28
|
1 |
/**************************************************************************************************
|
|
2 |
*
|
|
3 |
* msr_module.c
|
|
4 |
*
|
|
5 |
* Kernelmodul für 2.6 Kernel zur Meßdatenerfassung, Steuerung und Regelung
|
|
6 |
* Zeitgeber ist der Timerinterrupt (tq)
|
|
7 |
*
|
|
8 |
* Autor: Wilhelm Hagemeister
|
|
9 |
*
|
|
10 |
* (C) Copyright IgH 2002
|
|
11 |
* Ingenieurgemeinschaft IgH
|
|
12 |
* Heinz-Bäcker Str. 34
|
|
13 |
* D-45356 Essen
|
|
14 |
* Tel.: +49 201/61 99 31
|
|
15 |
* Fax.: +49 201/61 98 36
|
|
16 |
* E-mail: hm@igh-essen.com
|
|
17 |
*
|
|
18 |
*
|
|
19 |
* $RCSfile: msr_module.c,v $
|
|
20 |
* $Revision: 1.1 $
|
|
21 |
* $Author: hm $
|
|
22 |
* $Date: 2005/11/14 20:32:57 $
|
|
23 |
* $State: Exp $
|
|
24 |
*
|
|
25 |
*
|
|
26 |
* $Log: msr_module.c,v $
|
|
27 |
* Revision 1.1 2005/11/14 20:32:57 hm
|
|
28 |
* Initial revision
|
|
29 |
*
|
|
30 |
* Revision 1.13 2005/06/17 11:35:13 hm
|
|
31 |
* *** empty log message ***
|
|
32 |
*
|
|
33 |
*
|
|
34 |
*
|
|
35 |
*
|
|
36 |
**************************************************************************************************/
|
|
37 |
|
|
38 |
|
|
39 |
/*--includes-------------------------------------------------------------------------------------*/
|
|
40 |
|
|
41 |
|
|
42 |
#ifndef __KERNEL__
|
|
43 |
# define __KERNEL__
|
|
44 |
#endif
|
|
45 |
#ifndef MODULE
|
|
46 |
# define MODULE
|
|
47 |
#endif
|
|
48 |
|
|
49 |
#include <linux/config.h>
|
|
50 |
#include <linux/module.h>
|
|
51 |
|
|
52 |
#include <linux/sched.h>
|
|
53 |
#include <linux/kernel.h>
|
|
54 |
#include <linux/vmalloc.h>
|
|
55 |
#include <linux/fs.h> /* everything... */
|
|
56 |
#include <linux/proc_fs.h>
|
|
57 |
#include <linux/time.h>
|
|
58 |
#include <linux/timer.h>
|
|
59 |
#include <linux/timex.h> /* fuer get_cycles */
|
|
60 |
#include <linux/errno.h> /* error codes */
|
|
61 |
#include <asm/msr.h> /* maschine-specific registers */
|
|
62 |
#include <linux/param.h> /* fuer HZ */
|
|
63 |
#include <linux/ipipe.h>
|
|
64 |
|
|
65 |
#include "msr_param.h" //wird im Projektverzeichnis erwartet
|
|
66 |
|
|
67 |
//#include <msr_control.h>
|
|
68 |
#include <msr_lists.h>
|
|
69 |
#include <msr_charbuf.h>
|
|
70 |
#include <msr_reg.h>
|
|
71 |
#include <msr_error_reg.h>
|
|
72 |
#include <msr_messages.h>
|
|
73 |
#include <msr_proc.h>
|
|
74 |
#include <msr_utils.h>
|
|
75 |
#include <msr_main.h>
|
|
76 |
|
|
77 |
|
|
78 |
#include <msr_float.h>
|
|
79 |
|
|
80 |
#include "../drivers/ec_master.h"
|
|
81 |
#include "../drivers/ec_device.h"
|
|
82 |
#include "../drivers/ec_types.h"
