author | Florian Pose <fp@igh-essen.com> |
Tue, 28 Mar 2006 12:38:05 +0000 | |
changeset 134 | aecc8cb72097 |
parent 133 | b36d187ecc0b |
child 135 | 80d493917205 |
permissions | -rw-r--r-- |
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/****************************************************************************** |
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* |
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* msr_module.c |
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* |
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* Kernelmodul für 2.6 Kernel zur Meßdatenerfassung, 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-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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* $Id$ |
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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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ec_domain_t *domain2 = NULL; |
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// Prozessdaten |
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void *r_ssi, *r_ssi_st; |
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void *r_ssi2; |
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void *r_inc; |
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uint32_t k_angle; |
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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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ec_field_init_t domain2_fields[] = { |
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{&r_ssi2, "1", "Beckhoff", "EL5001", "InputValue", 0}, |
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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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ecrt_domain_process(domain2); |
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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_domain_queue(domain2); |
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ecrt_master_async_send(master); |
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#else |
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diff
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|
112 |
// Senden und empfangen |
052bc82d5442
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diff
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|
113 |
ecrt_domain_queue(domain1); |
052bc82d5442
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diff
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|
114 |
ecrt_domain_queue(domain2); |
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diff
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|
115 |
ecrt_master_sync_io(master); |
052bc82d5442
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diff
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|
116 |
ecrt_domain_process(domain1); |
052bc82d5442
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diff
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|
117 |
ecrt_domain_process(domain2); |
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diff
changeset
|
118 |
|
052bc82d5442
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diff
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|
119 |
// Prozessdaten verarbeiten |
133
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Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
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diff
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|
120 |
k_ssi_pos = EC_READ_U32(r_ssi); |
b36d187ecc0b
Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
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diff
changeset
|
121 |
k_ssi_status = EC_READ_U32(r_ssi_st); |
104
052bc82d5442
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diff
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|
122 |
#endif |
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diff
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|
123 |
|
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diff
changeset
|
124 |
k_postio = (uint32_t) (get_cycles() - offset) * 1e6 / cpu_khz; |
052bc82d5442
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diff
changeset
|
125 |
|
052bc82d5442
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diff
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|
126 |
//ecrt_master_debug(master, 0); |
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|
127 |
k_finished = (uint32_t) (get_cycles() - offset) * 1e6 / cpu_khz; |
82
30d0708229b9
Buskoppler werden jetzt gesondert behandelt.
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diff
changeset
|
128 |
} |
30d0708229b9
Buskoppler werden jetzt gesondert behandelt.
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diff
changeset
|
129 |
|
30d0708229b9
Buskoppler werden jetzt gesondert behandelt.
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diff
changeset
|
130 |
/*****************************************************************************/ |
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Buskoppler werden jetzt gesondert behandelt.
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81
diff
changeset
|
131 |
|
30d0708229b9
Buskoppler werden jetzt gesondert behandelt.
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diff
changeset
|
132 |
int msr_globals_register(void) |
30d0708229b9
Buskoppler werden jetzt gesondert behandelt.
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diff
changeset
|
133 |
{ |
133
b36d187ecc0b
Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
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112
diff
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|
134 |
msr_reg_kanal("/angle0", "", &k_angle, TUINT); |
b36d187ecc0b
Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
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diff
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|
135 |
msr_reg_kanal("/pos0", "", &k_ssi_pos, TUINT); |
b36d187ecc0b
Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
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diff
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|
136 |
msr_reg_kanal("/ssi-status0", "", &k_ssi_status, TUINT); |
82
30d0708229b9
Buskoppler werden jetzt gesondert behandelt.
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diff
changeset
|
137 |
|
104
052bc82d5442
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diff
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|
138 |
msr_reg_kanal("/Timing/Pre-IO", "ns", &k_preio, TUINT); |
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MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
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|
139 |
msr_reg_kanal("/Timing/Post-IO", "ns", &k_postio, TUINT); |
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MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
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|
140 |
msr_reg_kanal("/Timing/Finished", "ns", &k_finished, TUINT); |
052bc82d5442
MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
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diff
changeset
|
141 |
|
82
30d0708229b9
Buskoppler werden jetzt gesondert behandelt.
