rt/msr_module.c
author Florian Pose <fp@igh-essen.com>
Mon, 10 Apr 2006 10:50:45 +0000
changeset 175 2e4b18203ade
parent 170 357dd6f677fd
permissions -rw-r--r--
Altered CoE "Get object description response" fields
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/******************************************************************************
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 *
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 *  msr_module.c
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 *
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 *  Kernelmodul für 2.6 Kernel zur Meßdatenerfassung, Steuerung und Regelung.
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 *
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 *  Autor: Wilhelm Hagemeister, Florian Pose
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 *
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 *  (C) Copyright IgH 2002
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 *  Ingenieurgemeinschaft IgH
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 *  Heinz-Bäcker Str. 34
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 *  D-45356 Essen
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 *  Tel.: +49 201/61 99 31
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 *  Fax.: +49 201/61 98 36
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 *  E-mail: hm@igh-essen.com
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 *
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 *  $Id$
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 *
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 *****************************************************************************/
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// Linux
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#include <linux/module.h>
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#include <linux/ipipe.h>
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#include <linux/slab.h>
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#include <linux/vmalloc.h>
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#include <linux/delay.h>
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// RT_lib
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#include <msr_main.h>
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#include <msr_utils.h>
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#include <msr_messages.h>
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#include <msr_float.h>
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#include <msr_reg.h>
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#include <msr_time.h>
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#include "msr_param.h"
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// EtherCAT
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#include "../include/ecrt.h"
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#define ASYNC
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// Defines/Makros
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#define HZREDUCTION (MSR_ABTASTFREQUENZ / HZ)
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/*****************************************************************************/
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/* Globale Variablen */
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// Adeos
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static struct ipipe_domain this_domain;
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static struct ipipe_sysinfo sys_info;
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// EtherCAT
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ec_master_t *master = NULL;
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ec_domain_t *domain1 = NULL;
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// Prozessdaten
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void *r_ssi;
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void *r_ssi_st;
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// KanŽäle
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uint32_t k_ssi;
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uint32_t k_ssi_st;
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ec_field_init_t domain1_fields[] = {
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    {&r_ssi,    "5", "Beckhoff", "EL5001", "InputValue", 0},
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    {&r_ssi_st, "5", "Beckhoff", "EL5001", "Status",     0},
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    {}
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};
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/*****************************************************************************/
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static void msr_controller_run(void)
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{
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#ifdef ASYNC
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    // Empfangen
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    ecrt_master_async_receive(master);
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    ecrt_domain_process(domain1);
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#else
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    // Senden und empfangen
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    ecrt_domain_queue(domain1);
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    ecrt_master_run(master);
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    ecrt_master_sync_io(master);
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    ecrt_domain_process(domain1);
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#endif
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    // Prozessdaten verarbeiten
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    k_ssi =    EC_READ_U32(r_ssi);
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    k_ssi_st = EC_READ_U8 (r_ssi_st);
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#ifdef ASYNC
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    // Senden
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    ecrt_domain_queue(domain1);
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    ecrt_master_run(master);
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    ecrt_master_async_send(master);
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#endif
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}
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/*****************************************************************************/
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int msr_globals_register(void)
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{
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    msr_reg_kanal("/ssi_position", "", &k_ssi,    TUINT);
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    msr_reg_kanal("/ssi_status",   "", &k_ssi_st, TUINT);
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    return 0;
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}
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/*****************************************************************************/
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void msr_run(unsigned irq)
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{
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    static int counter = 0;
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    MSR_ADEOS_INTERRUPT_CODE(msr_controller_run(); msr_write_kanal_list(););
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    ipipe_control_irq(irq, 0, IPIPE_ENABLE_MASK); // Interrupt bestŽätigen
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    if (++counter >= HZREDUCTION) {
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	ipipe_propagate_irq(irq);  // und weiterreichen
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	counter = 0;
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    }
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}
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/*****************************************************************************/
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void domain_entry(void)
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{
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parents: 40
diff changeset
   126
    printk("Domain %s started.\n", ipipe_current_domain->name);
28
801dc7eabf51 IPIPE,floatpoint,rtlib
Wilhelm Hagemeister <hm@igh-essen.com>
parents:
diff changeset
   127
801dc7eabf51 IPIPE,floatpoint,rtlib
Wilhelm Hagemeister <hm@igh-essen.com>
parents:
diff changeset
   128
    ipipe_get_sysinfo(&sys_info);
801dc7eabf51 IPIPE,floatpoint,rtlib
Wilhelm Hagemeister <hm@igh-essen.com>
parents:
diff changeset
   129
    ipipe_virtualize_irq(ipipe_current_domain,sys_info.archdep.tmirq,
801dc7eabf51 IPIPE,floatpoint,rtlib
Wilhelm Hagemeister <hm@igh-essen.com>
parents:
diff changeset
   130
			 &msr_run, NULL, IPIPE_HANDLE_MASK);
801dc7eabf51 IPIPE,floatpoint,rtlib
Wilhelm Hagemeister <hm@igh-essen.com>
parents:
diff changeset
   131
68
a452700db994 Neue ASCII-Adressierung und Code-Dokumantation.
