rt/msr_module.c
author Florian Pose <fp@igh-essen.com>
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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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// 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_param.h"
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#include "msr_jitter.h"
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// EtherCAT
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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 "../drivers/ec_module.h"
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// Defines/Makros
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#define TSC2US(T1, T2) ((T2 - T1) * 1000UL / cpu_khz)
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#define HZREDUCTION (MSR_ABTASTFREQUENZ / HZ)
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/*****************************************************************************/
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/* Globale Variablen */
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// RT_lib
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extern struct timeval process_time;
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struct timeval msr_time_increment; // Increment per Interrupt
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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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static EtherCAT_master_t *ecat_master = NULL;
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static unsigned int ecat_bus_time = 0;
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static unsigned int ecat_timeouts = 0;
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static EtherCAT_slave_t ecat_slaves[] =
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{
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    // Block 1
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    ECAT_INIT_SLAVE(Beckhoff_EK1100, 0),
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    ECAT_INIT_SLAVE(Beckhoff_EL3102, 0)
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};
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#define ECAT_SLAVES_COUNT (sizeof(ecat_slaves) / sizeof(EtherCAT_slave_t))
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#define USE_MSR_LIB
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#ifdef USE_MSR_LIB
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double value;
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int dig1;
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#endif
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/******************************************************************************
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 *
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 * Function: msr_controller_run()
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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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    static unsigned int debug_counter = 0;
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    // Prozessdaten lesen
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    msr_jitter_run(MSR_ABTASTFREQUENZ);
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    if (debug_counter == 0) {
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        ecat_master->debug_level = 2;
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    }
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    // Prozessdaten schreiben
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    if (EtherCAT_process_data_cycle(ecat_master, 0, 40) < 0)
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        ecat_timeouts++;
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    if (debug_counter == 0) {
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        ecat_master->debug_level = 0;
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    }
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    value = EtherCAT_read_value(&ecat_slaves[1], 0);
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    debug_counter++;
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    if (debug_counter >= MSR_ABTASTFREQUENZ * 5) debug_counter = 0;
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}
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/******************************************************************************
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 *
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 *  Function: msr_run(_interrupt)
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 *
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 *  Beschreibung: Routine wird zyklisch im Timerinterrupt ausgeführt
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 *                (hier muß alles rein, was Echtzeit ist ...)
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 *
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 *  Parameter: Zeiger auf msr_data
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 *
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 *  Rückgabe:
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 *
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 *  Status: exp
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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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#ifdef USE_MSR_LIB
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    timeval_add(&process_time, &process_time, &msr_time_increment);
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    MSR_ADEOS_INTERRUPT_CODE(msr_controller_run(); msr_write_kanal_list(););
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#else
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    msr_controller_run();
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#endif
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40
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    ipipe_control_irq(irq,0,IPIPE_ENABLE_MASK);  //Interrupt bestŽätigen
45
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   136
    if (counter++ > HZREDUCTION) {
40
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   137
	ipipe_propagate_irq(irq);  //und weiterreichen
28
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   138
	counter = 0;
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   139
    }
42
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}
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45
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/*****************************************************************************/
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   143
f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt).
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   144
void domain_entry(void)
42
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{
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   146
    printk("Domain %s started.\n", ipipe_current_domain->name);
28
801dc7eabf51 IPIPE,floatpoint,rtlib
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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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   151
42
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    ipipe_tune_timer(1000000000UL/MSR_ABTASTFREQUENZ,0);
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}
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/******************************************************************************
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 *
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 *  Function: msr_register_channels
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 *
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   159
 *  Beschreibung: KanŽäle registrieren
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   160
 *
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   161
 *  Parameter:
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   162
 *
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   163
 *  RŽückgabe:
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   164
 *
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   165
 *  Status: exp
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   166
 *
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 *****************************************************************************/
28
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   169
int msr_globals_register(void)
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{
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   171
#ifdef USE_MSR_LIB
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    msr_reg_kanal("/value", "V", &value, TDBL);
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   173
    msr_reg_kanal("/dig1", "", &dig1, TINT);
801dc7eabf51 IPIPE,floatpoint,rtlib
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   174
#endif
45
f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt).
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   175
f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt).
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diff changeset
   176
    msr_reg_kanal("/Taskinfo/EtherCAT/BusTime", "us", &ecat_bus_time, TUINT);
47
ad5f969f263b Prozessdatentimeout, Buszeit und weniger Klemmen.
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diff changeset
   177
    msr_reg_kanal("/Taskinfo/EtherCAT/Timeouts", "", &ecat_timeouts, TUINT);
45
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   178
f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt).
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   179
    return 0;
28
801dc7eabf51 IPIPE,floatpoint,rtlib
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   180
}
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   181
42
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   182
/******************************************************************************
28
801dc7eabf51 IPIPE,floatpoint,rtlib
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   183
 * the init/clean material
42
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   184
 *****************************************************************************/
28
801dc7eabf51 IPIPE,floatpoint,rtlib
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   185
801dc7eabf51 IPIPE,floatpoint,rtlib
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   186
int __init init_module()
801dc7eabf51 IPIPE,floatpoint,rtlib
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   187
{
42
a22a202d0f42 Domains, Warten beim Senden, 10kHz.