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diff
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|
142 |
return 0; |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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diff
changeset
|
143 |
} |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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diff
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|
144 |
|
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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diff
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|
145 |
/*****************************************************************************/ |
28 | 146 |
|
147 |
void msr_run(unsigned irq) |
|
148 |
{ |
|
45
f525f7db2d90
Verbesserte Makefiles (MODPOST-Warnungen entfernt).
Florian Pose <fp@igh-essen.com>
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43
diff
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|
149 |
static int counter = 0; |
f525f7db2d90
Verbesserte Makefiles (MODPOST-Warnungen entfernt).
Florian Pose <fp@igh-essen.com>
parents:
43
diff
changeset
|
150 |
|
f525f7db2d90
Verbesserte Makefiles (MODPOST-Warnungen entfernt).
Florian Pose <fp@igh-essen.com>
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diff
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|
151 |
MSR_ADEOS_INTERRUPT_CODE(msr_controller_run(); msr_write_kanal_list();); |
28 | 152 |
|
73
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Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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68
diff
changeset
|
153 |
ipipe_control_irq(irq, 0, IPIPE_ENABLE_MASK); // Interrupt bestŽätigen |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
154 |
if (++counter >= HZREDUCTION) { |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
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diff
changeset
|
155 |
ipipe_propagate_irq(irq); // und weiterreichen |
28 | 156 |
counter = 0; |
157 |
} |
|
42
a22a202d0f42
Domains, Warten beim Senden, 10kHz.
Florian Pose <fp@igh-essen.com>
parents:
40
diff
changeset
|
158 |
} |
a22a202d0f42
Domains, Warten beim Senden, 10kHz.
Florian Pose <fp@igh-essen.com>
parents:
40
diff
changeset
|
159 |
|
45
f525f7db2d90
Verbesserte Makefiles (MODPOST-Warnungen entfernt).
Florian Pose <fp@igh-essen.com>
parents:
43
diff
changeset
|
160 |
/*****************************************************************************/ |
f525f7db2d90
Verbesserte Makefiles (MODPOST-Warnungen entfernt).
Florian Pose <fp@igh-essen.com>
parents:
43
diff
changeset
|
161 |
|
f525f7db2d90
Verbesserte Makefiles (MODPOST-Warnungen entfernt).
Florian Pose <fp@igh-essen.com>
parents:
43
diff
changeset
|
162 |
void domain_entry(void) |
42
a22a202d0f42
Domains, Warten beim Senden, 10kHz.
Florian Pose <fp@igh-essen.com>
parents:
40
diff
changeset
|
163 |
{ |
a22a202d0f42
Domains, Warten beim Senden, 10kHz.
Florian Pose <fp@igh-essen.com>
parents:
40
diff
changeset
|
164 |
printk("Domain %s started.\n", ipipe_current_domain->name); |
28 | 165 |
|
166 |
ipipe_get_sysinfo(&sys_info); |
|
167 |
ipipe_virtualize_irq(ipipe_current_domain,sys_info.archdep.tmirq, |
|
168 |
&msr_run, NULL, IPIPE_HANDLE_MASK); |
|
169 |
||
68
a452700db994
Neue ASCII-Adressierung und Code-Dokumantation.
Florian Pose <fp@igh-essen.com>
parents:
62
diff
changeset
|
170 |
ipipe_tune_timer(1000000000UL / MSR_ABTASTFREQUENZ, 0); |
42
a22a202d0f42
Domains, Warten beim Senden, 10kHz.
Florian Pose <fp@igh-essen.com>
parents:
40
diff
changeset
|
171 |
} |
a22a202d0f42
Domains, Warten beim Senden, 10kHz.
Florian Pose <fp@igh-essen.com>
parents:
40
diff
changeset
|
172 |
|
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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68
diff
changeset
|
173 |
/*****************************************************************************/ |
28 | 174 |
|
54
7506e67dd122
Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents:
51
diff
changeset
|
175 |
int __init init_rt_module(void) |
7506e67dd122
Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents:
51
diff
changeset
|
176 |
{ |
28 | 177 |
struct ipipe_domain_attr attr; //ipipe |
80
8cd08d73b560
CANopen SDO read implementiert.
