fp@0: /**************************************************************************************************
fp@0: *
fp@0: *                          msr_io.c
fp@0: *
fp@0: *           Verwaltung der IO-Karten
fp@0: *           
fp@0: *           
fp@0: *           Autor: Wilhelm Hagemeister
fp@0: *
fp@0: *           (C) Copyright IgH 2002
fp@0: *           Ingenieurgemeinschaft IgH
fp@0: *           Heinz-Bäcker Str. 34
fp@0: *           D-45356 Essen
fp@0: *           Tel.: +49 201/61 99 31
fp@0: *           Fax.: +49 201/61 98 36
fp@0: *           E-mail: sp@igh-essen.com
fp@0: *
fp@0: *
fp@0: *           $RCSfile: msr_io.c,v $
fp@0: *           $Revision: 1.9 $
fp@0: *           $Author: ha $
fp@0: *           $Date: 2005/06/24 20:06:56 $
fp@0: *           $State: Exp $
fp@0: *
fp@0: *
fp@0: *           $Log: msr_io.c,v $
fp@0: *           Revision 1.9  2005/06/24 20:06:56  ha
fp@0: *           *** empty log message ***
fp@0: *
fp@0: *           Revision 1.8  2005/06/24 17:39:05  ha
fp@0: *           *** empty log message ***
fp@0: *
fp@0: *
fp@0: *
fp@0: *
fp@0: *
fp@0: *
fp@0: **************************************************************************************************/
fp@0: 
fp@0: 
fp@0: /*--includes-------------------------------------------------------------------------------------*/
fp@0: 
fp@0: #ifndef __KERNEL__
fp@0: #  define __KERNEL__
fp@0: #endif
fp@0: #ifndef MODULE
fp@0: #  define MODULE
fp@0: #endif
fp@0: 
fp@0: #include <linux/delay.h> 	/* mdelay() */
fp@0: #include <linux/spinlock.h> 
fp@0: #include <linux/param.h>	/* HZ */
fp@0: #include <linux/sched.h> 	/* jiffies */
fp@0: #include <linux/fs.h>     /* everything... */
fp@0: #include <rtai_fifos.h>
fp@0: 
fp@0: #include "msr_io.h"
fp@0: 
fp@0: #include <msr_messages.h>
fp@0: 
fp@0: 
fp@0: #include "aim_globals.h"
fp@0: 
fp@0: spinlock_t data_lock = SPIN_LOCK_UNLOCKED;
fp@0: 
fp@0: #include "cif-rtai-io.h"
fp@0: 
fp@0: /*--defines--------------------------------------------------------------------------------------*/
fp@0: 
fp@0: 
fp@0: /*--external functions---------------------------------------------------------------------------*/
fp@0: 
fp@0: 
fp@0: /*--external data--------------------------------------------------------------------------------*/
fp@0: 
fp@0: 
fp@0: /*--public data----------------------------------------------------------------------------------*/
fp@0: 
fp@0: #define PB_CARDS 4
fp@0: struct {
fp@0: 	unsigned int fd;
fp@0: 	unsigned int timestamp;
fp@0: 	unsigned int fault;
fp@0: 	unsigned int active;
fp@0: 	void *in_buf;
fp@0: 	void *out_buf;
fp@0: 	size_t in_buf_len;
fp@0: 	size_t out_buf_len;
fp@0: 
fp@0: 	unsigned int reset_timeout;
fp@0: } card[PB_CARDS];
fp@0: 
fp@0: 
fp@0: /*
fp@0: ***************************************************************************************************
fp@0: *
fp@0: * Function: msr_io_init
fp@0: *
fp@0: * Beschreibung: Initialisieren der I/O-Karten
fp@0: *
fp@0: * Parameter:
fp@0: *
fp@0: * Rückgabe: 
fp@0: *               
