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/******************************************************************************

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 *

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 *  msr_module.c

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 *

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 *  Kernelmodul f�ür 2.6 Kernel zur Me�ßdatenerfassung, 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-B�äcker 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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// 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_param.h"

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#include "msr_jitter.h"

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// EtherCAT

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#include "../include/EtherCAT_rt.h"

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#include "../include/EtherCAT_si.h"

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// Defines/Makros

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#define TSC2US(T1, T2) ((T2 - T1) * 1000UL / cpu_khz)

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#define HZREDUCTION (MSR_ABTASTFREQUENZ / HZ)

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/*****************************************************************************/

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/* Globale Variablen */

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// RT_lib

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extern struct timeval process_time;

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struct timeval msr_time_increment; // Increment per Interrupt

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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_slave_t *s_in1, *s_out1, *s_ssi, *s_inc;

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uint16_t angle0;

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ec_slave_init_t slaves[] = {

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    {&s_in1,  "1", "Beckhoff", "EL3102", 0},

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    {&s_out1, "2", "Beckhoff", "EL2004", 0},

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    {&s_ssi,  "3", "Beckhoff", "EL5001", 0},

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    {&s_inc,  "0:4", "Beckhoff", "EL5101", 0}

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};

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#define SLAVE_COUNT (sizeof(slaves) / sizeof(ec_slave_init_t))

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/******************************************************************************

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 *

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 * Function: msr_controller_run()

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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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    static unsigned int counter = 0;

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    msr_jitter_run(MSR_ABTASTFREQUENZ);

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    EC_WRITE_EL20XX(s_out1, 3, EC_READ_EL31XX(s_in1, 0) < 0);

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    if (!counter) {

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        EtherCAT_rt_debug_level(master, 2);

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    }

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    // Prozessdaten lesen und schreiben

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    EtherCAT_rt_domain_xio(master, 0, 40);

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    if (counter) {

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        counter--;

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    }

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    else {

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        EtherCAT_rt_debug_level(master, 0);

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        printk("SSI status=0x%X value=%u\n",

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               EC_READ_EL5001_STATE(s_ssi), EC_READ_EL5001_VALUE(s_ssi));

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        printk("INC status=0x%X value=%u\n",

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               EC_READ_EL5101_STATE(s_inc), EC_READ_EL5101_VALUE(s_inc));

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        counter = MSR_ABTASTFREQUENZ * 5;

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    }

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    angle0 = EC_READ_EL5101_VALUE(s_inc);

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}

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/******************************************************************************

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 *

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 *  Function: msr_run(_interrupt)

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 *

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 *  Beschreibung: Routine wird zyklisch im Timerinterrupt ausgef�ührt

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 *                (hier mu�ß alles rein, was Echtzeit ist ...)

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 *

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 *  Parameter: Zeiger auf msr_data

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 *

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 *  R�ückgabe:

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 *

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 *  Status: exp

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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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    timeval_add(&process_time, &process_time, &msr_time_increment);

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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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    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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 *

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 *  Function: msr_register_channels

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 *

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 *  Beschreibung: KanŽäle registrieren

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 *

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 *  Parameter:

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 *

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 *  RŽückgabe:

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 *

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 *  Status: exp

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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("/value", "V", &value, TDBL);

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    //msr_reg_kanal("/dig1", "", &dig1, TINT);

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    msr_reg_kanal("/angle0", "", &angle0, TINT);

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    return 0;

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}

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/******************************************************************************

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 * the init/clean material

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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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    // 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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        msr_print_warn("msr_modul: can't initialize rtlib!");

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        goto out_return;

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    }

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    msr_jitter_init();

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    printk(KERN_INFO "=== Starting EtherCAT environment... ===\n");

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    if ((master = EtherCAT_rt_request_master(0)) == NULL) {

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        printk(KERN_ERR "Error requesting master 0!\n");

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        goto out_msr_cleanup;

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    }

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    if (EtherCAT_rt_register_slave_list(master, slaves, SLAVE_COUNT)) {

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        printk(KERN_ERR "EtherCAT: Could not register slaves!\n");

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        goto out_release_master;

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    }

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    if (EtherCAT_rt_activate_slaves(master) < 0) {

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        printk(KERN_ERR "EtherCAT: Could not activate slaves!\n");

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        goto out_release_master;

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    }

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    if (EtherCAT_rt_canopen_sdo_write(master, s_ssi, 0x4067, 0, 1, 2)) {

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        printk(KERN_ERR "EtherCAT: Could not set SSI baud rate!\n");

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        goto out_release_master;

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    }

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    if (EtherCAT_rt_canopen_sdo_write(master, s_ssi, 0x4061, 4, 1, 1)) {

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        printk(KERN_ERR "EtherCAT: Could not set SSI feature bit!\n");

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        goto out_release_master;

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    }

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    do_gettimeofday(&process_time);

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    msr_time_increment.tv_sec = 0;

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    msr_time_increment.tv_usec = (unsigned int) (1000000 / MSR_ABTASTFREQUENZ);

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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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 out_release_master:

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    EtherCAT_rt_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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    msr_print_info("msk_modul: unloading...");

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    ipipe_tune_timer(1000000000UL / HZ, 0); //alten Timertakt wieder herstellen

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    ipipe_unregister_domain(&this_domain);

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    if (master)

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    {

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        printk(KERN_INFO "=== Stopping EtherCAT environment... ===\n");

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        printk(KERN_INFO "Deactivating slaves.\n");

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        if (EtherCAT_rt_deactivate_slaves(master) < 0) {

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          printk(KERN_WARNING "Warning - Could not deactivate slaves!\n");

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        }

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        EtherCAT_rt_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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MODULE_LICENSE("GPL");

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MODULE_AUTHOR ("Wilhelm Hagemeister <hm@igh-essen.com>");

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MODULE_DESCRIPTION ("EtherCAT test environment");

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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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*/