--- a/rt/msr_io.c Fri Dec 16 09:23:56 2005 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,539 +0,0 @@
-/******************************************************************************
- *
- * msr_io.c
- *
- * Sample Modul für EtherCAT
- *
- * Autoren: Wilhelm Hagemeister, Florian Pose
- *
- * $Date$
- * $Author$
- *
- * (C) Copyright IgH 2005
- * Ingenieurgemeinschaft IgH
- * Heinz-Bäcker Str. 34
- * D-45356 Essen
- * Tel.: +49 201/61 99 31
- * Fax.: +49 201/61 98 36
- * E-mail: hm@igh-essen.com
- *
- * /bin/setserial /dev/ttyS0 uart none
- * /bin/setserial /dev/ttyS1 uart none
- *
- ******************************************************************************/
-
-/*--Includes-----------------------------------------------------------------*/
-
-#include <linux/module.h>
-#include <linux/tqueue.h>
-#include <linux/slab.h>
-#include <linux/delay.h>
-
-#include <msr_reg.h>
-#include <msr_messages.h>
-#include <msr_main.h>
-
-#include <rtai.h>
-#include <rtai_sched.h>
-
-#include "msr_io.h"
-
-//#include <msr_float.h>
-
-#include "../drivers/ec_master.h"
-#include "../drivers/ec_device.h"
-#include "../drivers/ec_types.h"
-#include "../rs232dbg/rs232dbg.h"
-
-/*--Defines------------------------------------------------------------------*/
-
-#define TIMERTICS 1e6 // in ns; Thus have a task time of 1ms
-#define MSR_ABTASTFREQUENZ (1e9/TIMERTICS)
-
-//#define MSR_ABTASTFREQUENZ (1000) //1e9/TIMERTICS)
-#define TICK ((1000000 / MSR_ABTASTFREQUENZ) * 1000)
-#define TIMER_FREQ (APIC_TIMER ? FREQ_APIC : FREQ_8254)
-#define APIC_TIMER 0
-
-//#define MSR_SLOW_DEBUG
-
-/*--Globale Variablen--------------------------------------------------------*/
-
-RT_TASK process_image;
-
-const int Tick = TICK;
-
-unsigned int ecat_tx_delay = 0; //Zeit vom Ende der TimerInterruptRoutine bis
- //TX-Interrupt der Netzwerkkarte
-unsigned int ecat_rx_delay = 0; //RX-Interrupt der Netzwerkkarte
-
-unsigned int tx_intr = 0;
-unsigned int rx_intr = 0;
-unsigned int total_intr = 0;
-
-unsigned int thread_end = 0;
-
-#define USE_ETHERCAT
-
-#ifdef USE_ETHERCAT
-
-static EtherCAT_master_t *ecat_master = NULL;
-
-extern EtherCAT_device_t rtl_ecat_dev;
-
-//#define ECAT_SLAVES_COUNT 16
-
-static EtherCAT_slave_t ecat_slaves[] =
-{
- //Block 1
-/* ECAT_INIT_SLAVE(Beckhoff_EK1100),
- ECAT_INIT_SLAVE(Beckhoff_EL4102),
- ECAT_INIT_SLAVE(Beckhoff_EL3162),
- ECAT_INIT_SLAVE(Beckhoff_EL1014),
- ECAT_INIT_SLAVE(Beckhoff_EL2004),
- ECAT_INIT_SLAVE(Beckhoff_EL3102),
- ECAT_INIT_SLAVE(Beckhoff_EL4102),
- ECAT_INIT_SLAVE(Beckhoff_EL4102),
- ECAT_INIT_SLAVE(Beckhoff_EL4102),
- ECAT_INIT_SLAVE(Beckhoff_EL3162),
- ECAT_INIT_SLAVE(Beckhoff_EL3162),
- ECAT_INIT_SLAVE(Beckhoff_EL3162),
- ECAT_INIT_SLAVE(Beckhoff_EL3102),
- ECAT_INIT_SLAVE(Beckhoff_EL3102),
- ECAT_INIT_SLAVE(Beckhoff_EL2004),
- ECAT_INIT_SLAVE(Beckhoff_EL2004),
- ECAT_INIT_SLAVE(Beckhoff_EL2004),
- ECAT_INIT_SLAVE(Beckhoff_EL2004), */
- //Block 2
- ECAT_INIT_SLAVE(Beckhoff_EK1100),
- ECAT_INIT_SLAVE(Beckhoff_EL4102),
- ECAT_INIT_SLAVE(Beckhoff_EL1014),
- ECAT_INIT_SLAVE(Beckhoff_EL3162),
- ECAT_INIT_SLAVE(Beckhoff_EL2004),