|
|
83 |
#include "../drivers/ec_module.h"
|
|
84 |
|
|
85 |
#include "msr_jitter.h"
|
|
86 |
|
|
87 |
MODULE_AUTHOR("Wilhelm Hagemeister, Ingenieurgemeinschaft IgH");
|
|
88 |
MODULE_LICENSE("GPL");
|
|
89 |
|
|
90 |
/*--external functions---------------------------------------------------------------------------*/
|
|
91 |
|
|
92 |
/*--external data--------------------------------------------------------------------------------*/
|
|
93 |
|
|
94 |
#define HZREDUCTION (MSR_ABTASTFREQUENZ/HZ)
|
|
95 |
|
|
96 |
extern wait_queue_head_t msr_read_waitqueue;
|
|
97 |
|
|
98 |
extern struct msr_char_buf *msr_kanal_puffer;
|
|
99 |
|
|
100 |
extern int proc_abtastfrequenz;
|
|
101 |
|
|
102 |
/*--public data----------------------------------------------------------------------------------*/
|
|
103 |
/*--local data-----------------------------------------------------------------------------------*/
|
|
104 |
//struct timer_list timer;
|
|
105 |
|
|
106 |
extern struct timeval process_time;
|
|
107 |
struct timeval msr_time_increment; // Increment per Interrupt
|
|
108 |
|
|
109 |
//adeos
|
|
110 |
|
|
111 |
static struct ipipe_domain this_domain;
|
|
112 |
|
|
113 |
static struct ipipe_sysinfo sys_info;
|
|
114 |
|
|
115 |
static EtherCAT_master_t *ecat_master = NULL;
|
|
116 |
|
|
117 |
static EtherCAT_slave_t ecat_slaves[] =
|
|
118 |
{
|
|
119 |
|
|
120 |
|
|
121 |
#if 1
|
|
122 |
// Block 1
|
|
123 |
ECAT_INIT_SLAVE(Beckhoff_EK1100),
|
|
124 |
ECAT_INIT_SLAVE(Beckhoff_EL4102),
|
|
125 |
ECAT_INIT_SLAVE(Beckhoff_EL1014),
|
|
126 |
ECAT_INIT_SLAVE(Beckhoff_EL3162),
|
|
127 |
ECAT_INIT_SLAVE(Beckhoff_EL2004),
|
|
128 |
ECAT_INIT_SLAVE(Beckhoff_EL3102),
|
|
129 |
ECAT_INIT_SLAVE(Beckhoff_EL2004),
|
|
130 |
ECAT_INIT_SLAVE(Beckhoff_EL2004),
|
|
131 |
ECAT_INIT_SLAVE(Beckhoff_EL2004),
|
|
132 |
ECAT_INIT_SLAVE(Beckhoff_EL2004),
|
|
133 |
ECAT_INIT_SLAVE(Beckhoff_EL2004),
|
|
134 |
|
|
135 |
// Block 2
|
|
136 |
ECAT_INIT_SLAVE(Beckhoff_EK1100),
|
|
137 |
ECAT_INIT_SLAVE(Beckhoff_EL1014),
|
|
138 |
ECAT_INIT_SLAVE(Beckhoff_EL1014),
|
|
139 |
ECAT_INIT_SLAVE(Beckhoff_EL1014),
|
|
140 |
ECAT_INIT_SLAVE(Beckhoff_EL1014),
|
|
141 |
ECAT_INIT_SLAVE(Beckhoff_EL1014),
|
|
142 |
ECAT_INIT_SLAVE(Beckhoff_EL2004),
|
|
143 |
ECAT_INIT_SLAVE(Beckhoff_EL2004),
|
|
144 |
ECAT_INIT_SLAVE(Beckhoff_EL2004),
|
|
145 |
ECAT_INIT_SLAVE(Beckhoff_EL2004),
|
|
146 |
ECAT_INIT_SLAVE(Beckhoff_EL1014),
|
|
147 |
ECAT_INIT_SLAVE(Beckhoff_EL1014),
|
|
148 |
ECAT_INIT_SLAVE(Beckhoff_EL1014)
|
|
149 |
#endif
|
|
150 |
|
|
151 |
#if 1
|
|
152 |
// Block 3
