etherlabmaster: rt/msr_module.c@7e75772ea28c (annotated)

42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	1	/******************************************************************************
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	2	*
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	3	* msr_module.c
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	4	*
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	5	* Kernelmodul für 2.6 Kernel zur Meßdatenerfassung, Steuerung und Regelung.
47 ad5f969f263b Prozessdatentimeout, Buszeit und weniger Klemmen. Florian Pose <fp@igh-essen.com> parents: 45 diff changeset	6	*
ad5f969f263b Prozessdatentimeout, Buszeit und weniger Klemmen. Florian Pose <fp@igh-essen.com> parents: 45 diff changeset	7	* Autor: Wilhelm Hagemeister, Florian Pose
42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	8	*
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	9	* (C) Copyright IgH 2002
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	10	* Ingenieurgemeinschaft IgH
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	11	* Heinz-Bäcker Str. 34
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	12	* D-45356 Essen
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	13	* Tel.: +49 201/61 99 31
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	14	* Fax.: +49 201/61 98 36
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	15	* E-mail: hm@igh-essen.com
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	16	*
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	17	* $Id$
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	18	*
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	19	*****************************************************************************/
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	20
45 f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	21	// Linux
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	22	#include <linux/module.h>
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	23	#include <linux/ipipe.h>
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	24
45 f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	25	// RT_lib
f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	26	#include <msr_main.h>
f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	27	#include <msr_utils.h>
f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	28	#include <msr_messages.h>
f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	29	#include <msr_float.h>
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	30	#include <msr_reg.h>
45 f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	31	#include "msr_param.h"
f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	32	#include "msr_jitter.h"
f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	33
f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	34	// EtherCAT
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	35	#include "../drivers/ec_master.h"
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	36	#include "../drivers/ec_device.h"
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	37	#include "../drivers/ec_types.h"
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	38	#include "../drivers/ec_module.h"
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	39
45 f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	40	// Defines/Makros
f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	41	#define TSC2US(T1, T2) ((T2 - T1) * 1000UL / cpu_khz)
47 ad5f969f263b Prozessdatentimeout, Buszeit und weniger Klemmen. Florian Pose <fp@igh-essen.com> parents: 45 diff changeset	42	#define HZREDUCTION (MSR_ABTASTFREQUENZ / HZ)
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	43
45 f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	44	/*****************************************************************************/
f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	45	/* Globale Variablen */
f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	46
f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	47	// RT_lib
42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	48	extern struct timeval process_time;
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	49	struct timeval msr_time_increment; // Increment per Interrupt
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	50
45 f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	51	// Adeos
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	52	static struct ipipe_domain this_domain;
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	53	static struct ipipe_sysinfo sys_info;
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	54
45 f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	55	// EtherCAT
f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	56
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	57	static EtherCAT_master_t *ecat_master = NULL;
47 ad5f969f263b Prozessdatentimeout, Buszeit und weniger Klemmen. Florian Pose <fp@igh-essen.com> parents: 45 diff changeset	58	static unsigned int ecat_bus_time = 0;
ad5f969f263b Prozessdatentimeout, Buszeit und weniger Klemmen. Florian Pose <fp@igh-essen.com> parents: 45 diff changeset	59	static unsigned int ecat_timeouts = 0;
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	60
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	61	static EtherCAT_slave_t ecat_slaves[] =
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	62	{
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	63	// Block 1
42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	64	ECAT_INIT_SLAVE(Beckhoff_EK1100, 0),
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	65	ECAT_INIT_SLAVE(Beckhoff_EL4102, 0),
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	66	ECAT_INIT_SLAVE(Beckhoff_EL1014, 0),
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	67	ECAT_INIT_SLAVE(Beckhoff_EL3162, 0),
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	68	ECAT_INIT_SLAVE(Beckhoff_EL2004, 0),
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	69	ECAT_INIT_SLAVE(Beckhoff_EL3102, 0),
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	70	ECAT_INIT_SLAVE(Beckhoff_EL2004, 0),
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	71
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	72	// Block 2
42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	73	ECAT_INIT_SLAVE(Beckhoff_EK1100, 1),
