/******************************************************************************
*
* 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>
// 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/EtherCAT_rt.h"
#include "../include/EtherCAT_si.h"
// 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;
ec_domain_t *domain2 = NULL;
// Prozessdaten
void *r_ssi;
void *r_ssi2;
void *r_inc;
uint32_t k_angle;
uint32_t k_pos;
ec_field_init_t domain1_fields[] = {
{&r_ssi, "1", "Beckhoff", "EL5001", ec_ipvalue, 0, 1},
{}
};
ec_field_init_t domain2_fields[] = {
{&r_ssi2, "1", "Beckhoff", "EL5001", ec_ipvalue, 0, 1},
{}
};
/*****************************************************************************/
static void msr_controller_run(void)
{
static unsigned int counter = 0;
if (counter) counter--;
else {
//EtherCAT_rt_master_debug(master, 2);
counter = MSR_ABTASTFREQUENZ;
}
// Prozessdaten lesen und schreiben
EtherCAT_rt_domain_queue(domain1);
EtherCAT_rt_domain_queue(domain2);
EtherCAT_rt_master_xio(master);
EtherCAT_rt_domain_process(domain1);
EtherCAT_rt_domain_process(domain2);
//k_angle = EC_READ_U16(r_inc);
k_pos = EC_READ_U32(r_ssi);
//EtherCAT_rt_master_debug(master, 0);
}
/*****************************************************************************/
int msr_globals_register(void)
{
msr_reg_kanal("/angle0", "", &k_angle, TUINT);
msr_reg_kanal("/pos0", "", &k_pos, 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
uint32_t version;
// 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 = EtherCAT_rt_request_master(0)) == NULL) {
printk(KERN_ERR "Error requesting master 0!\n");
goto out_msr_cleanup;
}
//EtherCAT_rt_master_print(master);
printk(KERN_INFO "Registering domains...\n");
if (!(domain1 = EtherCAT_rt_master_register_domain(master, ec_sync, 100)))
{
printk(KERN_ERR "EtherCAT: Could not register domain!\n");
goto out_release_master;
}
if (!(domain2 = EtherCAT_rt_master_register_domain(master, ec_sync, 100)))
{
printk(KERN_ERR "EtherCAT: Could not register domain!\n");
goto out_release_master;
}
printk(KERN_INFO "Registering domain fields...\n");
if (EtherCAT_rt_register_domain_fields(domain1, domain1_fields)) {
printk(KERN_ERR "Failed to register domain fields.\n");
goto out_release_master;
}
if (EtherCAT_rt_register_domain_fields(domain2, domain2_fields)) {
printk(KERN_ERR "Failed to register domain fields.\n");
goto out_release_master;
}
printk(KERN_INFO "Activating master...\n");
//EtherCAT_rt_master_debug(master, 2);
if (EtherCAT_rt_master_activate(master)) {
printk(KERN_ERR "Could not activate master!\n");
goto out_release_master;
}
//EtherCAT_rt_master_debug(master, 0);
#if 1
if (EtherCAT_rt_canopen_sdo_addr_read(master, "6", 0x100A, 1,
&version)) {
printk(KERN_ERR "Could not read SSI version!\n");
goto out_release_master;
}
printk(KERN_INFO "Software-version: %u\n", version);
#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;
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 master...\n");
if (EtherCAT_rt_master_deactivate(master) < 0) {
printk(KERN_WARNING "Warning - Could not deactivate master!\n");
}
EtherCAT_rt_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: ***
*/