fp@181: /******************************************************************************
fp@181:  *
fp@181:  *  m s r _ r t . c
fp@181:  *
fp@181:  *  Kernelmodul für 2.6 Kernel zur Meßdatenerfassung, Steuerung und Regelung.
fp@181:  *
fp@181:  *  $Id$
fp@181:  *
fp@197:  *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
fp@197:  *
fp@197:  *  This file is part of the IgH EtherCAT Master.
fp@197:  *
fp@197:  *  The IgH EtherCAT Master is free software; you can redistribute it
fp@197:  *  and/or modify it under the terms of the GNU General Public License
fp@197:  *  as published by the Free Software Foundation; version 2 of the License.
fp@197:  *
fp@197:  *  The IgH EtherCAT Master is distributed in the hope that it will be
fp@197:  *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@197:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
fp@197:  *  GNU General Public License for more details.
fp@197:  *
fp@197:  *  You should have received a copy of the GNU General Public License
fp@197:  *  along with the IgH EtherCAT Master; if not, write to the Free Software
fp@197:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@197:  *
fp@181:  *****************************************************************************/
fp@181: 
fp@181: // Linux
fp@181: #include <linux/module.h>
fp@181: #include <linux/ipipe.h>
fp@181: #include <linux/slab.h>
fp@181: #include <linux/vmalloc.h>
fp@181: #include <linux/delay.h>
fp@181: 
fp@181: // RT_lib
fp@181: #include <msr_main.h>
fp@181: #include <msr_utils.h>
fp@181: #include <msr_messages.h>
fp@181: #include <msr_float.h>
fp@181: #include <msr_reg.h>
fp@181: #include <msr_time.h>
fp@181: #include "msr_param.h"
fp@181: 
fp@181: // EtherCAT
fp@181: #include "../include/ecrt.h"
fp@181: 
fp@181: #define ASYNC
fp@181: 
fp@181: // Defines/Makros
fp@181: #define HZREDUCTION (MSR_ABTASTFREQUENZ / HZ)
fp@181: 
fp@181: /*****************************************************************************/
fp@181: /* Globale Variablen */
fp@181: 
fp@181: // Adeos
fp@181: static struct ipipe_domain this_domain;
fp@181: static struct ipipe_sysinfo sys_info;
fp@181: 
fp@181: // EtherCAT
fp@181: ec_master_t *master = NULL;
fp@181: ec_domain_t *domain1 = NULL;
fp@181: 
fp@181: // Prozessdaten
fp@181: void *r_ssi;
fp@181: void *r_ssi_st;
fp@181: 
fp@181: // KanŽäle
fp@181: uint32_t k_ssi;
fp@181: uint32_t k_ssi_st;
fp@181: 
fp@181: ec_field_init_t domain1_fields[] = {
fp@188:     {&r_ssi,    "0:3", "Beckhoff", "EL5001", "InputValue", 0},
fp@188:     {&r_ssi_st, "0:3", "Beckhoff", "EL5001", "Status",     0},
fp@181:     {}
fp@181: };
fp@181: 
fp@181: /*****************************************************************************/
fp@181: 
fp@181: static void msr_controller_run(void)
fp@181: {
fp@181: #ifdef ASYNC
fp@181:     // Empfangen
fp@181:     ecrt_master_async_receive(master);
fp@181:     ecrt_domain_process(domain1);
fp@181: #else
fp@181:     // Senden und empfangen
fp@181:     ecrt_domain_queue(domain1);
fp@181:     ecrt_master_run(master);
fp@181:     ecrt_master_sync_io(master);
fp@181:     ecrt_domain_process(domain1);
fp@181: #endif
fp@181: 
fp@181:     // Prozessdaten verarbeiten
fp@181:     k_ssi =    EC_READ_U32(r_ssi);
fp@181:     k_ssi_st = EC_READ_U8 (r_ssi_st);
fp@181: 
fp@181: #ifdef ASYNC
fp@181:     // Senden
fp@181:     ecrt_domain_queue(domain1);
fp@181:     ecrt_master_run(master);
fp@181:     ecrt_master_async_send(master);
fp@181: #endif
fp@181: }
fp@181: 
fp@181: /*****************************************************************************/