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	74	ECAT_INIT_SLAVE(Beckhoff_EL1014, 1),
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	75	ECAT_INIT_SLAVE(Beckhoff_EL1014, 1),
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	76	ECAT_INIT_SLAVE(Beckhoff_EL1014, 1),
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	77	ECAT_INIT_SLAVE(Beckhoff_EL1014, 1),
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	78	ECAT_INIT_SLAVE(Beckhoff_EL1014, 1),
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	79	ECAT_INIT_SLAVE(Beckhoff_EL2004, 1),
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	80	ECAT_INIT_SLAVE(Beckhoff_EL2004, 1),
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	81	ECAT_INIT_SLAVE(Beckhoff_EL2004, 1),
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	82	ECAT_INIT_SLAVE(Beckhoff_EL2004, 1),
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	83	ECAT_INIT_SLAVE(Beckhoff_EL1014, 1),
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	84	ECAT_INIT_SLAVE(Beckhoff_EL1014, 1),
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	85	ECAT_INIT_SLAVE(Beckhoff_EL1014, 1)
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	86	};
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	87
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	88	#define ECAT_SLAVES_COUNT (sizeof(ecat_slaves) / sizeof(EtherCAT_slave_t))
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	89
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	90	#define USE_MSR_LIB
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	91
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	92	#ifdef USE_MSR_LIB
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	93	double value;
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	94	int dig1;
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	95	#endif
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	96
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	97	/******************************************************************************
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	98	*
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	99	* Function: next2004
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	100	*
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	101	*****************************************************************************/
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	102
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	103	static int next2004(int *wrap)
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	104	{
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	105	static int i = 0;
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	106	unsigned int j = 0;
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	107
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	108	*wrap = 0;
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	109
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	110	for (j = 0; j < ECAT_SLAVES_COUNT; j++)
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	111	{
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	112	i++;
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	113
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	114	i %= ECAT_SLAVES_COUNT;
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	115
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	116	if (i == 0) *wrap = 1;
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	117
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	118	if (ecat_slaves[i].desc == Beckhoff_EL2004)
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	119	{
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	120	return i;
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	121	}
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	122	}
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	123
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	124	return -1;
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	125	}
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	126
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	*
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	129	* Function: msr_controller_run()
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	130	*
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	131	*****************************************************************************/
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	132
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	133	static void msr_controller_run(void)
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	134	{
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	135	static int ms = 0;
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	136	static int cnt = 0;
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	137	static int firstrun = 1;
48 7e75772ea28c Sinnvolle Meldung verlorener Frames, Zustand antwortender Slaves. Florian Pose <fp@igh-essen.com> parents: 47 diff changeset	138	static unsigned int debug_counter = 0;
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	139
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	140	static int klemme = 0;
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	141	static int kanal = 0;
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	142	static int up_down = 0;
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	143	int wrap = 0;
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	144
48 7e75772ea28c Sinnvolle Meldung verlorener Frames, Zustand antwortender Slaves. Florian Pose <fp@igh-essen.com> parents: 47 diff changeset	145	unsigned long t_bus_start, t_bus_end;
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	146
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	147	// Prozessdaten lesen
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	148	msr_jitter_run(MSR_ABTASTFREQUENZ);
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	149
48 7e75772ea28c Sinnvolle Meldung verlorener Frames, Zustand antwortender Slaves. Florian Pose <fp@igh-essen.com> parents: 47 diff changeset	150	if (firstrun) {
7e75772ea28c Sinnvolle Meldung verlorener Frames, Zustand antwortender Slaves. Florian Pose <fp@igh-essen.com> parents: 47 diff changeset	151	klemme = next2004(&wrap);
7e75772ea28c Sinnvolle Meldung verlorener Frames, Zustand antwortender Slaves. Florian Pose <fp@igh-essen.com> parents: 47 diff changeset	152	firstrun = 0;
