/******************************************************************************
*
* 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>
// RT_lib
#include <msr_main.h>
#include <msr_utils.h>
#include <msr_messages.h>
#include <msr_float.h>
#include <msr_reg.h>
#include "msr_param.h"
#include "msr_jitter.h"
// EtherCAT
#include "../include/EtherCAT_rt.h"
#include "../include/EtherCAT_si.h"
// Defines/Makros
#define TSC2US(T1, T2) ((T2 - T1) * 1000UL / cpu_khz)
#define HZREDUCTION (MSR_ABTASTFREQUENZ / HZ)
/*****************************************************************************/
/* Globale Variablen */
// RT_lib
extern struct timeval process_time;
struct timeval msr_time_increment; // Increment per Interrupt
// Adeos
static struct ipipe_domain this_domain;
static struct ipipe_sysinfo sys_info;
// EtherCAT
ec_master_t *master = NULL;
ec_slave_t *s_in1, *s_out1, *s_ssi, *s_inc;
uint16_t angle0;
ec_slave_init_t slaves[] = {
{&s_in1, "1", "Beckhoff", "EL3102", 0},
{&s_out1, "2", "Beckhoff", "EL2004", 0},
{&s_ssi, "3", "Beckhoff", "EL5001", 0},
{&s_inc, "0:4", "Beckhoff", "EL5101", 0}
};
#define SLAVE_COUNT (sizeof(slaves) / sizeof(ec_slave_init_t))
/******************************************************************************
*
* Function: msr_controller_run()
*
*****************************************************************************/
static void msr_controller_run(void)
{
static unsigned int counter = 0;
msr_jitter_run(MSR_ABTASTFREQUENZ);
EC_WRITE_EL20XX(s_out1, 3, EC_READ_EL31XX(s_in1, 0) < 0);
if (!counter) {
EtherCAT_rt_debug_level(master, 2);
}
// Prozessdaten lesen und schreiben
EtherCAT_rt_domain_xio(master, 0, 40);
if (counter) {
counter--;
}
else {
EtherCAT_rt_debug_level(master, 0);
printk("SSI status=0x%X value=%u\n",
EC_READ_EL5001_STATE(s_ssi), EC_READ_EL5001_VALUE(s_ssi));
printk("INC status=0x%X value=%u\n",
EC_READ_EL5101_STATE(s_inc), EC_READ_EL5101_VALUE(s_inc));
counter = MSR_ABTASTFREQUENZ * 5;
}
angle0 = EC_READ_EL5101_VALUE(s_inc);
}
/******************************************************************************
*
* Function: msr_run(_interrupt)
*
* Beschreibung: Routine wird zyklisch im Timerinterrupt ausgeführt
* (hier muß alles rein, was Echtzeit ist ...)
*
* Parameter: Zeiger auf msr_data
*
* Rückgabe:
*
* Status: exp
*
*****************************************************************************/
void msr_run(unsigned irq)
{
static int counter = 0;
timeval_add(&process_time, &process_time, &msr_time_increment);
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);
}
/******************************************************************************
*
* Function: msr_register_channels
*
* Beschreibung: KanŽäle registrieren
*
* Parameter:
*
* RŽückgabe:
*
* Status: exp
*
*****************************************************************************/
int msr_globals_register(void)
{
//msr_reg_kanal("/value", "V", &value, TDBL);
//msr_reg_kanal("/dig1", "", &dig1, TINT);
msr_reg_kanal("/angle0", "", &angle0, TINT);
return 0;
}
/******************************************************************************
* the init/clean material
*****************************************************************************/
int __init init_rt_module(void)
{
struct ipipe_domain_attr attr; //ipipe
// 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;
}
msr_jitter_init();
printk(KERN_INFO "=== Starting EtherCAT environment... ===\n");
if ((master = EtherCAT_rt_request_master(0)) == NULL) {
printk(KERN_ERR "Error requesting master 0!\n");
goto out_msr_cleanup;
}
if (EtherCAT_rt_register_slave_list(master, slaves, SLAVE_COUNT)) {
printk(KERN_ERR "EtherCAT: Could not register slaves!\n");
goto out_release_master;
}
if (EtherCAT_rt_activate_slaves(master) < 0) {
printk(KERN_ERR "EtherCAT: Could not activate slaves!\n");
goto out_release_master;
}
if (EtherCAT_rt_canopen_sdo_write(master, s_ssi, 0x4067, 0, 1, 2)) {
printk(KERN_ERR "EtherCAT: Could not set SSI baud rate!\n");
goto out_release_master;
}
if (EtherCAT_rt_canopen_sdo_write(master, s_ssi, 0x4061, 4, 1, 1)) {
printk(KERN_ERR "EtherCAT: Could not set SSI feature bit!\n");
goto out_release_master;
}
do_gettimeofday(&process_time);
msr_time_increment.tv_sec = 0;
msr_time_increment.tv_usec = (unsigned int) (1000000 / MSR_ABTASTFREQUENZ);
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;
out_release_master:
EtherCAT_rt_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 slaves.\n");
if (EtherCAT_rt_deactivate_slaves(master) < 0) {
printk(KERN_WARNING "Warning - Could not deactivate slaves!\n");
}
EtherCAT_rt_release_master(master);
printk(KERN_INFO "=== EtherCAT environment stopped. ===\n");
}
msr_rtlib_cleanup();
}
/*****************************************************************************/
MODULE_LICENSE("GPL");
MODULE_AUTHOR ("Wilhelm Hagemeister <hm@igh-essen.com>");
MODULE_DESCRIPTION ("EtherCAT test environment");
module_init(init_rt_module);
module_exit(cleanup_rt_module);
/*****************************************************************************/
/* Emacs-Konfiguration
;;; Local Variables: ***
;;; c-basic-offset:4 ***
;;; End: ***
*/