1

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

     2

 *

     3

 *  m s r _ r t . c

     4

 *

     5

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

     6

 *

     7

 *  $Id$

     8

 *

    26

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

    27

    28

// Linux

    29

#include <linux/module.h>

    30

#include <linux/ipipe.h>

    31

#include <linux/slab.h>

    32

#include <linux/vmalloc.h>

    33

#include <linux/delay.h>

    34

    35

// RT_lib

    36

#include <msr_main.h>

    37

#include <msr_utils.h>

    38

#include <msr_messages.h>

    39

#include <msr_float.h>

    40

#include <msr_reg.h>

    41

#include <msr_time.h>

    42

#include "msr_param.h"

    43

    44

// EtherCAT

    45

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

    46

    47

#define ASYNC

    48

    49

// Defines/Makros

    50

#define HZREDUCTION (MSR_ABTASTFREQUENZ / HZ)

    51

    52

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

    53

/* Globale Variablen */

    54

    55

// Adeos

    56

static struct ipipe_domain this_domain;

    57

static struct ipipe_sysinfo sys_info;

    58

    59

// EtherCAT

    60

ec_master_t *master = NULL;

    61

ec_domain_t *domain1 = NULL;

    62

    63

// Prozessdaten

    64

void *r_ssi;

    65

void *r_ssi_st;

    66

    67

// KanŽäle

    68

uint32_t k_ssi;

    69

uint32_t k_ssi_st;

    70

    71

ec_field_init_t domain1_fields[] = {

    72

    {&r_ssi,    "0:3", "Beckhoff", "EL5001", "InputValue", 0},

    73

    {&r_ssi_st, "0:3", "Beckhoff", "EL5001", "Status",     0},

    74

    {}

    75

};

    76

    77

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

    78

    79

static void msr_controller_run(void)

    80

{

    81

#ifdef ASYNC

    82

    // Empfangen

    83

    ecrt_master_async_receive(master);

    84

    ecrt_domain_process(domain1);

    85

#else

    86

    // Senden und empfangen

    87

    ecrt_domain_queue(domain1);

    88

    ecrt_master_run(master);

    89

    ecrt_master_sync_io(master);

    90

    ecrt_domain_process(domain1);

    91

#endif

    92

    93

    // Prozessdaten verarbeiten

    94

    k_ssi =    EC_READ_U32(r_ssi);

    95

    k_ssi_st = EC_READ_U8 (r_ssi_st);

    96

    97

#ifdef ASYNC

    98

    // Senden

    99

    ecrt_domain_queue(domain1);

   100

    ecrt_master_run(master);

   101

    ecrt_master_async_send(master);

   102

#endif

   103

}

   104

   105

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

   106

   107

int msr_globals_register(void)

   108

{

   109

    msr_reg_kanal("/ssi_position", "", &k_ssi,    TUINT);

   110

    msr_reg_kanal("/ssi_status",   "", &k_ssi_st, TUINT);

   111

    return 0;

   112

}

   113

   114

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

   115

   116

void msr_run(unsigned irq)

   117

{

   118

    static int counter = 0;

   119

   120

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

   121

   122

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

   123

    if (++counter >= HZREDUCTION) {

   124

	ipipe_propagate_irq(irq);  // und weiterreichen

   125

	counter = 0;

   126

    }

   127

}

   128

   129

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

   130

   131

void domain_entry(void)

   132

{

   133

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

   134

   135

    ipipe_get_sysinfo(&sys_info);

   136

    ipipe_virtualize_irq(ipipe_current_domain,sys_info.archdep.tmirq,

   137

			 &msr_run, NULL, IPIPE_HANDLE_MASK);

   138

   139

    ipipe_tune_timer(1000000000UL / MSR_ABTASTFREQUENZ, 0);

   140

}

   141

   142

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

   143

   144

int __init init_rt_module(void)

   145

{

   146

    struct ipipe_domain_attr attr; //ipipe

   147

#if 1

   148

    ec_slave_t *slave;

   149

#endif

   150

   151

    // Als allererstes die RT-Lib initialisieren

   152

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

   153

        printk(KERN_ERR "Failed to initialize rtlib!\n");

   154

        goto out_return;

   155

    }

   156

   157

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

   158

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

   159

        goto out_msr_cleanup;

   160

    }

   161

   162

    //ecrt_master_print(master, 2);

   163

   164

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

   165

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

   166

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

   167

        goto out_release_master;

