--- a/rt/TAGS Fri Dec 16 09:23:56 2005 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,57 +0,0 @@
-
-_msr_io.c,315
-# define __KERNEL__44,1091
-# define MODULE47,1134
-spinlock_t data_lock 64,1449
-#define PB_CARDS 79,1926
-} card[91,2142
-void x_PB_io(109,2505
-int msr_io_init(151,3460
-#define FIFO_BUF 157,3532
-int msr_io_register(235,5684
-int msr_io_write(261,6090
-int msr_io_read(363,8522
-void msr_io_cleanup(400,9200
-
-_msr_io.h,100
-#define _MSR_IO_H_119,3261
-struct cif_in_t cif_in_t128,3512
-struct cif_out_t cif_out_t135,3664
-
-cif-rtai-io.h,0
-
-msr_io.c,559
-RT_TASK check_running;54,1293
-RT_TASK process_image;55,1316
-SEM data_lock;57,1340
-#define PARAM_FILENO 60,1381
-#define CVT_FILENO 61,1405
-#define MSG_FILENO 62,1427
-#define PB_CARDS 64,1449
-} card[78,1692
-int msr_print(80,1711
-inline int msr_print_error(97,1982
-inline int msr_print_info(106,2138
-inline int msr_print_warn(115,2294
-void x_PB_io(140,2830
-void process_thread(145,2909
-void check_thread(254,6015
-void msr_io_cleanup(343,8029
-int msr_init(374,8740
-#define FIFO_BUF 389,9019
-#define TIMERTICS 396,9180
-#define MSG_BUF 397,9245
-
-msr_io.h,363
-#define _AIM_GLOBALS_H_35,698
-struct P101_In P101_In37,723
-struct P201_In P201_In45,859
-struct P301_In P301_In50,940
-struct P101_Out P101_Out56,1022
-struct P201_Out P201_Out62,1120
-struct P301_Out P301_Out65,1161
-struct IMO_to_dSPACE IMO_to_dSPACE69,1203
-struct dSPACE_to_IMO dSPACE_to_IMO76,1338
-} IMO;99,1765
-} cvt;128,2230
-} param;131,2247
--- a/rt/aip_com.c Fri Dec 16 09:23:56 2005 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,851 +0,0 @@
-/** rt_com
- * ======
- *
- * RT-Linux kernel module for communication across serial lines.
- *
- * Copyright (C) 1997 Jens Michaelsen
- * Copyright (C) 1997-2000 Jochen Kupper
- * Copyright (C) 1999 Hua Mao <hmao@nmt.edu>
- * Copyright (C) 1999 Roberto Finazzi
- * Copyright (C) 2000-2002 Giuseppe Renoldi
- *
- * This program 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; either version 2 of the
- * License, or (at your option) any later version.
- *
- * This program 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 this program; see the file License. if not, write to the
- * Free Software Foundation, Inc., 59 Temple Place, Suite 330, Boston,
- * MA 02111-1307, USA.
- *
- * $Id: aip_com.c,v 1.1 2005/09/16 14:16:31 hm Exp hm $ */
-#define VERSION "0.6.pre2-rtaicvs (modified by Hm, IgH for aip)" //Hm, IgH
-
-#include <linux/config.h>
-#include <linux/errno.h>
-#include <linux/ioport.h>
-#include <linux/kernel.h>
-#include <linux/module.h>
-#include <linux/version.h>
-
-#include <asm/system.h>
-#include <asm/io.h>
-
-#ifdef _RTAI
-#include <rtai.h>
-#endif
-
-#include "aip_com.h"
-#include "aip_comP.h"
-
-#include <msr_rcsinfo.h>
-
-RCS_ID("$Header: /home/hm/projekte/msr_messen_steuern_regeln/ethercat/src-hm/rs232rt/RCS/aip_com.c,v 1.1 2005/09/16 14:16:31 hm Exp hm $");
-
-/* Hm, IgH
-MODULE_AUTHOR("Jochen Kuepper");
-MODULE_DESCRIPTION("real-time serial port driver");
-MODULE_LICENSE("GPL");
-*/
-
-
-/* size of internal queues
-* This is the default value. */
-unsigned int rt_com_buffersize = RT_COM_BUF_SIZ;
-
-/** Default: mode=0 - no hw flow control
- * used=0 - port and irq setting by rt_com_hwparam.
- * If you want to work like
- * a standard rt_com you can set used=1. */
-struct rt_com_struct rt_com_table[] = {
- { // ttyS0 - COM1
- RT_COM_BASE_BAUD, // int baud_base;
- 0x3f8, // int port;
- 4, // int irq;
- rt_com0_isr, // void (*isr)(void);
- 115200, // int baud;
- 8, // unsigned int wordlength;
- RT_COM_PARITY_NONE, // unsigned int parity;
- 1, // stopbits;
- RT_COM_NO_HAND_SHAKE, // int mode;
- RT_COM_FIFO_SIZE_8, // int fifotrig;
- 1 //Hm, IgH // int used;
- }, { // ttyS1 - COM2
- RT_COM_BASE_BAUD, // int baud_base;
- 0x2f8, // int port;
- 3, // int irq;
- rt_com1_isr, // void (*isr)(void);
- 0, // int baud;
- 8, // unsigned int wordlength;
- RT_COM_PARITY_NONE, // unsigned int parity;
- 1, // stopbits;
- RT_COM_NO_HAND_SHAKE, // int mode;
- RT_COM_FIFO_SIZE_8, // int fifotrig;
- 0 // int used;
- }
-};
-
-/** Number and descriptions of serial ports to manage. You also need
- * to create an ISR ( rt_comN_isr() ) for each port. */
-#define RT_COM_CNT (sizeof(rt_com_table) / sizeof(struct rt_com_struct))
-
-/** Internal: Remaining free space of buffer
- *
- * @return amount of free space remaining in a buffer (input or output)
- *
- * @author Jochen Kupper
- * @version 2000/03/10 */
-static inline unsigned int rt_com_buffer_free(unsigned int head, unsigned int tail)
-{
- return(head < tail) ? (tail - head) : (rt_com_buffersize - (head - tail));
-}
-
-/** Clear input buffer.
- *
- * @param ttyS Port to use; corresponding to internal numbering scheme.
- * @return 0 if all right, -ENODEV or -EPERM on error.
- *
- * @author Roberto Finazzi, Jochen Kupper
- * @version 2000/03/12 */
-int rt_com_clear_input(unsigned int ttyS)
-{
- if (ttyS >= RT_COM_CNT) {
- return(-ENODEV);
- }
- else if (0 >= (rt_com_table[ttyS]).used) {
- return(-EPERM);
- }
- else {
- struct rt_com_struct *p = &(rt_com_table[ttyS]);
- struct rt_buf_struct *b = &(p->ibuf);
- long state;
- rt_com_irq_off(state);
- b->tail = b->head;
- if (p->fifotrig)
- outb(inb(p->port + RT_COM_FCR) | FCR_INPUT_FIFO_RESET, p->port + RT_COM_FCR);
- rt_com_irq_on(state);
- if (p->mode & RT_COM_HW_FLOW) {
- /* with hardware flow set RTS */
- p->mcr |= MCR_RTS;
- outb(p->mcr, p->port + RT_COM_MCR);
- }
-
- return(0);
- }
-}
-
-/** Clear output buffer.
