diff -r 7572c5bf7bb3 -r 342ad851ec78 examples/rt/msr_rt.c --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/examples/rt/msr_rt.c Wed May 10 07:41:38 2006 +0000 @@ -0,0 +1,296 @@ +/****************************************************************************** + * + * m s r _ r t . c + * + * Kernelmodul für 2.6 Kernel zur Meßdatenerfassung, Steuerung und Regelung. + * + * $Id$ + * + * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH + * + * This file is part of the IgH EtherCAT Master. + * + * The IgH EtherCAT Master is free software; you can redistribute it + * and/or modify it under the terms of the GNU General Public License + * as published by the Free Software Foundation; version 2 of the License. + * + * The IgH EtherCAT Master is distributed in the hope that it will be + * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with the IgH EtherCAT Master; if not, write to the Free Software + * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + * + *****************************************************************************/ + +// Linux +#include +#include +#include +#include +#include + +// RT_lib +#include +#include +#include +#include +#include +#include +#include "msr_param.h" + +// EtherCAT +#include "../include/ecrt.h" + +#define ASYNC + +// Defines/Makros +#define HZREDUCTION (MSR_ABTASTFREQUENZ / HZ) + +/*****************************************************************************/ +/* Globale Variablen */ + +// Adeos +static struct ipipe_domain this_domain; +static struct ipipe_sysinfo sys_info; + +// EtherCAT +ec_master_t *master = NULL; +ec_domain_t *domain1 = NULL; + +// Prozessdaten +void *r_ssi; +void *r_ssi_st; + +// KanŽäle +uint32_t k_ssi; +uint32_t k_ssi_st; + +ec_field_init_t domain1_fields[] = { + {&r_ssi, "0:3", "Beckhoff", "EL5001", "InputValue", 0}, + {&r_ssi_st, "0:3", "Beckhoff", "EL5001", "Status", 0}, + {} +}; + +/*****************************************************************************/ + +static void msr_controller_run(void) +{ +#ifdef ASYNC + // Empfangen + ecrt_master_async_receive(master); + ecrt_domain_process(domain1); +#else + // Senden und empfangen + ecrt_domain_queue(domain1); + ecrt_master_run(master); + ecrt_master_sync_io(master); + ecrt_domain_process(domain1); +#endif + + // Prozessdaten verarbeiten + k_ssi = EC_READ_U32(r_ssi); + k_ssi_st = EC_READ_U8 (r_ssi_st); + +#ifdef ASYNC + // Senden + ecrt_domain_queue(domain1); + ecrt_master_run(master); + ecrt_master_async_send(master); +#endif +} + +/*****************************************************************************/ + +int msr_globals_register(void) +{ + msr_reg_kanal("/ssi_position", "", &k_ssi, TUINT); + msr_reg_kanal("/ssi_status", "", &k_ssi_st, TUINT); + return 0; +} + +/*****************************************************************************/ + +void msr_run(unsigned irq) +{ + static int counter = 0; + + MSR_ADEOS_INTERRUPT_CODE(msr_controller_run(); msr_write_kanal_list();); + + ipipe_control_irq(irq, 0, IPIPE_ENABLE_MASK); // Interrupt bestŽätigen + if (++counter >= HZREDUCTION) { + ipipe_propagate_irq(irq); // und weiterreichen + counter = 0; + } +} + +/*****************************************************************************/ + +void domain_entry(void) +{ + printk("Domain %s started.\n", ipipe_current_domain->name); + + ipipe_get_sysinfo(&sys_info); + ipipe_virtualize_irq(ipipe_current_domain,sys_info.archdep.tmirq, + &msr_run, NULL, IPIPE_HANDLE_MASK); + + ipipe_tune_timer(1000000000UL / MSR_ABTASTFREQUENZ, 0); +} + +/*****************************************************************************/ + +int __init init_rt_module(void) +{ + struct ipipe_domain_attr attr; //ipipe +#if 1 + ec_slave_t *slave; +#endif + + // Als allererstes die RT-Lib initialisieren + if (msr_rtlib_init(1, MSR_ABTASTFREQUENZ, 10, &msr_globals_register) < 0) { + printk(KERN_ERR "Failed to initialize rtlib!