- ECAT_INIT_SLAVE(Beckhoff_EL3102),
- //Block 3
- ECAT_INIT_SLAVE(Beckhoff_EK1100),
- ECAT_INIT_SLAVE(Beckhoff_EL1014),
- ECAT_INIT_SLAVE(Beckhoff_EL1014),
- ECAT_INIT_SLAVE(Beckhoff_EL1014),
- ECAT_INIT_SLAVE(Beckhoff_EL1014),
- ECAT_INIT_SLAVE(Beckhoff_EL1014),
- ECAT_INIT_SLAVE(Beckhoff_EL2004),
- ECAT_INIT_SLAVE(Beckhoff_EL2004),
- ECAT_INIT_SLAVE(Beckhoff_EL2004),
- ECAT_INIT_SLAVE(Beckhoff_EL2004),
- ECAT_INIT_SLAVE(Beckhoff_EL1014),
- ECAT_INIT_SLAVE(Beckhoff_EL1014),
- ECAT_INIT_SLAVE(Beckhoff_EL1014)
-
-
-};
-
-#define ECAT_SLAVES_COUNT (sizeof(ecat_slaves)/sizeof(EtherCAT_slave_t))
-
-#endif
-
-double value;
-int dig1;
-
-
-static int next2004(int *wrap)
-{
- static int i=0;
-
- int j=0;
-
- *wrap = 0;
- for(j=0;j<ECAT_SLAVES_COUNT;j++) {
- i++;
- i %= ECAT_SLAVES_COUNT;
- if(i == 0) *wrap = 1;
- if(ecat_slaves[i].desc == Beckhoff_EL2004) {
- return i;
- }
- }
- return -1;
-}
-
-/*
-*******************************************************************************
-*
-* Function: msr_controller
-*
-* Beschreibung: Zyklischer Prozess
-*
-* Parameter:
-*
-* Rückgabe:
-*
-* Status: exp
-*
-*******************************************************************************
-*/
-
-void msr_controller(void)
-{
- static int ms = 0;
- static int cnt = 0;
- static unsigned long int k = 0;
- static int firstrun = 1;
-
- static int klemme = 12;
- static int kanal = 0;
- static int up_down = 0;
- int wrap = 0;
-
- ms++;
- ms %= 1000;
-
-#ifdef USE_ETHERCAT
- ecat_tx_delay = ((unsigned int) (100000 / HZ) * (ecat_master->dev->tx_time-k))
- / (current_cpu_data.loops_per_jiffy / 10);
- ecat_rx_delay = ((unsigned int) (100000 / HZ) * (ecat_master->dev->rx_time-k))
- / (current_cpu_data.loops_per_jiffy / 10);
-
- rx_intr = ecat_master->dev->rx_intr_cnt;
- tx_intr = ecat_master->dev->tx_intr_cnt;
- total_intr = ecat_master->dev->intr_cnt;
- // Prozessdaten lesen
- if(!firstrun) {
- EtherCAT_read_process_data(ecat_master);
-
- // Daten lesen und skalieren
- value = EtherCAT_read_value(&ecat_master->slaves[5], 0) / 3276.7;
- dig1 = EtherCAT_read_value(&ecat_master->slaves[3], 0);
- }
- // Daten schreiben
-
- EtherCAT_write_value(&ecat_master->slaves[4], 0, ms > 500 ? 1 : 0);
- EtherCAT_write_value(&ecat_master->slaves[4], 1, ms > 500 ? 0 : 1);
- EtherCAT_write_value(&ecat_master->slaves[4], 2, ms > 500 ? 0 : 1);
- EtherCAT_write_value(&ecat_master->slaves[4], 3, ms > 500 ? 1 : 0);
-
-
- if(cnt++ > 20) {
- cnt = 0;
- if(++kanal > 3) {
- kanal = 0;
- klemme = next2004(&wrap);
- if (wrap == 1) {
- if(up_down == 1)
- up_down = 0;
- else up_down = 1;
- }
- }
- }
- if (klemme >=0)
- EtherCAT_write_value(&ecat_master->slaves[klemme], kanal,up_down);
-
-// EtherCAT_write_value(&ecat_master->slaves[13], 1, ms > 500 ? 0 : 1);
-// EtherCAT_write_value(&ecat_master->slaves[14], 2, ms > 500 ? 0 : 1);
-// EtherCAT_write_value(&ecat_master->slaves[15], 3, ms > 500 ? 1 : 0);
-
- // Prozessdaten schreiben
- rdtscl(k);
- EtherCAT_write_process_data(ecat_master);
- firstrun = 0;
-#endif
-}
-
-/*
-*******************************************************************************
-*
-* Function: msr_run_interrupt
