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>

    24

#include <linux/slab.h>

    25

#include <linux/vmalloc.h>

    26

#include <linux/delay.h>

    27

    28

// RT_lib

    29

#include <msr_main.h>

    30

#include <msr_utils.h>

    31

#include <msr_messages.h>

    32

#include <msr_float.h>

    33

#include <msr_reg.h>

    34

#include <msr_time.h>

    35

#include "msr_param.h"

    36

    37

// EtherCAT

    38

#include "../include/ecrt.h"

    39

    40

#define ASYNC

    41

    42

// Defines/Makros

    43

#define HZREDUCTION (MSR_ABTASTFREQUENZ / HZ)

    44

    45

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

    46

/* Globale Variablen */

    47

    48

// Adeos

    49

static struct ipipe_domain this_domain;

    50

static struct ipipe_sysinfo sys_info;

    51

    52

// EtherCAT

    53

ec_master_t *master = NULL;

    54

ec_domain_t *domain1 = NULL;

    55

    56

// Prozessdaten

    57

void *r_ssi;

    58

    59

// KanŽäle

    60

uint32_t k_pos;

    61

    62

ec_field_init_t domain1_fields[] = {

    63

    {&r_ssi, "5", "Beckhoff", "EL5001", "InputValue", 0},

    64

    {}

    65

};

    66

    67

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

    68

    69

static void msr_controller_run(void)

    70

{

    71

#ifdef ASYNC

    72

    // Empfangen

    73

    ecrt_master_async_receive(master);

    74

    ecrt_domain_process(domain1);

    75

#else

    76

    // Senden und empfangen

    77

    ecrt_domain_queue(domain1);

    78

    ecrt_master_run(master);

    79

    ecrt_master_sync_io(master);

    80

    ecrt_domain_process(domain1);

    81

#endif

    82

    83

    // Prozessdaten verarbeiten

    84

    k_pos = EC_READ_U32(r_ssi);

    85

    86

#ifdef ASYNC

    87

    // Senden

    88

    ecrt_domain_queue(domain1);

    89

    ecrt_master_run(master);

    90

    ecrt_master_async_send(master);

    91

#endif

    92

}

    93

    94

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

    95

    96

int msr_globals_register(void)

    97

{

    98

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

    99

    return 0;

   100

}

   101

   102

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

   103

   104

void msr_run(unsigned irq)

   105

{

   106

    static int counter = 0;

   107

   108

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

   109

   110

    ipipe_control_irq(irq, 0, IPIPE_ENABLE_MASK); // Interrupt bestŽätigen

   111

    if (++counter >= HZREDUCTION) {

   112

	ipipe_propagate_irq(irq);  // und weiterreichen

   113

	counter = 0;

   114

    }

   115

}

   116

   117

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

   118

   119

void domain_entry(void)

   120

{

   121

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

   122

   123

    ipipe_get_sysinfo(&sys_info);

   124

    ipipe_virtualize_irq(ipipe_current_domain,sys_info.archdep.tmirq,

   125

			 &msr_run, NULL, IPIPE_HANDLE_MASK);

   126

   127

    ipipe_tune_timer(1000000000UL / MSR_ABTASTFREQUENZ, 0);

   128

}

   129

   130

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

   131

   132

int __init init_rt_module(void)

   133

{

   134

    struct ipipe_domain_attr attr; //ipipe

   135

#if 0

   136

    ec_slave_t *slave;

   137

#endif

   138

   139

    // Als allererstes die RT-Lib initialisieren

   140

    if (msr_rtlib_init(1, MSR_ABTASTFREQUENZ, 10, &msr_globals_register) < 0) {

   141

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

   142

        goto out_return;

   143

    }

   144

   145

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

   146

        printk(KERN_ERR "Failed to request master 0!\n");

   147

        goto out_msr_cleanup;

   148

    }

   149

   150

    //ecrt_master_print(master, 2);

   151

   152

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

   153

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

   154

        printk(KERN_ERR "Failed to create domains!\n");

   155

        goto out_release_master;

   156

    }

   157

   158

    printk(KERN_INFO "Registering domain fields...\n");