- *
- * @param ttyS Port to use; corresponding to internal numbering scheme.
- * @return 0 if all right, negative error conditions otherwise
- *
- * @author Roberto Finazzi, Jochen Kupper
- * @version 2000/03/12
- */
-int rt_com_clear_output(unsigned int ttyS)
-{
- if (ttyS >= RT_COM_CNT) {
- return(-ENODEV);
- }
- else {
- struct rt_com_struct *p = &(rt_com_table[ttyS]);
- if (0 >= (rt_com_table[ttyS]).used) {
- return(-EPERM);
- }
- else {
- struct rt_buf_struct *b = &(p->obuf);
- long state;
- rt_com_irq_off(state);
- p->ier &= ~IER_ETBEI;
- outb(p->ier, p->port | RT_COM_IER);
- b->tail = b->head;
- if (p->fifotrig)
- outb(inb(p->port + RT_COM_FCR) | FCR_OUTPUT_FIFO_RESET, p->port + RT_COM_FCR);
- rt_com_irq_on(state);
- return(0);
- }
- }
-}
-
-/** Set functioning mode.
- *
- * @param ttyS Port to use; corresponding to internal numbering scheme.
- * @param mode functioning mode
- * @return 0 if all right, negative on error
- *
- * @author Roberto Finazzi, Jochen Kupper
- * @version 2000/03/12
- */
-int rt_com_set_mode(unsigned int ttyS, int mode)
-{
- if (ttyS >= RT_COM_CNT) {
- return(-ENODEV);
- }
- else {
- struct rt_com_struct *p = &(rt_com_table[ttyS]);
- if (0 >= p->used) {
- return(-EPERM);
- }
- else {
- p->mode = mode;
- if (p->used & RT_COM_PORT_SETUP) {
- /* setup done */
- if (mode == RT_COM_NO_HAND_SHAKE) {
- /* if no hw signals disable modem interrupts */
- p->ier &= ~IER_EDSSI;
- }
- else {
- /* else enable it */
- p->ier |= IER_EDSSI;
- }
-
- outb(p->ier, p->port + RT_COM_IER);
- }
-
- return(0);
- }
- }
-}
-
-/** Set receiver fifo trigger level.
- *
- * @param ttyS Port to use; corresponding to internal numbering scheme.
- * @param fifotrig receiver fifo trigger level
- * @return 0 if all right, negative on error
- *
- * @author Roberto Finazzi, Jochen Kupper
- * @version 2000/03/12
- */
-int rt_com_set_fifotrig(unsigned int ttyS, int fifotrig)
-{
- if (ttyS >= RT_COM_CNT) {
- return(-ENODEV);
- }
- else {
- struct rt_com_struct *p = &(rt_com_table[ttyS]);
- p->fifotrig = fifotrig;
- if (p->used & RT_COM_PORT_SETUP) {
- /* setup done */
- if (p->fifotrig)
- outb(FCR_FIFO_ENABLE | p->fifotrig, p->port + RT_COM_FCR); // enable fifo
- else
- outb(0, p->port + RT_COM_FCR); // disable fifo
- }
- }
-
- return(0);
-}
-
-/** Set output signal for modem control (DTR, RTS).
- *
- * @param ttyS Port to use; corresponding to internal numbering scheme.
- * @param signal Output signals: RT_COM_DTR or RT_COM_RTS.
- * @param value Status: 0 or 1.
- * @return 0 if all right, negative error code otherwise
- *
- * @author Roberto Finazzi, Jochen Kupper
- * @version 2000/03/12 */
-int rt_com_write_modem(unsigned int ttyS, int signal, int value)
-{
- if (ttyS >= RT_COM_CNT) {
- return(-ENODEV);
- }
- else if (value &~0x01) {
- return(-EINVAL);
- }
- else {
- struct rt_com_struct *p = &(rt_com_table[ttyS]);
- if (0 >= p->used) {
- return(-EPERM);
- }
- else {
- if (value)
- p->mcr |= signal;
- else
- p->mcr &= ~signal;
- outb(p->mcr, p->port + RT_COM_MCR);
- return(0);
- }
- }
-}
-
-/** Read input signal from modem (CTS, DSR, RI, DCD).
- *
- * @param ttyS Port to use; corresponding to internal numbering scheme.
- * @param signal Input signals: RT_COM_CTS, RT_COM_DSR, RT_COM_RI, RT_COM_DCD
- * or any combination.
- * @return input signal status; that is the bitwise-OR of the signal
- * argument and the MSR register.
- *
- * @author Roberto Finazzi, Jochen Kupper
- * @version 2000/03/12 */
-int rt_com_read_modem(unsigned int ttyS, int signal)
-{
- if (ttyS >= RT_COM_CNT) {
- return(-ENODEV);
- }
- else if (signal & 0xf) {
- return(-EINVAL);
- }
- else {
- struct rt_com_struct *p = &(rt_com_table[ttyS]);
- if (0 >= p->used) {
- return(-EPERM);
- }
- else {
- return(inb(p->port + RT_COM_MSR) & signal);
- }
- }
-}
-
-/** Return last error detected.
- *
- * @param ttyS Port to use; corresponding to internal numbering scheme.
- * @return bit 0 :1 = Input buffer overflow
- * bit 1 :1 = Receive data overrun
- * bit 2 :1 = Parity error
- * bit 3 :1 = Framing error
- * bit 4 :1 = Break detected
- *
- * @author Roberto Finazzi
- * @version 2000/03/12
- */
-int rt_com_error(unsigned int ttyS)
-{
- if (ttyS >= RT_COM_CNT) {
- return(-ENODEV);
- }
- else {
- struct rt_com_struct *p = &(rt_com_table[ttyS]);
- int tmp = p->error;
- p->error = 0;
- return(tmp);
- }
-}
-
-/** Write data to a line.
- *
- * @param ttyS Port to use; corresponding to internal numbering scheme.
- * @param buffer Address of data.
- * @param count Number of bytes to write. If negative, send byte only if
- * possible to send them all together.
- * @return Number of bytes not written. Negative values are error
- * conditions.
- *
- * @author Jens Michaelsen, Jochen Kupper, Giuseppe Renoldi
- * @version 2000/03/12 */
-int rt_com_write(unsigned int ttyS, char *buffer, int count)
-{
- if (ttyS >= RT_COM_CNT) {
- return(-ENODEV);
- }
- else {
- struct rt_com_struct *p = &(rt_com_table[ttyS]);
- if (!(p->used & RT_COM_PORT_SETUP)) {
- return(-EPERM);
- }
- else {
- struct rt_buf_struct *b = &(p->obuf);
- long state;
- int bytestosend;
- if (count == 0)
- return(0);
- bytestosend = rt_com_buffer_free(b->head, b->tail);
- if (count < 0) {
- count = -count;
- if (count > bytestosend)
- return(count);
- bytestosend = count;
- }
- else {
- if (count <= bytestosend)
- bytestosend = count;
- }
-
- rt_com_irq_off(state);
- while (bytestosend-- > 0) {
- /* put byte into buffer, move pointers to next elements */
- b->buf[b->head++] = *buffer++;
- if (b->head >= rt_com_buffersize)
- b->head = 0;
- --count;
- }
-
- p->ier |= IER_ETBEI;
- outb(p->ier, p->port + RT_COM_IER);
- rt_com_irq_on(state);
- return(count);
- }
- }
-}
-
-/** Read data we got from a line.
