--- a/rt/msr_rt.c Mon Apr 24 10:47:03 2006 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,289 +0,0 @@
-/******************************************************************************
- *
- * m s r _ r t . c
- *
- * Kernelmodul für 2.6 Kernel zur Meßdatenerfassung, Steuerung und Regelung.
- *
- * $Id$
- *
- * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
- *
- * This file is part of the IgH EtherCAT Master.
- *
- * The IgH EtherCAT Master is free software; you can redistribute it
- * and/or modify it under the terms of the GNU General Public License
- * as published by the Free Software Foundation; version 2 of the License.
- *
- * The IgH EtherCAT Master is distributed in the hope that it will be
- * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with the IgH EtherCAT Master; if not, write to the Free Software
- * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
- *
- *****************************************************************************/
-
-// Linux
-#include <linux/module.h>
-#include <linux/ipipe.h>
-#include <linux/slab.h>
-#include <linux/vmalloc.h>
-#include <linux/delay.h>
-
-// RT_lib
-#include <msr_main.h>
-#include <msr_utils.h>
-#include <msr_messages.h>
-#include <msr_float.h>
-#include <msr_reg.h>
-#include <msr_time.h>
-#include "msr_param.h"
-
-// EtherCAT
-#include "../include/ecrt.h"
-
-#define ASYNC
-
-// Defines/Makros
-#define HZREDUCTION (MSR_ABTASTFREQUENZ / HZ)
-
-/*****************************************************************************/
-/* Globale Variablen */
-
-// Adeos
-static struct ipipe_domain this_domain;
-static struct ipipe_sysinfo sys_info;
-
-// EtherCAT
-ec_master_t *master = NULL;
-ec_domain_t *domain1 = NULL;
-
-// Prozessdaten
-void *r_ssi;
-void *r_ssi_st;
-
-// Kanäle
-uint32_t k_ssi;
-uint32_t k_ssi_st;
-
-ec_field_init_t domain1_fields[] = {
- {&r_ssi, "0:3", "Beckhoff", "EL5001", "InputValue", 0},
- {&r_ssi_st, "0:3", "Beckhoff", "EL5001", "Status", 0},
- {}
-};
-
-/*****************************************************************************/
-
-static void msr_controller_run(void)
-{
-#ifdef ASYNC
- // Empfangen
- ecrt_master_async_receive(master);
- ecrt_domain_process(domain1);
-#else
- // Senden und empfangen
- ecrt_domain_queue(domain1);
- ecrt_master_run(master);
- ecrt_master_sync_io(master);
- ecrt_domain_process(domain1);
-#endif
-
- // Prozessdaten verarbeiten
- k_ssi = EC_READ_U32(r_ssi);
- k_ssi_st = EC_READ_U8 (r_ssi_st);
-
-#ifdef ASYNC
- // Senden
- ecrt_domain_queue(domain1);
- ecrt_master_run(master);
- ecrt_master_async_send(master);
-#endif
-}
-
-/*****************************************************************************/
-
-int msr_globals_register(void)
-{
- msr_reg_kanal("/ssi_position", "", &k_ssi, TUINT);
- msr_reg_kanal("/ssi_status", "", &k_ssi_st, TUINT);
- return 0;
-}
-
-/*****************************************************************************/
-
-void msr_run(unsigned irq)
-{
- static int counter = 0;
-
- MSR_ADEOS_INTERRUPT_CODE(msr_controller_run(); msr_write_kanal_list(););
-
- ipipe_control_irq(irq, 0, IPIPE_ENABLE_MASK); // Interrupt bestätigen
- if (++counter >= HZREDUCTION) {
- ipipe_propagate_irq(irq); // und weiterreichen
- counter = 0;
- }
-}
-
-/*****************************************************************************/
-
-void domain_entry(void)
-{
- printk("Domain %s started.\n", ipipe_current_domain->name);
-
- ipipe_get_sysinfo(&sys_info);
- ipipe_virtualize_irq(ipipe_current_domain,sys_info.archdep.tmirq,
- &msr_run, NULL, IPIPE_HANDLE_MASK);
-
- ipipe_tune_timer(1000000000UL / MSR_ABTASTFREQUENZ, 0);
-}
-
-/*****************************************************************************/
-
-int __init init_rt_module(void)
-{
- struct ipipe_domain_attr attr; //ipipe
-#if 1
- ec_slave_t *slave;
-#endif
-
- // Als allererstes die RT-Lib initialisieren
- if (msr_rtlib_init(1, MSR_ABTASTFREQUENZ, 10, &msr_globals_register) < 0) {
