fp@42: /****************************************************************************** fp@42: * fp@42: * msr_module.c fp@42: * fp@42: * Kernelmodul für 2.6 Kernel zur Meßdatenerfassung, 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-Bäcker 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 hm@28: #include fp@73: #include fp@73: #include fp@104: #include hm@28: fp@45: // RT_lib fp@45: #include fp@45: #include fp@45: #include fp@45: #include hm@28: #include fp@73: #include fp@45: #include "msr_param.h" fp@45: fp@45: // EtherCAT fp@104: #include "../include/ecrt.h" fp@104: fp@106: #define ASYNC fp@136: //#define BLOCK1 hm@28: fp@45: // Defines/Makros fp@47: #define HZREDUCTION (MSR_ABTASTFREQUENZ / HZ) hm@28: fp@45: /*****************************************************************************/ fp@45: /* Globale Variablen */ fp@45: 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@54: ec_master_t *master = NULL; fp@73: ec_domain_t *domain1 = NULL; fp@73: fp@73: // Prozessdaten fp@136: #ifdef BLOCK1 fp@133: void *r_ssi, *r_ssi_st; fp@136: #else fp@82: void *r_inc; fp@136: #endif fp@136: fp@133: uint32_t k_ssi_pos; fp@133: uint32_t k_ssi_status; fp@136: uint32_t k_angle; fp@104: uint32_t k_preio; fp@104: uint32_t k_postio; fp@104: uint32_t k_finished; fp@73: fp@136: #ifdef BLOCK1 fp@73: ec_field_init_t domain1_fields[] = { fp@133: {&r_ssi, "1", "Beckhoff", "EL5001", "InputValue", 0}, fp@133: {&r_ssi_st, "1", "Beckhoff", "EL5001", "Status", 0}, fp@73: {} fp@61: }; fp@136: #else fp@136: ec_field_init_t domain1_fields[] = { fp@136: {&r_inc, "4", "Beckhoff", "EL5101", "InputValue", 0}, fp@98: {} fp@98: }; fp@136: #endif fp@98: fp@73: /*****************************************************************************/ hm@28: hm@28: static void msr_controller_run(void) hm@28: { fp@104: cycles_t offset; fp@98: static unsigned int counter = 0; fp@98: fp@104: offset = get_cycles(); fp@104: fp@98: if (counter) counter--; fp@98: else { fp@98: //EtherCAT_rt_master_debug(master, 2); fp@98: counter = MSR_ABTASTFREQUENZ; fp@98: } fp@98: fp@104: k_preio = (uint32_t) (get_cycles() - offset) * 1e6 / cpu_khz; fp@104: fp@104: #ifdef ASYNC fp@104: // Empfangen fp@104: ecrt_master_async_receive(master); fp@104: ecrt_domain_process(domain1); fp@104: fp@104: // Prozessdaten verarbeiten fp@136: #ifdef BLOCK1 fp@133: k_ssi_pos = EC_READ_U32(r_ssi); fp@133: k_ssi_status = EC_READ_U32(r_ssi_st); fp@136: #else fp@136: k_angle = EC_READ_U16(r_inc); fp@136: #endif fp@98: fp@104: // Senden fp@104: ecrt_domain_queue(domain1); fp@104: ecrt_master_async_send(master); fp@104: #else fp@104: // Senden und empfangen fp@104: ecrt_domain_queue(domain1); fp@104: ecrt_master_sync_io(master); fp@104: ecrt_domain_process(domain1); fp@104: fp@104: // Prozessdaten verarbeiten fp@136: #ifdef BLOCK1 fp@133: k_ssi_pos = EC_READ_U32(r_ssi); fp@133: k_ssi_status = EC_READ_U32(r_ssi_st); fp@136: #else fp@136: k_angle = EC_READ_U16(r_inc); fp@136: #endif fp@136: fp@136: #endif // ASYNC fp@104: fp@104: k_postio = (uint32_t) (get_cycles() - offset) * 1e6 / cpu_khz; fp@104: fp@104: //ecrt_master_debug(master, 0); fp@104: k_finished = (uint32_t) (get_cycles() - offset) * 1e6 / cpu_khz; fp@82: } fp@82: fp@82: /*****************************************************************************/ fp@82: fp@82: int msr_globals_register(void) fp@82: { fp@133: msr_reg_kanal("/angle0", "", &k_angle, TUINT); fp@133: msr_reg_kanal("/pos0", "", &k_ssi_pos, TUINT); fp@133: msr_reg_kanal("/ssi-status0", "", &k_ssi_status, TUINT); fp@82: fp@104: msr_reg_kanal("/Timing/Pre-IO", "ns", &k_preio, TUINT); fp@104: msr_reg_kanal("/Timing/Post-IO", "ns", &k_postio, TUINT); fp@104: msr_reg_kanal("/Timing/Finished", "ns", &k_finished, TUINT); fp@104: fp@82: return 0; fp@73: } fp@73: fp@73: /*****************************************************************************/ hm@28: hm@28: void msr_run(unsigned irq) hm@28: { fp@45: static