/******************************************************************************
*
* 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: ***
*/