void) { switch (ecrt_voe_handler_execute(voe)) { case EC_REQUEST_UNUSED: ecrt_voe_handler_read(voe); // trigger first read break; case EC_REQUEST_BUSY: printk(KERN_INFO PFX "VoE read still busy...\n"); break; case EC_REQUEST_SUCCESS: printk(KERN_INFO PFX "VoE received.\n"); // get data via ecrt_voe_handler_data(voe) ecrt_voe_handler_read(voe); // trigger next read break; case EC_REQUEST_ERROR: printk(KERN_INFO PFX "Failed to read VoE data!\n"); ecrt_voe_handler_read(voe); // retry reading break; } } #endif /*****************************************************************************/ #if LINUX_VERSION_CODE >= KERNEL_VERSION(4, 15, 0) void cyclic_task(struct timer_list *t) #else void cyclic_task(unsigned long data) #endif { // 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; // 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(); #if SDO_ACCESS // read process data SDO read_sdo(); #endif #if VOE_ACCESS read_voe(); #endif } // write process data EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x06 : 0x09); // 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; #if CONFIGURE_PDOS ec_slave_config_t *sc; #endif #if EXTERNAL_MEMORY unsigned int size; #endif printk(KERN_INFO PFX "Starting...\n"); master = ecrt_request_master(0); if (!master) { ret = -EBUSY; printk(KERN_ERR PFX "Requesting master 0 failed.\n"); goto out_return; } sema_init(&master_sem, 1); 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; } if (!(sc_ana_in = ecrt_master_slave_config( master, AnaInSlavePos, Beckhoff_EL3152))) { printk(KERN_ERR PFX "Failed to get slave configuration.\n"); goto out_release_master; } #if CONFIGURE_PDOS printk(KERN_INFO PFX "Configuring PDOs...\n"); if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3152_syncs)) { printk(KERN_ERR PFX "Failed to configure PDOs.\n"); goto out_release_master; } if (!(sc = ecrt_master_slave_config( master, AnaOutSlavePos, Beckhoff_EL4102))) { printk(KERN_ERR PFX "Failed to get slave configuration.\n"); goto out_release_master; } if (ecrt_slave_config_pdos(sc, EC_END, el4102_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_pdos(sc, EC_END, el2004_syncs)) { printk(KERN_ERR PFX "Failed to configure PDOs.\n"); goto out_release_master; } #endif #if SDO_ACCESS printk(KERN_INFO PFX "Creating SDO requests...\n"); if (!(sdo = ecrt_slave_config_create_sdo_request(sc_ana_in, 0x3102, 2, 2))) { printk(KERN_ERR PFX "Failed to create SDO request.\n"); goto out_release_master; } ecrt_sdo_request_timeout(sdo, 500); // ms #endif #if VOE_ACCESS printk(KERN_INFO PFX "Creating VoE handlers...\n"); if (!(voe = ecrt_slave_config_create_voe_handler(sc_ana_in, 1000))) { printk(KERN_ERR PFX "Failed to create VoE handler.\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; } #if EXTERNAL_MEMORY if ((size = ecrt_domain_size(domain1))) { if (!(domain1_pd = (uint8_t *) kmalloc(size, GFP_KERNEL))) { printk(KERN_ERR PFX "Failed to allocate %u bytes of process data" " memory!\n", size); goto out_release_master; } ecrt_domain_external_memory(domain1, domain1_pd); } #endif printk(KERN_INFO PFX "Activating master...\n"); if (ecrt_master_activate(master)) { printk(KERN_ERR PFX "Failed to activate master!\n"); #if EXTERNAL_MEMORY goto out_free_process_data; #else goto out_release_master; #endif } #if !EXTERNAL_MEMORY // Get internal process data for domain domain1_pd = ecrt_domain_data(domain1); #endif printk(KERN_INFO PFX "Starting cyclic sample thread.\n"); #if LINUX_VERSION_CODE >= KERNEL_VERSION(4, 15, 0) timer_setup(&timer, cyclic_task, 0); #else init_timer(&timer); timer.function = cyclic_task; #endif timer.expires = jiffies + 10; add_timer(&timer); printk(KERN_INFO PFX "Started.\n"); return 0; #if EXTERNAL_MEMORY out_free_process_data: kfree(domain1_pd); #endif 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); #if EXTERNAL_MEMORY kfree(domain1_pd); #endif 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); /*****************************************************************************/