Florian Pose <fp@igh-essen.com>
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73
diff
changeset
|
178 |
uint32_t version; |
28 | 179 |
|
36
6e9de6fbf74c
EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
Florian Pose <fp@igh-essen.com>
parents:
33
diff
changeset
|
180 |
// Als allererstes die RT-lib initialisieren |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
181 |
if (msr_rtlib_init(1, MSR_ABTASTFREQUENZ, 10, &msr_globals_register) < 0) { |
28 | 182 |
msr_print_warn("msr_modul: can't initialize rtlib!"); |
36
6e9de6fbf74c
EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
Florian Pose <fp@igh-essen.com>
parents:
33
diff
changeset
|
183 |
goto out_return; |
28 | 184 |
} |
185 |
||
104
052bc82d5442
MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
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diff
changeset
|
186 |
if ((master = ecrt_request_master(0)) == NULL) { |
55
059a9e712aa7
Mit neuer Schnittstelle wieder lauff?hig.
Florian Pose <fp@igh-essen.com>
parents:
54
diff
changeset
|
187 |
printk(KERN_ERR "Error requesting master 0!\n"); |
36
6e9de6fbf74c
EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
Florian Pose <fp@igh-essen.com>
parents:
33
diff
changeset
|
188 |
goto out_msr_cleanup; |
6e9de6fbf74c
EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
Florian Pose <fp@igh-essen.com>
parents:
33
diff
changeset
|
189 |
} |
6e9de6fbf74c
EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
Florian Pose <fp@igh-essen.com>
parents:
33
diff
changeset
|
190 |
|
133
b36d187ecc0b
Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
Florian Pose <fp@igh-essen.com>
parents:
112
diff
changeset
|
191 |
ecrt_master_print(master); |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
192 |
|
98
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
91
diff
changeset
|
193 |
printk(KERN_INFO "Registering domains...\n"); |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
194 |
|
104
052bc82d5442
MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
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diff
changeset
|
195 |
if (!(domain1 = ecrt_master_create_domain(master))) { |
133
b36d187ecc0b
Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
Florian Pose <fp@igh-essen.com>
parents:
112
diff
changeset
|
196 |
printk(KERN_ERR "Could not register domain!\n"); |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
197 |
goto out_release_master; |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
198 |
} |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
199 |
|
104
052bc82d5442
MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents:
98
diff
changeset
|
200 |
if (!(domain2 = ecrt_master_create_domain(master))) { |
133
b36d187ecc0b
Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
Florian Pose <fp@igh-essen.com>
parents:
112
diff
changeset
|
201 |
printk(KERN_ERR "Could not register domain!\n"); |
98
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
91
diff
changeset
|
202 |
goto out_release_master; |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
91
diff
changeset
|
203 |
} |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
91
diff
changeset
|
204 |
|
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
205 |
printk(KERN_INFO "Registering domain fields...\n"); |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
206 |
|
104
052bc82d5442
MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents:
98
diff
changeset
|
207 |
if (ecrt_domain_register_field_list(domain1, domain1_fields)) { |
98
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
91
diff
changeset
|
208 |
printk(KERN_ERR "Failed to register domain fields.\n"); |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
91
diff
changeset
|
209 |
goto out_release_master; |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
91
diff
changeset
|
210 |
} |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
91
diff
changeset
|
211 |
|
104
052bc82d5442
MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents:
98
diff
changeset
|
212 |
if (ecrt_domain_register_field_list(domain2, domain2_fields)) { |
98
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
91
diff
changeset
|
213 |
printk(KERN_ERR "Failed to register domain fields.\n"); |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
91
diff
changeset
|
214 |
goto out_release_master; |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
215 |
} |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
216 |
|
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
217 |
printk(KERN_INFO "Activating master...\n"); |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
218 |
|
104
052bc82d5442
MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents:
98
diff
changeset
|
219 |
//ecrt_master_debug(master, 2); |
052bc82d5442
MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents:
98
diff
changeset
|
220 |
|
052bc82d5442
MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents:
98
diff
changeset
|
221 |
if (ecrt_master_activate(master)) { |
80
8cd08d73b560
CANopen SDO read implementiert.
