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/******************************************************************************
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*
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* msr_io.c
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*
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* Sample Modul für EtherCAT
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*
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* Autoren: Wilhelm Hagemeister, Florian Pose
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*
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* $Date$
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* $Author$
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*
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* (C) Copyright IgH 2005
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* Ingenieurgemeinschaft IgH
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* Heinz-Bäcker 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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* /bin/setserial /dev/ttyS0 uart none
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* /bin/setserial /dev/ttyS1 uart none
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*
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******************************************************************************/
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/*--Includes-----------------------------------------------------------------*/
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#include <linux/module.h>
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#include <linux/tqueue.h>
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#include <linux/slab.h>
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#include <linux/delay.h>
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#include <msr_reg.h>
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#include <msr_messages.h>
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#include <msr_main.h>
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#include <rtai.h>
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#include <rtai_sched.h>
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#include "msr_io.h"
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//#include <msr_float.h>
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#include "../drivers/ec_master.h"
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#include "../drivers/ec_device.h"
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#include "../drivers/ec_types.h"
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#include "../rs232dbg/rs232dbg.h"
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/*--Defines------------------------------------------------------------------*/
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#define TIMERTICS 1e6 // in ns; Thus have a task time of 1ms
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#define MSR_ABTASTFREQUENZ (1e9/TIMERTICS)
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//#define MSR_ABTASTFREQUENZ (1000) //1e9/TIMERTICS)
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#define TICK ((1000000 / MSR_ABTASTFREQUENZ) * 1000)
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#define TIMER_FREQ (APIC_TIMER ? FREQ_APIC : FREQ_8254)
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#define APIC_TIMER 0
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//#define MSR_SLOW_DEBUG
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/*--Globale Variablen--------------------------------------------------------*/
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RT_TASK process_image;
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const int Tick = TICK;
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unsigned int ecat_tx_delay = 0; //Zeit vom Ende der TimerInterruptRoutine bis
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//TX-Interrupt der Netzwerkkarte
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unsigned int ecat_rx_delay = 0; //RX-Interrupt der Netzwerkkarte
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unsigned int tx_intr = 0;
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unsigned int rx_intr = 0;
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unsigned int total_intr = 0;
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unsigned int thread_end = 0;
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#define USE_ETHERCAT
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#ifdef USE_ETHERCAT
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static EtherCAT_master_t *ecat_master = NULL;
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extern EtherCAT_device_t rtl_ecat_dev;
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//#define ECAT_SLAVES_COUNT 16
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static EtherCAT_slave_t ecat_slaves[] =
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{
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//Block 1
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ECAT_INIT_SLAVE(Beckhoff_EK1100),
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ECAT_INIT_SLAVE(Beckhoff_EL4102),
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ECAT_INIT_SLAVE(Beckhoff_EL3162),
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ECAT_INIT_SLAVE(Beckhoff_EL1014),
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ECAT_INIT_SLAVE(Beckhoff_EL2004),
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ECAT_INIT_SLAVE(Beckhoff_EL3102),
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ECAT_INIT_SLAVE(Beckhoff_EL4102),
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ECAT_INIT_SLAVE(Beckhoff_EL4102),
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ECAT_INIT_SLAVE(Beckhoff_EL4102),
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ECAT_INIT_SLAVE(Beckhoff_EL3162),