7e75772ea28c Sinnvolle Meldung verlorener Frames, Zustand antwortender Slaves. Florian Pose <fp@igh-essen.com> parents: 47 diff changeset	153	}
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	154
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	155	ms++;
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	156	ms %= 1000;
40 d07ebafe62dd 20kHz, Wilhelm Florian Pose <fp@igh-essen.com> parents: 38 diff changeset	157	if (cnt++ > 200)
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	158	{
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	159	cnt = 0;
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	160
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	161	if (++kanal > 3)
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	162	{
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	163	kanal = 0;
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	164	klemme = next2004(&wrap);
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	165
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	166	if (wrap == 1)
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	167	{
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	168	if (up_down == 1) up_down = 0;
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	169	else up_down = 1;
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	170	}
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	171	}
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	172	}
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	173
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	174	if (klemme >= 0) {
42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	175	EtherCAT_write_value(&ecat_slaves[klemme], kanal, up_down);
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	176	}
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	177
48 7e75772ea28c Sinnvolle Meldung verlorener Frames, Zustand antwortender Slaves. Florian Pose <fp@igh-essen.com> parents: 47 diff changeset	178	if (debug_counter == 0) {
7e75772ea28c Sinnvolle Meldung verlorener Frames, Zustand antwortender Slaves. Florian Pose <fp@igh-essen.com> parents: 47 diff changeset	179	ecat_master->debug_level = 0;
7e75772ea28c Sinnvolle Meldung verlorener Frames, Zustand antwortender Slaves. Florian Pose <fp@igh-essen.com> parents: 47 diff changeset	180	}
7e75772ea28c Sinnvolle Meldung verlorener Frames, Zustand antwortender Slaves. Florian Pose <fp@igh-essen.com> parents: 47 diff changeset	181
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	182	// Prozessdaten schreiben
47 ad5f969f263b Prozessdatentimeout, Buszeit und weniger Klemmen. Florian Pose <fp@igh-essen.com> parents: 45 diff changeset	183
48 7e75772ea28c Sinnvolle Meldung verlorener Frames, Zustand antwortender Slaves. Florian Pose <fp@igh-essen.com> parents: 47 diff changeset	184	rdtscl(t_bus_start);
42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	185
47 ad5f969f263b Prozessdatentimeout, Buszeit und weniger Klemmen. Florian Pose <fp@igh-essen.com> parents: 45 diff changeset	186	if (EtherCAT_process_data_cycle(ecat_master, 0, 40) < 0)
ad5f969f263b Prozessdatentimeout, Buszeit und weniger Klemmen. Florian Pose <fp@igh-essen.com> parents: 45 diff changeset	187	ecat_timeouts++;
ad5f969f263b Prozessdatentimeout, Buszeit und weniger Klemmen. Florian Pose <fp@igh-essen.com> parents: 45 diff changeset	188
ad5f969f263b Prozessdatentimeout, Buszeit und weniger Klemmen. Florian Pose <fp@igh-essen.com> parents: 45 diff changeset	189	if (EtherCAT_process_data_cycle(ecat_master, 1, 40) < 0)
ad5f969f263b Prozessdatentimeout, Buszeit und weniger Klemmen. Florian Pose <fp@igh-essen.com> parents: 45 diff changeset	190	ecat_timeouts++;
48 7e75772ea28c Sinnvolle Meldung verlorener Frames, Zustand antwortender Slaves. Florian Pose <fp@igh-essen.com> parents: 47 diff changeset	191
7e75772ea28c Sinnvolle Meldung verlorener Frames, Zustand antwortender Slaves. Florian Pose <fp@igh-essen.com> parents: 47 diff changeset	192	rdtscl(t_bus_end);
7e75772ea28c Sinnvolle Meldung verlorener Frames, Zustand antwortender Slaves. Florian Pose <fp@igh-essen.com> parents: 47 diff changeset	193	ecat_bus_time = TSC2US(t_bus_start, t_bus_end);
7e75772ea28c Sinnvolle Meldung verlorener Frames, Zustand antwortender Slaves. Florian Pose <fp@igh-essen.com> parents: 47 diff changeset	194
7e75772ea28c Sinnvolle Meldung verlorener Frames, Zustand antwortender Slaves. Florian Pose <fp@igh-essen.com> parents: 47 diff changeset	195	if (debug_counter == 0) {
7e75772ea28c Sinnvolle Meldung verlorener Frames, Zustand antwortender Slaves. Florian Pose <fp@igh-essen.com> parents: 47 diff changeset	196	ecat_master->debug_level = 0;
7e75772ea28c Sinnvolle Meldung verlorener Frames, Zustand antwortender Slaves. Florian Pose <fp@igh-essen.com> parents: 47 diff changeset	197	}
45 f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	198
42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	199	// Daten lesen und skalieren
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	200	#ifdef USE_MSR_LIB
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	201	value = EtherCAT_read_value(&ecat_slaves[5], 0) / 3276.0;
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	202	dig1 = EtherCAT_read_value(&ecat_slaves[2], 0);
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	203	#endif
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	204
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	205	debug_counter++;
48 7e75772ea28c Sinnvolle Meldung verlorener Frames, Zustand antwortender Slaves. Florian Pose <fp@igh-essen.com> parents: 47 diff changeset	206	if (debug_counter >= MSR_ABTASTFREQUENZ * 5) debug_counter = 0;
42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	207	}
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	208
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	209	/******************************************************************************
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	210	*
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	211	* Function: msr_run(_interrupt)
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	212	*
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	213	* Beschreibung: Routine wird zyklisch im Timerinterrupt ausgeführt
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	214	* (hier muß alles rein, was Echtzeit ist ...)