Florian Pose <fp@igh-essen.com>
parents: 62
diff changeset
   132
    ipipe_tune_timer(1000000000UL / MSR_ABTASTFREQUENZ, 0);
42
a22a202d0f42 Domains, Warten beim Senden, 10kHz.
Florian Pose <fp@igh-essen.com>
parents: 40
diff changeset
   133
}
a22a202d0f42 Domains, Warten beim Senden, 10kHz.
Florian Pose <fp@igh-essen.com>
parents: 40
diff changeset
   134
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   135
/*****************************************************************************/
28
801dc7eabf51 IPIPE,floatpoint,rtlib
Wilhelm Hagemeister <hm@igh-essen.com>
parents:
diff changeset
   136
54
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 51
diff changeset
   137
int __init init_rt_module(void)
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 51
diff changeset
   138
{
28
801dc7eabf51 IPIPE,floatpoint,rtlib
Wilhelm Hagemeister <hm@igh-essen.com>
parents:
diff changeset
   139
    struct ipipe_domain_attr attr; //ipipe
170
357dd6f677fd Testing with SSI sensor
Florian Pose <fp@igh-essen.com>
parents: 158
diff changeset
   140
#if 1
138
7e743a61a991 SDO-Schnittstelle verbessert.
Florian Pose <fp@igh-essen.com>
parents: 137
diff changeset
   141
    ec_slave_t *slave;
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 142
diff changeset
   142
#endif
137
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig...
Florian Pose <fp@igh-essen.com>
parents: 136
diff changeset
   143
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig...
Florian Pose <fp@igh-essen.com>
parents: 136
diff changeset
   144
    // Als allererstes die RT-Lib initialisieren
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   145
    if (msr_rtlib_init(1, MSR_ABTASTFREQUENZ, 10, &msr_globals_register) < 0) {
28
801dc7eabf51 IPIPE,floatpoint,rtlib
Wilhelm Hagemeister <hm@igh-essen.com>
parents:
diff changeset
   146
        msr_print_warn("msr_modul: can't initialize rtlib!");
36
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
Florian Pose <fp@igh-essen.com>
parents: 33
diff changeset
   147
        goto out_return;
28
801dc7eabf51 IPIPE,floatpoint,rtlib
Wilhelm Hagemeister <hm@igh-essen.com>
parents:
diff changeset
   148
    }
801dc7eabf51 IPIPE,floatpoint,rtlib
Wilhelm Hagemeister <hm@igh-essen.com>
parents:
diff changeset
   149
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 98
diff changeset
   150
    if ((master = ecrt_request_master(0)) == NULL) {
158
363412c9304e Adjusted rt module.
Florian Pose <fp@igh-essen.com>
parents: 156
diff changeset
   151
        printk(KERN_ERR "Failed to request master 0!\n");
36
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
Florian Pose <fp@igh-essen.com>
parents: 33
diff changeset
   152
        goto out_msr_cleanup;
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
Florian Pose <fp@igh-essen.com>
parents: 33
diff changeset
   153
    }
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
Florian Pose <fp@igh-essen.com>
parents: 33
diff changeset
   154
156
43d7d714679f Plugfest: rt und mini angepasst.
Florian Pose <fp@igh-essen.com>
parents: 144
diff changeset
   155
    //ecrt_master_print(master, 2);
43d7d714679f Plugfest: rt und mini angepasst.
Florian Pose <fp@igh-essen.com>
parents: 144
diff changeset
   156
158
363412c9304e Adjusted rt module.