   168

    }

   169

   170

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

   171

    if (ecrt_domain_register_field_list(domain1, domain1_fields)) {

   172

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

   173

        goto out_release_master;

   174

    }

   175

   176

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

   177

    if (ecrt_master_activate(master)) {

   178

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

   179

        goto out_release_master;

   180

    }

   181

   182

#if 0

   183

    if (ecrt_master_fetch_sdo_lists(master)) {

   184

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

   185

        goto out_deactivate;

   186

    }

   187

    ecrt_master_print(master, 2);

   188

#else

   189

    ecrt_master_print(master, 0);

   190

#endif

   191

   192

#if 1

   193

    if (!(slave = ecrt_master_get_slave(master, "0:3"))) {

   194

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

   195

        goto out_deactivate;

   196

    }

   197

   198

    if (

   199

        ecrt_slave_sdo_write_exp8(slave, 0x4061, 1,  1) || // disable frame error bit

   200

        ecrt_slave_sdo_write_exp8(slave, 0x4061, 2,  0) || // power failure bit

   201

        ecrt_slave_sdo_write_exp8(slave, 0x4061, 3,  1) || // inhibit time

   202

        ecrt_slave_sdo_write_exp8(slave, 0x4061, 4,  0) || // test mode

   203

        ecrt_slave_sdo_write_exp8(slave, 0x4066, 0,  1) || // dualcode

   204

        ecrt_slave_sdo_write_exp8(slave, 0x4067, 0,  5) || // 125kbaud

   205

        ecrt_slave_sdo_write_exp8(slave, 0x4068, 0,  0) || // single-turn

   206

        ecrt_slave_sdo_write_exp8(slave, 0x4069, 0, 25) || // frame size

   207

        ecrt_slave_sdo_write_exp8(slave, 0x406A, 0, 25) || // data length

   208

        ecrt_slave_sdo_write_exp16(slave, 0x406B, 0, 30000) // inhibit time in us

   209

        ) {

   210

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

   211

        goto out_deactivate;

   212

    }

   213

#endif

   214

   215

#if 0

   216

    if (!(slave = ecrt_master_get_slave(master, "1:0"))) {

   217

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

   218

        goto out_deactivate;

   219

    }

   220

    if (ecrt_slave_write_alias(slave, 0x5678)) {

   221

        printk(KERN_ERR "Failed to write alias!\n");

   222

        goto out_deactivate;

   223

    }

   224

#endif

   225

   226

#ifdef ASYNC

   227

    // Einmal senden und warten...

   228

    ecrt_master_prepare_async_io(master);

   229

#endif

   230

   231

    ipipe_init_attr(&attr);

   232

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

   233

    attr.priority = IPIPE_ROOT_PRIO + 1;

   234

    attr.entry = &domain_entry;

   235

    ipipe_register_domain(&this_domain, &attr);

   236

    return 0;

   237

   238

#if 1

   239

 out_deactivate:

   240

    ecrt_master_deactivate(master);

   241

#endif

   242

 out_release_master:

   243

    ecrt_release_master(master);

   244

 out_msr_cleanup:

   245

    msr_rtlib_cleanup();

   246

 out_return:

   247

    return -1;

   248

}

   249

   250

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

   251

   252

void __exit cleanup_rt_module(void)

   253

{

   254

    printk(KERN_INFO "Cleanign up rt module...\n");

   255

   256

    ipipe_tune_timer(1000000000UL / HZ, 0); // Alten Timertakt wiederherstellen

   257

    ipipe_unregister_domain(&this_domain);

   258

   259

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

   260

    ecrt_master_deactivate(master);

   261

    ecrt_release_master(master);

   262

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

   263

   264

    msr_rtlib_cleanup();

   265

}

   266

   267

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

   268

   269

#define EC_LIT(X) #X

   270

#define EC_STR(X) EC_LIT(X)

   271

#define COMPILE_INFO "Revision " EC_STR(SVNREV) \

   272

                     ", compiled by " EC_STR(USER) \

   273

                     " at " __DATE__ " " __TIME__

   274

   275

MODULE_LICENSE("GPL");

   276

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

   277

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

   278

MODULE_VERSION(COMPILE_INFO);

   279

   280

module_init(init_rt_module);

   281

module_exit(cleanup_rt_module);

   282

   283

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

   284

   285

/* Emacs-Konfiguration

   286

;;; Local Variables: ***

   287

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

   288

;;; End: ***

   289

*/