Good morning,
I’m trying to create a simple application equal to the “user” example provided
with the EtherCAT master documentation (the code is attached at the end of this
message), but in a kernel version. I’ve adopted the basic environment of the
“mini”example but i cannot include the “/usr/include” directory (where lies the
time.h header, useful for the clock_gettime function).
Could you give me any hints in order to solve this problem?
Thank you for your help.
Tommaso
#include <linux/version.h>
#include <linux/module.h>
#include <linux/timer.h>
#include <linux/interrupt.h>
#include <linux/err.h>
//#include <linux/time.h>
#include <time.h>
#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 34)
#include <linux/slab.h>
#endif
#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 27)
#include <linux/semaphore.h>
#else
#include <asm/semaphore.h>
#endif
#include "/usr/local/etherlab/src/ethercat-1.5.2/include/ecrt.h" // EtherCAT
realtime interface
/*****************************************************************************/
// Module parameters
#define FREQUENCY 1000
// Optional features
#define EXTERNAL_MEMORY 1
#define CLOCK_TO_USE CLOCK_REALTIME
#define MEASURE_TIMING
/****************************************************************************/
#define NSEC_PER_SEC (1000000000L)
#define PERIOD_NS (NSEC_PER_SEC / FREQUENCY)
#define DIFF_NS(A, B) (((B).tv_sec - (A).tv_sec) * NSEC_PER_SEC + (B).tv_nsec -
(A).tv_nsec)
#define TIMESPEC2NS(T) ((uint64_t) (T).tv_sec * NSEC_PER_SEC + (T).tv_nsec)
#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 = {};
// Timer
static struct timer_list timer;
/*****************************************************************************/
// process data
static uint8_t *domain1_pd; // process data memory
#define BusCouplerPos 0, 0
#define DigOutSlavePos 0, 1
#define AnaOutSlavePos 0, 6
#define Beckhoff_EK1100 0x00000002, 0x044c2c52
#define Beckhoff_EL2004 0x00000002, 0x07d43052
#define Beckhoff_EL4002 0x00000002, 0x0fa23052
// offsets for PDO entries
static unsigned int off_ana_out;
static unsigned int off_dig_out;
/*const static ec_pdo_entry_reg_t domain1_regs[] = {
{AnaOutSlavePos, Beckhoff_EL4002, 0x7000, 1, &off_ana_out},
{DigOutSlavePos, Beckhoff_EL2004, 0x7000, 1, &off_dig_out},
{}
};*/
static unsigned int counter = 0;
static unsigned int blink = 0;
static unsigned int sync_ref_counter = 0;
const struct timespec cycletime = {0, PERIOD_NS};
/*****************************************************************************/
// Analog out -------------------------
ec_pdo_entry_info_t el4002_pdo_entries[] = {
{0x7000, 0x01, 16}, /* Analog output */
{0x7010, 0x01, 16}, /* Analog output */
};
ec_pdo_info_t el4002_pdos[] = {
{0x1600, 1, el4002_pdo_entries + 0}, /* RxPDO-Map OutputsCh.1 */
{0x1601, 1, el4002_pdo_entries + 1}, /* RxPDO-Map OutputsCh.2 */
};
ec_sync_info_t el4002_syncs[] = {
{2, EC_DIR_OUTPUT, 2, el4002_pdos + 0, EC_WD_DISABLE},
{3, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
{0xff}
};
// Digital out ------------------------
ec_pdo_entry_info_t el2004_channels[] = {
{0x7000, 0x01, 1}, /* Output */
{0x7010, 0x01, 1}, /* Output */
{0x7020, 0x01, 1}, /* Output */
{0x7030, 0x01, 1}, /* Output */
};
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]}
};
ec_sync_info_t el2004_syncs[] = {
{0, EC_DIR_OUTPUT, 4, el2004_pdos + 0, EC_WD_ENABLE},
{1, EC_DIR_INPUT},
{0xff}
};
/*****************************************************************************/
struct timespec timespec_add(struct timespec time1, struct timespec time2)
{
struct timespec result;
if ((time1.tv_nsec + time2.tv_nsec) >= NSEC_PER_SEC) {
result.tv_sec = time1.tv_sec + time2.tv_sec + 1;
result.tv_nsec = time1.tv_nsec + time2.tv_nsec - NSEC_PER_SEC;
} else {
result.tv_sec = time1.tv_sec + time2.tv_sec;
result.tv_nsec = time1.tv_nsec + time2.tv_nsec;
}
return result;
}
/*****************************************************************************/
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 cyclic_task(unsigned long data)
{
struct timespec wakeupTime, time;
#ifdef MEASURE_TIMING
struct timespec startTime, endTime, lastStartTime = {};
uint32_t period_ns = 0, exec_ns = 0, latency_ns = 0,
latency_min_ns = 0, latency_max_ns = 0,
