mirror of
https://gitlab.com/etherlab.org/ethercat.git
synced 2026-02-06 20:01:44 +08:00
593a5fda9c
-> "Pdo mapping"; created ecrt_slave_config_pdo_assign_clear() and ecrt_slave_config_pdo_mapping_clear().
393 lines
11 KiB
C
393 lines
11 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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/*****************************************************************************/
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// Module parameters
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#define FREQUENCY 100
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// Optional features
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#define CONFIGURE_PDOS
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#define EXTERNAL_MEMORY
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#define SDO_ACCESS
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#define PFX "ec_mini: "
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/*****************************************************************************/
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// EtherCAT
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static ec_master_t *master = NULL;
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static ec_master_state_t master_state = {};
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spinlock_t master_lock = SPIN_LOCK_UNLOCKED;
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static ec_domain_t *domain1 = NULL;
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static ec_domain_state_t domain1_state = {};
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static struct timer_list timer;
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static unsigned int counter = 0;
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/*****************************************************************************/
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// process data
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static uint8_t *domain1_pd; // process data memory
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static unsigned int off_ana_in; // offsets for Pdo entries
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static unsigned int off_dig_out;
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static unsigned int blink = 0;
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const static ec_pdo_entry_reg_t domain1_regs[] = {
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{0, 1, Beckhoff_EL3162, 0x3101, 2, &off_ana_in},
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{0, 3, Beckhoff_EL2004, 0x3001, 1, &off_dig_out},
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{}
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};
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/*****************************************************************************/
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#ifdef CONFIGURE_PDOS
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static ec_pdo_entry_info_t el3162_channel1[] = {
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{0x3101, 1, 8}, // status
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{0x3101, 2, 16} // value
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};
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static ec_pdo_entry_info_t el3162_channel2[] = {
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{0x3102, 1, 8}, // status
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{0x3102, 2, 16} // value
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};
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static ec_pdo_info_t el3162_pdos[] = {
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{EC_DIR_INPUT, 0x1A00, 2, el3162_channel1},
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{EC_DIR_INPUT, 0x1A01, 2, el3162_channel2},
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{EC_END}
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};
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static ec_pdo_entry_info_t el2004_channels[] = {
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{0x3001, 1, 1}, // Value 1
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{0x3001, 2, 1}, // Value 2
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{0x3001, 3, 1}, // Value 3
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{0x3001, 4, 1} // Value 4
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};
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static ec_pdo_info_t el2004_pdos[] = {
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{EC_DIR_OUTPUT, 0x1600, 1, &el2004_channels[0]},
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{EC_DIR_OUTPUT, 0x1601, 1, &el2004_channels[1]},
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{EC_DIR_OUTPUT, 0x1602, 1, &el2004_channels[2]},
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{EC_DIR_OUTPUT, 0x1603, 1, &el2004_channels[3]},
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};
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#endif
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/*****************************************************************************/
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#ifdef SDO_ACCESS
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static ec_sdo_request_t *sdo;
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#endif
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/*****************************************************************************/
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void check_domain1_state(void)
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{
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ec_domain_state_t ds;
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ecrt_domain_state(domain1, &ds);
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if (ds.working_counter != domain1_state.working_counter)
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printk(KERN_INFO PFX "domain1 working_counter changed to %u.\n",
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ds.working_counter);
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if (ds.wc_state != domain1_state.wc_state)
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printk(KERN_INFO PFX "domain1 wc_state changed to %u.\n",
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ds.wc_state);
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domain1_state = ds;
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}
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/*****************************************************************************/
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void check_master_state(void)
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{
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ec_master_state_t ms;
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spin_lock(&master_lock);
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ecrt_master_state(master, &ms);
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spin_unlock(&master_lock);
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if (ms.bus_state != master_state.bus_state) {
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printk(KERN_INFO PFX "bus state changed to %i.\n", ms.bus_state);
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}
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if (ms.bus_tainted != master_state.bus_tainted) {
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printk(KERN_INFO PFX "tainted flag changed to %u.\n",
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ms.bus_tainted);
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}
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if (ms.slaves_responding != master_state.slaves_responding) {
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printk(KERN_INFO PFX "slaves_responding changed to %u.\n",
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ms.slaves_responding);
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}
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master_state = ms;
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}
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/*****************************************************************************/
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#ifdef SDO_ACCESS
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void read_sdo(void)
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{
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switch (ecrt_sdo_request_state(sdo)) {
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case EC_SDO_REQUEST_UNUSED: // request was not used yet
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ecrt_sdo_request_read(sdo); // trigger first read
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break;
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case EC_SDO_REQUEST_BUSY:
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printk(KERN_INFO PFX "Still busy...\n");
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break;
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case EC_SDO_REQUEST_SUCCESS:
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printk(KERN_INFO PFX "Sdo value: 0x%04X\n",
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EC_READ_U16(ecrt_sdo_request_data(sdo)));