Florian Pose <fp@igh-essen.com>
parents:
73
diff
changeset
|
222 |
printk(KERN_ERR "Could not activate master!\n"); |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
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diff
changeset
|
223 |
goto out_release_master; |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
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68
diff
changeset
|
224 |
} |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
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diff
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|
225 |
|
104
052bc82d5442
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|
226 |
//ecrt_master_debug(master, 0); |
98
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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diff
changeset
|
227 |
|
134
aecc8cb72097
Bugfix: Gr??erer Puffer f?r CoE-Daten beim SDO upload.
Florian Pose <fp@igh-essen.com>
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133
diff
changeset
|
228 |
#if 1 |
133
b36d187ecc0b
Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
Florian Pose <fp@igh-essen.com>
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diff
changeset
|
229 |
if (ecrt_master_sdo_read(master, "1", 0x100A, 1, &version)) { |
80
8cd08d73b560
CANopen SDO read implementiert.
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diff
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|
230 |
printk(KERN_ERR "Could not read SSI version!\n"); |
133
b36d187ecc0b
Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
Florian Pose <fp@igh-essen.com>
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diff
changeset
|
231 |
goto out_deactivate; |
68
a452700db994
Neue ASCII-Adressierung und Code-Dokumantation.
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diff
changeset
|
232 |
} |
83
e8b76a509bc9
Beispiel-Echtzeitcode angepasst.
Florian Pose <fp@igh-essen.com>
parents:
82
diff
changeset
|
233 |
printk(KERN_INFO "Software-version: %u\n", version); |
81
28b1defdcc88
Nicht registrierte Slaves in PREOP schalten.
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diff
changeset
|
234 |
#endif |
61
cd014255f94f
register_slave_list() und Bugfix in deactivate_slaves()
Florian Pose <fp@igh-essen.com>
parents:
59
diff
changeset
|
235 |
|
134
aecc8cb72097
Bugfix: Gr??erer Puffer f?r CoE-Daten beim SDO upload.
Florian Pose <fp@igh-essen.com>
parents:
133
diff
changeset
|
236 |
#if 1 |
133
b36d187ecc0b
Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
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parents:
112
diff
changeset
|
237 |
if (ecrt_master_sdo_write(master, "1", 0x4061, 1, 0, 1) || |
b36d187ecc0b
Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
238 |
ecrt_master_sdo_write(master, "1", 0x4061, 2, 1, 1) || |
b36d187ecc0b
Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
239 |
ecrt_master_sdo_write(master, "1", 0x4061, 3, 1, 1) || |
b36d187ecc0b
Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
Florian Pose <fp@igh-essen.com>
parents:
112
diff
changeset
|
240 |
ecrt_master_sdo_write(master, "1", 0x4066, 0, 0, 1) || |
b36d187ecc0b
Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
Florian Pose <fp@igh-essen.com>
parents:
112
diff
changeset
|
241 |
ecrt_master_sdo_write(master, "1", 0x4067, 0, 4, 1) || |
b36d187ecc0b
Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
Florian Pose <fp@igh-essen.com>
parents:
112
diff
changeset
|
242 |
ecrt_master_sdo_write(master, "1", 0x4068, 0, 0, 1) || |
b36d187ecc0b
Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
Florian Pose <fp@igh-essen.com>
parents:
112
diff
changeset
|
243 |
ecrt_master_sdo_write(master, "1", 0x4069, 0, 25, 1) || |
b36d187ecc0b
Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
Florian Pose <fp@igh-essen.com>
parents:
112
diff
changeset
|
244 |
ecrt_master_sdo_write(master, "1", 0x406A, 0, 25, 1) || |
b36d187ecc0b
Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
Florian Pose <fp@igh-essen.com>
parents:
112
diff
changeset
|
245 |
ecrt_master_sdo_write(master, "1", 0x406B, 0, 50, 1)) { |
b36d187ecc0b
Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
Florian Pose <fp@igh-essen.com>
parents:
112
diff
changeset
|
246 |