- *
- * @param ttyS Port to use corresponding to internal numbering scheme.
- * @param buffer Address of data buffer. Needs to be of size > cnt !
- * @param count Number of bytes to read.
- * @return Number of bytes actually read.
- *
- * @author Jens Michaelsen, Jochen Kupper
- * @version 2000/03/17 */
-int rt_com_read(unsigned int ttyS, char *buffer, int count)
-{
- if (0 > count) {
- return(-EINVAL);
- }
- else if (ttyS >= RT_COM_CNT) {
- return(-ENODEV);
- }
- else {
- struct rt_com_struct *p = &(rt_com_table[ttyS]);
- if (!(p->used & RT_COM_PORT_SETUP)) {
- return(-EPERM);
- }
- else {
- struct rt_buf_struct *b = &(p->ibuf);
- int done = 0;
- long state;
- rt_com_irq_off(state);
- while ((b->head != b->tail) && (--count >= 0)) {
- done++;
- *buffer++ = b->buf[b->tail++];
- b->tail &= (RT_COM_BUF_SIZ - 1);
- }
-
- rt_com_irq_on(state);
- if ((p->mode & RT_COM_HW_FLOW) && (rt_com_buffer_free(b->head, b->tail) > RT_COM_BUF_HI)) {
- /* if hardware flow and enough free space on input buffer
- then set RTS */
- p->mcr |= MCR_RTS;
- outb(p->mcr, p->port + RT_COM_MCR);
- }
-
- return(done);
- }
- }
-}
-
-/** Get first byte from the write buffer.
- *
- * @param p rt_com_struct of the line we are writing to.
- * @param c Address to put the char in.
- * @return Number of characters we actually got.
- *
- * @author Jens Michaelsen, Jochen Kupper
- * @version 1999/10/01
- */
-static inline int rt_com_irq_get(struct rt_com_struct *p, unsigned char *c)
-{
- struct rt_buf_struct *b = &(p->obuf);
- if (b->head != b->tail) {
- *c = b->buf[b->tail++];
- b->tail &= (RT_COM_BUF_SIZ - 1);
- return(1);
- }
-
- return(0);
-}
-
-/** Concatenate a byte to the read buffer.
- *
- * @param p rt_com_struct of the line we are writing to.
- * @param ch Byte to put into buffer.
- *
- * @author Jens Michaelsen, Jochen Kupper
- * @version 1999/07/20 */
-static inline void rt_com_irq_put(struct rt_com_struct *p, unsigned char ch)
-{
- struct rt_buf_struct *b = &(p->ibuf);
- b->buf[b->head++] = ch;
- b->head &= (RT_COM_BUF_SIZ - 1);
-}
-
-/** Real interrupt handler.
- *
- * This one is called by the registered ISRs and does the actual work.
- *
- * @param ttyS Port to use corresponding to internal numbering scheme.
- *
- * @author Jens Michaelsen, Jochen Kupper, Hua Mao, Roberto Finazzi
- * @version 2000/03/17 */
-static inline int rt_com_isr(unsigned int ttyS)
-{
- struct rt_com_struct *p = &(rt_com_table[ttyS]);
- struct rt_buf_struct *b = &(p->ibuf);
- unsigned int base = p->port;
- int buff, data_to_tx;
- int loop = 4;
- int toFifo = 16;
- unsigned char data, msr, lsr, iir;
-
- do {
- //iir=inb(base + RT_COM_IIR);
- //rt_printk("iir=0x%02x\n",iir);
- /* get available data from port */
- lsr = inb(base + RT_COM_LSR);
- if (0x1e & lsr)
- p->error = lsr & 0x1e;
- while (LSR_DATA_READY & lsr) {
- data = inb(base + RT_COM_RXB);
-
- //rt_printk("[%02x<- ",data);
- rt_com_irq_put(p, data);
- lsr = inb(base + RT_COM_LSR);
- if (0x1e & lsr)
- p->error = 0x1e & lsr;
- }
-
- /* controls on buffer full and RTS clear on hardware flow
- control */
- buff = rt_com_buffer_free(b->head, b->tail);
- if (buff < RT_COM_BUF_FULL)
- p->error = RT_COM_BUFFER_FULL;
-
- if ((p->mode & RT_COM_HW_FLOW) && (buff < RT_COM_BUF_LOW)) {
- p->mcr &= ~MCR_RTS;
- outb(p->mcr, p->port + RT_COM_MCR);
- }
-
- /* if possible, put data to port */
- msr = inb(base + RT_COM_MSR);
- if
- (
- (p->mode == RT_COM_NO_HAND_SHAKE) ||
- ((p->mode & RT_COM_DSR_ON_TX) && (MSR_DSR & msr) && (p->mode & RT_COM_HW_FLOW) && (MSR_CTS & msr))
- ) {
- /* (DSR && (CTS || Mode==no hw flow)) or Mode==no handshake */
- // if (THRE==1) i.e. transmitter empty
- if ((lsr = inb(base + RT_COM_LSR)) & LSR_THRE) {
- // if there are data to transmit
- if ((data_to_tx = rt_com_irq_get(p, &data)) != 0) {
- do {
- //rt_printk("->%02x] ",data);
- outb(data, base + RT_COM_TXB);
- } while ((--toFifo > 0) && (data_to_tx = rt_com_irq_get(p, &data) != 0));
- }
-
- if (!data_to_tx) {
- /* no data in output buffer, disable Transmitter
- Holding Register Empty Interrupt */
- p->ier &= ~IER_ETBEI;
- outb(p->ier, base + RT_COM_IER);
- }
- }
- }
-
- /* check the low nibble of IIR wheather there is another pending
- interrupt. bit 0 = 0 if interrupt pending, bits 1,2,3
- are the interrupt ID */
- iir = inb(base + RT_COM_IIR);
- } while (((iir & 0x0F) != 1) && (--loop > 0));
-
-#if defined RTLINUX_V2
- rtl_hard_enable_irq(p->irq);
-#endif
- return 0;
-}
-
-/** Interrupt Service Routines
- *
- * These are the Interrupt Service Routines to be registered with the
- * OS. They simply call the genereric interrupt handler for the
- * current port to do the work.
- *
- * @author Jens Michaelsen, Jochen Kupper, Hua Mao
- * @version 1999/11/11 */
-static void rt_com0_isr(void)
-{
- //rt_printk("rt_com0_isr\n");
- rt_com_isr(0);
-}
-
-static void rt_com1_isr(void)
-{
- //rt_printk("rt_com1_isr\n");
- rt_com_isr(1);
-}
-
-/** Setup one port
- *
- * Calls from init_module + cleanup_module have baud == 0; in these
- * cases we only do some cleanup.
