--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/rt/msr_rt.c Wed May 10 07:41:38 2006 +0000
@@ -0,0 +1,296 @@
+/******************************************************************************
+ *
+ * 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_start_eoe(master)) {
+ printk(KERN_ERR "Failed to start EoE processing!\n");
+ goto out_deactivate;
+ }
+#endif
+
+#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: ***
+*/