fp@42: /******************************************************************************
fp@42:  *
fp@42:  *  msr_module.c
fp@42:  *
fp@42:  *  Kernelmodul f�ür 2.6 Kernel zur Me�ßdatenerfassung, Steuerung und Regelung.
fp@47:  *
fp@47:  *  Autor: Wilhelm Hagemeister, Florian Pose
fp@42:  *
fp@42:  *  (C) Copyright IgH 2002
fp@42:  *  Ingenieurgemeinschaft IgH
fp@42:  *  Heinz-B�äcker Str. 34
fp@42:  *  D-45356 Essen
fp@42:  *  Tel.: +49 201/61 99 31
fp@42:  *  Fax.: +49 201/61 98 36
fp@42:  *  E-mail: hm@igh-essen.com
fp@42:  *
fp@42:  *  $Id$
fp@42:  *
fp@42:  *****************************************************************************/
hm@28: 
fp@45: // Linux
hm@28: #include <linux/module.h>
hm@28: #include <linux/ipipe.h>
hm@28: 
fp@45: // RT_lib
fp@45: #include <msr_main.h>
fp@45: #include <msr_utils.h>
fp@45: #include <msr_messages.h>
fp@45: #include <msr_float.h>
hm@28: #include <msr_reg.h>
fp@45: #include "msr_param.h"
fp@45: #include "msr_jitter.h"
fp@45: 
fp@45: // EtherCAT
fp@54: #include "../include/EtherCAT_rt.h"
fp@56: #include "../eclib/eclib.h"
hm@28: 
fp@45: // Defines/Makros
fp@45: #define TSC2US(T1, T2) ((T2 - T1) * 1000UL / cpu_khz)
fp@47: #define HZREDUCTION (MSR_ABTASTFREQUENZ / HZ)
hm@28: 
fp@45: /*****************************************************************************/
fp@45: /* Globale Variablen */
fp@45: 
fp@45: // RT_lib
fp@42: extern struct timeval process_time;
fp@42: struct timeval msr_time_increment; // Increment per Interrupt
hm@28: 
fp@45: // Adeos
hm@28: static struct ipipe_domain this_domain;
hm@28: static struct ipipe_sysinfo sys_info;
hm@28: 
fp@45: // EtherCAT
fp@45: 
fp@54: ec_master_t *master = NULL;
fp@47: static unsigned int ecat_bus_time = 0;
fp@47: static unsigned int ecat_timeouts = 0;
hm@28: 
fp@56: ec_slave_t *s_in1, *s_out1, *s_out2, *s_out3;
fp@55: 
hm@28: double value;
hm@28: int dig1;
fp@55: 
fp@55: /*****************************************************************************/
fp@55: 
fp@55: static int register_slaves(void)
fp@55: {
fp@56:     s_in1 = EtherCAT_rt_register_slave(master, 1, "Beckhoff", "EL3102", 0);
fp@56:     s_out1 = EtherCAT_rt_register_slave(master, 8, "Beckhoff", "EL2004", 0);
fp@56:     s_out2 = EtherCAT_rt_register_slave(master, 9, "Beckhoff", "EL2004", 0);
fp@56:     s_out3 = EtherCAT_rt_register_slave(master, 10, "Beckhoff", "EL2004", 0);
fp@56: 
fp@56:     return !s_in1 || !s_out1 || !s_out2 || !s_out3;
fp@55: }
hm@28: 
hm@28: /******************************************************************************
hm@28:  *
hm@28:  * Function: msr_controller_run()
hm@28:  *
hm@28:  *****************************************************************************/
hm@28: 
hm@28: static void msr_controller_run(void)
hm@28: {
fp@56:     static unsigned int counter = 0;
fp@56: 
hm@28:     msr_jitter_run(MSR_ABTASTFREQUENZ);
hm@28: 
fp@56:     if (counter) {
fp@56:         counter--;
fp@56:     }
fp@56:     else {
fp@56:         // "Star Trek"-Effekte
fp@56:         *((unsigned char *) s_out1->process_data) = jiffies;
fp@56:         *((unsigned char *) s_out2->process_data) = jiffies >> 4;
fp@56:         *((unsigned char *) s_out3->process_data) = jiffies >> 8;
fp@56: 
fp@56:         counter = MSR_ABTASTFREQUENZ / 4;
fp@56:     }
fp@56: 
fp@56:     if (((char *) s_in1->process_data)[2] < 0)
fp@56:         ((unsigned char *) s_out3->process_data)[0] |= 8;
fp@56:     else
fp@56:         ((unsigned char *) s_out3->process_data)[0] &= ~8;
fp@56: 
fp@54: 
fp@54:     // Prozessdaten lesen und schreiben
fp@56:     EtherCAT_rt_domain_xio(master, 0, 40);
fp@42: }
fp@42: 
fp@42: /******************************************************************************
fp@42:  *
fp@42:  *  Function: msr_run(_interrupt)
fp@42:  *
fp@42:  *  Beschreibung: Routine wird zyklisch im Timerinterrupt ausgef�ührt
fp@42:  *                (hier mu�ß alles rein, was Echtzeit ist ...)