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ECAT_INIT_SLAVE(Beckhoff_EL3162),
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ECAT_INIT_SLAVE(Beckhoff_EL3162),
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ECAT_INIT_SLAVE(Beckhoff_EL3102),
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ECAT_INIT_SLAVE(Beckhoff_EL3102),
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ECAT_INIT_SLAVE(Beckhoff_EL2004),
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ECAT_INIT_SLAVE(Beckhoff_EL2004),
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ECAT_INIT_SLAVE(Beckhoff_EL2004),
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ECAT_INIT_SLAVE(Beckhoff_EL2004),
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//Block 2
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ECAT_INIT_SLAVE(Beckhoff_EK1100),
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ECAT_INIT_SLAVE(Beckhoff_EL4102),
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ECAT_INIT_SLAVE(Beckhoff_EL1014),
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ECAT_INIT_SLAVE(Beckhoff_EL3162),
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ECAT_INIT_SLAVE(Beckhoff_EL2004),
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ECAT_INIT_SLAVE(Beckhoff_EL3102),
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//Block 3
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ECAT_INIT_SLAVE(Beckhoff_EK1100),
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ECAT_INIT_SLAVE(Beckhoff_EL1014),
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ECAT_INIT_SLAVE(Beckhoff_EL1014),
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ECAT_INIT_SLAVE(Beckhoff_EL1014),
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ECAT_INIT_SLAVE(Beckhoff_EL1014),
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ECAT_INIT_SLAVE(Beckhoff_EL1014),
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ECAT_INIT_SLAVE(Beckhoff_EL2004),
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ECAT_INIT_SLAVE(Beckhoff_EL2004),
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ECAT_INIT_SLAVE(Beckhoff_EL2004),
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ECAT_INIT_SLAVE(Beckhoff_EL2004),
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ECAT_INIT_SLAVE(Beckhoff_EL1014),
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ECAT_INIT_SLAVE(Beckhoff_EL1014),
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ECAT_INIT_SLAVE(Beckhoff_EL1014)
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};
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#define ECAT_SLAVES_COUNT (sizeof(ecat_slaves)/sizeof(EtherCAT_slave_t))
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#endif
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double value;
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int dig1;
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static int next2004(int *wrap)
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{
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static int i=0;
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int j=0;
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*wrap = 0;
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for(j=0;j<ECAT_SLAVES_COUNT;j++) {
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i++;
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i %= ECAT_SLAVES_COUNT;
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if(i == 0) *wrap = 1;
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if(ecat_slaves[i].desc == Beckhoff_EL2004) {
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return i;
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}
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}
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return -1;
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}
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/*
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*******************************************************************************
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*
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* Function: msr_controller
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*
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* Beschreibung: Zyklischer Prozess
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*
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* Parameter:
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*
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* Rückgabe:
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*
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* Status: exp
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*
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*******************************************************************************
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*/
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void msr_controller(void)
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{
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static int ms = 0;
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static int cnt = 0;
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static unsigned long int k = 0;
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static int firstrun = 1;
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static int klemme = 12;
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static int kanal = 0;
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static int up_down = 0;
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int wrap = 0;
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ms++;
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ms %= 1000;
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#ifdef USE_ETHERCAT
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ecat_tx_delay = ((unsigned int) (100000 / HZ) * (ecat_master->dev->tx_time-k))