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   188
    unsigned int i;
28
801dc7eabf51 IPIPE,floatpoint,rtlib
Wilhelm Hagemeister <hm@igh-essen.com>
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   189
    struct ipipe_domain_attr attr; //ipipe
801dc7eabf51 IPIPE,floatpoint,rtlib
Wilhelm Hagemeister <hm@igh-essen.com>
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diff changeset
   190
36
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
Florian Pose <fp@igh-essen.com>
parents: 33
diff changeset
   191
    // Als allererstes die RT-lib initialisieren
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
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diff changeset
   192
#ifdef USE_MSR_LIB
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
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diff changeset
   193
    if (msr_rtlib_init(1,MSR_ABTASTFREQUENZ,10,&msr_globals_register) < 0) {
28
801dc7eabf51 IPIPE,floatpoint,rtlib
Wilhelm Hagemeister <hm@igh-essen.com>
parents:
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   194
        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>
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diff changeset
   195
        goto out_return;
28
801dc7eabf51 IPIPE,floatpoint,rtlib
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diff changeset
   196
    }
801dc7eabf51 IPIPE,floatpoint,rtlib
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   197
#endif
801dc7eabf51 IPIPE,floatpoint,rtlib
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   198
801dc7eabf51 IPIPE,floatpoint,rtlib
Wilhelm Hagemeister <hm@igh-essen.com>
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diff changeset
   199
    msr_jitter_init();
36
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
Florian Pose <fp@igh-essen.com>
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diff changeset
   200
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
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diff changeset
   201
    printk(KERN_INFO "=== Starting EtherCAT environment... ===\n");
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
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diff changeset
   202
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
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diff changeset
   203
    if ((ecat_master = EtherCAT_request(0)) == NULL) {
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
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diff changeset
   204
        printk(KERN_ERR "EtherCAT master 0 not available!\n");
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
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diff changeset
   205
        goto out_msr_cleanup;
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
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parents: 33
diff changeset
   206
    }
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
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diff changeset
   207
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
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diff changeset
   208
    printk("Checking EtherCAT slaves.\n");
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
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diff changeset
   209
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
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diff changeset
   210
    if (EtherCAT_check_slaves(ecat_master, ecat_slaves, ECAT_SLAVES_COUNT) != 0) {
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
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diff changeset
   211
        printk(KERN_ERR "EtherCAT: Could not init slaves!\n");
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
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diff changeset
   212
        goto out_release_master;
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
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diff changeset
   213
    }
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
Florian Pose <fp@igh-essen.com>
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diff changeset
   214
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
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diff changeset
   215
    printk("Activating all EtherCAT slaves.\n");
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
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parents: 33
diff changeset
   216
42
a22a202d0f42 Domains, Warten beim Senden, 10kHz.
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diff changeset
   217
    for (i = 0; i < ECAT_SLAVES_COUNT; i++) {
a22a202d0f42 Domains, Warten beim Senden, 10kHz.
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diff changeset
   218
        if (EtherCAT_activate_slave(ecat_master, ecat_slaves + i) < 0) {
43
35120a61d55e Sch?nheitskorrekturen.
Florian Pose <fp@igh-essen.com>
parents: 42
diff changeset
   219
            printk(KERN_ERR "EtherCAT: Could not activate slave %i!\n", i);
42
a22a202d0f42 Domains, Warten beim Senden, 10kHz.
Florian Pose <fp@igh-essen.com>
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diff changeset
   220
            goto out_release_master;
a22a202d0f42 Domains, Warten beim Senden, 10kHz.