fp@181: 
fp@181: int msr_globals_register(void)
fp@181: {
fp@181:     msr_reg_kanal("/ssi_position", "", &k_ssi,    TUINT);
fp@181:     msr_reg_kanal("/ssi_status",   "", &k_ssi_st, TUINT);
fp@181:     return 0;
fp@181: }
fp@181: 
fp@181: /*****************************************************************************/
fp@181: 
fp@181: void msr_run(unsigned irq)
fp@181: {
fp@181:     static int counter = 0;
fp@181: 
fp@181:     MSR_ADEOS_INTERRUPT_CODE(msr_controller_run(); msr_write_kanal_list(););
fp@181: 
fp@181:     ipipe_control_irq(irq, 0, IPIPE_ENABLE_MASK); // Interrupt bestŽätigen
fp@181:     if (++counter >= HZREDUCTION) {
fp@181: 	ipipe_propagate_irq(irq);  // und weiterreichen
fp@181: 	counter = 0;
fp@181:     }
fp@181: }
fp@181: 
fp@181: /*****************************************************************************/
fp@181: 
fp@181: void domain_entry(void)
fp@181: {
fp@181:     printk("Domain %s started.\n", ipipe_current_domain->name);
fp@181: 
fp@181:     ipipe_get_sysinfo(&sys_info);
fp@181:     ipipe_virtualize_irq(ipipe_current_domain,sys_info.archdep.tmirq,
fp@181: 			 &msr_run, NULL, IPIPE_HANDLE_MASK);
fp@181: 
fp@181:     ipipe_tune_timer(1000000000UL / MSR_ABTASTFREQUENZ, 0);
fp@181: }
fp@181: 
fp@181: /*****************************************************************************/
fp@181: 
fp@181: int __init init_rt_module(void)
fp@181: {
fp@181:     struct ipipe_domain_attr attr; //ipipe
fp@181: #if 1
fp@181:     ec_slave_t *slave;
fp@181: #endif
fp@181: 
fp@181:     // Als allererstes die RT-Lib initialisieren
fp@181:     if (msr_rtlib_init(1, MSR_ABTASTFREQUENZ, 10, &msr_globals_register) < 0) {
fp@181:         printk(KERN_ERR "Failed to initialize rtlib!\n");
fp@181:         goto out_return;
fp@181:     }
fp@181: 
fp@181:     if ((master = ecrt_request_master(0)) == NULL) {
fp@181:         printk(KERN_ERR "Failed to request master 0!\n");
fp@181:         goto out_msr_cleanup;
fp@181:     }
fp@181: 
fp@181:     //ecrt_master_print(master, 2);
fp@181: 
fp@181:     printk(KERN_INFO "Creating domains...\n");
fp@181:     if (!(domain1 = ecrt_master_create_domain(master))) {
fp@181:         printk(KERN_ERR "Failed to create domains!\n");
fp@181:         goto out_release_master;
fp@181:     }
fp@181: 
fp@181:     printk(KERN_INFO "Registering domain fields...\n");
fp@181:     if (ecrt_domain_register_field_list(domain1, domain1_fields)) {
fp@181:         printk(KERN_ERR "Failed to register domain fields.\n");
fp@181:         goto out_release_master;
fp@181:     }
fp@181: 
fp@181:     printk(KERN_INFO "Activating master...\n");
fp@181:     if (ecrt_master_activate(master)) {
fp@181:         printk(KERN_ERR "Could not activate master!\n");
fp@181:         goto out_release_master;
fp@181:     }
fp@181: 
fp@181: #if 0
fp@206:     if (ecrt_master_start_eoe(master)) {
fp@206:         printk(KERN_ERR "Failed to start EoE processing!\n");
fp@206:         goto out_deactivate;
fp@206:     }
fp@206: #endif
fp@206: 
fp@206: #if 0
fp@181:     if (ecrt_master_fetch_sdo_lists(master)) {
fp@181:         printk(KERN_ERR "Failed to fetch SDO lists!\n");
fp@181:         goto out_deactivate;
fp@181:     }
fp@181:     ecrt_master_print(master, 2);
fp@181: #else
fp@191:     ecrt_master_print(master, 0);
fp@181: #endif
fp@181: 
fp@181: #if 1
fp@188:     if (!(slave = ecrt_master_get_slave(master, "0:3"))) {
fp@181:         printk(KERN_ERR "Failed to get slave!\n");
fp@181:         goto out_deactivate;
fp@181:     }
fp@181: 
fp@181:     if (
fp@181:         ecrt_slave_sdo_write_exp8(slave, 0x4061, 1,  1) || // disable frame error bit