fp@0: * Status: exp
fp@0: *
fp@0: ***************************************************************************************************
fp@0: */
fp@0: void x_PB_io(unsigned long card_no) {
fp@0: 	int rv = 0;
fp@0: 	unsigned int flags;
fp@0: 
fp@0: 	spin_lock_irqsave(&data_lock, flags);
fp@0: 
fp@0: 	switch (card_no) {
fp@0: 	case 0:
fp@0: 		rv = cif_exchange_io(card[0].fd,card[0].in_buf,card[0].out_buf);
fp@0: 		if (!rv)
fp@0: 			card[0].timestamp = jiffies;
fp@0: 		break;
fp@0: 	case 1:
fp@0: 		rv = cif_exchange_io(card[1].fd,card[1].in_buf,card[1].out_buf);
fp@0: //		rv = cif_read_io(card[1].fd,card[1].in_buf);
fp@0: //		IMO.to_dSPACE.P101.HX_Stat = 51;
fp@0: //		IMO.from_dSPACE.P101.HX_Control |= IMO.to_dSPACE.P101.HX_Stat<<4;
fp@0: //		rv += cif_write_io(card[1].fd,card[1].out_buf);
fp@0: 		if (!rv)
fp@0: 			card[1].timestamp = jiffies;
fp@0: 		break;
fp@0: 	/*
fp@0: 	case 2:
fp@0: 		rv = cif_exchange_io(card[2].fd,&cif_in.P201,&cif_out.P201);
fp@0: 		break;
fp@0: 	*/
fp@0: 	case 3:
fp@0: 		rv = cif_exchange_io(card[3].fd,card[3].in_buf,card[3].out_buf);
fp@0: 		if (!rv)
fp@0: 			card[3].timestamp = jiffies;
fp@0: 		break;
fp@0: 	}
fp@0: 
fp@0: 	if (rv) {
fp@0: 			msr_print_error("Error during exchange_io %i %i", 
fp@0: 					card_no, rv );
fp@0: 	}
fp@0: 
fp@0: 	spin_unlock_irqrestore(&data_lock, flags);
fp@0: 
fp@0: }
fp@0: 
fp@0: int msr_io_init()
fp@0: {   
fp@0:     int rv;
fp@0: 
fp@0:     memset(card, 0, sizeof(card));
fp@0: 
fp@0: #define FIFO_BUF 10000
fp@0: 
fp@0:     if ((rv = rtf_create(0, FIFO_BUF)) < 0) {
fp@0: 	    msr_print_error("Could not open FIFO %i", rv);
fp@0: 	    return -1;
fp@0:     }
fp@0: 
fp@0: #ifndef _SIMULATION
fp@0: /*
fp@0:     card[0].in_buf_len = sizeof(IMO.from_dSPACE);
fp@0:     card[0].out_buf_len = sizeof(IMO.to_dSPACE);
fp@0:     card[0].in_buf = &IMO.from_dSPACE;
fp@0:     card[0].out_buf = &IMO.to_dSPACE;
fp@0:     card[0].active = 1;
fp@0:     if (!(card[0].fd = cif_open_card(0, card[0].in_buf_len,
fp@0: 				    card[0].out_buf_len, x_PB_io, 0))) {
fp@0: 	msr_print_error("Cannot open CIF card PB01");
fp@0: 	return -1;
fp@0:     }
fp@0:  
fp@0: 
fp@0:     card[1].in_buf_len = sizeof(IMO.to_dSPACE.P101);
fp@0:     card[1].out_buf_len = sizeof(IMO.from_dSPACE.P101);
fp@0:     card[1].in_buf = &IMO.to_dSPACE.P101;
fp@0:     card[1].out_buf = &IMO.from_dSPACE.P101;
fp@0:     card[1].active = 1;
fp@0:     if (!(card[1].fd = cif_open_card(1, card[1].in_buf_len, 
fp@0: 				    card[1].out_buf_len, x_PB_io, 1))) {
fp@0: 	msr_print_error("Cannot open CIF card P101");
fp@0: 	return -1;
fp@0:     }
fp@0:  
fp@0:     card[2].in_buf_len = sizeof(IMO.to_dSPACE.P201);
fp@0:     card[2].out_buf_len = sizeof(IMO.from_dSPACE.P201);
fp@0:     card[2].in_buf = &IMO.to_dSPACE.P201;
fp@0:     card[2].out_buf = &IMO.from_dSPACE.P201;
fp@0:     if (!(card[2].fd = cif_open_card(2, card[2].in_buf_len, 
fp@0: 				    card[2].out_buf_len, x_PB_io, 2))) {
fp@0: 	msr_print_error("Cannot open CIF card P201");
fp@0: 	return -1;
fp@0:     }
fp@0:  
fp@0: */