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ecrt_sdo_request_read(sdo); // trigger next read
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break;
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case EC_SDO_REQUEST_ERROR:
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printk(KERN_INFO PFX "Failed to read Sdo!\n");
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ecrt_sdo_request_read(sdo); // retry reading
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break;
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}
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}
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#endif
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/*****************************************************************************/
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void cyclic_task(unsigned long data)
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{
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// receive process data
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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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// check process data state (optional)
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check_domain1_state();
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if (counter) {
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counter--;
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} else { // do this at 1 Hz
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counter = FREQUENCY;
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// calculate new process data
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blink = !blink;
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// check for master state (optional)
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check_master_state();
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#ifdef SDO_ACCESS
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// read process data Sdo
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read_sdo();
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#endif
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}
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// write process data
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EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x06 : 0x09);
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// send process data
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spin_lock(&master_lock);
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ecrt_domain_queue(domain1);
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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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#ifdef CONFIGURE_PDOS
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ec_slave_config_t *sc;
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#endif
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#ifdef EXTERNAL_MEMORY
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unsigned int size;
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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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#ifdef CONFIGURE_PDOS
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printk(KERN_INFO PFX "Configuring Pdos...\n");
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if (!(sc = ecrt_master_slave_config(master, 0, 1, Beckhoff_EL3162))) {
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printk(KERN_ERR PFX "Failed to get slave configuration.\n");
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goto out_release_master;
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}
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if (ecrt_slave_config_pdos(sc, EC_END, el3162_pdos)) {
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printk(KERN_ERR PFX "Failed to configure Pdos.\n");
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goto out_release_master;
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}
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if (!(sc = ecrt_master_slave_config(master, 0, 3, Beckhoff_EL2004))) {
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printk(KERN_ERR PFX "Failed to get slave configuration.\n");
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goto out_release_master;
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}
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if (ecrt_slave_config_pdos(sc, 4, el2004_pdos)) {
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printk(KERN_ERR PFX "Failed to configure Pdos.\n");
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goto out_release_master;
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}
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#endif
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#ifdef SDO_ACCESS
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printk(KERN_INFO PFX "Creating Sdo requests...\n");
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if (!(sc = ecrt_master_slave_config(master, 0, 1, Beckhoff_EL3162))) {
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printk(KERN_ERR PFX "Failed to get slave configuration.\n");
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goto out_release_master;
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}
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if (!(sdo = ecrt_slave_config_create_sdo_request(sc, 0x3102, 2, 2))) {
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printk(KERN_ERR PFX "Failed to create Sdo request.\n");
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goto out_release_master;
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}
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#endif
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printk(KERN_INFO PFX "Registering Pdo entries...\n");
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if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
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printk(KERN_ERR PFX "Pdo entry registration failed!\n");
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goto out_release_master;
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}
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#ifdef EXTERNAL_MEMORY
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if ((size = ecrt_domain_size(domain1))) {
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if (!(domain1_pd = (uint8_t *) kmalloc(size, GFP_KERNEL))) {
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printk(KERN_ERR PFX "Failed to allocate %u bytes of process data"
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" memory!\n", size);
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goto out_release_master;
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}
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ecrt_domain_external_memory(domain1, domain1_pd);
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}
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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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#ifdef EXTERNAL_MEMORY
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goto out_free_process_data;
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#else
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goto out_release_master;
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#endif
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}
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#ifndef EXTERNAL_MEMORY
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// Get internal process data for domain
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domain1_pd = ecrt_domain_data(domain1);
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#endif
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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 = cyclic_task;
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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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#ifdef EXTERNAL_MEMORY
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out_free_process_data:
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kfree(domain1_pd);
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#endif
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out_release_master:
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printk(KERN_ERR PFX "Releasing master...\n");
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ecrt_release_master(master);
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out_return:
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printk(KERN_ERR PFX "Failed to load. Aborting.\n");
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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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#ifdef EXTERNAL_MEMORY
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kfree(domain1_pd);
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#endif
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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 "Unloading.\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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