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/**************************************************************************************************
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*
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* msr_io.c
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*
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* Verwaltung der IO-Karten
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*
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*
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* Autor: Wilhelm Hagemeister
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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: sp@igh-essen.com
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*
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*
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* $RCSfile: msr_io.c,v $
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* $Revision: 1.9 $
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* $Author: ha $
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* $Date: 2005/06/24 20:06:56 $
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* $State: Exp $
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*
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*
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* $Log: msr_io.c,v $
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* Revision 1.9 2005/06/24 20:06:56 ha
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* *** empty log message ***
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*
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* Revision 1.8 2005/06/24 17:39:05 ha
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* *** empty log message ***
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*
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*
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*
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*
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*
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*
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**************************************************************************************************/
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/*--includes-------------------------------------------------------------------------------------*/
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#ifndef __KERNEL__
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# define __KERNEL__
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#endif
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#ifndef MODULE
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# define MODULE
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#endif
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#include <linux/delay.h> /* mdelay() */
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#include <linux/spinlock.h>
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#include <linux/param.h> /* HZ */
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#include <linux/sched.h> /* jiffies */
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#include <linux/fs.h> /* everything... */
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#include <rtai_fifos.h>
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#include "msr_io.h"
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#include <msr_messages.h>
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#include "aim_globals.h"
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spinlock_t data_lock = SPIN_LOCK_UNLOCKED;
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#include "cif-rtai-io.h"
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/*--defines--------------------------------------------------------------------------------------*/
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/*--external functions---------------------------------------------------------------------------*/
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/*--external data--------------------------------------------------------------------------------*/
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/*--public data----------------------------------------------------------------------------------*/
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#define PB_CARDS 4
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struct {
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unsigned int fd;
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unsigned int timestamp;
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unsigned int fault;
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unsigned int active;
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void *in_buf;
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void *out_buf;
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size_t in_buf_len;
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size_t out_buf_len;
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unsigned int reset_timeout;
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} card[PB_CARDS];
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/*
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***************************************************************************************************
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*
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* Function: msr_io_init
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*
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* Beschreibung: Initialisieren der I/O-Karten
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*
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* Parameter:
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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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*/
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void x_PB_io(unsigned long card_no) {
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int rv = 0;
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unsigned int flags;
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spin_lock_irqsave(&data_lock, flags);
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switch (card_no) {
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case 0:
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rv = cif_exchange_io(card[0].fd,card[0].in_buf,card[0].out_buf);
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if (!rv)
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card[0].timestamp = jiffies;
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break;
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case 1:
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rv = cif_exchange_io(card[1].fd,card[1].in_buf,card[1].out_buf);
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// rv = cif_read_io(card[1].fd,card[1].in_buf);
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// IMO.to_dSPACE.P101.HX_Stat = 51;
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// IMO.from_dSPACE.P101.HX_Control |= IMO.to_dSPACE.P101.HX_Stat<<4;
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// rv += cif_write_io(card[1].fd,card[1].out_buf);
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if (!rv)
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card[1].timestamp = jiffies;
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break;
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/*
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case 2:
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rv = cif_exchange_io(card[2].fd,&cif_in.P201,&cif_out.P201);
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break;
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*/
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case 3:
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rv = cif_exchange_io(card[3].fd,card[3].in_buf,card[3].out_buf);
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if (!rv)
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card[3].timestamp = jiffies;
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break;
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}
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if (rv) {
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msr_print_error("Error during exchange_io %i %i",
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card_no, rv );
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}
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spin_unlock_irqrestore(&data_lock, flags);
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}
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int msr_io_init()
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{
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int rv;
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memset(card, 0, sizeof(card));
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#define FIFO_BUF 10000
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if ((rv = rtf_create(0, FIFO_BUF)) < 0) {
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msr_print_error("Could not open FIFO %i", rv);
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return -1;
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}
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#ifndef _SIMULATION
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/*
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card[0].in_buf_len = sizeof(IMO.from_dSPACE);
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card[0].out_buf_len = sizeof(IMO.to_dSPACE);
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card[0].in_buf = &IMO.from_dSPACE;
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card[0].out_buf = &IMO.to_dSPACE;
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card[0].active = 1;
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if (!(card[0].fd = cif_open_card(0, card[0].in_buf_len,
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card[0].out_buf_len, x_PB_io, 0))) {
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msr_print_error("Cannot open CIF card PB01");
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return -1;
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}
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card[1].in_buf_len = sizeof(IMO.to_dSPACE.P101);
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card[1].out_buf_len = sizeof(IMO.from_dSPACE.P101);
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card[1].in_buf = &IMO.to_dSPACE.P101;
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card[1].out_buf = &IMO.from_dSPACE.P101;
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card[1].active = 1;
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if (!(card[1].fd = cif_open_card(1, card[1].in_buf_len,
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card[1].out_buf_len, x_PB_io, 1))) {
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msr_print_error("Cannot open CIF card P101");
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return -1;
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}
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card[2].in_buf_len = sizeof(IMO.to_dSPACE.P201);
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card[2].out_buf_len = sizeof(IMO.from_dSPACE.P201);
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card[2].in_buf = &IMO.to_dSPACE.P201;
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card[2].out_buf = &IMO.from_dSPACE.P201;
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if (!(card[2].fd = cif_open_card(2, card[2].in_buf_len,
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card[2].out_buf_len, x_PB_io, 2))) {
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msr_print_error("Cannot open CIF card P201");
