1

/******************************************************************************

     2

 *

     3

 *  msr_module.c

     4

 *

     5

 *  Kernelmodul f�ür 2.6 Kernel zur Me�ßdatenerfassung, Steuerung und Regelung.

     6

 *

     7

 *  Autor: Wilhelm Hagemeister, Florian Pose

     8

 *

     9

 *  (C) Copyright IgH 2002

    10

 *  Ingenieurgemeinschaft IgH

    11

 *  Heinz-B�äcker Str. 34

    12

 *  D-45356 Essen

    13

 *  Tel.: +49 201/61 99 31

    14

 *  Fax.: +49 201/61 98 36

    15

 *  E-mail: hm@igh-essen.com

    16

 *

    17

 *  $Id$

    18

 *

    19

 *****************************************************************************/

    20

    21

// Linux

    22

#include <linux/module.h>

    23

#include <linux/ipipe.h>

    26

    27

// RT_lib

    28

#include <msr_main.h>

    29

#include <msr_utils.h>

    30

#include <msr_messages.h>

    31

#include <msr_float.h>

    32

#include <msr_reg.h>

    34

#include "msr_param.h"

    35

    36

// EtherCAT

    37

#include "../include/EtherCAT_rt.h"

    38

#include "../include/EtherCAT_si.h"

    39

    40

// Defines/Makros

    41

#define HZREDUCTION (MSR_ABTASTFREQUENZ / HZ)

    42

    43

/*****************************************************************************/

    44

/* Globale Variablen */

    45

    46

// Adeos

    47

static struct ipipe_domain this_domain;

    48

static struct ipipe_sysinfo sys_info;

    49

    50

// EtherCAT

    51

ec_master_t *master = NULL;

    66

};

    67

    69

    70

static void msr_controller_run(void)

    71

{

    72

    // Prozessdaten lesen und schreiben

    79

    80

void msr_run(unsigned irq)

    81

{

    82

    static int counter = 0;

    83

    84

    MSR_ADEOS_INTERRUPT_CODE(msr_controller_run(); msr_write_kanal_list(););

    85

    89

	counter = 0;

    90

    }

    91

}

    92

    93

/*****************************************************************************/

    94

    95

void domain_entry(void)

    96

{

    97

    printk("Domain %s started.\n", ipipe_current_domain->name);

    98

    99

    ipipe_get_sysinfo(&sys_info);

   100

    ipipe_virtualize_irq(ipipe_current_domain,sys_info.archdep.tmirq,

   101

			 &msr_run, NULL, IPIPE_HANDLE_MASK);

   102

   103

    ipipe_tune_timer(1000000000UL / MSR_ABTASTFREQUENZ, 0);

   104

}

   105

   107

   108

int msr_globals_register(void)

   109

{

   111

   112

    return 0;

   113

}

   114

   116

   117

int __init init_rt_module(void)

   118

{

   119

    struct ipipe_domain_attr attr; //ipipe

   121

   122

    // Als allererstes die RT-lib initialisieren

   124

        msr_print_warn("msr_modul: can't initialize rtlib!");

   125

        goto out_return;

   126

    }

   127

   128

    if ((master = EtherCAT_rt_request_master(0)) == NULL) {

   129

        printk(KERN_ERR "Error requesting master 0!\n");

   130

        goto out_msr_cleanup;

   131

    }

   132

   169

        printk(KERN_ERR "EtherCAT: Could not set SSI baud rate!\n");

   170

        goto out_release_master;

   171

    }

   172

   174

        printk(KERN_ERR "EtherCAT: Could not set SSI feature bit!\n");

   175

        goto out_release_master;

   176

    }

   178

   179

    ipipe_init_attr(&attr);

   180

    attr.name = "IPIPE-MSR-MODULE";

   181

    attr.priority = IPIPE_ROOT_PRIO + 1;

   182

    attr.entry = &domain_entry;

   183

    ipipe_register_domain(&this_domain, &attr);

   184

   185

    return 0;

   186

   187

 out_release_master:

   188

    EtherCAT_rt_release_master(master);

   189

   190

 out_msr_cleanup:

   191

    msr_rtlib_cleanup();

   192

   193

 out_return:

   194

    return -1;

   195

}

   196

   197

/*****************************************************************************/

   198

   199

void __exit cleanup_rt_module(void)

   200

{

   201

    msr_print_info("msk_modul: unloading...");

   202

   203

    ipipe_tune_timer(1000000000UL / HZ, 0); //alten Timertakt wieder herstellen

   204

    ipipe_unregister_domain(&this_domain);

   205

   206

    if (master)

   207

    {

   208

        printk(KERN_INFO "=== Stopping EtherCAT environment... ===\n");

   209

   214

        }

   215

   216

        EtherCAT_rt_release_master(master);

   217

   218

        printk(KERN_INFO "=== EtherCAT environment stopped. ===\n");

   219

    }

   220

   221

    msr_rtlib_cleanup();

   222

}

   223

   224

/*****************************************************************************/

   225

   226

MODULE_LICENSE("GPL");

   229

   230

module_init(init_rt_module);

   231

module_exit(cleanup_rt_module);

   232

   233

/*****************************************************************************/

   234

   235

/* Emacs-Konfiguration

   236

;;; Local Variables: ***

   237

;;; c-basic-offset:4 ***

   238

;;; End: ***

   239

*/