|
|
153 |
,ECAT_INIT_SLAVE(Beckhoff_EK1100),
|
|
154 |
ECAT_INIT_SLAVE(Beckhoff_EL3162),
|
|
155 |
ECAT_INIT_SLAVE(Beckhoff_EL3162),
|
|
156 |
ECAT_INIT_SLAVE(Beckhoff_EL3162),
|
|
157 |
ECAT_INIT_SLAVE(Beckhoff_EL3162),
|
|
158 |
ECAT_INIT_SLAVE(Beckhoff_EL3102),
|
|
159 |
ECAT_INIT_SLAVE(Beckhoff_EL3102),
|
|
160 |
ECAT_INIT_SLAVE(Beckhoff_EL3102),
|
|
161 |
ECAT_INIT_SLAVE(Beckhoff_EL3102),
|
|
162 |
|
|
163 |
ECAT_INIT_SLAVE(Beckhoff_EL4102),
|
|
164 |
ECAT_INIT_SLAVE(Beckhoff_EL4102),
|
|
165 |
ECAT_INIT_SLAVE(Beckhoff_EL4102),
|
|
166 |
ECAT_INIT_SLAVE(Beckhoff_EL4102)
|
|
167 |
|
|
168 |
|
|
169 |
#endif
|
|
170 |
};
|
|
171 |
|
|
172 |
#define ECAT_SLAVES_COUNT (sizeof(ecat_slaves) / sizeof(EtherCAT_slave_t))
|
|
173 |
|
|
174 |
#define USE_MSR_LIB
|
|
175 |
|
|
176 |
#ifdef USE_MSR_LIB
|
|
177 |
double value;
|
|
178 |
int dig1;
|
|
179 |
#endif
|
|
180 |
|
|
181 |
/******************************************************************************
|
|
182 |
*
|
|
183 |
* Function: next2004
|
|
184 |
*
|
|
185 |
*****************************************************************************/
|
|
186 |
|
|
187 |
|
|
188 |
|
|
189 |
static int next2004(int *wrap)
|
|
190 |
{
|
|
191 |
static int i = 0;
|
|
192 |
unsigned int j = 0;
|
|
193 |
|
|
194 |
*wrap = 0;
|
|
195 |
|
|
196 |
for (j = 0; j < ECAT_SLAVES_COUNT; j++)
|
|
197 |
{
|
|
198 |
i++;
|
|
199 |
|
|
200 |
i %= ECAT_SLAVES_COUNT;
|
|
201 |
|
|
202 |
if (i == 0) *wrap = 1;
|
|
203 |
|
|
204 |
if (ecat_slaves[i].desc == Beckhoff_EL2004)
|
|
205 |
{
|
|
206 |
return i;
|
|
207 |
}
|
|
208 |
}
|
|
209 |
|
|
210 |
return -1;
|
|
211 |
}
|
|
212 |
|
|
213 |
|
|
214 |
/******************************************************************************
|
|
215 |
*
|
|
216 |
* Function: msr_controller_run()
|
|
217 |
*
|
|
218 |
*****************************************************************************/
|
|
219 |
|
|
220 |
static void msr_controller_run(void)
|
|
221 |
{
|
|
222 |
static int ms = 0;
|
|
223 |
static int cnt = 0;
|
|
224 |
static unsigned long int k = 0;
|
|
225 |
static int firstrun = 1;
|
|
226 |
|
|
227 |
static int klemme = 0;
|
|
228 |
static int kanal = 0;
|
|
229 |
static int up_down = 0;
|
|
230 |
int wrap = 0;
|
|
231 |
|
|
232 |
|
|
233 |
// Prozessdaten lesen
|
|
234 |
msr_jitter_run(MSR_ABTASTFREQUENZ);
|
|
235 |
|
|
236 |
if (!firstrun)
|
|
237 |
{
|
|
238 |
EtherCAT_read_process_data(ecat_master);
|
|
239 |
|
|
240 |
// Daten lesen und skalieren
|
|
241 |
#ifdef USE_MSR_LIB
|
|
242 |
value = EtherCAT_read_value(&ecat_master->slaves[5], 0) / 3276.0;