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return -1;
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}
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*/
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card[3].in_buf_len = sizeof(dSPACE.in);
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card[3].out_buf_len = sizeof(dSPACE.out);
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card[3].in_buf = &dSPACE.in;
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card[3].out_buf = &dSPACE.out;
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card[3].active = 1;
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if (!(card[3].fd = cif_open_card(0, card[3].in_buf_len,
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card[3].out_buf_len, x_PB_io,3))) {
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msr_print_error("Cannot open CIF card P301");
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return -1;
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}
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//msr_reg_chk_failure(&int_cif_io_fail,TINT,T_CHK_HIGH,0,T_CRIT,"CIF Card was not ready to exchange data");
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#endif
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return 0;
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}
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/*
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***************************************************************************************************
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*
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* Function: msr_io_register
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*
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* Beschreibung: Rohdaten als Kanaele registrieren
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*
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* Parameter:
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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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*/
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int msr_io_register()
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{
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#ifndef _SIMULATION
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#endif
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return 0;
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}
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/*
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***************************************************************************************************
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*
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* Function: msr_io_write
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*
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* Beschreibung: Schreiben der Werte
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*
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* Parameter:
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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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*/
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int msr_io_write()
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{
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static int return_value = 0;
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int rv;
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int i = 0;
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unsigned int flags;
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unsigned int com_check_timestamp = 0;
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static int COM_Up = 1;
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if (jiffies - com_check_timestamp > HZ/20) {
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if ( rtf_put_if(0,&IMO,sizeof(IMO)) != sizeof(IMO)) {
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//msr_print_error("Could not output data");
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}
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com_check_timestamp = jiffies;
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spin_lock_irqsave(&data_lock, flags);
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for ( i=0; i < PB_CARDS; i++) {
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// Ignore inactive and cards that already have a fault
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if (!card[i].active || card[i].fault)
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continue;
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// For active cards, check timestamp value. Mark card
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// as faulty if there was no data exchange in the last
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// 50ms
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if (jiffies - card[i].timestamp > HZ/20) {
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COM_Up = 0;
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card[i].fault = 1;
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card[i].reset_timeout = jiffies;
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msr_print_error("Card %i timed out", i);
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}
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}
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spin_unlock_irqrestore(&data_lock, flags);
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for ( i = 0; i < PB_CARDS; i++ ) {
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if (!card[i].active || (card[i].active && !card[i].fault))
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continue;
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switch (card[i].fault) {
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case 1:
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rv = cif_write_io(card[i].fd,card[i].out_buf);
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if (!rv) {
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msr_print_error("Card %i online", i);
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card[i].fault = 0;
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card[i].timestamp = jiffies;
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break;
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}
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msr_print_error("rv of cif_write_io(%i) = %i",
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i, rv);
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card[i].fault = 2;
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cif_set_host_state(card[i].fd,0);
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card[i].reset_timeout = jiffies;
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case 2:
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if (cif_card_ready(card[i].fd)) {
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cif_set_host_state(card[i].fd,1);
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card[i].fault = 0;
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break;
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}
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if (jiffies < card[i].reset_timeout)
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break;
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rv = cif_reset_card(card[i].fd,10,1);
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msr_print_error("rv of cif_reset_card(%i) = %i",
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i, rv);
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// Reset again in 10 seconds
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card[i].reset_timeout += 10*HZ;
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}
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}
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}
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if (COM_Up)
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IMO.to_dSPACE.Status = IMO.from_dSPACE.WatchDog;
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// if (return_value)
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// int_cif_io_fail = 1;
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return return_value;
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}
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347 |
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/*
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***************************************************************************************************
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*
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* Function: msr_io_read
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*
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* Beschreibung: Lesen der Werte
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*
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* Parameter:
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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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*/
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int msr_io_read()
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{
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int return_value = 0;
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366 |
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#ifndef _SIMULATION
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int_cif_io_fail = 0;
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/*
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return_value = cif_exchange_io(fd_PB01,
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&cif_out,&cif_in,
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sizeof(cif_out),sizeof(cif_in)
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);
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*/
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376 |
/* if (return_value) */
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/* int_cif_io_fail = 1; */
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// printk("%i\n", return_value);
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379 |
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#endif
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return return_value;
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382 |
}
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383 |
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384 |
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385 |
/*
|
|
|
386 |
***************************************************************************************************
|
|
|
387 |
*
|
|
|
388 |
* Function: msr_io_cleanup
|
|
|
389 |
*
|
|
|
390 |
* Beschreibung: Aufräumen
|
|
|
391 |
*
|
|
|
392 |
* Parameter:
|
|
|
393 |
*
|
|
|
394 |
* Rückgabe:
|
|
|
395 |
*
|
|
|
396 |
* Status: exp
|
|
|
397 |
*
|
|
|
398 |
***************************************************************************************************
|
|
|
399 |
*/
|
|
|
400 |
void msr_io_cleanup()
|
|
|
401 |
{
|
|
|
402 |
/*
|
|
|
403 |
cif_set_host_state(card[0].fd,0);
|
|
|
404 |
cif_close_card(card[0].fd);
|
|
|
405 |
|
|
|
406 |
cif_set_host_state(card[1].fd,0);
|
|
|
407 |
cif_close_card(card[1].fd);
|
|
|
408 |
|
|
|
409 |
cif_set_host_state(card[2].fd,0);
|
|
|
410 |
cif_close_card(card[2].fd);
|
|
|
411 |
|
|
|
412 |
|
|
|
413 |
*/
|
|
|
414 |
cif_set_host_state(card[3].fd,0);
|
|
|
415 |
cif_close_card(card[3].fd);
|
|
|
416 |
|
|
|
417 |
rtf_destroy(0);
|
|
|
418 |
}
|
|
|
419 |
|
|
|
420 |
|