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  *

     9  *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH

    10  *

    11  *  This file is part of the IgH EtherCAT Master.

    12  *

    13  *  The IgH EtherCAT Master is free software; you can redistribute it

    14  *  and/or modify it under the terms of the GNU General Public License

    15  *  as published by the Free Software Foundation; version 2 of the License.

    16  *

    17  *  The IgH EtherCAT Master is distributed in the hope that it will be

    18  *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of

    19  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    20  *  GNU General Public License for more details.

    21  *

    22  *  You should have received a copy of the GNU General Public License

    23  *  along with the IgH EtherCAT Master; if not, write to the Free Software

    24  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

    25  *

    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_start_eoe(master)) {

   184         printk(KERN_ERR "Failed to start EoE processing!\n");

   185         goto out_deactivate;

   186     }

   187 #endif

   188 

   189 #if 0

   190     if (ecrt_master_fetch_sdo_lists(master)) {

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

   192         goto out_deactivate;

   193     }

   194     ecrt_master_print(master, 2);

   195 #else

   196     ecrt_master_print(master, 0);

   197 #endif

   198 

   199 #if 1

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

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

   202         goto out_deactivate;

   203     }

   204 

   205     if (

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

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

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

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

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

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

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

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

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

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

   216         ) {

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

   218         goto out_deactivate;

   219     }

   220 #endif

   221 

   222 #if 0

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

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

   225         goto out_deactivate;

   226     }

   227     if (ecrt_slave_write_alias(slave, 0x5678)) {

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

   229         goto out_deactivate;

   230     }

   231 #endif

   232 

   233 #ifdef ASYNC

   234     // Einmal senden und warten...

   235     ecrt_master_prepare_async_io(master);

   236 #endif

   237 

   238     ipipe_init_attr(&attr);

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

   240     attr.priority = IPIPE_ROOT_PRIO + 1;

   241     attr.entry = &domain_entry;

   242     ipipe_register_domain(&this_domain, &attr);

   243     return 0;

   244 

   245 #if 1

   246  out_deactivate:

   247     ecrt_master_deactivate(master);

   248 #endif

   249  out_release_master:

   250     ecrt_release_master(master);

   251  out_msr_cleanup:

   252     msr_rtlib_cleanup();

   253  out_return:

   254     return -1;

   255 }

   256 

   257 /*****************************************************************************/

   258 

   259 void __exit cleanup_rt_module(void)

   260 {

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

   262 

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

   264     ipipe_unregister_domain(&this_domain);

   265 

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

   267     ecrt_master_deactivate(master);

   268     ecrt_release_master(master);

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

   270 

   271     msr_rtlib_cleanup();

   272 }

   273 

   274 /*****************************************************************************/

   275 

   276 #define EC_LIT(X) #X

   277 #define EC_STR(X) EC_LIT(X)

   278 #define COMPILE_INFO "Revision " EC_STR(SVNREV) \

   279                      ", compiled by " EC_STR(USER) \

   280                      " at " __DATE__ " " __TIME__

   281 

   282 MODULE_LICENSE("GPL");

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

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

   285 MODULE_VERSION(COMPILE_INFO);

   286 

   287 module_init(init_rt_module);

   288 module_exit(cleanup_rt_module);

   289 

   290 /*****************************************************************************/

   291 

   292 /* Emacs-Konfiguration

   293 ;;; Local Variables: ***

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

   295 ;;; End: ***

   296 */