-*
-* Beschreibung: Interrupt abarbeiten
-*
-* Parameter:
-*
-* Rückgabe:
-*
-* Status: exp
-*
-*******************************************************************************
-*/
-
-void process_thread(int priv_data)
-{
- while (1)
- {
-
-#ifdef USE_ETHERCAT
- MSR_RTAITHREAD_CODE(msr_controller(); msr_write_kanal_list(); );
-#else
- MSR_RTAITHREAD_CODE( msr_write_kanal_list(); );
-#endif
-
-
-
- /* if(counter++ >=MSR_ABTASTFREQUENZ) {
- counter = 0;
- sprintf(buf,"rt:life");
- msr_print_info(buf);
- }
- */
- rt_task_wait_period();
- }
- thread_end = 1;
-}
-
-/*
-*******************************************************************************
-*
-* Function: msr_register_channels
-*
-* Beschreibung: Kanäle registrieren
-*
-* Parameter:
-*
-* Rückgabe:
-*
-* Status: exp
-*
-*******************************************************************************
-*/
-
-int msr_globals_register(void)
-{
- msr_reg_kanal("/value", "V", &value, TDBL);
- msr_reg_kanal("/dig1", "", &dig1, TINT);
- msr_reg_kanal("/Taskinfo/Ecat/TX-Delay","us",&ecat_tx_delay,TUINT);
- msr_reg_kanal("/Taskinfo/Ecat/RX-Delay","us",&ecat_rx_delay,TUINT);
- msr_reg_kanal("/Taskinfo/Ecat/TX-Cnt","",&tx_intr,TUINT);
- msr_reg_kanal("/Taskinfo/Ecat/RX-Cnt","",&rx_intr,TUINT);
- msr_reg_kanal("/Taskinfo/Ecat/Total-Cnt","",&total_intr,TUINT);
-
- return 0;
-}
-
-/*
-*******************************************************************************
-*
-* Function: msr_init
-*
-* Beschreibung: MSR initialisieren
-*
-* Parameter:
-*
-* Rückgabe:
-*
-* Status: exp
-*
-*******************************************************************************
-*/
-
-int msr_init(void)
-{
- int rv = -1;
- RTIME tick_period, now;
-
-// rt_mount_rtai();
-
- msr_print_info("Initialising rtlib.");
-
- // RT-lib initialisieren
- if (msr_rtlib_init(1, MSR_ABTASTFREQUENZ, 10, msr_globals_register) < 0)
- {
- msr_print_warn("msr_modul: can't initialize rtlib!");
- goto out_umount;
- }
-
-#ifdef USE_ETHERCAT
- msr_print_info("Opening EtherCAT device.");
-
- mdelay(100);
-
- if (EtherCAT_device_open(&rtl_ecat_dev) < 0)
- {
- msr_print_warn("msr_modul: Could not initialize EtherCAT NIC.");
- goto out_rtlib;
- }
-
- if (!rtl_ecat_dev.dev) // Es gibt kein EtherCAT-Device
- {
- msr_print_warn("msr_modul: No EtherCAT device!");
- goto out_close;
- }
-// goto out_close;
-
- // EtherCAT-Master und Slaves initialisieren
-
- msr_print_info("Initialising EtherCAT master");
-
- if ((ecat_master = (EtherCAT_master_t *) kmalloc(sizeof(EtherCAT_master_t), GFP_KERNEL)) == 0)
- {
- msr_print_warn(KERN_ERR "msr_modul: Could not alloc memory for EtherCAT master!\n");
- goto out_close;
- }
-
- if (EtherCAT_master_init(ecat_master, &rtl_ecat_dev) < 0)
- {
- msr_print_warn(KERN_ERR "EtherCAT could not init master!\n");
- goto out_master;
- }
-
- msr_print_info("Checking EtherCAT slaves.");
- mdelay(10); //Nachricht abwarten
-
- if (EtherCAT_check_slaves(ecat_master, ecat_slaves, ECAT_SLAVES_COUNT) != 0)
- {
- msr_print_warn(KERN_ERR "EtherCAT: Could not init slaves!\n");
- goto out_masterclear;
- }
-
- msr_print_info("Activating all EtherCAT slaves.");