- printk(KERN_ERR "Failed to initialize rtlib!\n");
- goto out_return;
- }
-
- if ((master = ecrt_request_master(0)) == NULL) {
- printk(KERN_ERR "Failed to request master 0!\n");
- goto out_msr_cleanup;
- }
-
- //ecrt_master_print(master, 2);
-
- printk(KERN_INFO "Creating domains...\n");
- if (!(domain1 = ecrt_master_create_domain(master))) {
- printk(KERN_ERR "Failed to create domains!\n");
- goto out_release_master;
- }
-
- printk(KERN_INFO "Registering domain fields...\n");
- if (ecrt_domain_register_field_list(domain1, domain1_fields)) {
- printk(KERN_ERR "Failed to register domain fields.\n");
- goto out_release_master;
- }
-
- printk(KERN_INFO "Activating master...\n");
- if (ecrt_master_activate(master)) {
- printk(KERN_ERR "Could not activate master!\n");
- goto out_release_master;
- }
-
-#if 0
- if (ecrt_master_fetch_sdo_lists(master)) {
- printk(KERN_ERR "Failed to fetch SDO lists!\n");
- goto out_deactivate;
- }
- ecrt_master_print(master, 2);
-#else
- ecrt_master_print(master, 0);
-#endif
-
-#if 1
- if (!(slave = ecrt_master_get_slave(master, "0:3"))) {
- printk(KERN_ERR "Failed to get slave!\n");
- goto out_deactivate;
- }
-
- if (
- ecrt_slave_sdo_write_exp8(slave, 0x4061, 1, 1) || // disable frame error bit
- ecrt_slave_sdo_write_exp8(slave, 0x4061, 2, 0) || // power failure bit
- ecrt_slave_sdo_write_exp8(slave, 0x4061, 3, 1) || // inhibit time
- ecrt_slave_sdo_write_exp8(slave, 0x4061, 4, 0) || // test mode
- ecrt_slave_sdo_write_exp8(slave, 0x4066, 0, 1) || // dualcode
- ecrt_slave_sdo_write_exp8(slave, 0x4067, 0, 5) || // 125kbaud
- ecrt_slave_sdo_write_exp8(slave, 0x4068, 0, 0) || // single-turn
- ecrt_slave_sdo_write_exp8(slave, 0x4069, 0, 25) || // frame size
- ecrt_slave_sdo_write_exp8(slave, 0x406A, 0, 25) || // data length
- ecrt_slave_sdo_write_exp16(slave, 0x406B, 0, 30000) // inhibit time in us
- ) {
- printk(KERN_ERR "Failed to configure SSI slave!\n");
- goto out_deactivate;
- }
-#endif
-
-#if 0
- if (!(slave = ecrt_master_get_slave(master, "1:0"))) {
- printk(KERN_ERR "Failed to get slave!\n");
- goto out_deactivate;
- }
- if (ecrt_slave_write_alias(slave, 0x5678)) {
- printk(KERN_ERR "Failed to write alias!\n");
- goto out_deactivate;
- }
-#endif
-
-#ifdef ASYNC
- // Einmal senden und warten...
- ecrt_master_prepare_async_io(master);
-#endif
-
- ipipe_init_attr(&attr);
- attr.name = "IPIPE-MSR-MODULE";
- attr.priority = IPIPE_ROOT_PRIO + 1;
- attr.entry = &domain_entry;
- ipipe_register_domain(&this_domain, &attr);
- return 0;
-
-#if 1
- out_deactivate:
- ecrt_master_deactivate(master);
-#endif
- out_release_master:
- ecrt_release_master(master);
- out_msr_cleanup:
- msr_rtlib_cleanup();
- out_return:
- return -1;
-}
-
-/*****************************************************************************/
-
-void __exit cleanup_rt_module(void)
-{
- printk(KERN_INFO "Cleanign up rt module...\n");
-
- ipipe_tune_timer(1000000000UL / HZ, 0); // Alten Timertakt wiederherstellen
- ipipe_unregister_domain(&this_domain);
-
- printk(KERN_INFO "=== Stopping EtherCAT environment... ===\n");
- ecrt_master_deactivate(master);
- ecrt_release_master(master);
- printk(KERN_INFO "=== EtherCAT environment stopped. ===\n");
-
- msr_rtlib_cleanup();
-}
-
-/*****************************************************************************/
-
-#define EC_LIT(X) #X
-#define EC_STR(X) EC_LIT(X)
-#define COMPILE_INFO "Revision " EC_STR(SVNREV) \
- ", compiled by " EC_STR(USER) \
- " at " __DATE__ " " __TIME__
-
-MODULE_LICENSE("GPL");
-MODULE_AUTHOR ("Florian Pose <fp@igh-essen.com>");
-MODULE_DESCRIPTION ("EtherCAT real-time test environment");
-MODULE_VERSION(COMPILE_INFO);
-
-module_init(init_rt_module);
-module_exit(cleanup_rt_module);
-
-/*****************************************************************************/
-
-/* Emacs-Konfiguration
-;;; Local Variables: ***
-;;; c-basic-offset:4 ***
-;;; End: ***
-*/