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Add ccat driver for Beckhoff CCAT communication controller in Beckhoff CX20xx device

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This commit is contained in:
Patrick Bruenn
2014-04-04 08:32:09 +02:00
parent 418dc4b24f
commit 9aba2b3e15
16 changed files with 186 additions and 436 deletions
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57
configure.ac
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@@ -211,6 +211,61 @@ fi
AC_SUBST(KERNEL_8139TOO,[$kernel8139too])
#------------------------------------------------------------------------------
# CCAT driver
#------------------------------------------------------------------------------
AC_ARG_ENABLE([ccat],
AS_HELP_STRING([--enable-ccat],
[Enable CCAT driver]),
[
case "${enableval}" in
yes) enableccat=1
;;
no) enableccat=0
;;
*) AC_MSG_ERROR([Invalid value for --enable-ccat])
;;
esac
],
[enableccat=0] # disabled by default
)
AM_CONDITIONAL(ENABLE_CCAT, test "x$enableccat" = "x1")
AC_SUBST(ENABLE_CCAT,[$enableccat])
AC_ARG_WITH([ccat-kernel],
AC_HELP_STRING(
[--with-ccat-kernel=<X.Y.Z>],
[ccat kernel (only if differing)]
),
[
kernelccat=[$withval]
],
[
kernelccat=$linuxversion
]
)
if test "x${enableccat}" = "x1"; then
AC_MSG_CHECKING([for kernel for ccat driver])
kernels=`ls -1 ${srcdir}/devices/ccat/ | grep -oE "^netdev-.*" | cut -d "-" -f 2 | uniq`
found=0
for k in $kernels; do
if test "$kernelccat" = "$k"; then
found=1
fi
done
if test $found -ne 1; then
AC_MSG_ERROR([kernel $kernelccat not available for ccat driver!])
fi
AC_MSG_RESULT([$kernelccat])
fi
AC_SUBST(KERNEL_CCAT,[$kernelccat])
#------------------------------------------------------------------------------
# e100 driver
#------------------------------------------------------------------------------
@@ -939,6 +994,8 @@ AC_CONFIG_FILES([
Makefile
devices/Kbuild
devices/Makefile
devices/ccat/Kbuild
devices/ccat/Makefile
devices/e1000/Kbuild
devices/e1000/Makefile
devices/e1000e/Kbuild

4
devices/Kbuild.in
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@@ -51,6 +51,10 @@ ifeq (@ENABLE_8139TOO@,1)
CFLAGS_$(EC_8139TOO_OBJ) = -DREV=$(REV)
endif
ifeq (@ENABLE_CCAT@,1)
obj-m += ccat/
endif
ifeq (@ENABLE_E100@,1)
EC_E100_OBJ := e100-@KERNEL_E100@-ethercat.o
obj-m += ec_e100.o

2
devices/Makefile.am
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@@ -28,10 +28,12 @@
#------------------------------------------------------------------------------
SUBDIRS = \
ccat \
e1000 \
e1000e
DIST_SUBDIRS = \
ccat \
e1000 \
e1000e

1
devices/ccat/CCatDefinitions.h Symbolic link
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@@ -0,0 +1 @@
../../../ccat/CCatDefinitions.h

1
devices/ccat/COPYING Symbolic link
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@@ -0,0 +1 @@
../../../ccat/COPYING

57
devices/ccat/Kbuild.in Normal file
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@@ -0,0 +1,57 @@
#------------------------------------------------------------------------------
#
# $Id$
#
# 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.
#
# ---
#
# vim: syntax=make
#
#------------------------------------------------------------------------------
TOPDIR := $(src)/../..
REV := $(shell if test -s $(TOPDIR)/revision; then \
cat $(TOPDIR)/revision; \
else \
hg id -i $(TOPDIR) 2>/dev/null || echo "unknown"; \
fi)
ifeq (@ENABLE_CCAT@,1)
EC_CCAT_OBJ := \
module-@KERNEL_E1000@-ethercat.o \
netdev-@KERNEL_E1000@-ethercat.o \
print-@KERNEL_E1000@-ethercat.o \
update-@KERNEL_E1000@-ethercat.o
obj-m += ec_ccat.o
ec_ccat-objs := $(EC_CCAT_OBJ)
CFLAGS_ccat_main-@KERNEL_CCAT@-ethercat.o = -DREV=$(REV)
endif
KBUILD_EXTRA_SYMBOLS := \
@abs_top_builddir@/$(LINUX_SYMVERS) \
@abs_top_builddir@/master/$(LINUX_SYMVERS)
#------------------------------------------------------------------------------

