author | Florian Pose <fp@igh-essen.com> |
Fri, 01 Feb 2008 21:34:35 +0000 | |
changeset 785 | c7e600cd2812 |
parent 512 | 24292123d174 |
child 814 | a51f857b1b2d |
permissions | -rw-r--r-- |
232 | 1 |
/****************************************************************************** |
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* |
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* $Id$ |
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* |
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* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH |
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* |
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* This file is part of the IgH EtherCAT Master. |
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* |
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* The IgH EtherCAT Master is free software; you can redistribute it |
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* and/or modify it under the terms of the GNU General Public License |
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Changed license headers and added EtherCAT license notice.
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* as published by the Free Software Foundation; either version 2 of the |
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* License, or (at your option) any later version. |
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* |
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* The IgH EtherCAT Master is distributed in the hope that it will be |
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* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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* GNU General Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License |
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* along with the IgH EtherCAT Master; if not, write to the Free Software |
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
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* |
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* The right to use EtherCAT Technology is granted and comes free of |
0bf7c769de06
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* charge under condition of compatibility of product made by |
0bf7c769de06
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* Licensee. People intending to distribute/sell products based on the |
0bf7c769de06
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* code, have to sign an agreement to guarantee that products using |
0bf7c769de06
Changed license headers and added EtherCAT license notice.
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* software based on IgH EtherCAT master stay compatible with the actual |
0bf7c769de06
Changed license headers and added EtherCAT license notice.
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parents:
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* EtherCAT specification (which are released themselves as an open |
0bf7c769de06
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* standard) as the (only) precondition to have the right to use EtherCAT |
0bf7c769de06
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* Technology, IP and trade marks. |
0bf7c769de06
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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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// RTAI |
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#include "rtai_sched.h" |
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#include "rtai_sem.h" |
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// RT_lib |
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#include <msr_main.h> |
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#include <msr_reg.h> |
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#include <msr_time.h> |
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// EtherCAT |
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#include "../../include/ecrt.h" |
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#include "../../include/ecdb.h" |
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#define MSR_ABTASTFREQUENZ 1000 |
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MSR example: Replaced msr_load and msr_unload with init script, removed msr_param.h
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#define HZREDUCTION (MSR_ABTASTFREQUENZ / HZ) |
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#define TIMERTICKS (1000000000 / MSR_ABTASTFREQUENZ) |
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/*****************************************************************************/ |
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// RTAI |
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RT_TASK task; |
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SEM master_sem; |
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cycles_t t_start = 0, t_critical; |
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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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// raw process data |
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void *r_ana_out; |
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// channels |
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VERSION 1.1: New realtime interface, only state machines.
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double k_ana_out; |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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ec_pdo_reg_t domain1_pdos[] = { |
7833cf70c4f2
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{"3", Beckhoff_EL4132_Output1, &r_ana_out}, |
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{} |
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}; |
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/*****************************************************************************/ |
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void msr_controller_run(void) |
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{ |
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// receive |
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rt_sem_wait(&master_sem); |
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ecrt_master_receive(master); |
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ecrt_domain_process(domain1); |
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rt_sem_signal(&master_sem); |
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VERSION 1.1: New realtime interface, only state machines.
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parents:
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7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
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// Process data |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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EC_WRITE_S16(r_ana_out, k_ana_out / 10.0 * 0x7FFF); |
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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// Send |
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rt_sem_wait(&master_sem); |
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ecrt_domain_queue(domain1); |
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ecrt_master_run(master); |
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ecrt_master_send(master); |
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rt_sem_signal(&master_sem); |
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msr_write_kanal_list(); |
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} |
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/*****************************************************************************/ |
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void msr_run(long data) |
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{ |
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while (1) { |
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t_start = get_cycles(); |
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MSR_RTAITHREAD_CODE(msr_controller_run();); |
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rt_task_wait_period(); |
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} |
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} |
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/*****************************************************************************/ |
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int msr_reg(void) |
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{ |
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msr_reg_kanal("/ana_out", "", &k_ana_out, TDBL); |
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return 0; |
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} |
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/*****************************************************************************/ |
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int request_lock(void *data) |
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{ |
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// too close to the next RT cycle: deny access... |
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if (get_cycles() - t_start > t_critical) return -1; |
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// allow access |
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rt_sem_wait(&master_sem); |
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return 0; |
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} |
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/*****************************************************************************/ |
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void release_lock(void *data) |
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{ |
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rt_sem_signal(&master_sem); |
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} |
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/*****************************************************************************/ |
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int __init init_mod(void) |
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{ |
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RTIME ticks; |
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printk(KERN_INFO "=== Starting EtherCAT RTAI MSR sample module... ===\n"); |
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rt_sem_init(&master_sem, 1); |
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t_critical = cpu_khz * 800 / MSR_ABTASTFREQUENZ; // ticks for 80% |
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if (msr_rtlib_init(1, MSR_ABTASTFREQUENZ, 10, &msr_reg) < 0) { |
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printk(KERN_ERR "Failed to initialize rtlib!\n"); |
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goto out_return; |
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} |
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if (!(master = ecrt_request_master(0))) { |
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printk(KERN_ERR "Failed to request master 0!\n"); |
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goto out_msr_cleanup; |
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} |
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ecrt_master_callbacks(master, request_lock, release_lock, NULL); |
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printk(KERN_INFO "Creating domains...\n"); |
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if (!(domain1 = ecrt_master_create_domain(master))) { |
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printk(KERN_ERR "Failed to create domains!\n"); |
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goto out_release_master; |
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} |
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VERSION 1.1: New realtime interface, only state machines.
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167 |
printk(KERN_INFO "Registering PDOs...\n"); |
7833cf70c4f2
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168 |
if (ecrt_domain_register_pdo_list(domain1, domain1_pdos)) { |
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printk(KERN_ERR "Failed to register PDOs.\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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printk("Starting cyclic sample thread...\n"); |
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ticks = start_rt_timer(nano2count(TIMERTICKS)); |
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if (rt_task_init(&task, msr_run, 0, 2000, 0, 1, NULL)) { |
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printk(KERN_ERR "Failed to init RTAI task!\n"); |
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goto out_stop_timer; |
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} |
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if (rt_task_make_periodic(&task, rt_get_time() + ticks, ticks)) { |
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printk(KERN_ERR "Failed to run RTAI task!\n"); |
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goto out_stop_task; |
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} |
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printk(KERN_INFO "=== EtherCAT RTAI MSR sample module started. ===\n"); |
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return 0; |
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out_stop_task: |
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rt_task_delete(&task); |
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out_stop_timer: |
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stop_rt_timer(); |
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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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rt_sem_delete(&master_sem); |
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return -1; |
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} |
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/*****************************************************************************/ |
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void __exit cleanup_mod(void) |
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{ |
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printk(KERN_INFO "=== Unloading EtherCAT RTAI MSR sample module... ===\n"); |
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rt_task_delete(&task); |
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stop_rt_timer(); |
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ecrt_release_master(master); |
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rt_sem_delete(&master_sem); |
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msr_rtlib_cleanup(); |
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printk(KERN_INFO "=== EtherCAT RTAI MSR sample module unloaded. ===\n"); |
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} |
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/*****************************************************************************/ |
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MODULE_LICENSE("GPL"); |
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parents:
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diff
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MODULE_AUTHOR("Florian Pose <fp@igh-essen.com>"); |
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MODULE_DESCRIPTION("EtherCAT RTAI MSR sample module"); |
232 | 226 |
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module_init(init_mod); |
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module_exit(cleanup_mod); |
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/*****************************************************************************/ |