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	215	*
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	216	* Parameter: Zeiger auf msr_data
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	217	*
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	218	* Rückgabe:
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	219	*
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	220	* Status: exp
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	221	*
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	222	*****************************************************************************/
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	223
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	224	void msr_run(unsigned irq)
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	225	{
45 f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	226	static int counter = 0;
f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	227
f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	228	#ifdef USE_MSR_LIB
f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	229	timeval_add(&process_time, &process_time, &msr_time_increment);
f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	230	MSR_ADEOS_INTERRUPT_CODE(msr_controller_run(); msr_write_kanal_list(););
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	231	#else
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	232	msr_controller_run();
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	233	#endif
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	234
40 d07ebafe62dd 20kHz, Wilhelm Florian Pose <fp@igh-essen.com> parents: 38 diff changeset	235	ipipe_control_irq(irq,0,IPIPE_ENABLE_MASK); //Interrupt bestŽätigen
45 f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	236	if (counter++ > HZREDUCTION) {
40 d07ebafe62dd 20kHz, Wilhelm Florian Pose <fp@igh-essen.com> parents: 38 diff changeset	237	ipipe_propagate_irq(irq); //und weiterreichen
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	238	counter = 0;
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	239	}
42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	240	}
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	241
45 f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	242	/*****************************************************************************/
f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	243
f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	244	void domain_entry(void)
42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	245	{
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	246	printk("Domain %s started.\n", ipipe_current_domain->name);
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	247
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	248	ipipe_get_sysinfo(&sys_info);
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	249	ipipe_virtualize_irq(ipipe_current_domain,sys_info.archdep.tmirq,
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	250	&msr_run, NULL, IPIPE_HANDLE_MASK);
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	251
42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	252	ipipe_tune_timer(1000000000UL/MSR_ABTASTFREQUENZ,0);
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	253	}
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	254
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	255	/******************************************************************************
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	256	*
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	257	* Function: msr_register_channels
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	258	*
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	259	* Beschreibung: KanŽäle registrieren
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	260	*
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	261	* Parameter:
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	262	*
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	263	* RŽückgabe:
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	264	*
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	265	* Status: exp
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	266	*
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	267	*****************************************************************************/
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	268
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	269	int msr_globals_register(void)
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	270	{
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	271	#ifdef USE_MSR_LIB
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	272	msr_reg_kanal("/value", "V", &value, TDBL);
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	273	msr_reg_kanal("/dig1", "", &dig1, TINT);
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	274	#endif
45 f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	275
f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	276	msr_reg_kanal("/Taskinfo/EtherCAT/BusTime", "us", &ecat_bus_time, TUINT);
47 ad5f969f263b Prozessdatentimeout, Buszeit und weniger Klemmen. Florian Pose <fp@igh-essen.com> parents: 45 diff changeset	277	msr_reg_kanal("/Taskinfo/EtherCAT/Timeouts", "", &ecat_timeouts, TUINT);
45 f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	278
f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	279	return 0;
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	280	}
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	281
42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	282	/******************************************************************************
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	283	* the init/clean material
42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	284	*****************************************************************************/
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	285
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	286	int __init init_module()
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	287	{
42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	288	unsigned int i;
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	289	struct ipipe_domain_attr attr; //ipipe
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	290
36 6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	291	// Als allererstes die RT-lib initialisieren
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	292	#ifdef USE_MSR_LIB
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	293	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	294	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	295	goto out_return;
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	296	}
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	297	#endif
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	298
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	299	msr_jitter_init();
36 6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	300
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	301	printk(KERN_INFO "=== Starting EtherCAT environment... ===\n");
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	302
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	303	if ((ecat_master = EtherCAT_request(0)) == NULL) {