55
devices/ccat/Makefile.am Normal file
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@@ -0,0 +1,55 @@
#------------------------------------------------------------------------------
#
# $Id$
#
# 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 \
COPYING \
module-3.4-ethercat.h \
module.h \
netdev-3.4-ethercat.h \
netdev.h \
print-3.4-ethercat.h \
print.h \
update-3.4-ethercat.h \
update.h
BUILT_SOURCES = \
Kbuild
modules:
$(MAKE) -C "$(LINUX_SOURCE_DIR)" M="@abs_srcdir@" modules
modules_install:
$(MAKE) -C "$(LINUX_SOURCE_DIR)" M="@abs_srcdir@" \
INSTALL_MOD_DIR="$(INSTALL_MOD_DIR)" modules_install
clean-local:
$(MAKE) -C "$(LINUX_SOURCE_DIR)" M="@abs_srcdir@" clean
#------------------------------------------------------------------------------

1
devices/ccat/module-3.4-ethercat.c Symbolic link
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@@ -0,0 +1 @@
../../../ccat/module.c

1
devices/ccat/module.h Symbolic link
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@@ -0,0 +1 @@
../../../ccat/module.h

1
devices/ccat/netdev-3.4-ethercat.c Symbolic link
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@@ -0,0 +1 @@
../../../ccat/netdev.c

1
devices/ccat/netdev.h Symbolic link
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@@ -0,0 +1 @@
../../../ccat/netdev.h

1
devices/ccat/print-3.4-ethercat.c Symbolic link
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@@ -0,0 +1 @@
../../../ccat/print.c

1
devices/ccat/print.h Symbolic link
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@@ -0,0 +1 @@
../../../ccat/print.h

1
devices/ccat/update-3.4-ethercat.c Symbolic link
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@@ -0,0 +1 @@
../../../ccat/update.c

1
devices/ccat/update.h Symbolic link
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@@ -0,0 +1 @@
../../../ccat/update.h