- *
- * To allocate a port, give usefull setup parameter, to deallocate
- * give negative baud.
- *
- * @param ttyS Number corresponding to internal port numbering scheme.
- * This is esp. the index of the rt_com_table to use.
- * @param baud Data transmission rate to use [Byte/s]. If negative,
- * deallocate port instead. Called with baud == 0 from
- * init_module for basic initialization. Needs to be called
- * by user-task again before use !
- * @param mode see rt_com_set_mode docs for now
- * @param parity Parity for transmission protocol.
- * (RT_COM_PARITY_EVEN, RT_COM_PARITY_ODD, RT_COM_PARITY_NONE)
- * @param stopbits Number of stopbits to use. 1 gives you one stopbit, 2
- * actually gives really two stopbits for wordlengths of
- * 6 - 8 bit, but 1.5 stopbits for a wordlength of 5 bits.
- * @param wordlength Number of bits per word (5 - 8 bits).
- * @param fifotrig if <0 set trigger fifo using default value set
- * in rt_com_table[], otherwise set trigger fifo accordingly
- * to the parameter
- * @return 0 - all right
- * -ENODEV - no entry for that ttyS in rt_com_table
- * -EPERM - get hardware resources first (the port needs to
- * be setup hardware-wise first, that means you have
- * to specify a positive used flag at compile time
- * or call rt_com_set_hwparm first.)
- *
- * @author Jens Michaelsen, Jochen Kupper, Roberto Finazzi
- * @version 2000/03/12 */
-int rt_com_setup
-(
- unsigned int ttyS,
- int baud,
- int mode,
- unsigned int parity,
- unsigned int stopbits,
- unsigned int wordlength,
- int fifotrig
-)
-{
- if (ttyS >= RT_COM_CNT) {
- return(-ENODEV);
- }
- else {
- struct rt_com_struct *p = &(rt_com_table[ttyS]);
- if (0 == p->used) {
- /* */
- return(-EPERM);
- }
- else {
- unsigned int base = p->port;
-
- /* Stop everything, set DLAB */
- outb(0x00, base + RT_COM_IER);
- outb(0x80, base + RT_COM_LCR);
-
- /* clear irqs */
- inb(base + RT_COM_IIR);
- inb(base + RT_COM_LSR);
- inb(base + RT_COM_RXB);
- inb(base + RT_COM_MSR);
-
- /* initialize error code */
- p->error = 0;
-
- /* if 0 == baud, nothing else to do ! */
- if (baud == 0)
- return(0);
-
- if (0 > baud) {
- /* free the port */
- /* disable interrupts */
- outb(0, base + RT_COM_IER);
- //MOD_DEC_USE_COUNT; Hm, IgH
- return(0);
- }
- else {
- /* allocate and set-up the port */
- unsigned int divider = p->baud_base / baud;
-
- //MOD_INC_USE_COUNT; Hm, IgH
-
- /* set transfer rate */
- outb(divider % 256, base + RT_COM_DLL);
- outb(divider / 256, base + RT_COM_DLM);
-
- /* bits 3,4 + 5 determine parity, mask away anything else */
- parity &= 0x38;
-
- /* set transmission parameters and clear DLAB */
- outb((wordlength - 5) | ((stopbits - 1) << 2) | parity, base + RT_COM_LCR);
-
- /* set-up MCR value and write it */
- p->mcr = MCR_DTR | MCR_RTS | MCR_OUT1 | MCR_OUT2;
- outb(p->mcr, base + RT_COM_MCR);
-
- /* set-up IER value and write it */
- p->mode = mode;
- if (p->mode == RT_COM_NO_HAND_SHAKE) {
- /* if no handshaking signals enable only receiver interrupts */
- p->ier = IER_ERBI | IER_ELSI;
- }
- else {
- /* enable receiver and modem interrupts */
- p->ier = IER_ERBI | IER_ELSI | IER_EDSSI;
- }
-
- outb(p->ier, base + RT_COM_IER);
- if (fifotrig>=0)
- p->fifotrig = fifotrig;
- outb(FCR_FIFO_ENABLE | p->fifotrig, base + RT_COM_FCR); // enable fifo
- /* mark setup done */
- p->used |= RT_COM_PORT_SETUP;
- return(0);
- }
- }
-
- return(0);
- }
-}
-
-/** Set hardware parameter for a specific port.
- *
- * Change port address and irq setting for a specified port. The port
- * must have an entry in rt_com_table beforehand.
- *
- * To allow the specification of additional ports we would need to
- * dynamically allocate memory, that's not really feasible within a
- * real-time context, although we could preallocate a few entries in
- * init_module. However, it doesn't make too much sense, as you can
- * specify all ports that really exist (in hardware) at compile time
- * and enable only these you want to use.
- *
- * @param ttyS Port to use; corresponding to internal numbering scheme.
- * @param port port address, if zero, use standard value from rt_com_table
- * @param irq irq address, if zero, use standard value from rt_com_table
- * @return 0 everything all right,
- * -ENODEV no entry in rt_com_table for that device,
- * -EBUSY port-region is used already.
- *
- * @author Roberto Finazzi, Jochen Kupper
- * @version 2000/03/10 */
-int rt_com_hwsetup(unsigned int ttyS, int port, int irq)
-{
- if (ttyS < RT_COM_CNT) {
- struct rt_com_struct *p = &(rt_com_table[ttyS]);
- if (0 == p->used) {
- if (0 != port)
- p->port = port;
- if (0 != irq)
- p->irq = irq;
- if (-EBUSY == check_region(p->port, 8)) {
- return(-EBUSY);
- }
-
- request_region(p->port, 8, RT_COM_NAME);
- rt_com_request_irq(p->irq, p->isr);
- p->used = 1;
- rt_com_setup(ttyS, p->baud, p->mode, p->parity, p->stopbits, p->wordlength, p->fifotrig);
- return(0);
- }
- else {
- if (port >= 0)
- return(-EBUSY);
- rt_com_setup(ttyS, 0, 0, 0, 0, 0, 0);
- rt_com_free_irq(p->irq);
- release_region(p->port, 8);
- p->used = 0;
- return(0);
- }
- }
-
- return(-ENODEV);
-}
-
-/** Initialization
- *
- * For all ports that have a used flag greater than 0, request port
- * memory and register ISRs. If we cannot get the memory of all these
- * ports, release all already requested ports and return an error.
- *
- * @return Success status, zero on success. With a non-zero return
- * value of this routine, insmod will fail to load the module !