printk(KERN_ERR "Failed to configure SSI slave!\n"); |
b36d187ecc0b
Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
Florian Pose <fp@igh-essen.com>
parents:
112
diff
changeset
|
247 |
goto out_deactivate; |
b36d187ecc0b
Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
Florian Pose <fp@igh-essen.com>
parents:
112
diff
changeset
|
248 |
} |
b36d187ecc0b
Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
Florian Pose <fp@igh-essen.com>
parents:
112
diff
changeset
|
249 |
#endif |
b36d187ecc0b
Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
Florian Pose <fp@igh-essen.com>
parents:
112
diff
changeset
|
250 |
|
104
052bc82d5442
MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents:
98
diff
changeset
|
251 |
#ifdef ASYNC |
106
d6679c77ad3f
ecrt_master_prepare_async_io() hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
252 |
// Einmal senden und warten... |
d6679c77ad3f
ecrt_master_prepare_async_io() hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
253 |
ecrt_master_prepare_async_io(master); |
104
052bc82d5442
MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
254 |
#endif |
052bc82d5442
MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents:
98
diff
changeset
|
255 |
|
61
cd014255f94f
register_slave_list() und Bugfix in deactivate_slaves()
Florian Pose <fp@igh-essen.com>
parents:
59
diff
changeset
|
256 |
ipipe_init_attr(&attr); |
cd014255f94f
register_slave_list() und Bugfix in deactivate_slaves()
Florian Pose <fp@igh-essen.com>
parents:
59
diff
changeset
|
257 |
attr.name = "IPIPE-MSR-MODULE"; |
28 | 258 |
attr.priority = IPIPE_ROOT_PRIO + 1; |
61
cd014255f94f
register_slave_list() und Bugfix in deactivate_slaves()
Florian Pose <fp@igh-essen.com>
parents:
59
diff
changeset
|
259 |
attr.entry = &domain_entry; |
cd014255f94f
register_slave_list() und Bugfix in deactivate_slaves()
Florian Pose <fp@igh-essen.com>
parents:
59
diff
changeset
|
260 |
ipipe_register_domain(&this_domain, &attr); |
28 | 261 |
|
36
6e9de6fbf74c
EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
Florian Pose <fp@igh-essen.com>
parents:
33
diff
changeset
|
262 |
return 0; |
6e9de6fbf74c
EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
Florian Pose <fp@igh-essen.com>
parents:
33
diff
changeset
|
263 |
|
133
b36d187ecc0b
Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
Florian Pose <fp@igh-essen.com>
parents:
112
diff
changeset
|
264 |
out_deactivate: |
b36d187ecc0b
Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
Florian Pose <fp@igh-essen.com>
parents:
112
diff
changeset
|
265 |
ecrt_master_deactivate(master); |
36
6e9de6fbf74c
EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
Florian Pose <fp@igh-essen.com>
parents:
33
diff
changeset
|
266 |
out_release_master: |
104
052bc82d5442
MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents:
98
diff
changeset
|
267 |
ecrt_release_master(master); |
36
6e9de6fbf74c
EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
Florian Pose <fp@igh-essen.com>
parents:
33
diff
changeset
|
268 |
out_msr_cleanup: |
6e9de6fbf74c
EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
Florian Pose <fp@igh-essen.com>
parents:
33
diff
changeset
|
269 |
msr_rtlib_cleanup(); |
6e9de6fbf74c
EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
Florian Pose <fp@igh-essen.com>
parents:
33
diff
changeset
|
270 |
out_return: |
6e9de6fbf74c
EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
Florian Pose <fp@igh-essen.com>
parents:
33
diff
changeset
|
271 |
return -1; |
28 | 272 |
} |
273 |
||
42
a22a202d0f42
Domains, Warten beim Senden, 10kHz.
Florian Pose <fp@igh-essen.com>
parents:
40
diff
changeset
|
274 |
/*****************************************************************************/ |
a22a202d0f42
Domains, Warten beim Senden, 10kHz.
Florian Pose <fp@igh-essen.com>
parents:
40
diff
changeset
|
275 |
|
54
7506e67dd122
Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents:
51
diff
changeset
|
276 |
void __exit cleanup_rt_module(void) |
7506e67dd122
Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents:
51
diff
changeset
|
277 |
{ |
28 | 278 |
msr_print_info("msk_modul: unloading..."); |
279 |
||
45
f525f7db2d90
Verbesserte Makefiles (MODPOST-Warnungen entfernt).