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	304	printk(KERN_ERR "EtherCAT master 0 not available!\n");
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	305	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	306	}
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	307
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	308	printk("Checking EtherCAT slaves.\n");
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	309
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	310	if (EtherCAT_check_slaves(ecat_master, ecat_slaves, ECAT_SLAVES_COUNT) != 0) {
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	311	printk(KERN_ERR "EtherCAT: Could not init slaves!\n");
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	312	goto out_release_master;
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	313	}
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	314
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	315	printk("Activating all EtherCAT slaves.\n");
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	316
42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	317	for (i = 0; i < ECAT_SLAVES_COUNT; i++) {
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	318	if (EtherCAT_activate_slave(ecat_master, ecat_slaves + i) < 0) {
43 35120a61d55e Sch?nheitskorrekturen. Florian Pose <fp@igh-essen.com> parents: 42 diff changeset	319	printk(KERN_ERR "EtherCAT: Could not activate slave %i!\n", i);
42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	320	goto out_release_master;
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	321	}
36 6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	322	}
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	323
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	324	do_gettimeofday(&process_time);
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	325	msr_time_increment.tv_sec=0;
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	326	msr_time_increment.tv_usec=(unsigned int)(1000000/MSR_ABTASTFREQUENZ);
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	327
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	328	ipipe_init_attr (&attr);
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	329	attr.name = "IPIPE-MSR-MODULE";
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	330	attr.priority = IPIPE_ROOT_PRIO + 1;
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	331	attr.entry = &domain_entry;
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	332	ipipe_register_domain(&this_domain,&attr);
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	333
36 6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	334	return 0;
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	335
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	336	out_release_master:
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	337	EtherCAT_release(ecat_master);
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	338
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	339	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	340	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	341
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	342	out_return:
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	343	return -1;
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	344	}
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	345
42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	346	/*****************************************************************************/
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	347
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	348	void __exit cleanup_module()
42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	349	{
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	350	unsigned int i;
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	351
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	352	msr_print_info("msk_modul: unloading...");
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	353
45 f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	354	ipipe_tune_timer(1000000000UL / HZ, 0); //alten Timertakt wieder herstellen
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	355	ipipe_unregister_domain(&this_domain);
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	356
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	357	if (ecat_master)
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	358	{
43 35120a61d55e Sch?nheitskorrekturen. Florian Pose <fp@igh-essen.com> parents: 42 diff changeset	359	printk(KERN_INFO "=== Stopping EtherCAT environment... ===\n");
35120a61d55e Sch?nheitskorrekturen. Florian Pose <fp@igh-essen.com> parents: 42 diff changeset	360
36 6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	361	printk(KERN_INFO "Deactivating slaves.\n");
42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	362
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	363	for (i = 0; i < ECAT_SLAVES_COUNT; i++) {
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	364	if (EtherCAT_deactivate_slave(ecat_master, ecat_slaves + i) < 0) {
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	365	printk(KERN_WARNING "Warning - Could not deactivate slave!\n");
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	366	}
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	367	}
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	368
36 6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	369	EtherCAT_release(ecat_master);
43 35120a61d55e Sch?nheitskorrekturen. Florian Pose <fp@igh-essen.com> parents: 42 diff changeset	370
35120a61d55e Sch?nheitskorrekturen. Florian Pose <fp@igh-essen.com> parents: 42 diff changeset	371	printk(KERN_INFO "=== EtherCAT environment stopped. ===\n");
35120a61d55e Sch?nheitskorrekturen. Florian Pose <fp@igh-essen.com> parents: 42 diff changeset	372	}
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	373
36 6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	374	#ifdef USE_MSR_LIB
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	375	msr_rtlib_cleanup();
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	376	#endif
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	377	}
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	378
42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	379	/*****************************************************************************/
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	380
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	381	MODULE_LICENSE("GPL");
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	382	MODULE_AUTHOR ("Wilhelm Hagemeister <hm@igh-essen.com>");
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	383	MODULE_DESCRIPTION ("EtherCAT test environment");
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	384
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	385	module_init(init_module);
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	386	module_exit(cleanup_module);
36 6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	387
42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	388	/*****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Fri, 06 Jan 2006 16:01:06 +0000
changeset 48	7e75772ea28c
parent 47	ad5f969f263b
child 51	b3beaa00640f
permissions	-rw-r--r--