# HG changeset patch # User Florian Pose # Date 1147428734 0 # Node ID f6594a07cdda13729efa9f874e356b145ae02c51 # Parent 767548c75bf345358763ceaeb05519539f7ce6ea MSR example finished. diff -r 767548c75bf3 -r f6594a07cdda examples/msr/Makefile --- a/examples/msr/Makefile Thu May 11 13:29:06 2006 +0000 +++ b/examples/msr/Makefile Fri May 12 10:12:14 2006 +0000 @@ -2,6 +2,8 @@ # # Makefile # +# Sample module for use with IgH MSR library. +# # $Id$ # # Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH @@ -23,21 +25,17 @@ # #------------------------------------------------------------------------------ -ifneq ($(KERNELRELEASE),) +MODULE := ec_msr_sample #------------------------------------------------------------------------------ # kbuild section #------------------------------------------------------------------------------ -ifneq ($(wildcard $(src)/rt.conf),) -include $(src)/rt.conf -else -MODULENAME := rt -endif +ifneq ($(KERNELRELEASE),) -obj-m := $(MODULENAME).o +obj-m := $(MODULE).o -$(MODULENAME)-objs := msr_rt.o \ +$(MODULE)-objs := msr_sample.o \ rt_lib/msr-core/msr_lists.o \ rt_lib/msr-core/msr_main.o \ rt_lib/msr-core/msr_charbuf.o \ @@ -52,22 +50,18 @@ rt_lib/msr-math/msr_hex_bin.o \ libm.o -EXTRA_CFLAGS := -I$(src)/rt_lib/msr-include -D_SIMULATION \ - -I/usr/include -mhard-float \ - -DSVNREV=$(shell svnversion $(src)) -DUSER=$(USER) - -#------------------------------------------------------------------------------ - -else +EXTRA_CFLAGS := -I$(src)/rt_lib/msr-include -I/usr/realtime/include \ + -D_SIMULATION -mhard-float #------------------------------------------------------------------------------ # default section #------------------------------------------------------------------------------ -ifneq ($(wildcard rt.conf),) -include rt.conf else -MODULENAME := msr_rt + +ifneq ($(wildcard kernel.conf),) +include kernel.conf +else KERNEL := $(shell uname -r) endif @@ -80,8 +74,8 @@ $(MAKE) -C $(KERNELDIR) M=`pwd` clean install: - @./install.sh $(MODULENAME) $(KERNEL) + @./install.sh $(MODULE) $(KERNEL) + +endif #------------------------------------------------------------------------------ - -endif diff -r 767548c75bf3 -r f6594a07cdda examples/msr/kernel.conf.tmpl --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/examples/msr/kernel.conf.tmpl Fri May 12 10:12:14 2006 +0000 @@ -0,0 +1,15 @@ +#------------------------------------------------------------------------------ +# +# Configuration file for MSR realtime modules +# +# $Id$ +# +# This file is a versioned template configuration. Copy it to "kernel.conf" +# (which is ignored by Subversion) and adjust it to your needs. +# +#------------------------------------------------------------------------------ + +# Kernel sources for module compilation +KERNEL := `uname -r` + +#------------------------------------------------------------------------------ diff -r 767548c75bf3 -r f6594a07cdda examples/msr/msr_load --- a/examples/msr/msr_load Thu May 11 13:29:06 2006 +0000 +++ b/examples/msr/msr_load Fri May 12 10:12:14 2006 +0000 @@ -1,5 +1,5 @@ #!/bin/sh -module="msr_rt" +module="ec_msr_sample" device="msr" mode="664" diff -r 767548c75bf3 -r f6594a07cdda examples/msr/msr_rt.c --- a/examples/msr/msr_rt.c Thu May 11 13:29:06 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: *** -*/ diff -r 767548c75bf3 -r f6594a07cdda examples/msr/msr_sample.c --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/examples/msr/msr_sample.c Fri May 12 10:12:14 2006 +0000 @@ -0,0 +1,314 @@ +/****************************************************************************** + * + * Sample module for use with IgH MSR library. + * + * $Id$ + * + * 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 + +// RTAI +#include "rtai_sched.h" +#include "rtai_sem.h" + +// RT_lib +#include +#include +#include "msr_param.h" + +// EtherCAT +#include "../../include/ecrt.h" + +#define ASYNC + +#define HZREDUCTION (MSR_ABTASTFREQUENZ / HZ) +#define TIMERTICKS (1000000000 / MSR_ABTASTFREQUENZ) + +/*****************************************************************************/ + +// RTAI +RT_TASK task; +SEM master_sem; +cycles_t t_start = 0, t_critical; + +// MSR +extern unsigned long msr_controller_execution_time; +extern unsigned long msr_controller_call_time; +extern wait_queue_head_t msr_read_waitqueue; +int count_wakeup = 0; + +// EtherCAT +ec_master_t *master = NULL; +ec_domain_t *domain1 = NULL; + +// Prozessdaten +void *r_ssi; +void *r_ssi_st; + +// Channels +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}, + {} +}; + +/*****************************************************************************/ + +void msr_run(long data) +{ + cycles_t t_last_start; + + while (1) + { + t_last_start = t_start; + t_start = get_cycles(); + + rt_sem_wait(&master_sem); + +#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 + + rt_sem_signal(&master_sem); + + /* write data to MSR ring buffers */ + msr_write_kanal_list(); + + /* wake up MSR read queue */ + if(++count_wakeup >= MSR_ABTASTFREQUENZ / 10) { + wake_up_interruptible(&msr_read_waitqueue); + count_wakeup = 0; + } + + /* calculate timing */ + msr_controller_execution_time = + (unsigned long) (get_cycles() - t_start) * 1000 / cpu_khz; + msr_controller_call_time = + (unsigned long) (t_start - t_last_start) * 1000 / cpu_khz; + + rt_task_wait_period(); + } +} + +/*****************************************************************************/ + +int msr_reg(void) +{ + msr_reg_kanal("/ssi_position", "", &k_ssi, TUINT); + msr_reg_kanal("/ssi_status", "", &k_ssi_st, TUINT); + return 0; +} + +/*****************************************************************************/ + +int request_lock(void *data) +{ + // too close to the next RT cycle: deny access... + if (get_cycles() - t_start > t_critical) return -1; + + // allow access + rt_sem_wait(&master_sem); + return 0; +} + +/*****************************************************************************/ + +void release_lock(void *data) +{ + rt_sem_signal(&master_sem); +} + +/*****************************************************************************/ + +int __init init_mod(void) +{ + RTIME ticks; +#if 0 + ec_slave_t *slave; +#endif + + printk(KERN_INFO "=== Starting EtherCAT RTAI MSR sample module... ===\n"); + + rt_sem_init(&master_sem, 1); + t_critical = cpu_khz * 800 / MSR_ABTASTFREQUENZ; // ticks for 80% + + if (msr_rtlib_init(1, MSR_ABTASTFREQUENZ, 10, &msr_reg) < 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_callbacks(master, request_lock, release_lock, NULL); + + 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_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 0 + 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 + + if (ecrt_master_start_eoe(master)) { + printk(KERN_ERR "Failed to start EoE processing!\n"); + goto out_deactivate; + } + + printk("Starting cyclic sample thread...\n"); + ticks = start_rt_timer(nano2count(TIMERTICKS)); + if (rt_task_init(&task, msr_run, 0, 2000, 0, 1, NULL)) { + printk(KERN_ERR "Failed to init RTAI task!\n"); + goto out_stop_timer; + } + if (rt_task_make_periodic(&task, rt_get_time() + ticks, ticks)) { + printk(KERN_ERR "Failed to run RTAI task!\n"); + goto out_stop_task; + } + + printk(KERN_INFO "=== EtherCAT RTAI MSR sample module started. ===\n"); + return 0; + + out_stop_task: + rt_task_delete(&task); + out_stop_timer: + stop_rt_timer(); + out_deactivate: + ecrt_master_deactivate(master); + out_release_master: + ecrt_release_master(master); + out_msr_cleanup: + msr_rtlib_cleanup(); + out_return: + rt_sem_delete(&master_sem); + return -1; +} + +/*****************************************************************************/ + +void __exit cleanup_mod(void) +{ + printk(KERN_INFO "=== Unloading EtherCAT RTAI MSR sample module... ===\n"); + + rt_task_delete(&task); + stop_rt_timer(); + ecrt_master_deactivate(master); + ecrt_release_master(master); + rt_sem_delete(&master_sem); + msr_rtlib_cleanup(); + + printk(KERN_INFO "=== EtherCAT RTAI MSR sample module unloaded. ===\n"); +} + +/*****************************************************************************/ + +MODULE_LICENSE("GPL"); +MODULE_AUTHOR ("Florian Pose "); +MODULE_DESCRIPTION ("EtherCAT RTAI MSR sample module"); + +module_init(init_mod); +module_exit(cleanup_mod); + +/*****************************************************************************/ diff -r 767548c75bf3 -r f6594a07cdda examples/msr/msr_unload --- a/examples/msr/msr_unload Thu May 11 13:29:06 2006 +0000 +++ b/examples/msr/msr_unload Fri May 12 10:12:14 2006 +0000 @@ -1,5 +1,5 @@ #!/bin/sh -module="msr_rt" +module="ec_msr_sample" device="msr" # invoke rmmod with all arguments we got diff -r 767548c75bf3 -r f6594a07cdda examples/msr/rt.conf.tmpl --- a/examples/msr/rt.conf.tmpl Thu May 11 13:29:06 2006 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,18 +0,0 @@ -#------------------------------------------------------------------------------ -# -# Configuration file for msr realtime modules -# -# $Id$ -# -# This file is a versioned template configuration. Copy it to "rt.conf" -# (which is ignored by Subversion) and adjust it to your needs. -# -#------------------------------------------------------------------------------ - -# Module name (without extension) -MODULENAME := ec_rt_sample - -# The kernel to compile the EtherCAT sources against -KERNEL := `uname -r` - -#------------------------------------------------------------------------------