Florian Pose <fp@igh-essen.com>
parents:
43
diff
changeset
|
280 |
ipipe_tune_timer(1000000000UL / HZ, 0); //alten Timertakt wieder herstellen |
28 | 281 |
ipipe_unregister_domain(&this_domain); |
282 |
||
54
7506e67dd122
Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents:
51
diff
changeset
|
283 |
if (master) |
28 | 284 |
{ |
43 | 285 |
printk(KERN_INFO "=== Stopping EtherCAT environment... ===\n"); |
286 |
||
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
287 |
printk(KERN_INFO "Deactivating master...\n"); |
104
052bc82d5442
MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents:
98
diff
changeset
|
288 |
ecrt_master_deactivate(master); |
052bc82d5442
MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents:
98
diff
changeset
|
289 |
ecrt_release_master(master); |
43 | 290 |
|
291 |
printk(KERN_INFO "=== EtherCAT environment stopped. ===\n"); |
|
292 |
} |
|
28 | 293 |
|
36
6e9de6fbf74c
EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
Florian Pose <fp@igh-essen.com>
parents:
33
diff
changeset
|
294 |
msr_rtlib_cleanup(); |
28 | 295 |
} |
296 |
||
42
a22a202d0f42
Domains, Warten beim Senden, 10kHz.
Florian Pose <fp@igh-essen.com>
parents:
40
diff
changeset
|
297 |
/*****************************************************************************/ |
a22a202d0f42
Domains, Warten beim Senden, 10kHz.
Florian Pose <fp@igh-essen.com>
parents:
40
diff
changeset
|
298 |
|
98
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
91
diff
changeset
|
299 |
#define EC_LIT(X) #X |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
91
diff
changeset
|
300 |
#define EC_STR(X) EC_LIT(X) |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
91
diff
changeset
|
301 |
#define COMPILE_INFO "Revision " EC_STR(SVNREV) \ |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
91
diff
changeset
|
302 |
", compiled by " EC_STR(USER) \ |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
91
diff
changeset
|
303 |
" at " __DATE__ " " __TIME__ |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
91
diff
changeset
|
304 |
|
28 | 305 |
MODULE_LICENSE("GPL"); |
73
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
306 |
MODULE_AUTHOR ("Florian Pose <fp@igh-essen.com>"); |
9f4ea66d89a3
Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents:
68
diff
changeset
|
307 |
MODULE_DESCRIPTION ("EtherCAT real-time test environment"); |
98
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
91
diff
changeset
|
308 |
MODULE_VERSION(COMPILE_INFO); |
28 | 309 |
|
54
7506e67dd122
Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents:
51
diff
changeset
|
310 |
module_init(init_rt_module); |
7506e67dd122
Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents:
51
diff
changeset
|
311 |
module_exit(cleanup_rt_module); |
7506e67dd122
Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents:
51
diff
changeset
|
312 |
|
7506e67dd122
Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents:
51
diff
changeset
|
313 |
/*****************************************************************************/ |
55
059a9e712aa7
Mit neuer Schnittstelle wieder lauff?hig.
Florian Pose <fp@igh-essen.com>
parents:
54
diff
changeset
|
314 |
|
059a9e712aa7
Mit neuer Schnittstelle wieder lauff?hig.
Florian Pose <fp@igh-essen.com>
parents:
54
diff
changeset
|
315 |
/* Emacs-Konfiguration |
059a9e712aa7
Mit neuer Schnittstelle wieder lauff?hig.
Florian Pose <fp@igh-essen.com>
parents:
54
diff
changeset
|
316 |
;;; Local Variables: *** |
059a9e712aa7
Mit neuer Schnittstelle wieder lauff?hig.
Florian Pose <fp@igh-essen.com>
parents:
54
diff
changeset
|
317 |
;;; c-basic-offset:4 *** |
059a9e712aa7
Mit neuer Schnittstelle wieder lauff?hig.
Florian Pose <fp@igh-essen.com>
parents:
54
diff
changeset
|
318 |
;;; End: *** |
059a9e712aa7
Mit neuer Schnittstelle wieder lauff?hig.
Florian Pose <fp@igh-essen.com>
parents:
54
diff
changeset
|
319 |
*/ |