   159

    if (ecrt_domain_register_field_list(domain1, domain1_fields)) {

   160

        printk(KERN_ERR "Failed to register domain fields.\n");

   161

        goto out_release_master;

   162

    }

   163

   164

    printk(KERN_INFO "Activating master...\n");

   165

    if (ecrt_master_activate(master)) {

   166

        printk(KERN_ERR "Could not activate master!\n");

   167

        goto out_release_master;

   168

    }

   169

   170

#if 0

   171

    if (ecrt_master_fetch_sdo_lists(master)) {

   172

        printk(KERN_ERR "Failed to fetch SDO lists!\n");

   173

        goto out_deactivate;

   174

    }

   175

    ecrt_master_print(master, 2);

   176

#else

   177

    ecrt_master_print(master, 1);

   178

#endif

   179

   180

#if 0

   181

    if (!(slave = ecrt_master_get_slave(master, "1"))) {

   182

        printk(KERN_ERR "Failed to get slave 1!\n");

   183

        goto out_deactivate;

   184

    }

   185

   186

    if (ecrt_slave_sdo_write_exp8(slave, 0x4061, 1,  0) ||

   187

        ecrt_slave_sdo_write_exp8(slave, 0x4061, 2,  1) ||

   188

        ecrt_slave_sdo_write_exp8(slave, 0x4061, 3,  1) ||

   189

        ecrt_slave_sdo_write_exp8(slave, 0x4066, 0,  0) ||

   190

        ecrt_slave_sdo_write_exp8(slave, 0x4067, 0,  4) ||

   191

        ecrt_slave_sdo_write_exp8(slave, 0x4068, 0,  0) ||

   192

        ecrt_slave_sdo_write_exp8(slave, 0x4069, 0, 25) ||

   193

        ecrt_slave_sdo_write_exp8(slave, 0x406A, 0, 25) ||

   194

        ecrt_slave_sdo_write_exp8(slave, 0x406B, 0, 50)) {

   195

        printk(KERN_ERR "Failed to configure SSI slave!\n");

   196

        goto out_deactivate;

   197

    }

   198

#endif

   199

   200

#ifdef ASYNC

   201

    // Einmal senden und warten...

   202

    ecrt_master_prepare_async_io(master);

   203

#endif

   204

   205

    ipipe_init_attr(&attr);

   206

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

   207

    attr.priority = IPIPE_ROOT_PRIO + 1;

   208

    attr.entry = &domain_entry;

   209

    ipipe_register_domain(&this_domain, &attr);

   210

    return 0;

   211

   212

#if 0

   213

 out_deactivate:

   214

    ecrt_master_deactivate(master);

   215

#endif

   216

 out_release_master:

   217

    ecrt_release_master(master);

   218

 out_msr_cleanup:

   219

    msr_rtlib_cleanup();

   220

 out_return:

   221

    return -1;

   222

}

   223

   224

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

   225

   226

void __exit cleanup_rt_module(void)

   227

{

   228

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

   229

   230

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

   231

    ipipe_unregister_domain(&this_domain);

   232

   233

    if (master) {

   234

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

   235

   236

        printk(KERN_INFO "Deactivating master...\n");

   237

        ecrt_master_deactivate(master);

   238

        ecrt_release_master(master);

   239

   240

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

   241

    }

   242

   243

    msr_rtlib_cleanup();

   244

}

   245

   246

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

   247

   248

#define EC_LIT(X) #X

   249

#define EC_STR(X) EC_LIT(X)

   250

#define COMPILE_INFO "Revision " EC_STR(SVNREV) \

   251

                     ", compiled by " EC_STR(USER) \

   252

                     " at " __DATE__ " " __TIME__

   253

   254

MODULE_LICENSE("GPL");

   255

MODULE_AUTHOR ("Florian Pose <fp@igh-essen.com>");

   256

MODULE_DESCRIPTION ("EtherCAT real-time test environment");

   257

MODULE_VERSION(COMPILE_INFO);

   258

   259

module_init(init_rt_module);

   260

module_exit(cleanup_rt_module);

   261

   262

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

   263

   264

/* Emacs-Konfiguration

   265

;;; Local Variables: ***

   266

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

   267

;;; End: ***

   268

*/