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/******************************************************************************
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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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#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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*/
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