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

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*

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*                          msr_module.c

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*

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

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*           Zeitgeber ist der Timerinterrupt (tq)

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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-B�äcker 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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*

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*           $RCSfile: msr_module.c,v $

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*           $Revision: 1.1 $

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*           $Author: hm $

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*           $Date: 2005/11/14 20:32:57 $

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*           $State: Exp $

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*

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*

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*           $Log: msr_module.c,v $

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*           Revision 1.1  2005/11/14 20:32:57  hm

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*           Initial revision

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*

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*           Revision 1.13  2005/06/17 11:35:13  hm

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*           *** empty log message ***

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*

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*

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*           Hello Emacs: -*- c-basic-offset: 2; -*-

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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/config.h>

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#include <linux/module.h>

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#include <linux/sched.h>

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#include <linux/kernel.h>

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#include <linux/vmalloc.h> 

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#include <linux/fs.h>     /* everything... */

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#include <linux/proc_fs.h>

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#include <linux/time.h>

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#include <linux/timer.h>

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#include <linux/timex.h>  /* fuer get_cycles */

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#include <linux/errno.h>  /* error codes */

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#include <asm/msr.h> /* maschine-specific registers */

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#include <linux/param.h> /* fuer HZ */

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#include <linux/ipipe.h>

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#include "msr_param.h"   //wird im Projektverzeichnis erwartet

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//#include <msr_control.h>

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#include <msr_lists.h>

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#include <msr_charbuf.h>

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#include <msr_reg.h>

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#include <msr_error_reg.h>

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#include <msr_messages.h>

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#include <msr_proc.h>

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#include <msr_utils.h>

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#include <msr_main.h>

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#include <msr_float.h>

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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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#include "msr_jitter.h"

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MODULE_AUTHOR("Wilhelm Hagemeister, Ingenieurgemeinschaft IgH");

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MODULE_LICENSE("GPL");

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/*--external functions---------------------------------------------------------------------------*/

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/*--external data--------------------------------------------------------------------------------*/

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#define HZREDUCTION (MSR_ABTASTFREQUENZ/HZ)

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extern wait_queue_head_t msr_read_waitqueue;

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extern struct msr_char_buf *msr_kanal_puffer;

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extern int proc_abtastfrequenz;

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/*--public data----------------------------------------------------------------------------------*/

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/*--local data-----------------------------------------------------------------------------------*/

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//struct timer_list timer;

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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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static EtherCAT_master_t *ecat_master = NULL;

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static EtherCAT_slave_t ecat_slaves[] =

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{

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#if 1

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    // Block 1

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    ECAT_INIT_SLAVE(Beckhoff_EK1100),

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    ECAT_INIT_SLAVE(Beckhoff_EL4102),

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    ECAT_INIT_SLAVE(Beckhoff_EL1014),

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    ECAT_INIT_SLAVE(Beckhoff_EL3162),

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    ECAT_INIT_SLAVE(Beckhoff_EL2004),

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    ECAT_INIT_SLAVE(Beckhoff_EL3102),

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    ECAT_INIT_SLAVE(Beckhoff_EL2004),

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    ECAT_INIT_SLAVE(Beckhoff_EL2004),

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    ECAT_INIT_SLAVE(Beckhoff_EL2004),

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    ECAT_INIT_SLAVE(Beckhoff_EL2004),

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    ECAT_INIT_SLAVE(Beckhoff_EL2004),

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    // Block 2

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    ECAT_INIT_SLAVE(Beckhoff_EK1100),

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    ECAT_INIT_SLAVE(Beckhoff_EL1014),

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    ECAT_INIT_SLAVE(Beckhoff_EL1014),

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    ECAT_INIT_SLAVE(Beckhoff_EL1014),

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    ECAT_INIT_SLAVE(Beckhoff_EL1014),

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    ECAT_INIT_SLAVE(Beckhoff_EL1014),

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    ECAT_INIT_SLAVE(Beckhoff_EL2004),

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    ECAT_INIT_SLAVE(Beckhoff_EL2004),

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    ECAT_INIT_SLAVE(Beckhoff_EL2004),

