| author | Florian Pose <fp@igh-essen.com> |
| Tue, 12 Jan 2010 23:40:37 +0100 | |
| branch | kernel-2.4 |
| changeset 1766 | 9e4d4306b641 |
| parent 6 | e36a85dc2730 |
| permissions | -rw-r--r-- |
| 0 | 1 |
/****************************************************************************** |
2 |
* |
|
3 |
* msr_io.c |
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4 |
* |
|
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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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||
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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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31 |
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32 |
#include <msr_reg.h> |
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#include <msr_messages.h> |
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#include <msr_main.h> |
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35 |
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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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47 |
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/*--Defines------------------------------------------------------------------*/ |
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49 |
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#define TIMERTICS 1e6 // in ns; Thus have a task time of 1ms |
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51 |
#define MSR_ABTASTFREQUENZ (1e9/TIMERTICS) |
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52 |
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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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57 |
||
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//#define MSR_SLOW_DEBUG |
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59 |
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/*--Globale Variablen--------------------------------------------------------*/ |
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61 |
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RT_TASK process_image; |
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63 |
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const int Tick = TICK; |
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65 |
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66 |
unsigned int ecat_tx_delay = 0; //Zeit vom Ende der TimerInterruptRoutine bis |
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67 |
//TX-Interrupt der Netzwerkkarte |
|
68 |
unsigned int ecat_rx_delay = 0; //RX-Interrupt der Netzwerkkarte |
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69 |
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70 |
unsigned int tx_intr = 0; |
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71 |
unsigned int rx_intr = 0; |
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72 |
unsigned int total_intr = 0; |
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73 |
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unsigned int thread_end = 0; |
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75 |
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#define USE_ETHERCAT |
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77 |
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#ifdef USE_ETHERCAT |
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79 |
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80 |
static EtherCAT_master_t *ecat_master = NULL; |
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81 |
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82 |
extern EtherCAT_device_t rtl_ecat_dev; |
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83 |
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84 |
//#define ECAT_SLAVES_COUNT 16 |
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85 |
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static EtherCAT_slave_t ecat_slaves[] = |
|
87 |
{
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//Block 1 |
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6
e36a85dc2730
ISR-Aufruf in read_process_data
Wilhelm Hagemeister <hm@igh-essen.com>
parents:
0
diff
changeset
|
89 |
/* ECAT_INIT_SLAVE(Beckhoff_EK1100), |
| 0 | 90 |
ECAT_INIT_SLAVE(Beckhoff_EL4102), |
91 |
ECAT_INIT_SLAVE(Beckhoff_EL3162), |
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92 |
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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105 |
ECAT_INIT_SLAVE(Beckhoff_EL2004), |
|
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6
e36a85dc2730
ISR-Aufruf in read_process_data
Wilhelm Hagemeister <hm@igh-essen.com>
parents:
0
diff
changeset
|
106 |
ECAT_INIT_SLAVE(Beckhoff_EL2004), */ |
| 0 | 107 |
//Block 2 |
108 |
ECAT_INIT_SLAVE(Beckhoff_EK1100), |
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109 |
ECAT_INIT_SLAVE(Beckhoff_EL4102), |
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110 |
ECAT_INIT_SLAVE(Beckhoff_EL1014), |
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111 |
ECAT_INIT_SLAVE(Beckhoff_EL3162), |
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112 |
ECAT_INIT_SLAVE(Beckhoff_EL2004), |
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113 |
ECAT_INIT_SLAVE(Beckhoff_EL3102), |
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114 |
//Block 3 |
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115 |
ECAT_INIT_SLAVE(Beckhoff_EK1100), |
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116 |
ECAT_INIT_SLAVE(Beckhoff_EL1014), |
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117 |
ECAT_INIT_SLAVE(Beckhoff_EL1014), |
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118 |
ECAT_INIT_SLAVE(Beckhoff_EL1014), |
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119 |
ECAT_INIT_SLAVE(Beckhoff_EL1014), |
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120 |
ECAT_INIT_SLAVE(Beckhoff_EL1014), |
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ECAT_INIT_SLAVE(Beckhoff_EL2004), |
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122 |
ECAT_INIT_SLAVE(Beckhoff_EL2004), |
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123 |
ECAT_INIT_SLAVE(Beckhoff_EL2004), |
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124 |
ECAT_INIT_SLAVE(Beckhoff_EL2004), |
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125 |
ECAT_INIT_SLAVE(Beckhoff_EL1014), |
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126 |
ECAT_INIT_SLAVE(Beckhoff_EL1014), |
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127 |
ECAT_INIT_SLAVE(Beckhoff_EL1014) |
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128 |
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129 |
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130 |
}; |
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131 |
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132 |
#define ECAT_SLAVES_COUNT (sizeof(ecat_slaves)/sizeof(EtherCAT_slave_t)) |
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133 |
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134 |
#endif |
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135 |
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136 |
double value; |
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137 |
int dig1; |
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138 |
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139 |
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140 |
static int next2004(int *wrap) |
|
141 |
{
|
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142 |
static int i=0; |
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143 |
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144 |
int j=0; |
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145 |
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146 |
*wrap = 0; |
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147 |
for(j=0;j<ECAT_SLAVES_COUNT;j++) {
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148 |
i++; |
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149 |
i %= ECAT_SLAVES_COUNT; |
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150 |
if(i == 0) *wrap = 1; |
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151 |
if(ecat_slaves[i].desc == Beckhoff_EL2004) {
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return i; |
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153 |
} |
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154 |
} |
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155 |
return -1; |