Florian Pose <fp@igh-essen.com>
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diff changeset
   221
        }
36
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
Florian Pose <fp@igh-essen.com>
parents: 33
diff changeset
   222
    }
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
Florian Pose <fp@igh-essen.com>
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diff changeset
   223
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
Florian Pose <fp@igh-essen.com>
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diff changeset
   224
    do_gettimeofday(&process_time);
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
Florian Pose <fp@igh-essen.com>
parents: 33
diff changeset
   225
    msr_time_increment.tv_sec=0;
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
Florian Pose <fp@igh-essen.com>
parents: 33
diff changeset
   226
    msr_time_increment.tv_usec=(unsigned int)(1000000/MSR_ABTASTFREQUENZ);
28
801dc7eabf51 IPIPE,floatpoint,rtlib
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parents:
diff changeset
   227
801dc7eabf51 IPIPE,floatpoint,rtlib
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parents:
diff changeset
   228
    ipipe_init_attr (&attr);
801dc7eabf51 IPIPE,floatpoint,rtlib
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parents:
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   229
    attr.name     = "IPIPE-MSR-MODULE";
801dc7eabf51 IPIPE,floatpoint,rtlib
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parents:
diff changeset
   230
    attr.priority = IPIPE_ROOT_PRIO + 1;
801dc7eabf51 IPIPE,floatpoint,rtlib
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parents:
diff changeset
   231
    attr.entry    = &domain_entry;
801dc7eabf51 IPIPE,floatpoint,rtlib
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parents:
diff changeset
   232
    ipipe_register_domain(&this_domain,&attr);
801dc7eabf51 IPIPE,floatpoint,rtlib
Wilhelm Hagemeister <hm@igh-essen.com>
parents:
diff changeset
   233
36
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
Florian Pose <fp@igh-essen.com>
parents: 33
diff changeset
   234
    return 0;
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
Florian Pose <fp@igh-essen.com>
parents: 33
diff changeset
   235
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
Florian Pose <fp@igh-essen.com>
parents: 33
diff changeset
   236
 out_release_master:
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
Florian Pose <fp@igh-essen.com>
parents: 33
diff changeset
   237
    EtherCAT_release(ecat_master);
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
Florian Pose <fp@igh-essen.com>
parents: 33
diff changeset
   238
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
Florian Pose <fp@igh-essen.com>
parents: 33
diff changeset
   239
 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
   240
    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
   241
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
Florian Pose <fp@igh-essen.com>
parents: 33
diff changeset
   242
 out_return:
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
Florian Pose <fp@igh-essen.com>
parents: 33
diff changeset
   243
    return -1;
28
801dc7eabf51 IPIPE,floatpoint,rtlib
Wilhelm Hagemeister <hm@igh-essen.com>
parents:
diff changeset
   244
}
801dc7eabf51 IPIPE,floatpoint,rtlib
Wilhelm Hagemeister <hm@igh-essen.com>
parents:
diff changeset
   245
42
a22a202d0f42 Domains, Warten beim Senden, 10kHz.
Florian Pose <fp@igh-essen.com>
parents: 40
diff changeset
   246
/*****************************************************************************/
a22a202d0f42 Domains, Warten beim Senden, 10kHz.
Florian Pose <fp@igh-essen.com>
parents: 40
diff changeset
   247
28
801dc7eabf51 IPIPE,floatpoint,rtlib
Wilhelm Hagemeister <hm@igh-essen.com>
parents:
diff changeset
   248
void __exit cleanup_module()
42
a22a202d0f42 Domains, Warten beim Senden, 10kHz.
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diff changeset
   249
{
a22a202d0f42 Domains, Warten beim Senden, 10kHz.
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   250
    unsigned int i;
a22a202d0f42 Domains, Warten beim Senden, 10kHz.
Florian Pose <fp@igh-essen.com>
parents: 40
diff changeset
   251
28
801dc7eabf51 IPIPE,floatpoint,rtlib
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parents:
diff changeset
   252
    msr_print_info("msk_modul: unloading...");
801dc7eabf51 IPIPE,floatpoint,rtlib
Wilhelm Hagemeister <hm@igh-essen.com>
parents:
diff changeset
   253
45
f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt).
Florian Pose <fp@igh-essen.com>
parents: 43
diff changeset
   254
    ipipe_tune_timer(1000000000UL / HZ, 0); //alten Timertakt wieder herstellen
28
801dc7eabf51 IPIPE,floatpoint,rtlib
Wilhelm Hagemeister <hm@igh-essen.com>
parents:
diff changeset
   255
    ipipe_unregister_domain(&this_domain);
801dc7eabf51 IPIPE,floatpoint,rtlib
Wilhelm Hagemeister <hm@igh-essen.com>
parents:
diff changeset
   256
801dc7eabf51 IPIPE,floatpoint,rtlib
Wilhelm Hagemeister <hm@igh-essen.com>
parents:
diff changeset
   257
    if (ecat_master)
801dc7eabf51 IPIPE,floatpoint,rtlib
Wilhelm Hagemeister <hm@igh-essen.com>
parents:
diff changeset
   258
    {
43
35120a61d55e Sch?nheitskorrekturen.
Florian Pose <fp@igh-essen.com>
parents: 42
diff changeset
   259
        printk(KERN_INFO "=== Stopping EtherCAT environment... ===\n");
35120a61d55e Sch?nheitskorrekturen.
Florian Pose <fp@igh-essen.com>
parents: 42
diff changeset
   260
36
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
Florian Pose <fp@igh-essen.com>
parents: 33
diff changeset
   261
        printk(KERN_INFO "Deactivating slaves.\n");
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        for (i = 0; i < ECAT_SLAVES_COUNT; i++) {
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            if (EtherCAT_deactivate_slave(ecat_master, ecat_slaves + i) < 0) {
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                printk(KERN_WARNING "Warning - Could not deactivate slave!\n");
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            }
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        }
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        EtherCAT_release(ecat_master);
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        printk(KERN_INFO "=== EtherCAT environment stopped. ===\n");
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    }
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#ifdef USE_MSR_LIB
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    msr_rtlib_cleanup();
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#endif
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}
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/*****************************************************************************/
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MODULE_LICENSE("GPL");
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MODULE_AUTHOR ("Wilhelm Hagemeister <hm@igh-essen.com>");
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MODULE_DESCRIPTION ("EtherCAT test environment");
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module_init(init_module);
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module_exit(cleanup_module);
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/*****************************************************************************/