int counter = 0; fp@45: fp@45: MSR_ADEOS_INTERRUPT_CODE(msr_controller_run(); msr_write_kanal_list();); hm@28: fp@73: ipipe_control_irq(irq, 0, IPIPE_ENABLE_MASK); // Interrupt bestŽätigen fp@73: if (++counter >= HZREDUCTION) { fp@73: 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@68: ipipe_tune_timer(1000000000UL / MSR_ABTASTFREQUENZ, 0); fp@42: } fp@42: fp@73: /*****************************************************************************/ hm@28: fp@54: int __init init_rt_module(void) fp@54: { hm@28: struct ipipe_domain_attr attr; //ipipe fp@80: uint32_t version; hm@28: fp@36: // Als allererstes die RT-lib initialisieren fp@73: 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: fp@104: if ((master = ecrt_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@98: printk(KERN_INFO "Registering domains...\n"); fp@73: fp@104: if (!(domain1 = ecrt_master_create_domain(master))) { fp@133: printk(KERN_ERR "Could not register domain!\n"); fp@73: goto out_release_master; fp@73: } fp@73: fp@73: printk(KERN_INFO "Registering domain fields...\n"); fp@73: fp@104: if (ecrt_domain_register_field_list(domain1, domain1_fields)) { fp@98: printk(KERN_ERR "Failed to register domain fields.\n"); fp@98: goto out_release_master; fp@98: } fp@98: fp@73: printk(KERN_INFO "Activating master...\n"); fp@73: fp@104: if (ecrt_master_activate(master)) { fp@80: printk(KERN_ERR "Could not activate master!\n"); fp@73: goto out_release_master; fp@73: } fp@73: fp@136: ecrt_master_print(master); fp@136: fp@135: //ecrt_master_debug(master, 2); fp@135: if (ecrt_master_fetch_sdo_lists(master)) { fp@135: printk(KERN_ERR "Failed to fetch SDO lists!\n"); fp@135: goto out_deactivate; fp@135: } fp@104: //ecrt_master_debug(master, 0); fp@98: fp@135: ecrt_master_print(master); fp@135: fp@136: #ifdef BLOCK1 fp@133: if (ecrt_master_sdo_read(master, "1", 0x100A, 1, &version)) { fp@80: printk(KERN_ERR "Could not read SSI version!\n"); fp@133: goto out_deactivate; fp@68: } fp@83: printk(KERN_INFO "Software-version: %u\n", version); fp@135: fp@133: if (ecrt_master_sdo_write(master, "1", 0x4061, 1, 0, 1) || fp@133: ecrt_master_sdo_write(master, "1", 0x4061, 2, 1, 1) || fp@133: ecrt_master_sdo_write(master, "1", 0x4061, 3, 1, 1) || fp@133: ecrt_master_sdo_write(master, "1", 0x4066, 0, 0, 1) || fp@133: ecrt_master_sdo_write(master, "1", 0x4067, 0, 4, 1) || fp@133: ecrt_master_sdo_write(master, "1", 0x4068, 0, 0, 1) || fp@133: ecrt_master_sdo_write(master, "1", 0x4069, 0, 25, 1) || fp@133: ecrt_master_sdo_write(master, "1", 0x406A, 0, 25, 1) || fp@133: ecrt_master_sdo_write(master, "1", 0x406B, 0, 50, 1)) { fp@133: printk(KERN_ERR "Failed to configure SSI slave!\n"); fp@133: goto out_deactivate; fp@133: } fp@133: #endif fp@133: fp@104: #ifdef ASYNC fp@106: // Einmal senden und warten... fp@106: ecrt_master_prepare_async_io(master); fp@104: #endif fp@104: fp@61: ipipe_init_attr(&attr); fp@61: attr.name = "IPIPE-MSR-MODULE"; hm@28: attr.priority = IPIPE_ROOT_PRIO + 1; fp@61: attr.entry = &domain_entry; fp@61: ipipe_register_domain(&this_domain, &attr); hm@28: fp@36: return 0; fp@36: fp@133: out_deactivate: fp@133: ecrt_master_deactivate(master); fp@36: out_release_master: fp@104: ecrt_release_master(master); fp@36: out_msr_cleanup: fp@36: msr_rtlib_cleanup(); 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@73: printk(KERN_INFO "Deactivating master...\n"); fp@104: ecrt_master_deactivate(master); fp@104: ecrt_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: fp@98: #define EC_LIT(X) #X fp@98: #define EC_STR(X) EC_LIT(X) fp@98: #define COMPILE_INFO "Revision " EC_STR(SVNREV) \ fp@98: ", compiled by " EC_STR(USER) \ fp@98: " at " __DATE__ " " __TIME__ fp@98: hm@28: MODULE_LICENSE("GPL"); fp@73: MODULE_AUTHOR ("Florian Pose "); fp@73: MODULE_DESCRIPTION ("EtherCAT real-time test environment"); fp@98: MODULE_VERSION(COMPILE_INFO); 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: */