|
|
243 |
dig1 = EtherCAT_read_value(&ecat_master->slaves[2], 0);
|
|
244 |
#endif
|
|
245 |
}
|
|
246 |
else
|
|
247 |
klemme = next2004(&wrap);
|
|
248 |
|
|
249 |
|
|
250 |
ms++;
|
|
251 |
ms %= 1000;
|
|
252 |
if (cnt++ > 20)
|
|
253 |
{
|
|
254 |
cnt = 0;
|
|
255 |
|
|
256 |
if (++kanal > 3)
|
|
257 |
{
|
|
258 |
kanal = 0;
|
|
259 |
klemme = next2004(&wrap);
|
|
260 |
|
|
261 |
if (wrap == 1)
|
|
262 |
{
|
|
263 |
if (up_down == 1) up_down = 0;
|
|
264 |
else up_down = 1;
|
|
265 |
}
|
|
266 |
}
|
|
267 |
}
|
|
268 |
|
|
269 |
if (klemme >= 0) {
|
|
270 |
EtherCAT_write_value(&ecat_master->slaves[klemme], kanal,up_down);
|
|
271 |
//printk("ECAT write: Klemme: %d, Kanal: %d, Wert: %d\n",klemme,kanal,up_down);
|
|
272 |
}
|
|
273 |
|
|
274 |
#if 0
|
|
275 |
EtherCAT_write_value(&ecat_master->slaves[13], 1, ms > 500 ? 0 : 1);
|
|
276 |
EtherCAT_write_value(&ecat_master->slaves[14], 2, ms > 500 ? 0 : 1);
|
|
277 |
EtherCAT_write_value(&ecat_master->slaves[15], 3, ms > 500 ? 1 : 0);
|
|
278 |
#endif
|
|
279 |
|
|
280 |
// Prozessdaten schreiben
|
|
281 |
rdtscl(k);
|
|
282 |
EtherCAT_write_process_data(ecat_master);
|
|
283 |
firstrun = 0;
|
|
284 |
|
|
285 |
}
|
|
286 |
|
|
287 |
/*
|
|
288 |
***************************************************************************************************
|
|
289 |
*
|
|
290 |
* Function: msr_run(_interrupt)
|
|
291 |
*
|
|
292 |
* Beschreibung: Routine wird zyklisch im Timerinterrupt ausgeführt
|
|
293 |
* (hier muß alles rein, was Echtzeit ist ...)
|
|
294 |
*
|
|
295 |
* Parameter: Zeiger auf msr_data
|
|
296 |
*
|
|
297 |
* Rückgabe:
|
|
298 |
*
|
|
299 |
* Status: exp
|
|
300 |
*
|
|
301 |
***************************************************************************************************
|
|
302 |
*/
|
|
303 |
|
|
304 |
|
|
305 |
void msr_run(unsigned irq)
|
|
306 |
{
|
|
307 |
|
|
308 |
static int counter = 0;
|
|
309 |
#ifdef USE_MSR_LIB
|
|
310 |
|
|
311 |
timeval_add(&process_time,&process_time,&msr_time_increment);
|
|
312 |
|
|
313 |
MSR_ADEOS_INTERRUPT_CODE(
|
|
314 |
msr_controller_run();
|
|
315 |
msr_write_kanal_list();
|
|
316 |
);
|
|
317 |
#else
|
|
318 |
msr_controller_run();
|
|
319 |
#endif
|
|
320 |
/* und wieder in die Timerliste eintragen */
|
|
321 |
/* und neu in die Taskqueue eintragen */
|
|
322 |
// timer.expires += 1;
|
|
323 |
// add_timer(&timer);
|
|
324 |
|
|
325 |
ipipe_control_irq(irq,0,IPIPE_ENABLE_MASK); //nicht weiterreichen
|
|
326 |
if(counter++ > HZREDUCTION) {
|
|
327 |
ipipe_propagate_irq(irq); //wie lange braucht der Rest der Pipeline ??