- *
- * @author Jochen Kupper, Hua Mao, Roberto Finazzi
- * @version 2000/03/10 */
-//int init_module(void) //Hm, IgH
-int init_aip_com(void)
-{
- int errorcode = 0;
- unsigned int i, j;
-
- printk(KERN_INFO "rt_com: Loading real-time serial port driver (version "VERSION ").\n");
-
- for (i = 0; i < RT_COM_CNT; i++) {
- struct rt_com_struct *p = &(rt_com_table[i]);
-
- // if used set default values
- if (p->used > 0) {
- printk(KERN_WARNING "RS232 testing %d\n",i);
- if (-EBUSY == check_region(p->port, 8)) {
- errorcode = -EBUSY;
- printk(KERN_WARNING "rt_com: error %d: cannot request port region %x\n", errorcode, p->port);
- break;
- }
-
- request_region(p->port, 8, "rt_com");
- rt_com_request_irq(p->irq, p->isr);
- printk(KERN_WARNING "RS232 Request IRQ: %d\n",p->irq);
- rt_com_setup(i, p->baud, p->mode, p->parity, p->stopbits, p->wordlength, p->fifotrig);
- }
- }
-
- if (0 != errorcode) {
- printk(KERN_WARNING "rt_com: giving up.\n");
- for (j = 0; j < i; j++) {
- struct rt_com_struct *p = &(rt_com_table[j]);
- if (0 < p->used) {
- rt_com_free_irq(p->irq);
- release_region(p->port, 8);
- }
- }
- }
- else {
- printk(KERN_INFO "rt_com: sucessfully loaded.\n");
- }
-
- return(errorcode);
-}
-
-/** Cleanup
- *
- * Unregister ISR and releases memory for all ports
- *
- * @author Jochen Kupper
- * @version 1999/10/01 */
-//void cleanup_module(void) Hm, IgH
-void cleanup_aip_com(void)
-{
- int i;
- for (i = 0; i < RT_COM_CNT; i++) {
- struct rt_com_struct *p = &(rt_com_table[i]);
- if (0 < p->used) {
- rt_com_free_irq(p->irq);
- rt_com_setup(i, 0, 0, 0, 0, 0, 0);
- release_region(p->port, 8);
- }
- }
-
- printk(KERN_INFO "rt_com: unloaded.\n");
-}
-
-/*
-EXPORT_SYMBOL(rt_com_buffersize);
-EXPORT_SYMBOL(rt_com_clear_input);
-EXPORT_SYMBOL(rt_com_clear_output);
-EXPORT_SYMBOL(rt_com_error);
-EXPORT_SYMBOL(rt_com_hwsetup);
-EXPORT_SYMBOL(rt_com_read);
-EXPORT_SYMBOL(rt_com_read_modem);
-EXPORT_SYMBOL(rt_com_setup);
-EXPORT_SYMBOL(rt_com_table);
-EXPORT_SYMBOL(rt_com_write);
-EXPORT_SYMBOL(rt_com_write_modem);
-EXPORT_SYMBOL(rt_com_set_mode);
-EXPORT_SYMBOL(rt_com_set_fifotrig);
-*/
-
-/**
- * Local Variables:
- * mode: C
- * c-file-style: "Stroustrup"
- * End:
- */
--- a/rt/aip_com.h Fri Dec 16 09:23:56 2005 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,159 +0,0 @@
-/**************************************************************************************************
-*
-* aip_com.h
-*
-* Macros für Kommunikation über serielle Schnittstelle
-* Basiert auf rt_com.h von rtai !! (siehe unten)
-*
-*
-* Autor: Wilhelm Hagemeister
-*
-* (C) Copyright IgH 2002
-* Ingenieurgemeinschaft IgH
-* Heinz-Bäcker Str. 34
-* D-45356 Essen
-* Tel.: +49 201/61 99 31
-* Fax.: +49 201/61 98 36
-* E-mail: hm@igh-essen.com
-*
-*
-* $RCSfile: aip_com.h,v $
-* $Revision: 1.1 $
-* $Author: hm $
-* $Date: 2004/09/30 15:50:32 $
-* $State: Exp $
-*
-*
-*
-*
-*
-*
-*
-*
-*
-**************************************************************************************************/
-
-/** rt_com
- * ======
- *
- * RT-Linux kernel module for communication across serial lines.
- *
- * Copyright (C) 1997 Jens Michaelsen
- * Copyright (C) 1997-2000 Jochen Kupper
- * Copyright (C) 2002 Giuseppe Renoldi
- *
- * This program 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; either version 2 of the
- * License, or (at your option) any later version.
- *
- * This program 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 this program; see the file License. if not, write to the
- * Free Software Foundation, Inc., 59 Temple Place, Suite 330, Boston,
- * MA 02111-1307, USA.
- *
- * $Id: aip_com.h,v 1.1 2004/09/30 15:50:32 hm Exp $ */
-
-
-
-#ifndef AIP_COM_H
-#define AIP_COM_H
-
-/** This is the interface definition of the plain rt_com API.
- *
- * This should be all you need to use rt_com within your real-time
- * kernel module.
- *
- * (When POSIX is done, we will reference the appropriate header
- * here - probably depending on a flag.) */
-
-int init_aip_com(void); //Hm, IgH
-void cleanup_aip_com(void); //Hm, IgH
-
-
-/** specify hardware parameters, set-up communication parameters */
-extern int rt_com_hwsetup( unsigned int ttyS, int base, int irq );
-extern int rt_com_setup( unsigned int ttyS, int baud, int mode,
- unsigned int parity, unsigned int stopbits,
- unsigned int wordlength, int fifotrig );
-
-/** read/write from/to input/output buffer */
-extern int rt_com_read( unsigned int, char *, int );
-extern int rt_com_write( unsigned int ttyS, char *buffer, int count );
-
-/** clear input or output buffer */
-extern int rt_com_clear_input( unsigned int ttyS );
-extern int rt_com_clear_output( unsigned int ttyS );
-
-/** read input signal from modem (CTS,DSR,RI,DCD), set output signal
- * for modem control (DTR,RTS) */
-extern int rt_com_read_modem( unsigned int ttyS, int signal );
-extern int rt_com_write_modem( unsigned int ttyS, int signal, int value );
-
-/** functioning mode and fifo trigger setting */
-extern int rt_com_set_mode( unsigned int ttyS, int mode);
-extern int rt_com_set_fifotrig( unsigned int ttyS, int fifotrig);
-
-/** return last error detected */
-extern int rt_com_error( unsigned int ttyS );
-
-
-/** size of internal queues, this is constant during module lifetime */
-extern unsigned int rt_com_buffersize;
-
-#define rt_com_set_param rt_com_hwsetup
-#define rt_com_setup_old(a,b,c,d,e) rt_com_setup((a),(b),0,(c),(d),(e),-1)
-
-
-/** functioning modes */
-#define RT_COM_NO_HAND_SHAKE 0x00
-#define RT_COM_DSR_ON_TX 0x01
-#define RT_COM_HW_FLOW 0x02
-
-/** parity flags */
-#define RT_COM_PARITY_EVEN 0x18
-#define RT_COM_PARITY_NONE 0x00
-#define RT_COM_PARITY_ODD 0x08
-#define RT_COM_PARITY_HIGH 0x28
-#define RT_COM_PARITY_LOW 0x38
-
-/* FIFO Control */
-#define RT_COM_FIFO_DISABLE 0x00
-#define RT_COM_FIFO_SIZE_1 0x00
-#define RT_COM_FIFO_SIZE_4 0x40
-#define RT_COM_FIFO_SIZE_8 0x80
-#define RT_COM_FIFO_SIZE_14 0xC0
-
-/** rt_com_write_modem masks */
-#define RT_COM_DTR 0x01
-#define RT_COM_RTS 0x02
-
-/** rt_com_read_modem masks */
-#define RT_COM_CTS 0x10
-#define RT_COM_DSR 0x20
-#define RT_COM_RI 0x40
-#define RT_COM_DCD 0x80
-
-/** rt_com_error masks */
-#define RT_COM_BUFFER_FULL 0x01
-#define RT_COM_OVERRUN_ERR 0x02
-#define RT_COM_PARITY_ERR 0x04
-#define RT_COM_FRAMING_ERR 0x08
-#define RT_COM_BREAK 0x10
-
-
-#endif /* RT_COM_H */
-
-
-
-/**
- * Local Variables:
- * mode: C
- * c-file-style: "Stroustrup"
- * End:
- */
--- a/rt/aip_comP.h Fri Dec 16 09:23:56 2005 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,206 +0,0 @@
-/**
- * rt_com
- * ======
- *
- * RT-Linux kernel module for communication across serial lines.