Florian Pose <fp@igh-essen.com>
parents: 156
diff changeset
   157
    printk(KERN_INFO "Creating domains...\n");
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 98
diff changeset
   158
    if (!(domain1 = ecrt_master_create_domain(master))) {
158
363412c9304e Adjusted rt module.
Florian Pose <fp@igh-essen.com>
parents: 156
diff changeset
   159
        printk(KERN_ERR "Failed to create domains!\n");
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   160
        goto out_release_master;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   161
    }
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   162
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   163
    printk(KERN_INFO "Registering domain fields...\n");
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 98
diff changeset
   164
    if (ecrt_domain_register_field_list(domain1, domain1_fields)) {
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 91
diff changeset
   165
        printk(KERN_ERR "Failed to register domain fields.\n");
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 91
diff changeset
   166
        goto out_release_master;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 91
diff changeset
   167
    }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 91
diff changeset
   168
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   169
    printk(KERN_INFO "Activating master...\n");
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 98
diff changeset
   170
    if (ecrt_master_activate(master)) {
80
8cd08d73b560 CANopen SDO read implementiert.
Florian Pose <fp@igh-essen.com>
parents: 73
diff changeset
   171
        printk(KERN_ERR "Could not activate master!\n");
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   172
        goto out_release_master;
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   173
    }
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   174
158
363412c9304e Adjusted rt module.
Florian Pose <fp@igh-essen.com>
parents: 156
diff changeset
   175
#if 0
135
80d493917205 Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents: 134
diff changeset
   176
    if (ecrt_master_fetch_sdo_lists(master)) {
80d493917205 Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents: 134
diff changeset
   177
        printk(KERN_ERR "Failed to fetch SDO lists!\n");
80d493917205 Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents: 134
diff changeset
   178
        goto out_deactivate;
80d493917205 Laden der SDO Dictionaries funktioniert.
Florian Pose <fp@igh-essen.com>
parents: 134
diff changeset
   179
    }
140
b09658e50d6f Verbosity level in ecrt_master_print().
Florian Pose <fp@igh-essen.com>
parents: 139
diff changeset
   180
    ecrt_master_print(master, 2);
b09658e50d6f Verbosity level in ecrt_master_print().
Florian Pose <fp@igh-essen.com>
parents: 139
diff changeset
   181
#else
142
e933f1adb550 Link Status ausgelesen.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
   182
    ecrt_master_print(master, 1);
140
b09658e50d6f Verbosity level in ecrt_master_print().
Florian Pose <fp@igh-essen.com>
parents: 139
diff changeset
   183
#endif
b09658e50d6f Verbosity level in ecrt_master_print().
Florian Pose <fp@igh-essen.com>
parents: 139
diff changeset
   184
170
357dd6f677fd Testing with SSI sensor
Florian Pose <fp@igh-essen.com>
parents: 158
diff changeset
   185
#if 1
357dd6f677fd Testing with SSI sensor
Florian Pose <fp@igh-essen.com>
parents: 158
diff changeset
   186
    if (!(slave = ecrt_master_get_slave(master, "5"))) {
357dd6f677fd Testing with SSI sensor
Florian Pose <fp@igh-essen.com>
parents: 158
diff changeset
   187
        printk(KERN_ERR "Failed to get slave!\n");
138
7e743a61a991 SDO-Schnittstelle verbessert.
Florian Pose <fp@igh-essen.com>
parents: 137
diff changeset
   188
        goto out_deactivate;
7e743a61a991 SDO-Schnittstelle verbessert.
Florian Pose <fp@igh-essen.com>
parents: 137
diff changeset
   189
    }
7e743a61a991 SDO-Schnittstelle verbessert.