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    ECAT_INIT_SLAVE(Beckhoff_EL2004),

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    ECAT_INIT_SLAVE(Beckhoff_EL1014),

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    ECAT_INIT_SLAVE(Beckhoff_EL1014),

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    ECAT_INIT_SLAVE(Beckhoff_EL1014)

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#endif

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#if 1

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    // Block 3

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   ,ECAT_INIT_SLAVE(Beckhoff_EK1100),

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    ECAT_INIT_SLAVE(Beckhoff_EL3162),

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    ECAT_INIT_SLAVE(Beckhoff_EL3162),

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    ECAT_INIT_SLAVE(Beckhoff_EL3162),

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    ECAT_INIT_SLAVE(Beckhoff_EL3162),

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    ECAT_INIT_SLAVE(Beckhoff_EL3102),

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    ECAT_INIT_SLAVE(Beckhoff_EL3102),

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    ECAT_INIT_SLAVE(Beckhoff_EL3102),

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    ECAT_INIT_SLAVE(Beckhoff_EL3102),

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    ECAT_INIT_SLAVE(Beckhoff_EL4102),

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    ECAT_INIT_SLAVE(Beckhoff_EL4102),

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    ECAT_INIT_SLAVE(Beckhoff_EL4102),

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    ECAT_INIT_SLAVE(Beckhoff_EL4102),

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    ECAT_INIT_SLAVE(Beckhoff_EL4132)

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#endif

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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: next2004

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 *

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

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static int next2004(int *wrap)

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{

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    static int i = 0;

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    unsigned int j = 0;

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    *wrap = 0;

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    for (j = 0; j < ECAT_SLAVES_COUNT; j++)

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    {

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        i++;

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        i %= ECAT_SLAVES_COUNT;

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        if (i == 0) *wrap = 1;

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        if (ecat_slaves[i].desc == Beckhoff_EL2004)

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        {

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            return i;

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        }

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    }

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    return -1;

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}

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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 int ms = 0;

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    static int cnt = 0;

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    static unsigned long int k = 0;

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    static int firstrun = 1;

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    static int klemme = 0;

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    static int kanal = 0;

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    static int up_down = 0;

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    int wrap = 0;

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    // Prozessdaten lesen

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    msr_jitter_run(MSR_ABTASTFREQUENZ);

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    if (!firstrun)

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    {

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        EtherCAT_read_process_data(ecat_master);

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        // Daten lesen und skalieren

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#ifdef USE_MSR_LIB

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        value = EtherCAT_read_value(&ecat_master->slaves[5], 0) / 3276.0; 

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        dig1 = EtherCAT_read_value(&ecat_master->slaves[2], 0);

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#endif

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    }

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    else

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        klemme = next2004(&wrap);

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    ms++;

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    ms %= 1000;

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    if (cnt++ > 20)

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    {

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        cnt = 0;

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        if (++kanal > 3)

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        {

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            kanal = 0;

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            klemme = next2004(&wrap);

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            if (wrap == 1)

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            {

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                if (up_down == 1) up_down = 0;

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                else up_down = 1;

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            }

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        }

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    }

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    if (klemme >= 0) {

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        EtherCAT_write_value(&ecat_master->slaves[klemme], kanal,up_down);

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	//printk("ECAT write: Klemme: %d, Kanal: %d, Wert: %d\n",klemme,kanal,up_down); 

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    }

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#if 0

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    EtherCAT_write_value(&ecat_master->slaves[13], 1, ms > 500 ? 0 : 1);

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    EtherCAT_write_value(&ecat_master->slaves[14], 2, ms > 500 ? 0 : 1);

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    EtherCAT_write_value(&ecat_master->slaves[15], 3, ms > 500 ? 1 : 0);

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#endif

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    // Prozessdaten schreiben

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    rdtscl(k);

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    EtherCAT_write_process_data(ecat_master);

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    firstrun = 0;

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}

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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 ausgef�ührt

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*               (hier mu�ß 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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* R�ückgabe:

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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 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(

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	msr_controller_run();

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	msr_write_kanal_list();

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	);

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#else

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    msr_controller_run();

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#endif

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    /* und wieder in die Timerliste eintragen */

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    /* und neu in die Taskqueue eintragen */

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//    timer.expires += 1;

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//    add_timer(&timer);

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    ipipe_control_irq(irq,0,IPIPE_ENABLE_MASK);  //nicht weiterreichen

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    if(counter++ > HZREDUCTION) {

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	ipipe_propagate_irq(irq);  //wie lange braucht der Rest der Pipeline ??