fp@42:  *
fp@42:  *  Parameter: Zeiger auf msr_data
fp@42:  *
fp@42:  *  R�ückgabe:
fp@42:  *
fp@42:  *  Status: exp
fp@42:  *
fp@42:  *****************************************************************************/
hm@28: 
hm@28: void msr_run(unsigned irq)
hm@28: {
fp@45:     static int counter = 0;
fp@45: 
fp@45:     timeval_add(&process_time, &process_time, &msr_time_increment);
fp@45:     MSR_ADEOS_INTERRUPT_CODE(msr_controller_run(); msr_write_kanal_list(););
hm@28: 
fp@40:     ipipe_control_irq(irq,0,IPIPE_ENABLE_MASK);  //Interrupt bestŽätigen
fp@45:     if (counter++ > HZREDUCTION) {
fp@40: 	ipipe_propagate_irq(irq);  //und weiterreichen
hm@28: 	counter = 0;
hm@28:     }
fp@42: }
fp@42: 
fp@45: /*****************************************************************************/
fp@45: 
fp@45: void domain_entry(void)
fp@42: {
fp@42:     printk("Domain %s started.\n", ipipe_current_domain->name);
hm@28: 
hm@28:     ipipe_get_sysinfo(&sys_info);
hm@28:     ipipe_virtualize_irq(ipipe_current_domain,sys_info.archdep.tmirq,
hm@28: 			 &msr_run, NULL, IPIPE_HANDLE_MASK);
hm@28: 
fp@42:     ipipe_tune_timer(1000000000UL/MSR_ABTASTFREQUENZ,0);
fp@42: }
fp@42: 
fp@42: /******************************************************************************
fp@42:  *
fp@42:  *  Function: msr_register_channels
fp@42:  *
fp@42:  *  Beschreibung: KanŽäle registrieren
fp@42:  *
fp@42:  *  Parameter:
fp@42:  *
fp@42:  *  RŽückgabe:
fp@42:  *
fp@42:  *  Status: exp
fp@42:  *
fp@42:  *****************************************************************************/
hm@28: 
hm@28: int msr_globals_register(void)
hm@28: {
hm@28:     msr_reg_kanal("/value", "V", &value, TDBL);
hm@28:     msr_reg_kanal("/dig1", "", &dig1, TINT);
fp@45: 
fp@45:     msr_reg_kanal("/Taskinfo/EtherCAT/BusTime", "us", &ecat_bus_time, TUINT);
fp@47:     msr_reg_kanal("/Taskinfo/EtherCAT/Timeouts", "", &ecat_timeouts, TUINT);
fp@45: 
fp@45:     return 0;
hm@28: }
hm@28: 
fp@42: /******************************************************************************
hm@28:  * the init/clean material
fp@42:  *****************************************************************************/
hm@28: 
fp@54: int __init init_rt_module(void)
fp@54: {
hm@28:     struct ipipe_domain_attr attr; //ipipe
hm@28: 
fp@36:     // Als allererstes die RT-lib initialisieren
fp@36:     if (msr_rtlib_init(1,MSR_ABTASTFREQUENZ,10,&msr_globals_register) < 0) {
hm@28:         msr_print_warn("msr_modul: can't initialize rtlib!");
fp@36:         goto out_return;
hm@28:     }
hm@28: 
hm@28:     msr_jitter_init();
fp@36: 
fp@36:     printk(KERN_INFO "=== Starting EtherCAT environment... ===\n");
fp@36: 
fp@54:     if ((master = EtherCAT_rt_request_master(0)) == NULL) {