436
examples/user/main.c
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@@ -1,436 +0,0 @@
/*****************************************************************************
*
* $Id$
*
* Copyright (C) 2007-2009 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 <errno.h>
#include <signal.h>
#include <stdio.h>
#include <string.h>
#include <sys/resource.h>
#include <sys/time.h>
#include <sys/types.h>
#include <unistd.h>
/****************************************************************************/
#include "ecrt.h"
/****************************************************************************/
// Application parameters
#define FREQUENCY 100
#define PRIORITY 1
// Optional features
#define CONFIGURE_PDOS 1
#define SDO_ACCESS 0
/****************************************************************************/
// EtherCAT
static ec_master_t *master = NULL;
static ec_master_state_t master_state = {};
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 unsigned int sig_alarms = 0;
static unsigned int user_alarms = 0;
/****************************************************************************/
// process data
static uint8_t *domain1_pd = NULL;
#define BusCouplerPos 0, 0
#define DigOutSlavePos 0, 2
#define AnaInSlavePos 0, 3
#define AnaOutSlavePos 0, 4
#define Beckhoff_EK1100 0x00000002, 0x044c2c52
#define Beckhoff_EL2004 0x00000002, 0x07d43052
#define Beckhoff_EL2032 0x00000002, 0x07f03052
#define Beckhoff_EL3152 0x00000002, 0x0c503052
#define Beckhoff_EL3102 0x00000002, 0x0c1e3052
#define Beckhoff_EL4102 0x00000002, 0x10063052
// offsets for PDO entries
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[] = {
{AnaInSlavePos, Beckhoff_EL3102, 0x3101, 1, &off_ana_in_status},
{AnaInSlavePos, Beckhoff_EL3102, 0x3101, 2, &off_ana_in_value},
{AnaOutSlavePos, Beckhoff_EL4102, 0x3001, 1, &off_ana_out},
{DigOutSlavePos, Beckhoff_EL2032, 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 el3102_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.)
};
static ec_pdo_info_t el3102_pdos[] = {
{0x1A00, 2, el3102_pdo_entries},
{0x1A01, 2, el3102_pdo_entries + 2}
};
static ec_sync_info_t el3102_syncs[] = {
{2, EC_DIR_OUTPUT},
{3, EC_DIR_INPUT, 2, el3102_pdos},
{0xff}
};
// 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
/*****************************************************************************/
void check_domain1_state(void)
{
ec_domain_state_t ds;
ecrt_domain_state(domain1, &ds);
if (ds.working_counter != domain1_state.working_counter)
printf("Domain1: WC %u.\n", ds.working_counter);
if (ds.wc_state != domain1_state.wc_state)
printf("Domain1: State %u.\n", ds.wc_state);
domain1_state = ds;
}
/*****************************************************************************/
void check_master_state(void)
{
ec_master_state_t ms;
ecrt_master_state(master, &ms);
if (ms.slaves_responding != master_state.slaves_responding)
printf("%u slave(s).\n", ms.slaves_responding);
if (ms.al_states != master_state.al_states)
printf("AL states: 0x%02X.\n", ms.al_states);
if (ms.link_up != master_state.link_up)
printf("Link is %s.\n", ms.link_up ? "up" : "down");
master_state = ms;
}
/*****************************************************************************/
void check_slave_config_states(void)
{
ec_slave_config_state_t s;
ecrt_slave_config_state(sc_ana_in, &s);
if (s.al_state != sc_ana_in_state.al_state)
printf("AnaIn: State 0x%02X.\n", s.al_state);
if (s.online != sc_ana_in_state.online)
printf("AnaIn: %s.\n", s.online ? "online" : "offline");
if (s.operational != sc_ana_in_state.operational)
printf("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:
fprintf(stderr, "Still busy...\n");
break;
case EC_REQUEST_SUCCESS:
fprintf(stderr, "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:
fprintf(stderr, "Failed to read SDO!\n");
ecrt_sdo_request_read(sdo); // retry reading
break;
}
}
#endif
/****************************************************************************/
void cyclic_task()
{
// receive process data
ecrt_master_receive(master);
ecrt_domain_process(domain1);
// 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 0
// read process data
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
#if 1
// write process data
EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x06 : 0x09);
#endif
// send process data
ecrt_domain_queue(domain1);
ecrt_master_send(master);
}
/****************************************************************************/
void signal_handler(int signum) {
switch (signum) {
case SIGALRM:
sig_alarms++;
break;
}
}
/****************************************************************************/
int main(int argc, char **argv)
{
ec_slave_config_t *sc;
struct sigaction sa;
struct itimerval tv;
master = ecrt_request_master(0);
if (!master)
return -1;
domain1 = ecrt_master_create_domain(master);
if (!domain1)
return -1;
if (!(sc_ana_in = ecrt_master_slave_config(
master, AnaInSlavePos, Beckhoff_EL3102))) {
fprintf(stderr, "Failed to get slave configuration.\n");
return -1;
}
#if SDO_ACCESS
fprintf(stderr, "Creating SDO requests...\n");
if (!(sdo = ecrt_slave_config_create_sdo_request(sc_ana_in, 0x3102, 2, 2))) {
fprintf(stderr, "Failed to create SDO request.\n");
return -1;
}
ecrt_sdo_request_timeout(sdo, 500); // ms
#endif
#if CONFIGURE_PDOS
printf("Configuring PDOs...\n");
if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3102_syncs)) {
fprintf(stderr, "Failed to configure PDOs.\n");
return -1;
}
if (!(sc = ecrt_master_slave_config(
master, AnaOutSlavePos, Beckhoff_EL4102))) {
fprintf(stderr, "Failed to get slave configuration.\n");
return -1;
}
if (ecrt_slave_config_pdos(sc, EC_END, el4102_syncs)) {
fprintf(stderr, "Failed to configure PDOs.\n");
return -1;
}
if (!(sc = ecrt_master_slave_config(
master, DigOutSlavePos, Beckhoff_EL2032))) {
fprintf(stderr, "Failed to get slave configuration.\n");
return -1;
}
if (ecrt_slave_config_pdos(sc, EC_END, el2004_syncs)) {
fprintf(stderr, "Failed to configure PDOs.\n");
return -1;
}
#endif
// Create configuration for bus coupler
sc = ecrt_master_slave_config(master, BusCouplerPos, Beckhoff_EK1100);
if (!sc)
return -1;
if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
fprintf(stderr, "PDO entry registration failed!\n");
return -1;
}
printf("Activating master...\n");
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))
fprintf(stderr, "Warning: Failed to set priority: %s\n",
strerror(errno));
#endif
sa.sa_handler = signal_handler;
sigemptyset(&sa.sa_mask);
sa.sa_flags = 0;
if (sigaction(SIGALRM, &sa, 0)) {
fprintf(stderr, "Failed to install signal handler!\n");
return -1;
}
printf("Starting timer...\n");
tv.it_interval.tv_sec = 0;
tv.it_interval.tv_usec = 1000000 / FREQUENCY;
tv.it_value.tv_sec = 0;
tv.it_value.tv_usec = 1000;
if (setitimer(ITIMER_REAL, &tv, NULL)) {
fprintf(stderr, "Failed to start timer: %s\n", strerror(errno));
return 1;
}
printf("Started.\n");
while (1) {
pause();
#if 0
struct timeval t;
gettimeofday(&t, NULL);
printf("%u.%06u\n", t.tv_sec, t.tv_usec);
#endif
while (sig_alarms != user_alarms) {
cyclic_task();
user_alarms++;
}
}
return 0;
}
/****************************************************************************/

1
examples/user/main.c Symbolic link
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@@ -0,0 +1 @@
../../../ccat/unittest/main.c