Florian Pose <fp@igh-essen.com>
parents: 137
diff changeset
   190
170
357dd6f677fd Testing with SSI sensor
Florian Pose <fp@igh-essen.com>
parents: 158
diff changeset
   191
    if (
357dd6f677fd Testing with SSI sensor
Florian Pose <fp@igh-essen.com>
parents: 158
diff changeset
   192
        ecrt_slave_sdo_write_exp8(slave, 0x4061, 1,  1) || // disable frame error bit
357dd6f677fd Testing with SSI sensor
Florian Pose <fp@igh-essen.com>
parents: 158
diff changeset
   193
        ecrt_slave_sdo_write_exp8(slave, 0x4061, 2,  0) || // power failure bit
357dd6f677fd Testing with SSI sensor
Florian Pose <fp@igh-essen.com>
parents: 158
diff changeset
   194
        ecrt_slave_sdo_write_exp8(slave, 0x4061, 3,  1) || // inhibit time
357dd6f677fd Testing with SSI sensor
Florian Pose <fp@igh-essen.com>
parents: 158
diff changeset
   195
        ecrt_slave_sdo_write_exp8(slave, 0x4061, 4,  0) || // test mode
357dd6f677fd Testing with SSI sensor
Florian Pose <fp@igh-essen.com>
parents: 158
diff changeset
   196
        ecrt_slave_sdo_write_exp8(slave, 0x4066, 0,  1) || // dualcode
357dd6f677fd Testing with SSI sensor
Florian Pose <fp@igh-essen.com>
parents: 158
diff changeset
   197
        ecrt_slave_sdo_write_exp8(slave, 0x4067, 0,  5) || // 125kbaud
357dd6f677fd Testing with SSI sensor
Florian Pose <fp@igh-essen.com>
parents: 158
diff changeset
   198
        ecrt_slave_sdo_write_exp8(slave, 0x4068, 0,  0) || // single-turn
357dd6f677fd Testing with SSI sensor
Florian Pose <fp@igh-essen.com>
parents: 158
diff changeset
   199
        ecrt_slave_sdo_write_exp8(slave, 0x4069, 0, 25) || // frame size
357dd6f677fd Testing with SSI sensor
Florian Pose <fp@igh-essen.com>
parents: 158
diff changeset
   200
        ecrt_slave_sdo_write_exp8(slave, 0x406A, 0, 25) || // data length
357dd6f677fd Testing with SSI sensor
Florian Pose <fp@igh-essen.com>
parents: 158
diff changeset
   201
        ecrt_slave_sdo_write_exp16(slave, 0x406B, 0, 30000) // inhibit time in us
357dd6f677fd Testing with SSI sensor
Florian Pose <fp@igh-essen.com>
parents: 158
diff changeset
   202
        ) {
133
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
Florian Pose <fp@igh-essen.com>
parents: 112
diff changeset
   203
        printk(KERN_ERR "Failed to configure SSI slave!\n");
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
Florian Pose <fp@igh-essen.com>
parents: 112
diff changeset
   204
        goto out_deactivate;
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
Florian Pose <fp@igh-essen.com>
parents: 112
diff changeset
   205
    }
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
Florian Pose <fp@igh-essen.com>
parents: 112
diff changeset
   206
#endif
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
Florian Pose <fp@igh-essen.com>
parents: 112
diff changeset
   207
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 98
diff changeset
   208
#ifdef ASYNC
106
d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
   209
    // Einmal senden und warten...
d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
   210
    ecrt_master_prepare_async_io(master);
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 98
diff changeset
   211
#endif
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 98
diff changeset
   212
61
cd014255f94f register_slave_list() und Bugfix in deactivate_slaves()
Florian Pose <fp@igh-essen.com>
parents: 59
diff changeset
   213
    ipipe_init_attr(&attr);
cd014255f94f register_slave_list() und Bugfix in deactivate_slaves()
Florian Pose <fp@igh-essen.com>
parents: 59
diff changeset
   214
    attr.name = "IPIPE-MSR-MODULE";
28
801dc7eabf51 IPIPE,floatpoint,rtlib
Wilhelm Hagemeister <hm@igh-essen.com>
parents:
diff changeset
   215
    attr.priority = IPIPE_ROOT_PRIO + 1;
61
cd014255f94f register_slave_list() und Bugfix in deactivate_slaves()
Florian Pose <fp@igh-essen.com>
parents: 59
diff changeset
   216
    attr.entry = &domain_entry;
cd014255f94f register_slave_list() und Bugfix in deactivate_slaves()
Florian Pose <fp@igh-essen.com>
parents: 59
diff changeset
   217
    ipipe_register_domain(&this_domain, &attr);
36
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
Florian Pose <fp@igh-essen.com>
parents: 33
diff changeset
   218
    return 0;
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
Florian Pose <fp@igh-essen.com>
parents: 33
diff changeset
   219
170
357dd6f677fd Testing with SSI sensor
Florian Pose <fp@igh-essen.com>
parents: 158
diff changeset
   220
#if 1
133
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
Florian Pose <fp@igh-essen.com>
parents: 112
diff changeset
   221
 out_deactivate:
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
Florian Pose <fp@igh-essen.com>
parents: 112
diff changeset
   222
    ecrt_master_deactivate(master);
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 142
diff changeset