fp@55:         printk(KERN_ERR "Error requesting master 0!\n");
fp@36:         goto out_msr_cleanup;
fp@36:     }
fp@36: 
fp@55:     printk("Registering EtherCAT slaves.\n");
fp@55:     if (register_slaves()) {
fp@36:         printk(KERN_ERR "EtherCAT: Could not init slaves!\n");
fp@36:         goto out_release_master;
fp@36:     }
fp@36: 
fp@36:     printk("Activating all EtherCAT slaves.\n");
fp@36: 
fp@54:     if (EtherCAT_rt_activate_slaves(master) < 0) {
fp@54:       printk(KERN_ERR "EtherCAT: Could not activate slaves!\n");
fp@54:       goto out_release_master;
fp@36:     }
fp@36: 
fp@36:     do_gettimeofday(&process_time);
fp@36:     msr_time_increment.tv_sec=0;
fp@36:     msr_time_increment.tv_usec=(unsigned int)(1000000/MSR_ABTASTFREQUENZ);
hm@28: 
hm@28:     ipipe_init_attr (&attr);
hm@28:     attr.name     = "IPIPE-MSR-MODULE";
hm@28:     attr.priority = IPIPE_ROOT_PRIO + 1;
hm@28:     attr.entry    = &domain_entry;
hm@28:     ipipe_register_domain(&this_domain,&attr);
hm@28: 
fp@36:     return 0;
fp@36: 
fp@36:  out_release_master:
fp@54:     EtherCAT_rt_release_master(master);
fp@36: 
fp@36:  out_msr_cleanup:
fp@36:     msr_rtlib_cleanup();
fp@36: 
fp@36:  out_return:
fp@36:     return -1;
hm@28: }
hm@28: 
fp@42: /*****************************************************************************/
fp@42: 
fp@54: void __exit cleanup_rt_module(void)
fp@54: {
hm@28:     msr_print_info("msk_modul: unloading...");
hm@28: 
fp@45:     ipipe_tune_timer(1000000000UL / HZ, 0); //alten Timertakt wieder herstellen
hm@28:     ipipe_unregister_domain(&this_domain);
hm@28: 
fp@54:     if (master)
hm@28:     {
fp@43:         printk(KERN_INFO "=== Stopping EtherCAT environment... ===\n");
fp@43: 
fp@36:         printk(KERN_INFO "Deactivating slaves.\n");
fp@42: 
fp@54:         if (EtherCAT_rt_deactivate_slaves(master) < 0) {
fp@54:           printk(KERN_WARNING "Warning - Could not deactivate slaves!\n");
fp@42:         }
fp@42: 
fp@54:         EtherCAT_rt_release_master(master);
fp@43: 
fp@43:         printk(KERN_INFO "=== EtherCAT environment stopped. ===\n");
fp@43:     }
hm@28: 
fp@36:     msr_rtlib_cleanup();
hm@28: }
hm@28: 
fp@42: /*****************************************************************************/
fp@42: 
hm@28: MODULE_LICENSE("GPL");
hm@28: MODULE_AUTHOR ("Wilhelm Hagemeister <hm@igh-essen.com>");
hm@28: MODULE_DESCRIPTION ("EtherCAT test environment");
hm@28: 
fp@54: module_init(init_rt_module);
fp@54: module_exit(cleanup_rt_module);
fp@54: 
fp@54: /*****************************************************************************/
fp@55: 
fp@55: /* Emacs-Konfiguration
fp@55: ;;; Local Variables: ***
fp@55: ;;; c-basic-offset:4 ***
fp@55: ;;; End: ***
fp@55: */