fp@0:     card[3].in_buf_len = sizeof(dSPACE.in);
fp@0:     card[3].out_buf_len = sizeof(dSPACE.out);
fp@0:     card[3].in_buf = &dSPACE.in;
fp@0:     card[3].out_buf = &dSPACE.out;
fp@0:     card[3].active = 1;
fp@0:     if (!(card[3].fd = cif_open_card(0,  card[3].in_buf_len, 
fp@0: 				    card[3].out_buf_len, x_PB_io,3))) {
fp@0: 	msr_print_error("Cannot open CIF card P301");
fp@0: 	return -1;
fp@0:     }
fp@0:  
fp@0:     //msr_reg_chk_failure(&int_cif_io_fail,TINT,T_CHK_HIGH,0,T_CRIT,"CIF Card was not ready to exchange data");
fp@0: 
fp@0: 
fp@0: #endif
fp@0: 
fp@0:     return 0;
fp@0: }
fp@0: 
fp@0: /*
fp@0: ***************************************************************************************************
fp@0: *
fp@0: * Function: msr_io_register
fp@0: *
fp@0: * Beschreibung: Rohdaten als Kanaele registrieren
fp@0: *
fp@0: * Parameter:
fp@0: *
fp@0: * Rückgabe: 
fp@0: *               
fp@0: * Status: exp
fp@0: *
fp@0: ***************************************************************************************************
fp@0: */
fp@0: 
fp@0: int msr_io_register()
fp@0: {
fp@0: 
fp@0: #ifndef _SIMULATION
fp@0: 
fp@0: #endif
fp@0: 
fp@0:     return 0;
fp@0: }
fp@0: 
fp@0: 
fp@0: /*
fp@0: ***************************************************************************************************
fp@0: *
fp@0: * Function: msr_io_write
fp@0: *
fp@0: * Beschreibung: Schreiben der Werte
fp@0: *
fp@0: * Parameter:
fp@0: *
fp@0: * Rückgabe: 
fp@0: *               
fp@0: * Status: exp
fp@0: *
fp@0: ***************************************************************************************************
fp@0: */
fp@0: int msr_io_write()
fp@0: {
fp@0:     static int return_value = 0;
fp@0:     int rv;
fp@0:     int i = 0;
fp@0:     unsigned int flags;
fp@0:     unsigned int com_check_timestamp = 0;
fp@0:     static int COM_Up = 1;
fp@0: 
fp@0:     if (jiffies - com_check_timestamp > HZ/20) {
fp@0: 
fp@0: 	    if ( rtf_put_if(0,&IMO,sizeof(IMO)) != sizeof(IMO)) {
fp@0: 		    //msr_print_error("Could not output data");
fp@0: 	    }
fp@0: 
fp@0: 	    com_check_timestamp = jiffies;
fp@0: 
fp@0: 	    spin_lock_irqsave(&data_lock, flags);
fp@0: 	    for ( i=0; i < PB_CARDS; i++) {
fp@0: 		    // Ignore inactive and cards that already have a fault
fp@0: 		    if (!card[i].active || card[i].fault)
fp@0: 			    continue;
fp@0: 
fp@0: 		    // For active cards, check timestamp value. Mark card
fp@0: 		    // as faulty if there was no data exchange in the last
fp@0: 		    // 50ms
fp@0: 		    if (jiffies - card[i].timestamp > HZ/20) {
fp@0: 			    COM_Up = 0;
fp@0: 			    card[i].fault = 1;
fp@0: 			    card[i].reset_timeout = jiffies;
fp@0: 			    msr_print_error("Card %i timed out", i);
fp@0: 		    }
fp@0: 
fp@0: 	    }
fp@0:     
fp@0: 	    spin_unlock_irqrestore(&data_lock, flags);
fp@0:     
fp@0: 	    for ( i = 0; i < PB_CARDS; i++ ) {
fp@0: 		    if (!card[i].active || (card[i].active && !card[i].fault))
fp@0: 			    continue;
fp@0: 
fp@0: 		    switch (card[i].fault) {
fp@0: 		    case 1:
fp@0: 			    rv = cif_write_io(card[i].fd,card[i].out_buf);
fp@0: 
fp@0: 			    if (!rv) {
fp@0: 				    msr_print_error("Card %i online", i);
fp@0: 				    card[i].fault = 0;
fp@0: 				    card[i].timestamp = jiffies;
fp@0: 				    break;
fp@0: 			    }
fp@0: 
fp@0: 			    msr_print_error("rv of cif_write_io(%i) = %i", 
fp@0: 					    i, rv);
fp@0: 
fp@0: 			    card[i].fault = 2;
fp@0: 			    cif_set_host_state(card[i].fd,0);
fp@0: 			    card[i].reset_timeout = jiffies;
fp@0: 
fp@0: 		    case 2:
fp@0: 			    if (cif_card_ready(card[i].fd)) {
fp@0: 				    cif_set_host_state(card[i].fd,1);
fp@0: 				    card[i].fault = 0;
fp@0: 				    break;
fp@0: 			    }
fp@0: 			    if (jiffies < card[i].reset_timeout)
fp@0: 				    break;
fp@0: 
fp@0: 			    rv = cif_reset_card(card[i].fd,10,1);
fp@0: 			    msr_print_error("rv of cif_reset_card(%i) = %i", 
fp@0: 					    i, rv);
fp@0: 
fp@0: 			    // Reset again in 10 seconds
fp@0: 			    card[i].reset_timeout += 10*HZ;
fp@0: 		    }
fp@0: 	    }
fp@0:     }
fp@0: 
fp@0:     if (COM_Up)
fp@0: 	    IMO.to_dSPACE.Status = IMO.from_dSPACE.WatchDog;
fp@0: 
fp@0: //    if (return_value)
fp@0: //	int_cif_io_fail = 1;
fp@0: 
fp@0:     return return_value;
fp@0: }
fp@0: 
fp@0: /*
fp@0: ***************************************************************************************************
fp@0: *
fp@0: * Function: msr_io_read
fp@0: *
fp@0: * Beschreibung: Lesen der Werte
fp@0: *
fp@0: * Parameter:
fp@0: *
fp@0: * Rückgabe: 
fp@0: *               
fp@0: * Status: exp
fp@0: *
fp@0: ***************************************************************************************************
fp@0: */
fp@0: int msr_io_read()
fp@0: {
fp@0:     int return_value = 0;
fp@0: 
fp@0: #ifndef _SIMULATION
fp@0: 
fp@0:     int_cif_io_fail = 0;
fp@0:     /*
fp@0:     return_value = cif_exchange_io(fd_PB01,
fp@0: 		    &cif_out,&cif_in,
fp@0: 		    sizeof(cif_out),sizeof(cif_in)
fp@0: 		    );
fp@0: 		    */
fp@0: /*     if (return_value) */
fp@0: /* 	int_cif_io_fail = 1; */
fp@0: //    printk("%i\n", return_value);
fp@0: 
fp@0: #endif
fp@0:     return return_value;
fp@0: }
fp@0: 
fp@0: 
fp@0: /*
fp@0: ***************************************************************************************************
fp@0: *
fp@0: * Function: msr_io_cleanup
fp@0: *
fp@0: * Beschreibung: Aufräumen
fp@0: *
fp@0: * Parameter:
fp@0: *
fp@0: * Rückgabe: 
fp@0: *               
fp@0: * Status: exp
fp@0: *
fp@0: ***************************************************************************************************
fp@0: */
fp@0: void msr_io_cleanup()
fp@0: {
fp@0: /*
fp@0:     cif_set_host_state(card[0].fd,0);
fp@0:     cif_close_card(card[0].fd);
fp@0: 
fp@0:     cif_set_host_state(card[1].fd,0);
fp@0:     cif_close_card(card[1].fd);
fp@0: 
fp@0:     cif_set_host_state(card[2].fd,0);
fp@0:     cif_close_card(card[2].fd);
fp@0: 
fp@0: 
fp@0: */
fp@0:     cif_set_host_state(card[3].fd,0);
fp@0:     cif_close_card(card[3].fd);
fp@0: 
fp@0:     rtf_destroy(0);
fp@0: }
fp@0: 
fp@0: