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

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 *

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 *  msr_module.c

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 *

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

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 *

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 *  Autor: Wilhelm Hagemeister, Florian Pose

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 *

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 *  (C) Copyright IgH 2002

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 *  Ingenieurgemeinschaft IgH

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 *  Heinz-B�äcker 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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 *  $Id$

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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, *r_ssi_st;

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void *r_inc;

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uint32_t k_ssi_pos;

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uint32_t k_ssi_status;

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uint32_t k_preio;

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uint32_t k_postio;

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uint32_t k_finished;

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ec_field_init_t domain1_fields[] = {

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    {&r_ssi,    "1", "Beckhoff", "EL5001", "InputValue", 0},

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    {&r_ssi_st, "1", "Beckhoff", "EL5001", "Status",     0},

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    {}

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};

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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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    cycles_t offset;

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    static unsigned int counter = 0;

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    offset = get_cycles();

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    if (counter) counter--;

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    else {

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        //EtherCAT_rt_master_debug(master, 2);

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        counter = MSR_ABTASTFREQUENZ;

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    }

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    k_preio = (uint32_t) (get_cycles() - offset) * 1e6 / cpu_khz;

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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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    // Prozessdaten verarbeiten

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    k_ssi_pos = EC_READ_U32(r_ssi);

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    k_ssi_status = EC_READ_U32(r_ssi_st);

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    // Senden

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    ecrt_domain_queue(domain1);

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    ecrt_master_async_send(master);

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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_sync_io(master);

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    ecrt_domain_process(domain1);

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    // Prozessdaten verarbeiten

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    k_ssi_pos = EC_READ_U32(r_ssi);

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    k_ssi_status = EC_READ_U32(r_ssi_st);

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    k_postio = (uint32_t) (get_cycles() - offset) * 1e6 / cpu_khz;

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    //ecrt_master_debug(master, 0);

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    k_finished = (uint32_t) (get_cycles() - offset) * 1e6 / cpu_khz;

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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("/angle0",        "", &k_angle,      TUINT);

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    msr_reg_kanal("/pos0",          "", &k_ssi_pos,    TUINT);

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    msr_reg_kanal("/ssi-status0",   "", &k_ssi_status, TUINT);

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    msr_reg_kanal("/Timing/Pre-IO",   "ns", &k_preio,    TUINT);

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    msr_reg_kanal("/Timing/Post-IO",  "ns", &k_postio,   TUINT);

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    msr_reg_kanal("/Timing/Finished", "ns", &k_finished, 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 bestŽätigen

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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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    uint32_t version;

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

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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 "Error requesting master 0!\n");

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        goto out_msr_cleanup;

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    }

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    printk(KERN_INFO "Registering domains...\n");

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    if (!(domain1 = ecrt_master_create_domain(master))) {

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        printk(KERN_ERR "Could not register domain!\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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    //ecrt_master_debug(master, 2);

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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_debug(master, 0);

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    ecrt_master_print(master);

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    if (ecrt_master_sdo_read(master, "1", 0x100A, 1, &version)) {

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        printk(KERN_ERR "Could not read SSI version!\n");

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        goto out_deactivate;

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    }

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    printk(KERN_INFO "Software-version: %u\n", version);

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    if (ecrt_master_sdo_write(master, "1", 0x4061, 1,  0, 1) ||

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        ecrt_master_sdo_write(master, "1", 0x4061, 2,  1, 1) ||

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        ecrt_master_sdo_write(master, "1", 0x4061, 3,  1, 1) ||

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        ecrt_master_sdo_write(master, "1", 0x4066, 0,  0, 1) ||

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        ecrt_master_sdo_write(master, "1", 0x4067, 0,  4, 1) ||

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        ecrt_master_sdo_write(master, "1", 0x4068, 0,  0, 1) ||

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        ecrt_master_sdo_write(master, "1", 0x4069, 0, 25, 1) ||

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        ecrt_master_sdo_write(master, "1", 0x406A, 0, 25, 1) ||

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        ecrt_master_sdo_write(master, "1", 0x406B, 0, 50, 1)) {

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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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#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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 out_deactivate:

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    ecrt_master_deactivate(master);

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

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

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    ipipe_unregister_domain(&this_domain);

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    if (master)

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    {

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

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        printk(KERN_INFO "Deactivating master...\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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    }

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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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*/