   223
#endif
36
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
Florian Pose <fp@igh-essen.com>
parents: 33
diff changeset
   224
 out_release_master:
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 98
diff changeset
   225
    ecrt_release_master(master);
36
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
Florian Pose <fp@igh-essen.com>
parents: 33
diff changeset
   226
 out_msr_cleanup:
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
Florian Pose <fp@igh-essen.com>
parents: 33
diff changeset
   227
    msr_rtlib_cleanup();
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
Florian Pose <fp@igh-essen.com>
parents: 33
diff changeset
   228
 out_return:
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
Florian Pose <fp@igh-essen.com>
parents: 33
diff changeset
   229
    return -1;
28
801dc7eabf51 IPIPE,floatpoint,rtlib
Wilhelm Hagemeister <hm@igh-essen.com>
parents:
diff changeset
   230
}
801dc7eabf51 IPIPE,floatpoint,rtlib
Wilhelm Hagemeister <hm@igh-essen.com>
parents:
diff changeset
   231
42
a22a202d0f42 Domains, Warten beim Senden, 10kHz.
Florian Pose <fp@igh-essen.com>
parents: 40
diff changeset
   232
/*****************************************************************************/
a22a202d0f42 Domains, Warten beim Senden, 10kHz.
Florian Pose <fp@igh-essen.com>
parents: 40
diff changeset
   233
54
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 51
diff changeset
   234
void __exit cleanup_rt_module(void)
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 51
diff changeset
   235
{
28
801dc7eabf51 IPIPE,floatpoint,rtlib
Wilhelm Hagemeister <hm@igh-essen.com>
parents:
diff changeset
   236
    msr_print_info("msk_modul: unloading...");
801dc7eabf51 IPIPE,floatpoint,rtlib
Wilhelm Hagemeister <hm@igh-essen.com>
parents:
diff changeset
   237
45
f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt).
Florian Pose <fp@igh-essen.com>
parents: 43
diff changeset
   238
    ipipe_tune_timer(1000000000UL / HZ, 0); //alten Timertakt wieder herstellen
28
801dc7eabf51 IPIPE,floatpoint,rtlib
Wilhelm Hagemeister <hm@igh-essen.com>
parents:
diff changeset
   239
    ipipe_unregister_domain(&this_domain);
801dc7eabf51 IPIPE,floatpoint,rtlib
Wilhelm Hagemeister <hm@igh-essen.com>
parents:
diff changeset
   240
156
43d7d714679f Plugfest: rt und mini angepasst.
Florian Pose <fp@igh-essen.com>
parents: 144
diff changeset
   241
    if (master) {
43
35120a61d55e Sch?nheitskorrekturen.
Florian Pose <fp@igh-essen.com>
parents: 42
diff changeset
   242
        printk(KERN_INFO "=== Stopping EtherCAT environment... ===\n");
35120a61d55e Sch?nheitskorrekturen.
Florian Pose <fp@igh-essen.com>
parents: 42
diff changeset
   243
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   244
        printk(KERN_INFO "Deactivating master...\n");
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 98
diff changeset
   245
        ecrt_master_deactivate(master);
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
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        ecrt_release_master(master);
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        printk(KERN_INFO "=== EtherCAT environment stopped. ===\n");
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    }
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    msr_rtlib_cleanup();
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}
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/*****************************************************************************/
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#define EC_LIT(X) #X
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#define EC_STR(X) EC_LIT(X)
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#define COMPILE_INFO "Revision " EC_STR(SVNREV) \
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                     ", compiled by " EC_STR(USER) \
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                     " at " __DATE__ " " __TIME__
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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 real-time test environment");
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MODULE_VERSION(COMPILE_INFO);
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module_init(init_rt_module);
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module_exit(cleanup_rt_module);
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/*****************************************************************************/
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/* Emacs-Konfiguration
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;;; Local Variables: ***
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;;; c-basic-offset:4 ***
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;;; End: ***
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*/