period_min_ns = 0, period_max_ns = 0,
exec_min_ns = 0, exec_max_ns = 0;
// get current time from the clock set in "CLOCK_TO_USE" and put it into
wakeupTime
clock_gettime(CLOCK_TO_USE, &startTime);
latency_ns = DIFF_NS(wakeupTime, startTime);
period_ns = DIFF_NS(lastStartTime, startTime);
exec_ns = DIFF_NS(lastStartTime, endTime);
lastStartTime = startTime;
if (latency_ns > latency_max_ns) {
latency_max_ns = latency_ns;
}
if (latency_ns < latency_min_ns) {
latency_min_ns = latency_ns;
}
if (period_ns > period_max_ns) {
period_max_ns = period_ns;
}
if (period_ns < period_min_ns) {
period_min_ns = period_ns;
}
if (exec_ns > exec_max_ns) {
exec_max_ns = exec_ns;
}
if (exec_ns < exec_min_ns) {
exec_min_ns = exec_ns;
}
#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 {
counter = FREQUENCY;
// check for master state (optional)
check_master_state();
#ifdef MEASURE_TIMING
// output timing stats
printk(KERN_INFO PFX "period %10u ... %10u\n", period_min_ns,
period_max_ns);
printk(KERN_INFO PFX "exec %10u ... %10u\n", exec_min_ns,
exec_max_ns);
printk(KERN_INFO PFX "latency %10u ... %10u\n", latency_min_ns,
latency_max_ns);
period_max_ns = 0;
period_min_ns = 0xffffffff;
exec_max_ns = 0;
exec_min_ns = 0xffffffff;
latency_max_ns = 0;
latency_min_ns = 0xffffffff;
#endif
// calculate new process data
blink = !blink;
}
// write process data
EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x06 : 0x09);
// write application time to master
clock_gettime(CLOCK_TO_USE, &time);
ecrt_master_application_time(master, TIMESPEC2NS(time));
if (sync_ref_counter) {
sync_ref_counter--;
} else {
sync_ref_counter = 1; // sync every cycle
ecrt_master_sync_reference_clock(master);
}
ecrt_master_sync_slave_clocks(master);
// send process data
down(&master_sem);
ecrt_domain_queue(domain1);
ecrt_master_send(master);
up(&master_sem);
#ifdef MEASURE_TIMING
clock_gettime(CLOCK_TO_USE, &endTime);
#endif
// restart timer
timer.expires += HZ/FREQUENCY;
add_timer(&timer);
#ifdef MEASURE_TIMING
clock_gettime(CLOCK_TO_USE, &wakeupTime);
#endif
}
/*****************************************************************************/
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;
ec_slave_config_t *sc;
#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;
}
// Create configuration for bus coupler
sc = ecrt_master_slave_config(master, BusCouplerPos, Beckhoff_EK1100);
if (!sc)
goto out_release_master;
//Create configuration for digital output
if (!(sc = ecrt_master_slave_config(master, DigOutSlavePos,
Beckhoff_EL2004))) {
printk(KERN_ERR PFX "Failed to get slave configuration.\n");
goto out_release_master;
}
off_dig_out = ecrt_slave_config_reg_pdo_entry(sc, 0x7000, 1, domain1, NULL);
if (off_dig_out < 0)
goto out_release_master;
ecrt_slave_config_dc(sc, 0x0300, PERIOD_NS, 4400000, 0, 0);
if (!(sc = ecrt_master_slave_config(master, AnaOutSlavePos,
Beckhoff_EL4002))) {
printk(KERN_ERR PFX "Failed to get slave configuration.\n");
goto out_release_master;
}
off_ana_out = ecrt_slave_config_reg_pdo_entry(sc, 0x7000, 1, domain1, NULL);
if (off_dig_out < 0)
goto out_release_master;
// configure SYNC signals for this slave
ecrt_slave_config_dc(sc, 0x0700, PERIOD_NS, 4400000, 0, 0);
/*
if (!(sc = ecrt_master_slave_config(master, AnaOutSlavePos,
Beckhoff_EL4002))) {
printk(KERN_ERR PFX "Failed to get slave configuration.\n");
goto out_release_master;
}
if (ecrt_slave_config_pdos(sc, EC_END, el4002_syncs)) {
printk(KERN_ERR PFX "Failed to configure PDOs.\n");
goto out_release_master;
}
ecrt_slave_config_dc(sc, 0x0700, PERIOD_NS, 4400000, 0, 0);
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;
}
ecrt_slave_config_dc(sc, 0x0300, PERIOD_NS, 4400000, 0, 0);
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");
init_timer(&timer);
timer.function = cyclic_task;
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 <f...@igh-essen.com>");
MODULE_DESCRIPTION("EtherCAT minimal test environment");
module_init(init_mini_module);
module_exit(cleanup_mini_module);
/*****************************************************************************/
_______________________________________________
etherlab-users mailing list
etherlab-users@etherlab.org
http://lists.etherlab.org/mailman/listinfo/etherlab-users