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	counter = 0;

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    }

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}

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void domain_entry (int iflag) {

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

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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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    ipipe_tune_timer(1000000000UL/MSR_ABTASTFREQUENZ,0); 

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}

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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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* Beschreibung: KanŽäle registrieren

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*

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* Parameter:

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*

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* RŽückgabe: 

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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_globals_register(void)

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{

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#ifdef USE_MSR_LIB

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    msr_reg_kanal("/value", "V", &value, TDBL);

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    msr_reg_kanal("/dig1", "", &dig1, TINT);

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#endif

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/*  msr_reg_kanal("/Taskinfo/Ecat/TX-Delay","us",&ecat_tx_delay,TUINT);

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  msr_reg_kanal("/Taskinfo/Ecat/RX-Delay","us",&ecat_rx_delay,TUINT);

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  msr_reg_kanal("/Taskinfo/Ecat/TX-Cnt","",&tx_intr,TUINT);

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  msr_reg_kanal("/Taskinfo/Ecat/RX-Cnt","",&rx_intr,TUINT);

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  msr_reg_kanal("/Taskinfo/Ecat/Total-Cnt","",&total_intr,TUINT);

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*/

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  return 0;

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}

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

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 * the init/clean material

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

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int __init init_module()

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{

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    struct ipipe_domain_attr attr; //ipipe

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    // Als allererstes die RT-lib initialisieren

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#ifdef USE_MSR_LIB

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

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        msr_print_warn("msr_modul: can't initialize rtlib!");

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        goto out_return;

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    }

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#endif

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    msr_jitter_init();

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

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    if ((ecat_master = EtherCAT_request(0)) == NULL) {

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        printk(KERN_ERR "EtherCAT master 0 not available!\n");

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        goto out_msr_cleanup;

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    }

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    printk("Checking EtherCAT slaves.\n");

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    if (EtherCAT_check_slaves(ecat_master, ecat_slaves, ECAT_SLAVES_COUNT) != 0) {

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        printk(KERN_ERR "EtherCAT: Could not init slaves!\n");

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        goto out_release_master;

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    }

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    printk("Activating all EtherCAT slaves.\n");

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    if (EtherCAT_activate_all_slaves(ecat_master) != 0) {

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        printk(KERN_ERR "EtherCAT: Could not activate slaves!\n");

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        goto out_release_master;

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    }

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    do_gettimeofday(&process_time);

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    msr_time_increment.tv_sec=0;

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    msr_time_increment.tv_usec=(unsigned int)(1000000/MSR_ABTASTFREQUENZ);

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    ipipe_init_attr (&attr);

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

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    attr.priority = IPIPE_ROOT_PRIO + 1;

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    attr.entry    = &domain_entry;

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    ipipe_register_domain(&this_domain,&attr);

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    return 0;

   430

   431

 out_release_master:

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    EtherCAT_release(ecat_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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    return -1;

   439

}

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

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void __exit cleanup_module()

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   445

{

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    msr_print_info("msk_modul: unloading...");

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   448

    ipipe_tune_timer(1000000000UL/HZ,0); //alten Timertakt wieder herstellen

   449

    ipipe_unregister_domain(&this_domain);

   450

   451

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

   452

   453

    if (ecat_master)

   454

    {

   455

        EtherCAT_clear_process_data(ecat_master);

   456

        printk(KERN_INFO "Deactivating slaves.\n");

   457

        EtherCAT_deactivate_all_slaves(ecat_master);

   458

        EtherCAT_release(ecat_master);

   459

    }

   460

   461

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

   462

   463

#ifdef USE_MSR_LIB

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    msr_rtlib_cleanup();

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#endif

   466

}

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   468

MODULE_LICENSE("GPL");

   469

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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