|
|
328 |
counter = 0;
|
|
329 |
}
|
|
330 |
|
|
331 |
|
|
332 |
}
|
|
333 |
|
|
334 |
void domain_entry (int iflag) {
|
|
335 |
printk("Domain %s started.\n", ipipe_current_domain->name);
|
|
336 |
|
|
337 |
|
|
338 |
ipipe_get_sysinfo(&sys_info);
|
|
339 |
ipipe_virtualize_irq(ipipe_current_domain,sys_info.archdep.tmirq,
|
|
340 |
&msr_run, NULL, IPIPE_HANDLE_MASK);
|
|
341 |
|
|
342 |
ipipe_tune_timer(1000000000UL/MSR_ABTASTFREQUENZ,0);
|
|
343 |
|
|
344 |
}
|
|
345 |
|
|
346 |
/*
|
|
347 |
*******************************************************************************
|
|
348 |
*
|
|
349 |
* Function: msr_register_channels
|
|
350 |
*
|
|
351 |
* Beschreibung: KanŽäle registrieren
|
|
352 |
*
|
|
353 |
* Parameter:
|
|
354 |
*
|
|
355 |
* RŽückgabe:
|
|
356 |
*
|
|
357 |
* Status: exp
|
|
358 |
*
|
|
359 |
*******************************************************************************
|
|
360 |
*/
|
|
361 |
|
|
362 |
int msr_globals_register(void)
|
|
363 |
{
|
|
364 |
#ifdef USE_MSR_LIB
|
|
365 |
msr_reg_kanal("/value", "V", &value, TDBL);
|
|
366 |
msr_reg_kanal("/dig1", "", &dig1, TINT);
|
|
367 |
#endif
|
|
368 |
/* msr_reg_kanal("/Taskinfo/Ecat/TX-Delay","us",&ecat_tx_delay,TUINT);
|
|
369 |
msr_reg_kanal("/Taskinfo/Ecat/RX-Delay","us",&ecat_rx_delay,TUINT);
|
|
370 |
msr_reg_kanal("/Taskinfo/Ecat/TX-Cnt","",&tx_intr,TUINT);
|
|
371 |
msr_reg_kanal("/Taskinfo/Ecat/RX-Cnt","",&rx_intr,TUINT);
|
|
372 |
msr_reg_kanal("/Taskinfo/Ecat/Total-Cnt","",&total_intr,TUINT);
|
|
373 |
*/
|
|
374 |
return 0;
|
|
375 |
}
|
|
376 |
|
|
377 |
|
|
378 |
/****************************************************************************************************
|
|
379 |
* the init/clean material
|
|
380 |
****************************************************************************************************/
|
|
381 |
|
|
382 |
|
|
383 |
int __init init_module()
|
|
384 |
{
|
|
385 |
int result = 0;
|
|
386 |
|
|
387 |
struct ipipe_domain_attr attr; //ipipe
|
|
388 |
|
|
389 |
//als allererstes die RT-lib initialisieren
|
|
390 |
#ifdef USE_MSR_LIB
|
|
391 |
result = msr_rtlib_init(1,MSR_ABTASTFREQUENZ,10,&msr_globals_register);
|
|
392 |
|
|
393 |
if (result < 0) {
|
|
394 |
msr_print_warn("msr_modul: can't initialize rtlib!");
|
|
395 |
return result;
|
|
396 |
}
|
|
397 |
#endif
|
|
398 |
|
|
399 |
msr_jitter_init();
|
|
400 |
printk(KERN_INFO "=== Starting EtherCAT environment... ===\n");
|
|
401 |
|
|
402 |
if ((ecat_master = EtherCAT_master(0)) == NULL)
|
|
403 |
{
|
|
404 |
printk(KERN_ERR "No EtherCAT master available!\n");
|
|
405 |
msr_rtlib_cleanup();
|
|
406 |
return -1;
|
|
407 |
}
|
|
408 |
|
|
409 |
