/******************************************************************************
*
* msr_module.c
*
* Kernelmodul für 2.6 Kernel zur Meßdatenerfassung, Steuerung und Regelung.
*
* Autor: Wilhelm Hagemeister, Florian Pose
*
* (C) Copyright IgH 2002
* 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
*
* $Id$
*
*****************************************************************************/
// 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
//#define BLOCK1
// 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
#ifdef BLOCK1
void *r_ssi, *r_ssi_st;
#else
void *r_inc;
#endif
uint32_t k_ssi_pos;
uint32_t k_ssi_status;
uint32_t k_angle;
uint32_t k_preio;
uint32_t k_postio;
uint32_t k_finished;
#ifdef BLOCK1
ec_field_init_t domain1_fields[] = {
{&r_ssi, "5", "Beckhoff", "EL5001", "InputValue", 0},
{&r_ssi_st, "5", "Beckhoff", "EL5001", "Status", 0},
{}
};
#else
ec_field_init_t domain1_fields[] = {
{&r_inc, "4", "Beckhoff", "EL5101", "InputValue", 0},
{}
};
#endif
/*****************************************************************************/
static void msr_controller_run(void)
{
cycles_t offset;
static unsigned int counter = 0;
offset = get_cycles();
if (counter) counter--;
else {
//EtherCAT_rt_master_debug(master, 2);
counter = MSR_ABTASTFREQUENZ;
}
k_preio = (uint32_t) (get_cycles() - offset) * 1e6 / cpu_khz;
#ifdef ASYNC
// Empfangen
ecrt_master_async_receive(master);
ecrt_domain_process(domain1);
// Prozessdaten verarbeiten
#ifdef BLOCK1
k_ssi_pos = EC_READ_U32(r_ssi);
k_ssi_status = EC_READ_U32(r_ssi_st);
#else
k_angle = EC_READ_U16(r_inc);
#endif
// Senden
ecrt_domain_queue(domain1);
ecrt_master_run(master);
ecrt_master_async_send(master);
#else // ASYNC
// Senden und empfangen
ecrt_domain_queue(domain1);
ecrt_master_run(master);
ecrt_master_sync_io(master);
ecrt_domain_process(domain1);
// Prozessdaten verarbeiten
#ifdef BLOCK1
k_ssi_pos = EC_READ_U32(r_ssi);
k_ssi_status = EC_READ_U32(r_ssi_st);
#else
k_angle = EC_READ_U16(r_inc);
#endif
#endif // ASYNC
k_postio = (uint32_t) (get_cycles() - offset) * 1e6 / cpu_khz;
//ecrt_master_debug(master, 0);
k_finished = (uint32_t) (get_cycles() - offset) * 1e6 / cpu_khz;
}
/*****************************************************************************/
int msr_globals_register(void)
{
msr_reg_kanal("/angle0", "", &k_angle, TUINT);
msr_reg_kanal("/pos0", "", &k_ssi_pos, TUINT);
msr_reg_kanal("/ssi-status0", "", &k_ssi_status, TUINT);
msr_reg_kanal("/Timing/Pre-IO", "ns", &k_preio, TUINT);
msr_reg_kanal("/Timing/Post-IO", "ns", &k_postio, TUINT);
msr_reg_kanal("/Timing/Finished", "ns", &k_finished, 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 bestŽätigen
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
#ifdef BLOCK1
uint8_t string[20];
size_t size;
ec_slave_t *slave;
#endif
// Als allererstes die 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_return;
}
if ((master = ecrt_request_master(0)) == NULL) {
printk(KERN_ERR "Error requesting master 0!\n");
goto out_msr_cleanup;
}
printk(KERN_INFO "Registering domains...\n");
if (!(domain1 = ecrt_master_create_domain(master))) {
printk(KERN_ERR "Could not register domain!\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, 1);
#endif
#ifdef BLOCK1
if (!(slave = ecrt_master_get_slave(master, "1"))) {
printk(KERN_ERR "Failed to get slave 1!\n");
goto out_deactivate;
}
size = 10;
if (ecrt_slave_sdo_read(slave, 0x100A, 0, string, &size)) {
printk(KERN_ERR "Could not read SSI version!\n");
goto out_deactivate;
}
printk(KERN_INFO "Software-version 1: %s\n", string);
if (!(slave = ecrt_master_get_slave(master, "5"))) {
printk(KERN_ERR "Failed to get slave 5!\n");
goto out_deactivate;
}
size = 10;
if (ecrt_slave_sdo_read(slave, 0x100A, 0, string, &size)) {
printk(KERN_ERR "Could not read SSI version!\n");
goto out_deactivate;
}
printk(KERN_INFO "Software-version 5: %s\n", string);
size = 20;
if (ecrt_slave_sdo_read(slave, 0x1008, 0, string, &size)) {
printk(KERN_ERR "Could not read string!\n");
goto out_deactivate;
}
printk(KERN_INFO "String: %s\n", string);
if (ecrt_slave_sdo_write_exp8(slave, 0x4061, 1, 0) ||
ecrt_slave_sdo_write_exp8(slave, 0x4061, 2, 1) ||
ecrt_slave_sdo_write_exp8(slave, 0x4061, 3, 1) ||
ecrt_slave_sdo_write_exp8(slave, 0x4066, 0, 0) ||
ecrt_slave_sdo_write_exp8(slave, 0x4067, 0, 4) ||
ecrt_slave_sdo_write_exp8(slave, 0x4068, 0, 0) ||
ecrt_slave_sdo_write_exp8(slave, 0x4069, 0, 25) ||
ecrt_slave_sdo_write_exp8(slave, 0x406A, 0, 25) ||
ecrt_slave_sdo_write_exp8(slave, 0x406B, 0, 50)) {
printk(KERN_ERR "Failed to configure SSI slave!\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;
#ifdef BLOCK1
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)
{
msr_print_info("msk_modul: unloading...");
ipipe_tune_timer(1000000000UL / HZ, 0); //alten Timertakt wieder herstellen
ipipe_unregister_domain(&this_domain);
if (master)
{
printk(KERN_INFO "=== Stopping EtherCAT environment... ===\n");
printk(KERN_INFO "Deactivating master...\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: ***
*/