- *
- * Copyright (C) 1997 Jens Michaelsen
- * Copyright (C) 1997-2000 Jochen Kupper
- * Copyright (C) 1999 Hua Mao <hmao@nmt.edu>
- *
- * This program 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; either version 2 of the
- * License, or (at your option) any later version.
- *
- * This program 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 this program; see the file License. if not, write to the
- * Free Software Foundation, Inc., 59 Temple Place, Suite 330, Boston,
- * MA 02111-1307, USA.
- */
-
-
-
-#ifndef AIP_COM_P_H
-#define AIP_COM_P_H
-
-
-#define RT_COM_NAME "rt_com(aip)" //Hm, IgH
-
-/* input/ouput buffer (FIFO) sizes */
-#define RT_COM_BUF_SIZ 256 // MUST BE ONLY POWER OF 2 !!
-/* amount of free space on input buffer for RTS reset */
-#define RT_COM_BUF_LOW (RT_COM_BUF_SIZ / 3)
-/* amount of free space on input buffer for RTS set */
-#define RT_COM_BUF_HI (RT_COM_BUF_SIZ * 2 / 3)
-/* limit of free space on input buffer for buffer full error */
-#define RT_COM_BUF_FULL 20
-
-
-/* usage flags */
-#define RT_COM_PORT_FREE 0x00
-#define RT_COM_PORT_INUSE 0x01
-#define RT_COM_PORT_SETUP 0x02
-
-
-/* Some hardware description */
-#define RT_COM_BASE_BAUD 115200
-
-/** Interrupt Service Routines
- * These are private functions */
-static void rt_com0_isr( void );
-static void rt_com1_isr( void );
-
-
-
-
-/** Interrupt handling
- *
- * Define internal convinience macros for interrupt handling, so we
- * get rid of the system dependencies.
- */
-//#define rt_com_irq_off( state ) do{}while(0) //rt_global_save_flags( &state ); rt_global_cli() schreiben und lesen sowieso in IRQ Hm
-//#define rt_com_irq_on(state) do{}while(0) //rt_global_restore_flags( state )
-#define rt_com_irq_off( state ) rt_global_save_flags( &state ); rt_global_cli()
-#define rt_com_irq_on(state) rt_global_restore_flags( state )
-#define rt_com_request_irq( irq, isr ) rt_request_global_irq( irq, isr ); rt_enable_irq( irq );
-#define rt_com_free_irq( irq ) rt_free_global_irq( irq )
-
-
-/* port register offsets */
-#define RT_COM_RXB 0x00
-#define RT_COM_TXB 0x00
-#define RT_COM_IER 0x01
-#define RT_COM_IIR 0x02
-#define RT_COM_FCR 0x02
-#define RT_COM_LCR 0x03
-#define RT_COM_MCR 0x04
-#define RT_COM_LSR 0x05
-#define RT_COM_MSR 0x06
-#define RT_COM_DLL 0x00
-#define RT_COM_DLM 0x01
-
-/** MCR Modem Control Register masks */
-#define MCR_DTR 0x01 // Data Terminal Ready
-#define MCR_RTS 0x02 // Request To Send
-#define MCR_OUT1 0x04
-#define MCR_OUT2 0x08
-#define MCR_LOOP 0x10
-#define MCR_AFE 0x20 // AutoFlow Enable
-
-/** IER Interrupt Enable Register masks */
-#define IER_ERBI 0x01 // Enable Received Data Available Interrupt
-#define IER_ETBEI 0x02 // Enable Transmitter Holding Register
- // Empty Interrupt
-#define IER_ELSI 0x04 // Enable Receiver Line Status Interrupt
-#define IER_EDSSI 0x08 // Enable Modem Status Interrupt
-
-/** MSR Modem Status Register masks */
-#define MSR_DELTA_CTS 0x01
-#define MSR_DELTA_DSR 0x02
-#define MSR_TERI 0x04
-#define MSR_DELTA_DCD 0x08
-#define MSR_CTS 0x10
-#define MSR_DSR 0x20
-#define MSR_RI 0x40
-#define MSR_DCD 0x80
-
-/** LSR Line Status Register masks */
-#define LSR_DATA_READY 0x01
-#define LSR_OVERRUN_ERR 0x02
-#define LSR_PARITY_ERR 0x04
-#define LSR_FRAMING_ERR 0x08
-#define LSR_BREAK 0x10
-#define LSR_THRE 0x20 // Transmitter Holding Register
-#define LSR_TEMT 0x40 // Transmitter Empty
-
-/** FCR FIFO Control Register masks */
-#define FCR_FIFO_ENABLE 0x01
-#define FCR_INPUT_FIFO_RESET 0x02
-#define FCR_OUTPUT_FIFO_RESET 0x04
-
-/** data buffer
- *
- * Used for buffering of input and output data. Two buffers per port
- * (one for input, one for output). Organized as a FIFO */
-struct rt_buf_struct{
- unsigned int head;
- unsigned int tail;
- char buf[ RT_COM_BUF_SIZ ];
-};
-
-
-
-/** Port data
- *
- * Internal information structure containing all data for a port. One
- * structure for every port.
- *
- * Contains all current setup parameters and all data currently
- * buffered by rt_com.
- *
- * mode (functioning mode)
- * possible values:
- * - RT_COM_DSR_ON_TX - for standard functioning mode (DSR needed on TX)
- * - RT_COM_NO_HAND_SHAKE - for comunication without hand shake signals
- * (only RXD-TXD-GND)
- * - RT_COM_HW_FLOW - for hardware flow control (RTS-CTS)
- * Of course RT_COM_DSR_ON_TX and RT_COM_NO_HAND_SHAKE cannot be
- * sppecified at the same time.
- *
- * NOTE: When you select a mode that uses hand shake signals pay
- * attention that no input signals (CTS,DSR,RI,DCD) must be
- * floating.
