249 lines
7.0 KiB
C
249 lines
7.0 KiB
C
/******************************************************************************
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*
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* $Id$
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*
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* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
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*
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* This file is part of the IgH EtherCAT Master.
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*
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* The IgH EtherCAT Master is free software; you can redistribute it
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* and/or modify it under the terms of the GNU General Public License
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* as published by the Free Software Foundation; either version 2 of the
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* License, or (at your option) any later version.
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*
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* The IgH EtherCAT Master is distributed in the hope that it will be
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* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with the IgH EtherCAT Master; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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*
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* The right to use EtherCAT Technology is granted and comes free of
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* charge under condition of compatibility of product made by
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* Licensee. People intending to distribute/sell products based on the
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* code, have to sign an agreement to guarantee that products using
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* software based on IgH EtherCAT master stay compatible with the actual
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* EtherCAT specification (which are released themselves as an open
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* standard) as the (only) precondition to have the right to use EtherCAT
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* Technology, IP and trade marks.
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*
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*****************************************************************************/
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#include <linux/module.h>
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#include <linux/timer.h>
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#include <linux/spinlock.h>
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#include <linux/interrupt.h>
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#include "../../include/ecrt.h" // EtherCAT realtime interface
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#include "../../include/ecdb.h" // EtherCAT slave database
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#define PFX "ec_mini: "
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#define FREQUENCY 100
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//#define KBUS
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/*****************************************************************************/
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static struct timer_list timer;
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// EtherCAT
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static ec_master_t *master = NULL;
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static ec_domain_t *domain1 = NULL;
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spinlock_t master_lock = SPIN_LOCK_UNLOCKED;
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static ec_master_status_t master_status, old_status = {};
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// data fields
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#ifdef KBUS
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static void *r_inputs;
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static void *r_outputs;
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#endif
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static void *r_dig_out;
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#if 1
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ec_pdo_reg_t domain1_pdos[] = {
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{"4", Beckhoff_EL2004_Outputs, &r_dig_out},
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{}
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};
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#endif
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/*****************************************************************************/
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void run(unsigned long data)
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{
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static unsigned int counter = 0;
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static unsigned int blink = 0;
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// receive
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spin_lock(&master_lock);
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ecrt_master_receive(master);
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ecrt_domain_process(domain1);
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spin_unlock(&master_lock);
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// process data
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// k_pos = EC_READ_U32(r_ssi);
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EC_WRITE_U8(r_dig_out, blink ? 0x0F : 0x00);
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if (counter) {
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counter--;
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}
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else {
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counter = FREQUENCY;
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blink = !blink;
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spin_lock(&master_lock);
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ecrt_master_get_status(master, &master_status);
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spin_unlock(&master_lock);
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if (master_status.bus_status != old_status.bus_status) {
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printk(KERN_INFO PFX "bus status changed to %u.\n",
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master_status.bus_status);
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}
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if (master_status.bus_tainted != old_status.bus_tainted) {
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printk(KERN_INFO PFX "tainted flag changed to %u.\n",
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master_status.bus_tainted);
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}
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if (master_status.slaves_responding !=
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old_status.slaves_responding) {
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printk(KERN_INFO PFX "slaves_responding changed to %u.\n",
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master_status.slaves_responding);
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}
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old_status = master_status;
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}
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#ifdef KBUS
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EC_WRITE_U8(r_outputs + 2, blink ? 0xFF : 0x00);
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#endif
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// send
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spin_lock(&master_lock);
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ecrt_domain_queue(domain1);
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spin_unlock(&master_lock);
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ecrt_master_run(master);
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spin_lock(&master_lock);
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ecrt_master_send(master);
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spin_unlock(&master_lock);
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// restart timer
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timer.expires += HZ / FREQUENCY;
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add_timer(&timer);
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}
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/*****************************************************************************/
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int request_lock(void *data)
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{
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spin_lock(&master_lock);
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return 0; // access allowed
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}
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/*****************************************************************************/
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void release_lock(void *data)
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{
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spin_unlock(&master_lock);
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}
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/*****************************************************************************/
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int __init init_mini_module(void)
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{
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#if 0
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ec_slave_t *slave;
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#endif
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printk(KERN_INFO PFX "Starting...\n");
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if (!(master = ecrt_request_master(0))) {
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printk(KERN_ERR PFX "Requesting master 0 failed!\n");
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goto out_return;
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}
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ecrt_master_callbacks(master, request_lock, release_lock, NULL);
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printk(KERN_INFO PFX "Registering domain...\n");
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if (!(domain1 = ecrt_master_create_domain(master))) {
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printk(KERN_ERR PFX "Domain creation failed!\n");
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goto out_release_master;
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}
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printk(KERN_INFO PFX "Registering PDOs...\n");
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#if 1
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if (ecrt_domain_register_pdo_list(domain1, domain1_pdos)) {
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printk(KERN_ERR PFX "PDO registration failed!\n");
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goto out_release_master;
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}
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#endif
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#ifdef KBUS
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if (!ecrt_domain_register_pdo_range(domain1, "0", Beckhoff_BK1120,
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EC_DIR_OUTPUT, 0, 4, &r_outputs)) {
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printk(KERN_ERR PFX "PDO registration failed!\n");
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goto out_release_master;
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}
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if (!ecrt_domain_register_pdo_range(domain1, "0", Beckhoff_BK1120,
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EC_DIR_INPUT, 0, 4, &r_inputs)) {
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printk(KERN_ERR PFX "PDO registration failed!\n");
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goto out_release_master;
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}
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#endif
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#if 0
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if (!(slave = ecrt_master_get_slave(master, "2")))
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goto out_release_master;
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if (ecrt_slave_conf_sdo8(slave, 0x4061, 1, 0))
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goto out_release_master;
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#endif
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printk(KERN_INFO PFX "Activating master...\n");
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if (ecrt_master_activate(master)) {
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printk(KERN_ERR PFX "Failed to activate master!\n");
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goto out_release_master;
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}
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printk(KERN_INFO PFX "Starting cyclic sample thread.\n");
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init_timer(&timer);
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timer.function = run;
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timer.expires = jiffies + 10;
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add_timer(&timer);
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printk(KERN_INFO PFX "Started.\n");
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return 0;
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out_release_master:
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ecrt_release_master(master);
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out_return:
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return -1;
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}
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/*****************************************************************************/
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void __exit cleanup_mini_module(void)
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{
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printk(KERN_INFO PFX "Stopping...\n");
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del_timer_sync(&timer);
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printk(KERN_INFO PFX "Releasing master...\n");
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ecrt_release_master(master);
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printk(KERN_INFO PFX "Stopped.\n");
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}
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/*****************************************************************************/
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MODULE_LICENSE("GPL");
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MODULE_AUTHOR("Florian Pose <fp@igh-essen.com>");
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MODULE_DESCRIPTION("EtherCAT minimal test environment");
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module_init(init_mini_module);
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module_exit(cleanup_mini_module);
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/*****************************************************************************/
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