diff -r daa5e5656b35 -r 4828e5e419bf examples/rt/msr_rt.c --- a/examples/rt/msr_rt.c Wed May 10 07:57:26 2006 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,296 +0,0 @@ -/****************************************************************************** - * - * 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: *** -*/