- *
- * used (usage flag)
- * possible values:
- * - RT_COM_PORT_INUSE - port region requested by init_module
- * - RT_COM_PORT_FREE - port region requested by rt_com_set_param
- * - RT_COM_PORT_SETUP - port parameters are setup,
- * don't specify at compile time !
- *
- * error
- * last error detected
- *
- * ier (interrupt enable register)
- * copy of IER chip register, last value set by rt_com.
- *
- * mcr (modem control register)
- * copy of the MCR internal register
- */
-struct rt_com_struct{
- int baud_base;
- int port;
- int irq;
- void (*isr)(void);
- int baud;
- unsigned int wordlength;
- unsigned int parity;
- unsigned int stopbits;
- int mode;
- int fifotrig;
- int used;
- int error;
- int type;
- int ier;
- int mcr;
- struct rt_buf_struct ibuf;
- struct rt_buf_struct obuf;
-};
-
-
-#endif /* RT_COM_P_H */
-
-
-
-/**
- * Local Variables:
- * mode: C
- * c-file-style: "Stroustrup"
- * End:
- */
--- a/rt/cif-rtai-io.h Fri Dec 16 09:23:56 2005 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,43 +0,0 @@
-unsigned long cif_open_card(
- unsigned int board_no,
- unsigned int in_size,
- unsigned int out_size,
- void (*callback)(unsigned long priv_data),
- unsigned long priv_data
- );
-
-void cif_close_card(
- unsigned long fd
- );
-
-int cif_reset_card(
- unsigned long fd,
- unsigned int timeout,
- unsigned int context // 1 = interrupt context
- );
-
-void cif_set_host_state(
- unsigned long fd,
- unsigned int state
- );
-
-int cif_exchange_io(
- unsigned long fd,
- void *recv_data,
- void *send_data
- );
-
-int cif_read_io(
- unsigned long fd,
- void *recv_data
- );
-
-int cif_write_io(
- unsigned long fd,
- void *send_data
- );
-
-int cif_card_ready(
- unsigned long fd
- );
-
--- a/rt/msr_io.c Fri Dec 16 09:23:56 2005 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,539 +0,0 @@
-/******************************************************************************
- *
- * msr_io.c
- *
- * Sample Modul für EtherCAT
- *
- * Autoren: Wilhelm Hagemeister, Florian Pose
- *
- * $Date$
- * $Author$
- *
- * (C) Copyright IgH 2005
- * Ingenieurgemeinschaft IgH
- * Heinz-Bäcker Str. 34
- * D-45356 Essen
- * Tel.: +49 201/61 99 31
- * Fax.: +49 201/61 98 36
- * E-mail: hm@igh-essen.com
- *
- * /bin/setserial /dev/ttyS0 uart none
- * /bin/setserial /dev/ttyS1 uart none
- *
- ******************************************************************************/
-
-/*--Includes-----------------------------------------------------------------*/
-
-#include <linux/module.h>
-#include <linux/tqueue.h>
-#include <linux/slab.h>
-#include <linux/delay.h>
-
-#include <msr_reg.h>
-#include <msr_messages.h>
-#include <msr_main.h>
-
-#include <rtai.h>
-#include <rtai_sched.h>
-
-#include "msr_io.h"
-
-//#include <msr_float.h>
-
-#include "../drivers/ec_master.h"
-#include "../drivers/ec_device.h"
-#include "../drivers/ec_types.h"
-#include "../rs232dbg/rs232dbg.h"
-
-/*--Defines------------------------------------------------------------------*/
-
-#define TIMERTICS 1e6 // in ns; Thus have a task time of 1ms
-#define MSR_ABTASTFREQUENZ (1e9/TIMERTICS)
-
-//#define MSR_ABTASTFREQUENZ (1000) //1e9/TIMERTICS)
-#define TICK ((1000000 / MSR_ABTASTFREQUENZ) * 1000)
-#define TIMER_FREQ (APIC_TIMER ? FREQ_APIC : FREQ_8254)
-#define APIC_TIMER 0
-
-//#define MSR_SLOW_DEBUG
-
-/*--Globale Variablen--------------------------------------------------------*/
-
-RT_TASK process_image;
-
-const int Tick = TICK;
-
-unsigned int ecat_tx_delay = 0; //Zeit vom Ende der TimerInterruptRoutine bis
- //TX-Interrupt der Netzwerkkarte
-unsigned int ecat_rx_delay = 0; //RX-Interrupt der Netzwerkkarte
-
-unsigned int tx_intr = 0;
-unsigned int rx_intr = 0;
-unsigned int total_intr = 0;
-
-unsigned int thread_end = 0;
-
-#define USE_ETHERCAT
-
-#ifdef USE_ETHERCAT
-
-static EtherCAT_master_t *ecat_master = NULL;
-
-extern EtherCAT_device_t rtl_ecat_dev;
-
-//#define ECAT_SLAVES_COUNT 16
-
-static EtherCAT_slave_t ecat_slaves[] =
-{
- //Block 1
-/* ECAT_INIT_SLAVE(Beckhoff_EK1100),
- ECAT_INIT_SLAVE(Beckhoff_EL4102),
- ECAT_INIT_SLAVE(Beckhoff_EL3162),
- ECAT_INIT_SLAVE(Beckhoff_EL1014),
- ECAT_INIT_SLAVE(Beckhoff_EL2004),
- ECAT_INIT_SLAVE(Beckhoff_EL3102),
- ECAT_INIT_SLAVE(Beckhoff_EL4102),
- ECAT_INIT_SLAVE(Beckhoff_EL4102),
- ECAT_INIT_SLAVE(Beckhoff_EL4102),
- ECAT_INIT_SLAVE(Beckhoff_EL3162),
- ECAT_INIT_SLAVE(Beckhoff_EL3162),
- ECAT_INIT_SLAVE(Beckhoff_EL3162),
- ECAT_INIT_SLAVE(Beckhoff_EL3102),
- ECAT_INIT_SLAVE(Beckhoff_EL3102),
- ECAT_INIT_SLAVE(Beckhoff_EL2004),
- ECAT_INIT_SLAVE(Beckhoff_EL2004),
- ECAT_INIT_SLAVE(Beckhoff_EL2004),
- ECAT_INIT_SLAVE(Beckhoff_EL2004), */
- //Block 2
- ECAT_INIT_SLAVE(Beckhoff_EK1100),
- ECAT_INIT_SLAVE(Beckhoff_EL4102),
- ECAT_INIT_SLAVE(Beckhoff_EL1014),
- ECAT_INIT_SLAVE(Beckhoff_EL3162),
- ECAT_INIT_SLAVE(Beckhoff_EL2004),
- ECAT_INIT_SLAVE(Beckhoff_EL3102),
- //Block 3
- ECAT_INIT_SLAVE(Beckhoff_EK1100),
- ECAT_INIT_SLAVE(Beckhoff_EL1014),
- ECAT_INIT_SLAVE(Beckhoff_EL1014),
- ECAT_INIT_SLAVE(Beckhoff_EL1014),
- ECAT_INIT_SLAVE(Beckhoff_EL1014),
- ECAT_INIT_SLAVE(Beckhoff_EL1014),
- ECAT_INIT_SLAVE(Beckhoff_EL2004),