printk("Checking EtherCAT slaves.\n");
|
|
410 |
|
|
411 |
if (EtherCAT_check_slaves(ecat_master, ecat_slaves, ECAT_SLAVES_COUNT) != 0)
|
|
412 |
{
|
|
413 |
printk(KERN_ERR "EtherCAT: Could not init slaves!\n");
|
|
414 |
msr_rtlib_cleanup();
|
|
415 |
return -1;
|
|
416 |
}
|
|
417 |
|
|
418 |
printk("Activating all EtherCAT slaves.\n");
|
|
419 |
|
|
420 |
if (EtherCAT_activate_all_slaves(ecat_master) != 0)
|
|
421 |
{
|
|
422 |
printk(KERN_ERR "EtherCAT: Could not activate slaves!\n");
|
|
423 |
msr_rtlib_cleanup();
|
|
424 |
return -1;
|
|
425 |
}
|
|
426 |
|
|
427 |
|
|
428 |
do_gettimeofday(&process_time);
|
|
429 |
msr_time_increment.tv_sec=0;
|
|
430 |
msr_time_increment.tv_usec=(unsigned int)(1000000/MSR_ABTASTFREQUENZ);
|
|
431 |
|
|
432 |
ipipe_init_attr (&attr);
|
|
433 |
attr.name = "IPIPE-MSR-MODULE";
|
|
434 |
attr.priority = IPIPE_ROOT_PRIO + 1;
|
|
435 |
attr.entry = &domain_entry;
|
|
436 |
ipipe_register_domain(&this_domain,&attr);
|
|
437 |
|
|
438 |
//den Timertakt
|
|
439 |
/*
|
|
440 |
init_timer(&timer);
|
|
441 |
|
|
442 |
timer.function = msr_run;
|
|
443 |
timer.data = 0;
|
|
444 |
timer.expires = jiffies+10; // Das erste Mal sofort feuern
|
|
445 |
add_timer(&timer);
|
|
446 |
*/
|
|
447 |
return 0; /* succeed */
|
|
448 |
}
|
|
449 |
|
|
450 |
|
|
451 |
//****************************************************************************
|
|
452 |
void __exit cleanup_module()
|
|
453 |
|
|
454 |
{
|
|
455 |
msr_print_info("msk_modul: unloading...");
|
|
456 |
|
|
457 |
|
|
458 |
// del_timer_sync(&timer);
|
|
459 |
ipipe_tune_timer(1000000000UL/HZ,0); //alten Timertakt wieder herstellen
|
|
460 |
|
|
461 |
ipipe_unregister_domain(&this_domain);
|
|
462 |
|
|
463 |
|
|
464 |
|
|
465 |
printk(KERN_INFO "=== Stopping EtherCAT environment... ===\n");
|
|
466 |
|
|
467 |
if (ecat_master)
|
|
468 |
{
|
|
469 |
EtherCAT_clear_process_data(ecat_master);
|
|
470 |
printk(KERN_INFO "Deactivating slaves.\n");
|
|
471 |
EtherCAT_deactivate_all_slaves(ecat_master);
|
|
472 |
}
|
|
473 |
|
|
474 |
printk(KERN_INFO "=== EtherCAT environment stopped. ===\n");
|
|
475 |
|
|
476 |
// msr_controller_cleanup();
|
|
477 |
#ifdef USE_MSR_LIB
|
|
478 |
msr_rtlib_cleanup();
|
|
479 |
#endif
|
|
480 |
}
|
|
481 |
|
|
482 |
MODULE_LICENSE("GPL");
|
|
483 |
MODULE_AUTHOR ("Wilhelm Hagemeister <hm@igh-essen.com>");
|
|
484 |
MODULE_DESCRIPTION ("EtherCAT test environment");
|
|
485 |
|
|
486 |
module_init(init_module);
|
|
487 |
module_exit(cleanup_module);
|
|
488 |
|
|
489 |
|
|
490 |
|
|
491 |
|
|
492 |
|
|
493 |
|
|
494 |
|
|
495 |
|
|
496 |
|
|
497 |
|
|
498 |
|
|
499 |
|
|
500 |
|
|
501 |
|
|
502 |
|
|
503 |
|