- mdelay(10); //Nachricht abwarten
-
- if (EtherCAT_activate_all_slaves(ecat_master) != 0)
- {
- printk(KERN_ERR "EtherCAT: Could not activate slaves!\n");
- goto out_masterclear;
- }
-
- // Zyklischen Aufruf starten
-
-#endif
- msr_print_info("Starting cyclic sample thread.");
- mdelay(10); //Nachricht abwarten
-
- EtherCAT_write_process_data(ecat_master);
-
- //mdelay(100);
- tick_period = start_rt_timer(nano2count(TIMERTICS));
- now = rt_get_time();
-
- if ((rv = rt_task_init(&process_image, process_thread, 0/*data*/, 64000/*stacksize*/, 0/*prio*/, 1/*use fpu*/, 0/*signal*/)))
- {
- msr_print_error("Could not initialise process_thread\n");
- goto out_stoptimer;
- }
-
- msr_print_info("Initialised sample thread\n");
-
- if ((rv = rt_task_make_periodic(&process_image,
- now + tick_period,
- tick_period)))
- {
- msr_print_error("Could not start process_thread\n");
- goto out_stoptask;
- }
-
- msr_print_info("Started sample thread.");
-
- return 0;
-
- out_stoptask:
- msr_print_info("Deleting task....");
- rt_task_delete(&process_image);
-
- out_stoptimer:
- msr_print_info("Stopping timer.");
- stop_rt_timer();
-
-#ifdef USE_ETHERCAT
- out_masterclear:
- msr_print_info("Clearing EtherCAT master.");
- EtherCAT_master_clear(ecat_master);
-
- out_master:
- msr_print_info("Freeing EtherCAT master.");
- kfree(ecat_master);
-
- out_close:
- msr_print_info("Closing device.");
-
- EtherCAT_device_close(&rtl_ecat_dev);
-#endif
-
- out_rtlib:
- msr_print_info("msr_rtlib_cleanup()");
- mdelay(10);
- msr_rtlib_cleanup();
-
- out_umount:
-// rt_umount_rtai();
-
- return rv;
-}
-
-/*
-*******************************************************************************
-*
-* Function: msr_io_cleanup
-*
-* Beschreibung: Aufräumen
-*
-* Parameter:
-*
-* Rückgabe:
-*
-* Status: exp
-*
-*******************************************************************************
-*/
-
-void msr_io_cleanup(void)
-{
-
- msr_print_info("Stopping timer.");
-
- stop_rt_timer();
-
- msr_print_info("Deleting task....");
-
- rt_task_delete(&process_image);
-/*
- for(i=0;i<1000;i++) {
- udelay(100);
- if(thread_end == 1) {
- msr_print_info("Task ended at count %d",i);
- break;
- }
- }
-*/
- //noch einmal lesen
-
- msr_print_info("Read Processdata");
- EtherCAT_read_process_data(ecat_master);
-
- //EtherCAT_read_process_data(ecat_master);
-#ifdef USE_ETHERCAT
- if (ecat_master)
- {
-
- msr_print_info("Deactivating slaves.");
-
-
- EtherCAT_deactivate_all_slaves(ecat_master);
-
-
- msr_print_info("Clearing EtherCAT master.");
-
- EtherCAT_master_clear(ecat_master);
-
- msr_print_info("Freeing EtherCAT master.");
-
-
- kfree(ecat_master);
- ecat_master = NULL;
- }
-
- msr_print_info("Closing device.");
-
- EtherCAT_device_close(&rtl_ecat_dev);
-
-#endif
- msr_print_info("msr_rtlib_cleanup()");
-
- msr_rtlib_cleanup();
- //rt_umount_rtai();
-}
-
-/*---Treiber-Einsprungspunkte etc.-------------------------------------------*/
-
-MODULE_LICENSE("GPL");
-
-module_init(msr_init);
-module_exit(msr_io_cleanup);
-
-/*---Ende--------------------------------------------------------------------*/