fp@181:         ecrt_slave_sdo_write_exp8(slave, 0x4061, 2,  0) || // power failure bit
fp@181:         ecrt_slave_sdo_write_exp8(slave, 0x4061, 3,  1) || // inhibit time
fp@181:         ecrt_slave_sdo_write_exp8(slave, 0x4061, 4,  0) || // test mode
fp@181:         ecrt_slave_sdo_write_exp8(slave, 0x4066, 0,  1) || // dualcode
fp@181:         ecrt_slave_sdo_write_exp8(slave, 0x4067, 0,  5) || // 125kbaud
fp@181:         ecrt_slave_sdo_write_exp8(slave, 0x4068, 0,  0) || // single-turn
fp@181:         ecrt_slave_sdo_write_exp8(slave, 0x4069, 0, 25) || // frame size
fp@181:         ecrt_slave_sdo_write_exp8(slave, 0x406A, 0, 25) || // data length
fp@181:         ecrt_slave_sdo_write_exp16(slave, 0x406B, 0, 30000) // inhibit time in us
fp@181:         ) {
fp@181:         printk(KERN_ERR "Failed to configure SSI slave!\n");
fp@181:         goto out_deactivate;
fp@181:     }
fp@181: #endif
fp@181: 
fp@188: #if 0
fp@188:     if (!(slave = ecrt_master_get_slave(master, "1:0"))) {
fp@188:         printk(KERN_ERR "Failed to get slave!\n");
fp@188:         goto out_deactivate;
fp@188:     }
fp@188:     if (ecrt_slave_write_alias(slave, 0x5678)) {
fp@188:         printk(KERN_ERR "Failed to write alias!\n");
fp@188:         goto out_deactivate;
fp@188:     }
fp@188: #endif
fp@188: 
fp@181: #ifdef ASYNC
fp@181:     // Einmal senden und warten...
fp@181:     ecrt_master_prepare_async_io(master);
fp@181: #endif
fp@181: 
fp@181:     ipipe_init_attr(&attr);
fp@181:     attr.name = "IPIPE-MSR-MODULE";
fp@181:     attr.priority = IPIPE_ROOT_PRIO + 1;
fp@181:     attr.entry = &domain_entry;
fp@181:     ipipe_register_domain(&this_domain, &attr);
fp@181:     return 0;
fp@181: 
fp@181: #if 1
fp@181:  out_deactivate:
fp@181:     ecrt_master_deactivate(master);
fp@181: #endif
fp@181:  out_release_master:
fp@181:     ecrt_release_master(master);
fp@181:  out_msr_cleanup:
fp@181:     msr_rtlib_cleanup();
fp@181:  out_return:
fp@181:     return -1;
fp@181: }
fp@181: 
fp@181: /*****************************************************************************/
fp@181: 
fp@181: void __exit cleanup_rt_module(void)
fp@181: {
fp@181:     printk(KERN_INFO "Cleanign up rt module...\n");
fp@181: 
fp@181:     ipipe_tune_timer(1000000000UL / HZ, 0); // Alten Timertakt wiederherstellen
fp@181:     ipipe_unregister_domain(&this_domain);
fp@181: 
fp@181:     printk(KERN_INFO "=== Stopping EtherCAT environment... ===\n");
fp@181:     ecrt_master_deactivate(master);
fp@181:     ecrt_release_master(master);
fp@181:     printk(KERN_INFO "=== EtherCAT environment stopped. ===\n");
fp@181: 
fp@181:     msr_rtlib_cleanup();
fp@181: }
fp@181: 
fp@181: /*****************************************************************************/
fp@181: 
fp@181: #define EC_LIT(X) #X
fp@181: #define EC_STR(X) EC_LIT(X)
fp@181: #define COMPILE_INFO "Revision " EC_STR(SVNREV) \
fp@181:                      ", compiled by " EC_STR(USER) \
fp@181:                      " at " __DATE__ " " __TIME__
fp@181: 
fp@181: MODULE_LICENSE("GPL");
fp@181: MODULE_AUTHOR ("Florian Pose <fp@igh-essen.com>");
fp@181: MODULE_DESCRIPTION ("EtherCAT real-time test environment");
fp@181: MODULE_VERSION(COMPILE_INFO);
fp@181: 
fp@181: module_init(init_rt_module);
fp@181: module_exit(cleanup_rt_module);
fp@181: 
fp@181: /*****************************************************************************/
fp@181: 
fp@181: /* Emacs-Konfiguration
fp@181: ;;; Local Variables: ***
fp@181: ;;; c-basic-offset:4 ***
fp@181: ;;; End: ***
fp@181: */