\n"); + goto out_return; + } + + if ((master = ecrt_request_master(0)) == NULL) { + printk(KERN_ERR "Failed to request master 0!\n"); + goto out_msr_cleanup; + } + + //ecrt_master_print(master, 2); + + printk(KERN_INFO "Creating domains...\n"); + if (!(domain1 = ecrt_master_create_domain(master))) { + printk(KERN_ERR "Failed to create domains!\n"); + goto out_release_master; + } + + printk(KERN_INFO "Registering domain fields...\n"); + if (ecrt_domain_register_field_list(domain1, domain1_fields)) { + printk(KERN_ERR "Failed to register domain fields.\n"); + goto out_release_master; + } + + printk(KERN_INFO "Activating master...\n"); + if (ecrt_master_activate(master)) { + printk(KERN_ERR "Could not activate master!\n"); + goto out_release_master; + } + +#if 0 + if (ecrt_master_start_eoe(master)) { + printk(KERN_ERR "Failed to start EoE processing!\n"); + goto out_deactivate; + } +#endif + +#if 0 + if (ecrt_master_fetch_sdo_lists(master)) { + printk(KERN_ERR "Failed to fetch SDO lists!\n"); + goto out_deactivate; + } + ecrt_master_print(master, 2); +#else + ecrt_master_print(master, 0); +#endif + +#if 1 + if (!(slave = ecrt_master_get_slave(master, "0:3"))) { + printk(KERN_ERR "Failed to get slave!\n"); + goto out_deactivate; + } + + if ( + ecrt_slave_sdo_write_exp8(slave, 0x4061, 1, 1) || // disable frame error bit + ecrt_slave_sdo_write_exp8(slave, 0x4061, 2, 0) || // power failure bit + ecrt_slave_sdo_write_exp8(slave, 0x4061, 3, 1) || // inhibit time + ecrt_slave_sdo_write_exp8(slave, 0x4061, 4, 0) || // test mode + ecrt_slave_sdo_write_exp8(slave, 0x4066, 0, 1) || // dualcode + ecrt_slave_sdo_write_exp8(slave, 0x4067, 0, 5) || // 125kbaud + ecrt_slave_sdo_write_exp8(slave, 0x4068, 0, 0) || // single-turn + ecrt_slave_sdo_write_exp8(slave, 0x4069, 0, 25) || // frame size + ecrt_slave_sdo_write_exp8(slave, 0x406A, 0, 25) || // data length + ecrt_slave_sdo_write_exp16(slave, 0x406B, 0, 30000) // inhibit time in us + ) { + printk(KERN_ERR "Failed to configure SSI slave!\n"); + goto out_deactivate; + } +#endif + +#if 0 + if (!(slave = ecrt_master_get_slave(master, "1:0"))) { + printk(KERN_ERR "Failed to get slave!\n"); + goto out_deactivate; + } + if (ecrt_slave_write_alias(slave, 0x5678)) { + printk(KERN_ERR "Failed to write alias!\n"); + goto out_deactivate; + } +#endif + +#ifdef ASYNC + // Einmal senden und warten... + ecrt_master_prepare_async_io(master); +#endif + + ipipe_init_attr(&attr); + attr.name = "IPIPE-MSR-MODULE"; + attr.priority = IPIPE_ROOT_PRIO + 1; + attr.entry = &domain_entry; + ipipe_register_domain(&this_domain, &attr); + return 0; + +#if 1 + out_deactivate: + ecrt_master_deactivate(master); +#endif + out_release_master: + ecrt_release_master(master); + out_msr_cleanup: + msr_rtlib_cleanup(); + out_return: + return -1; +} + +/*****************************************************************************/ + +void __exit cleanup_rt_module(void) +{ + printk(KERN_INFO "Cleanign up rt module...\n"); + + ipipe_tune_timer(1000000000UL / HZ, 0); // Alten Timertakt wiederherstellen + ipipe_unregister_domain(&this_domain); + + printk(KERN_INFO "=== Stopping EtherCAT environment... ===\n"); + ecrt_master_deactivate(master); + ecrt_release_master(master); + printk(KERN_INFO "=== EtherCAT environment stopped. ===\n"); + + msr_rtlib_cleanup(); +} + +/*****************************************************************************/ + +#define EC_LIT(X) #X +#define EC_STR(X) EC_LIT(X) +#define COMPILE_INFO "Revision " EC_STR(SVNREV) \ + ", compiled by " EC_STR(USER) \ + " at " __DATE__ " " __TIME__ + +MODULE_LICENSE("GPL"); +MODULE_AUTHOR ("Florian Pose "); +MODULE_DESCRIPTION ("EtherCAT real-time test environment"); +MODULE_VERSION(COMPILE_INFO); + +module_init(init_rt_module); +module_exit(cleanup_rt_module); + +/*****************************************************************************/ + +/* Emacs-Konfiguration +;;; Local Variables: *** +;;; c-basic-offset:4 *** +;;; End: *** +*/