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/ (current_cpu_data.loops_per_jiffy / 10);
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ecat_rx_delay = ((unsigned int) (100000 / HZ) * (ecat_master->dev->rx_time-k))
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/ (current_cpu_data.loops_per_jiffy / 10);
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rx_intr = ecat_master->dev->rx_intr_cnt;
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tx_intr = ecat_master->dev->tx_intr_cnt;
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total_intr = ecat_master->dev->intr_cnt;
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// Prozessdaten lesen
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if(!firstrun) {
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EtherCAT_read_process_data(ecat_master);
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// Daten lesen und skalieren
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value = EtherCAT_read_value(&ecat_master->slaves[5], 0) / 3276.7;
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dig1 = EtherCAT_read_value(&ecat_master->slaves[3], 0);
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}
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// Daten schreiben
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EtherCAT_write_value(&ecat_master->slaves[4], 0, ms > 500 ? 1 : 0);
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EtherCAT_write_value(&ecat_master->slaves[4], 1, ms > 500 ? 0 : 1);
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EtherCAT_write_value(&ecat_master->slaves[4], 2, ms > 500 ? 0 : 1);
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EtherCAT_write_value(&ecat_master->slaves[4], 3, ms > 500 ? 1 : 0);
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if(cnt++ > 20) {
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cnt = 0;
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if(++kanal > 3) {
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kanal = 0;
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klemme = next2004(&wrap);
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if (wrap == 1) {
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if(up_down == 1)
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up_down = 0;
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else up_down = 1;
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}
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}
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}
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if (klemme >=0)
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EtherCAT_write_value(&ecat_master->slaves[klemme], kanal,up_down);
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// EtherCAT_write_value(&ecat_master->slaves[13], 1, ms > 500 ? 0 : 1);
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// EtherCAT_write_value(&ecat_master->slaves[14], 2, ms > 500 ? 0 : 1);
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// EtherCAT_write_value(&ecat_master->slaves[15], 3, ms > 500 ? 1 : 0);
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// Prozessdaten schreiben
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rdtscl(k);
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EtherCAT_write_process_data(ecat_master);
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firstrun = 0;
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#endif
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}
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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: Interrupt abarbeiten
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*
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* Parameter:
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*
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* Rückgabe:
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*
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* Status: exp
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*
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*******************************************************************************
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*/
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void process_thread(int priv_data)
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{
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while (1)
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{
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260 |
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#ifdef USE_ETHERCAT
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MSR_RTAITHREAD_CODE(msr_controller(); msr_write_kanal_list(); );
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#else
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MSR_RTAITHREAD_CODE( msr_write_kanal_list(); );
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#endif
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266 |
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267 |
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268 |
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/* if(counter++ >=MSR_ABTASTFREQUENZ) {
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counter = 0;
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271 |
sprintf(buf,"rt:life");
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msr_print_info(buf);
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}
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*/
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275 |
rt_task_wait_period();
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276 |
}
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thread_end = 1;
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278 |
}
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279 |
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280 |
/*
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281 |
