author | Florian Pose <fp@igh-essen.com> |
Thu, 11 May 2006 09:24:15 +0000 | |
changeset 230 | 382bdb9138ec |
parent 224 | 4828e5e419bf |
permissions | -rw-r--r-- |
220 | 1 |
/****************************************************************************** |
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* |
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* m s r _ r t . 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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* $Id$ |
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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; version 2 of the License. |
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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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*****************************************************************************/ |
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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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daa5e5656b35
Applied new path information to example modules.
Florian Pose <fp@igh-essen.com>
parents:
220
diff
changeset
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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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// Kanäle |
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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, "0:3", "Beckhoff", "EL5001", "InputValue", 0}, |
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{&r_ssi_st, "0:3", "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 bestätigen |
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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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printk("Domain %s started.\n", ipipe_current_domain->name); |
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ipipe_get_sysinfo(&sys_info); |
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ipipe_virtualize_irq(ipipe_current_domain,sys_info.archdep.tmirq, |
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&msr_run, NULL, IPIPE_HANDLE_MASK); |
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ipipe_tune_timer(1000000000UL / MSR_ABTASTFREQUENZ, 0); |
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} |
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/*****************************************************************************/ |
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int __init init_rt_module(void) |
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{ |
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struct ipipe_domain_attr attr; //ipipe |
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#if 1 |
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ec_slave_t *slave; |
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#endif |
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// Als allererstes die RT-Lib initialisieren |
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if (msr_rtlib_init(1, MSR_ABTASTFREQUENZ, 10, &msr_globals_register) < 0) { |
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printk(KERN_ERR "Failed to initialize rtlib!\n"); |
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goto out_return; |
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} |
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if ((master = ecrt_request_master(0)) == NULL) { |
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printk(KERN_ERR "Failed to request master 0!\n"); |
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goto out_msr_cleanup; |
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} |
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//ecrt_master_print(master, 2); |
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printk(KERN_INFO "Creating domains...\n"); |
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if (!(domain1 = ecrt_master_create_domain(master))) { |
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printk(KERN_ERR "Failed to create domains!\n"); |
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goto out_release_master; |
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} |
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printk(KERN_INFO "Registering domain fields...\n"); |
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if (ecrt_domain_register_field_list(domain1, domain1_fields)) { |
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printk(KERN_ERR "Failed to register domain fields.\n"); |
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goto out_release_master; |
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} |
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printk(KERN_INFO "Activating master...\n"); |
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if (ecrt_master_activate(master)) { |
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printk(KERN_ERR "Could not activate master!\n"); |
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goto out_release_master; |
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} |
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#if 0 |
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if (ecrt_master_start_eoe(master)) { |
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printk(KERN_ERR "Failed to start EoE processing!\n"); |
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goto out_deactivate; |
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} |
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#endif |
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#if 0 |
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if (ecrt_master_fetch_sdo_lists(master)) { |
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printk(KERN_ERR "Failed to fetch SDO lists!\n"); |
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goto out_deactivate; |
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} |
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ecrt_master_print(master, 2); |
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#else |
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ecrt_master_print(master, 0); |
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#endif |
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#if 1 |
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if (!(slave = ecrt_master_get_slave(master, "0:3"))) { |
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printk(KERN_ERR "Failed to get slave!\n"); |
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goto out_deactivate; |
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} |
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if ( |
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ecrt_slave_sdo_write_exp8(slave, 0x4061, 1, 1) || // disable frame error bit |
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ecrt_slave_sdo_write_exp8(slave, 0x4061, 2, 0) || // power failure bit |
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ecrt_slave_sdo_write_exp8(slave, 0x4061, 3, 1) || // inhibit time |
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ecrt_slave_sdo_write_exp8(slave, 0x4061, 4, 0) || // test mode |
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ecrt_slave_sdo_write_exp8(slave, 0x4066, 0, 1) || // dualcode |
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ecrt_slave_sdo_write_exp8(slave, 0x4067, 0, 5) || // 125kbaud |
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ecrt_slave_sdo_write_exp8(slave, 0x4068, 0, 0) || // single-turn |
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ecrt_slave_sdo_write_exp8(slave, 0x4069, 0, 25) || // frame size |
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ecrt_slave_sdo_write_exp8(slave, 0x406A, 0, 25) || // data length |
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ecrt_slave_sdo_write_exp16(slave, 0x406B, 0, 30000) // inhibit time in us |
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) { |
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printk(KERN_ERR "Failed to configure SSI slave!\n"); |
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goto out_deactivate; |
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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, "1:0"))) { |
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printk(KERN_ERR "Failed to get slave!\n"); |
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goto out_deactivate; |
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} |
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if (ecrt_slave_write_alias(slave, 0x5678)) { |
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printk(KERN_ERR "Failed to write alias!\n"); |
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goto out_deactivate; |
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} |
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#endif |
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#ifdef ASYNC |
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// Einmal senden und warten... |
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ecrt_master_prepare_async_io(master); |
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#endif |
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ipipe_init_attr(&attr); |
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attr.name = "IPIPE-MSR-MODULE"; |
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attr.priority = IPIPE_ROOT_PRIO + 1; |
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attr.entry = &domain_entry; |
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ipipe_register_domain(&this_domain, &attr); |
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return 0; |
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#if 1 |
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out_deactivate: |
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ecrt_master_deactivate(master); |
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#endif |
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out_release_master: |
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ecrt_release_master(master); |
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out_msr_cleanup: |
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msr_rtlib_cleanup(); |
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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_rt_module(void) |
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{ |
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printk(KERN_INFO "Cleanign up rt module...\n"); |
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ipipe_tune_timer(1000000000UL / HZ, 0); // Alten Timertakt wiederherstellen |
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ipipe_unregister_domain(&this_domain); |
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printk(KERN_INFO "=== Stopping EtherCAT environment... ===\n"); |
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ecrt_master_deactivate(master); |
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ecrt_release_master(master); |
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printk(KERN_INFO "=== EtherCAT environment stopped. ===\n"); |
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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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*/ |