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
hm@28: #include "../drivers/ec_master.h"
hm@28: #include "../drivers/ec_device.h"
hm@28: #include "../drivers/ec_types.h"
hm@28: #include "../drivers/ec_module.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: 
hm@28: static EtherCAT_master_t *ecat_master = NULL;
fp@47: static unsigned int ecat_bus_time = 0;
fp@47: static unsigned int ecat_timeouts = 0;
hm@28: 
hm@28: static EtherCAT_slave_t ecat_slaves[] =
hm@28: {
hm@28:     // Block 1
fp@42:     ECAT_INIT_SLAVE(Beckhoff_EK1100, 0),
fp@51:     ECAT_INIT_SLAVE(Beckhoff_EL3102, 0)
hm@28: };
hm@28: 
hm@28: #define ECAT_SLAVES_COUNT (sizeof(ecat_slaves) / sizeof(EtherCAT_slave_t))
hm@28: 
hm@28: #define USE_MSR_LIB
hm@28: 
hm@28: #ifdef USE_MSR_LIB
hm@28: double value;
hm@28: int dig1;
hm@28: #endif
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@48:     static unsigned int debug_counter = 0;
hm@28: 
hm@28:     // Prozessdaten lesen
hm@28:     msr_jitter_run(MSR_ABTASTFREQUENZ);
hm@28: 
fp@51:     if (debug_counter == 0) {
fp@51:         ecat_master->debug_level = 2;
fp@51:     }
fp@51: 
fp@51:     // Prozessdaten schreiben
fp@51: 
fp@51:     if (EtherCAT_process_data_cycle(ecat_master, 0, 40) < 0)
fp@51:         ecat_timeouts++;
hm@28: 
fp@48:     if (debug_counter == 0) {
fp@48:         ecat_master->debug_level = 0;
fp@48:     }
fp@48: 
fp@51:     value = EtherCAT_read_value(&ecat_slaves[1], 0);
fp@42: 
fp@42:     debug_counter++;
fp@48:     if (debug_counter >= MSR_ABTASTFREQUENZ * 5) debug_counter = 0;
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: #ifdef USE_MSR_LIB
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: #else
hm@28:     msr_controller_run();
hm@28: #endif
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: #ifdef USE_MSR_LIB
hm@28:     msr_reg_kanal("/value", "V", &value, TDBL);
hm@28:     msr_reg_kanal("/dig1", "", &dig1, TINT);
hm@28: #endif
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: 
hm@28: int __init init_module()
hm@28: {
fp@42:     unsigned int i;
hm@28:     struct ipipe_domain_attr attr; //ipipe
hm@28: 
fp@36:     // Als allererstes die RT-lib initialisieren
fp@36: #ifdef USE_MSR_LIB
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: #endif
hm@28: 
hm@28:     msr_jitter_init();
fp@36: 
fp@36:     printk(KERN_INFO "=== Starting EtherCAT environment... ===\n");
fp@36: 
fp@36:     if ((ecat_master = EtherCAT_request(0)) == NULL) {
fp@36:         printk(KERN_ERR "EtherCAT master 0 not available!\n");
fp@36:         goto out_msr_cleanup;
fp@36:     }
fp@36: 
fp@36:     printk("Checking EtherCAT slaves.\n");
fp@36: 
fp@36:     if (EtherCAT_check_slaves(ecat_master, ecat_slaves, ECAT_SLAVES_COUNT) != 0) {
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@42:     for (i = 0; i < ECAT_SLAVES_COUNT; i++) {
fp@42:         if (EtherCAT_activate_slave(ecat_master, ecat_slaves + i) < 0) {
fp@43:             printk(KERN_ERR "EtherCAT: Could not activate slave %i!\n", i);
fp@42:             goto out_release_master;
fp@42:         }
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@36:     EtherCAT_release(ecat_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: 
hm@28: void __exit cleanup_module()
fp@42: {
fp@42:     unsigned int i;
fp@42: 
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: 
hm@28:     if (ecat_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@42:         for (i = 0; i < ECAT_SLAVES_COUNT; i++) {
fp@42:             if (EtherCAT_deactivate_slave(ecat_master, ecat_slaves + i) < 0) {
fp@42:                 printk(KERN_WARNING "Warning - Could not deactivate slave!\n");
fp@42:             }
fp@42:         }
fp@42: 
fp@36:         EtherCAT_release(ecat_master);
fp@43: 
fp@43:         printk(KERN_INFO "=== EtherCAT environment stopped. ===\n");
fp@43:     }
hm@28: 
fp@36: #ifdef USE_MSR_LIB
fp@36:     msr_rtlib_cleanup();
hm@28: #endif
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: 
hm@28: module_init(init_module);
hm@28: module_exit(cleanup_module);
fp@36: 
fp@42: /*****************************************************************************/