*******************************************************************************
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282 |
*
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283 |
* Function: msr_register_channels
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284 |
*
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285 |
* Beschreibung: Kanäle registrieren
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*
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* Parameter:
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*
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* Rückgabe:
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290 |
*
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* Status: exp
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*
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293 |
*******************************************************************************
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*/
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296 |
int msr_globals_register(void)
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297 |
{
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298 |
msr_reg_kanal("/value", "V", &value, TDBL);
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299 |
msr_reg_kanal("/dig1", "", &dig1, TINT);
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300 |
msr_reg_kanal("/Taskinfo/Ecat/TX-Delay","us",&ecat_tx_delay,TUINT);
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301 |
msr_reg_kanal("/Taskinfo/Ecat/RX-Delay","us",&ecat_rx_delay,TUINT);
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302 |
msr_reg_kanal("/Taskinfo/Ecat/TX-Cnt","",&tx_intr,TUINT);
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303 |
msr_reg_kanal("/Taskinfo/Ecat/RX-Cnt","",&rx_intr,TUINT);
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304 |
msr_reg_kanal("/Taskinfo/Ecat/Total-Cnt","",&total_intr,TUINT);
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305 |
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306 |
return 0;
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307 |
}
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308 |
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309 |
/*
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310 |
*******************************************************************************
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311 |
*
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312 |
* Function: msr_init
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313 |
*
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314 |
* Beschreibung: MSR initialisieren
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315 |
*
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316 |
* Parameter:
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317 |
*
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318 |
* Rückgabe:
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319 |
*
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320 |
* Status: exp
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321 |
*
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322 |
*******************************************************************************
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*/
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324 |
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325 |
int msr_init(void)
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326 |
{
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327 |
int rv = -1;
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328 |
RTIME tick_period, now;
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329 |
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330 |
// rt_mount_rtai();
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331 |
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332 |
msr_print_info("Initialising rtlib.");
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333 |
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334 |
// RT-lib initialisieren
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335 |
if (msr_rtlib_init(1, MSR_ABTASTFREQUENZ, 10, msr_globals_register) < 0)
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{
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msr_print_warn("msr_modul: can't initialize rtlib!");
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goto out_umount;
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}
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340 |
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341 |
#ifdef USE_ETHERCAT
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msr_print_info("Opening EtherCAT device.");
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343 |
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mdelay(100);
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345 |
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346 |
if (EtherCAT_device_open(&rtl_ecat_dev) < 0)
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{
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348 |
msr_print_warn("msr_modul: Could not initialize EtherCAT NIC.");
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349 |
goto out_rtlib;
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350 |
}
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351 |
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352 |
if (!rtl_ecat_dev.dev) // Es gibt kein EtherCAT-Device
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353 |
{
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354 |
msr_print_warn("msr_modul: No EtherCAT device!");
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355 |
goto out_close;
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356 |
}
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357 |
// goto out_close;
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358 |