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156 |
} |
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157 |
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158 |
/* |
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159 |
******************************************************************************* |
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160 |
* |
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161 |
* Function: msr_controller |
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162 |
* |
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163 |
* Beschreibung: Zyklischer Prozess |
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164 |
* |
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165 |
* Parameter: |
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166 |
* |
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167 |
* Rückgabe: |
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168 |
* |
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* Status: exp |
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170 |
* |
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171 |
******************************************************************************* |
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172 |
*/ |
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173 |
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174 |
void msr_controller(void) |
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175 |
{
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176 |
static int ms = 0; |
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177 |
static int cnt = 0; |
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178 |
static unsigned long int k = 0; |
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179 |
static int firstrun = 1; |
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180 |
||
181 |
static int klemme = 12; |
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182 |
static int kanal = 0; |
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183 |
static int up_down = 0; |
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184 |
int wrap = 0; |
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185 |
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186 |
ms++; |
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187 |
ms %= 1000; |
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188 |
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189 |
#ifdef USE_ETHERCAT |
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190 |
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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194 |
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195 |
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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201 |
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202 |
// Daten lesen und skalieren |
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value = EtherCAT_read_value(&ecat_master->slaves[5], 0) / 3276.7; |
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204 |
dig1 = EtherCAT_read_value(&ecat_master->slaves[3], 0); |
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205 |
} |
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// Daten schreiben |
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207 |
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208 |
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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212 |
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213 |
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214 |
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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233 |
// 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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239 |
||
240 |
/* |
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241 |
******************************************************************************* |
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242 |
* |
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243 |
* 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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248 |
* |
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249 |
* Rückgabe: |
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250 |
* |
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* Status: exp |
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* |
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******************************************************************************* |
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*/ |
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255 |
||
256 |
void process_thread(int priv_data) |
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{
|
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while (1) |
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259 |
{
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260 |
||
261 |
#ifdef USE_ETHERCAT |
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262 |
MSR_RTAITHREAD_CODE(msr_controller(); msr_write_kanal_list(); ); |
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263 |
#else |
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MSR_RTAITHREAD_CODE( msr_write_kanal_list(); ); |
|
265 |
#endif |
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266 |
||
267 |
||
268 |
||
269 |
/* if(counter++ >=MSR_ABTASTFREQUENZ) {
|
|
270 |
counter = 0; |
|
271 |
sprintf(buf,"rt:life"); |
|
272 |
msr_print_info(buf); |
|
273 |
} |
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274 |
*/ |
|
275 |
rt_task_wait_period(); |
|
276 |
} |
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277 |
thread_end = 1; |
|
278 |
} |
|
279 |
||
280 |
/* |
|
281 |
******************************************************************************* |
|
282 |
* |
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283 |
* Function: msr_register_channels |
|
284 |
* |
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285 |
* Beschreibung: Kanäle registrieren |
|
286 |
* |
|
287 |
* Parameter: |
|
288 |
* |
|
289 |
* Rückgabe: |
|
290 |
* |
|
291 |
* Status: exp |
|
292 |
* |
|
293 |
******************************************************************************* |
|
294 |
*/ |
|
295 |
||
296 |
int msr_globals_register(void) |
|
297 |
{
|
|
298 |
msr_reg_kanal("/value", "V", &value, TDBL);
|
|
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);
|
|
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);
|
|
304 |
msr_reg_kanal("/Taskinfo/Ecat/Total-Cnt","",&total_intr,TUINT);
|
|
305 |
||
306 |
return 0; |
|
307 |
} |
|
308 |
||
309 |
/* |
|
310 |
******************************************************************************* |
|
311 |
* |
|
312 |
* Function: msr_init |
|
313 |
* |
|
314 |
* Beschreibung: MSR initialisieren |
|
315 |
* |
|
316 |
* Parameter: |
|
317 |
* |
|
318 |
* Rückgabe: |
|
319 |
* |
|
320 |
* Status: exp |
|
321 |
* |
|
322 |
******************************************************************************* |
|
323 |
*/ |
|
324 |
||
325 |
int msr_init(void) |
|
326 |
{
|
|
327 |
int rv = -1; |
|
328 |
RTIME tick_period, now; |
|
329 |
||
330 |
// rt_mount_rtai(); |
|
331 |
||
332 |
msr_print_info("Initialising rtlib.");
|
|
333 |
||
334 |
// RT-lib initialisieren |
|
335 |
if (msr_rtlib_init(1, MSR_ABTASTFREQUENZ, 10, msr_globals_register) < 0) |
|
336 |
{
|
|
337 |
msr_print_warn("msr_modul: can't initialize rtlib!");
|
|
338 |
goto out_umount; |
|
339 |
} |
|
340 |
||
341 |
#ifdef USE_ETHERCAT |
|
342 |
msr_print_info("Opening EtherCAT device.");
|
|
343 |
||
344 |
mdelay(100); |
|
345 |
||
346 |
if (EtherCAT_device_open(&rtl_ecat_dev) < 0) |
|
347 |
{
|
|
348 |
msr_print_warn("msr_modul: Could not initialize EtherCAT NIC.");
|
|
349 |
goto out_rtlib; |
|
350 |
} |
|
351 |
||
352 |
if (!rtl_ecat_dev.dev) // Es gibt kein EtherCAT-Device |
|
353 |
{
|
|
354 |
msr_print_warn("msr_modul: No EtherCAT device!");
|
|
355 |
goto out_close; |
|
356 |
} |
|
357 |
// goto out_close; |
|
358 |
||
359 |
// EtherCAT-Master und Slaves initialisieren |
|
360 |
||
361 |
msr_print_info("Initialising EtherCAT master");
|
|
362 |
||
363 |
if ((ecat_master = (EtherCAT_master_t *) kmalloc(sizeof(EtherCAT_master_t), GFP_KERNEL)) == 0) |
|
364 |
{
|
|
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 |
* |
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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--------------------------------------------------------------------*/ |