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359 |
// EtherCAT-Master und Slaves initialisieren
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360 |
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361 |
msr_print_info("Initialising EtherCAT master");
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362 |
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363 |
if ((ecat_master = (EtherCAT_master_t *) kmalloc(sizeof(EtherCAT_master_t), GFP_KERNEL)) == 0)
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364 |
{
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365 |
msr_print_warn(KERN_ERR "msr_modul: Could not alloc memory for EtherCAT master!\n");
|
|
|
366 |
goto out_close;
|
|
|
367 |
}
|
|
|
368 |
|
|
|
369 |
if (EtherCAT_master_init(ecat_master, &rtl_ecat_dev) < 0)
|
|
|
370 |
{
|
|
|
371 |
msr_print_warn(KERN_ERR "EtherCAT could not init master!\n");
|
|
|
372 |
goto out_master;
|
|
|
373 |
}
|
|
|
374 |
|
|
|
375 |
msr_print_info("Checking EtherCAT slaves.");
|
|
|
376 |
mdelay(10); //Nachricht abwarten
|
|
|
377 |
|
|
|
378 |
if (EtherCAT_check_slaves(ecat_master, ecat_slaves, ECAT_SLAVES_COUNT) != 0)
|
|
|
379 |
{
|
|
|
380 |
msr_print_warn(KERN_ERR "EtherCAT: Could not init slaves!\n");
|
|
|
381 |
goto out_masterclear;
|
|
|
382 |
}
|
|
|
383 |
|
|
|
384 |
msr_print_info("Activating all EtherCAT slaves.");
|
|
|
385 |
mdelay(10); //Nachricht abwarten
|
|
|
386 |
|
|
|
387 |
if (EtherCAT_activate_all_slaves(ecat_master) != 0)
|
|
|
388 |
{
|
|
|
389 |
printk(KERN_ERR "EtherCAT: Could not activate slaves!\n");
|
|
|
390 |
goto out_masterclear;
|
|
|
391 |
}
|
|
|
392 |
|
|
|
393 |
// Zyklischen Aufruf starten
|
|
|
394 |
|
|
|
395 |
#endif
|
|
|
396 |
msr_print_info("Starting cyclic sample thread.");
|
|
|
397 |
mdelay(10); //Nachricht abwarten
|
|
|
398 |
|
|
|
399 |
EtherCAT_write_process_data(ecat_master);
|
|
|
400 |
|
|
|
401 |
//mdelay(100);
|
|
|
402 |
tick_period = start_rt_timer(nano2count(TIMERTICS));
|
|
|
403 |
now = rt_get_time();
|
|
|
404 |
|
|
|
405 |
if ((rv = rt_task_init(&process_image, process_thread, 0/*data*/, 64000/*stacksize*/, 0/*prio*/, 1/*use fpu*/, 0/*signal*/)))
|
|
|
406 |
{
|
|
|
407 |
msr_print_error("Could not initialise process_thread\n");
|
|
|
408 |
goto out_stoptimer;
|
|
|
409 |
}
|
|
|
410 |
|
|
|
411 |
msr_print_info("Initialised sample thread\n");
|
|
|
412 |
|
|
|
413 |
if ((rv = rt_task_make_periodic(&process_image,
|
|
|
414 |
now + tick_period,
|
|
|
415 |
tick_period)))
|
|
|
416 |
{
|
|
|
417 |
msr_print_error("Could not start process_thread\n");
|
|
|
418 |
goto out_stoptask;
|
|
|
419 |
}
|
|
|
420 |
|
|
|
421 |
msr_print_info("Started sample thread.");
|
|
|
422 |
|
|
|
423 |
return 0;
|
|
|
424 |
|
|
|
425 |
out_stoptask:
|
|
|
426 |
msr_print_info("Deleting task....");
|
|
|
427 |
rt_task_delete(&process_image);
|
|
|
428 |
|
|
|
429 |
out_stoptimer:
|
|
|
430 |
msr_print_info("Stopping timer.");
|
|
|
431 |
stop_rt_timer();
|
|
|
432 |
|
|
|
433 |
#ifdef USE_ETHERCAT
|
|
|
434 |
out_masterclear:
|
|
|
435 |
msr_print_info("Clearing EtherCAT master.");
|
|
|
436 |
EtherCAT_master_clear(ecat_master);
|
|
|
437 |
|
|
|
438 |
out_master:
|
|
|
439 |
msr_print_info("Freeing EtherCAT master.");
|
|
|
440 |
kfree(ecat_master);
|
|
|
441 |
|
|
|
442 |
out_close:
|
|
|
443 |
msr_print_info("Closing device.");
|
|
|
444 |
|
|
|
445 |
EtherCAT_device_close(&rtl_ecat_dev);
|
|
|
446 |
#endif
|
|
|
447 |
|
|
|
448 |
out_rtlib:
|
|
|
449 |
msr_print_info("msr_rtlib_cleanup()");
|
|
|
450 |
mdelay(10);
|
|
|
451 |
msr_rtlib_cleanup();
|
|
|
452 |
|
|
|
453 |
out_umount:
|
|
|
454 |
// rt_umount_rtai();
|
|
|
455 |
|
|
|
456 |
return rv;
|
|
|
457 |
}
|
|
|
458 |
|
|
|
459 |
/*
|
|
|
460 |
*******************************************************************************
|
|
|
461 |
*
|
|
|
462 |
* Function: msr_io_cleanup
|
|
|
463 |
*
|
|
|
464 |
* Beschreibung: Aufräumen
|
|
|
465 |
*
|
|
|
466 |
* Parameter:
|
|
|
467 |
*
|
|
|
468 |
* Rückgabe:
|
|
|
469 |
*
|
|
|
470 |
* Status: exp
|
|
|
471 |
*
|
|
|
472 |
*******************************************************************************
|
|
|
473 |
*/
|
|
|
474 |
|
|
|
475 |
void msr_io_cleanup(void)
|
|
|
476 |
{
|
|
|
477 |
|
|
|
478 |
msr_print_info("Stopping timer.");
|
|
|
479 |
|
|
|
480 |
stop_rt_timer();
|
|
|
481 |
|
|
|
482 |
msr_print_info("Deleting task....");
|
|
|
483 |
|
|
|
484 |
rt_task_delete(&process_image);
|
|
|
485 |
/*
|
|
|
486 |
for(i=0;i<1000;i++) {
|
|
|
487 |
udelay(100);
|
|
|
488 |
if(thread_end == 1) {
|
|
|
489 |
msr_print_info("Task ended at count %d",i);
|
|
|
490 |
break;
|
|
|
491 |
}
|
|
|
492 |
}
|
|
|
493 |
*/
|
|
|
494 |
//noch einmal lesen
|
|
|
495 |
|
|
|
496 |
msr_print_info("Read Processdata");
|
|
|
497 |
EtherCAT_read_process_data(ecat_master);
|
|
|
498 |
|
|
|
499 |
//EtherCAT_read_process_data(ecat_master);
|
|
|
500 |
#ifdef USE_ETHERCAT
|
|
|
501 |
if (ecat_master)
|
|
|
502 |
{
|
|
|
503 |
|
|
|
504 |
msr_print_info("Deactivating slaves.");
|
|
|
505 |
|
|
|
506 |
|
|
|
507 |
EtherCAT_deactivate_all_slaves(ecat_master);
|
|
|
508 |
|
|
|
509 |
|
|
|
510 |
msr_print_info("Clearing EtherCAT master.");
|
|
|
511 |
|
|
|
512 |
EtherCAT_master_clear(ecat_master);
|
|
|
513 |
|
|
|
514 |
msr_print_info("Freeing EtherCAT master.");
|
|
|
515 |
|
|
|
516 |
|
|
|
517 |
kfree(ecat_master);
|
|
|
518 |
ecat_master = NULL;
|
|
|
519 |
}
|
|
|
520 |
|
|
|
521 |
msr_print_info("Closing device.");
|
|
|
522 |
|
|
|
523 |
EtherCAT_device_close(&rtl_ecat_dev);
|
|
|
524 |
|
|
|
525 |
#endif
|
|
|
526 |
msr_print_info("msr_rtlib_cleanup()");
|
|
|
527 |
|
|
|
528 |
msr_rtlib_cleanup();
|
|
|
529 |
//rt_umount_rtai();
|
|
|
530 |
}
|
|
|
531 |
|
|
|
532 |
/*---Treiber-Einsprungspunkte etc.-------------------------------------------*/
|
|
|
533 |
|
|
|
534 |
MODULE_LICENSE("GPL");
|
|
|
535 |
|
|
|
536 |
module_init(msr_init);
|
|
|
537 |
module_exit(msr_io_cleanup);
|
|
|
538 |
|
|
|
539 |
/*---Ende--------------------------------------------------------------------*/
|