- ECAT_INIT_SLAVE(Beckhoff_EL2004),
- ECAT_INIT_SLAVE(Beckhoff_EL2004),
- ECAT_INIT_SLAVE(Beckhoff_EL2004),
- ECAT_INIT_SLAVE(Beckhoff_EL1014),
- ECAT_INIT_SLAVE(Beckhoff_EL1014),
- ECAT_INIT_SLAVE(Beckhoff_EL1014)
-
-
-};
-
-#define ECAT_SLAVES_COUNT (sizeof(ecat_slaves)/sizeof(EtherCAT_slave_t))
-
-#endif
-
-double value;
-int dig1;
-
-
-static int next2004(int *wrap)
-{
- static int i=0;
-
- int j=0;
-
- *wrap = 0;
- for(j=0;j<ECAT_SLAVES_COUNT;j++) {
- i++;
- i %= ECAT_SLAVES_COUNT;
- if(i == 0) *wrap = 1;
- if(ecat_slaves[i].desc == Beckhoff_EL2004) {
- return i;
- }
- }
- return -1;
-}
-
-/*
-*******************************************************************************
-*
-* Function: msr_controller
-*
-* Beschreibung: Zyklischer Prozess
-*
-* Parameter:
-*
-* Rückgabe:
-*
-* Status: exp
-*
-*******************************************************************************
-*/
-
-void msr_controller(void)
-{
- static int ms = 0;
- static int cnt = 0;
- static unsigned long int k = 0;
- static int firstrun = 1;
-
- static int klemme = 12;
- static int kanal = 0;
- static int up_down = 0;
- int wrap = 0;
-
- ms++;
- ms %= 1000;
-
-#ifdef USE_ETHERCAT
- ecat_tx_delay = ((unsigned int) (100000 / HZ) * (ecat_master->dev->tx_time-k))
- / (current_cpu_data.loops_per_jiffy / 10);
- ecat_rx_delay = ((unsigned int) (100000 / HZ) * (ecat_master->dev->rx_time-k))
- / (current_cpu_data.loops_per_jiffy / 10);
-
- rx_intr = ecat_master->dev->rx_intr_cnt;
- tx_intr = ecat_master->dev->tx_intr_cnt;
- total_intr = ecat_master->dev->intr_cnt;
- // Prozessdaten lesen
- if(!firstrun) {
- EtherCAT_read_process_data(ecat_master);
-
- // Daten lesen und skalieren
- value = EtherCAT_read_value(&ecat_master->slaves[5], 0) / 3276.7;
- dig1 = EtherCAT_read_value(&ecat_master->slaves[3], 0);
- }
- // Daten schreiben
-
- EtherCAT_write_value(&ecat_master->slaves[4], 0, ms > 500 ? 1 : 0);
- EtherCAT_write_value(&ecat_master->slaves[4], 1, ms > 500 ? 0 : 1);
- EtherCAT_write_value(&ecat_master->slaves[4], 2, ms > 500 ? 0 : 1);
- EtherCAT_write_value(&ecat_master->slaves[4], 3, ms > 500 ? 1 : 0);
-
-
- if(cnt++ > 20) {
- cnt = 0;
- if(++kanal > 3) {
- kanal = 0;
- klemme = next2004(&wrap);
- if (wrap == 1) {
- if(up_down == 1)
- up_down = 0;
- else up_down = 1;
- }
- }
- }
- if (klemme >=0)
- EtherCAT_write_value(&ecat_master->slaves[klemme], kanal,up_down);
-
-// EtherCAT_write_value(&ecat_master->slaves[13], 1, ms > 500 ? 0 : 1);
-// EtherCAT_write_value(&ecat_master->slaves[14], 2, ms > 500 ? 0 : 1);
-// EtherCAT_write_value(&ecat_master->slaves[15], 3, ms > 500 ? 1 : 0);
-
- // Prozessdaten schreiben
- rdtscl(k);
- EtherCAT_write_process_data(ecat_master);
- firstrun = 0;
-#endif
-}
-
-/*
-*******************************************************************************
-*
-* Function: msr_run_interrupt
-*
-* Beschreibung: Interrupt abarbeiten
-*
-* Parameter:
-*
-* Rückgabe:
-*
-* Status: exp
-*
-*******************************************************************************
-*/
-
-void process_thread(int priv_data)
-{
- while (1)
- {
-
-#ifdef USE_ETHERCAT
- MSR_RTAITHREAD_CODE(msr_controller(); msr_write_kanal_list(); );
-#else
- MSR_RTAITHREAD_CODE( msr_write_kanal_list(); );
-#endif
-
-
-
- /* if(counter++ >=MSR_ABTASTFREQUENZ) {
- counter = 0;
- sprintf(buf,"rt:life");
- msr_print_info(buf);
- }
- */
- rt_task_wait_period();
- }
- thread_end = 1;
-}
-
-/*
-*******************************************************************************
-*
-* Function: msr_register_channels
-*
-* Beschreibung: Kanäle registrieren
-*
-* Parameter:
-*
-* Rückgabe:
-*
-* Status: exp
-*
-*******************************************************************************
-*/
-
-int msr_globals_register(void)
-{
- msr_reg_kanal("/value", "V", &value, TDBL);
- msr_reg_kanal("/dig1", "", &dig1, TINT);
- msr_reg_kanal("/Taskinfo/Ecat/TX-Delay","us",&ecat_tx_delay,TUINT);
- msr_reg_kanal("/Taskinfo/Ecat/RX-Delay","us",&ecat_rx_delay,TUINT);
- msr_reg_kanal("/Taskinfo/Ecat/TX-Cnt","",&tx_intr,TUINT);
- msr_reg_kanal("/Taskinfo/Ecat/RX-Cnt","",&rx_intr,TUINT);
- msr_reg_kanal("/Taskinfo/Ecat/Total-Cnt","",&total_intr,TUINT);
-
- return 0;
-}
-
-/*
-*******************************************************************************
-*
-* Function: msr_init
-*
-* Beschreibung: MSR initialisieren
-*
-* Parameter:
-*
-* Rückgabe:
-*
-* Status: exp
-*
-*******************************************************************************
-*/
-
-int msr_init(void)
-{
- int rv = -1;
- RTIME tick_period, now;
-
-// rt_mount_rtai();
-
- msr_print_info("Initialising rtlib.");
-
- // RT-lib initialisieren
- if (msr_rtlib_init(1, MSR_ABTASTFREQUENZ, 10, msr_globals_register) < 0)
- {
- msr_print_warn("msr_modul: can't initialize rtlib!");
- goto out_umount;
- }
-
-#ifdef USE_ETHERCAT
- msr_print_info("Opening EtherCAT device.");
-
- mdelay(100);
-
- if (EtherCAT_device_open(&rtl_ecat_dev) < 0)
- {
- msr_print_warn("msr_modul: Could not initialize EtherCAT NIC.");
- goto out_rtlib;
- }
-
- if (!rtl_ecat_dev.dev) // Es gibt kein EtherCAT-Device
- {
- msr_print_warn("msr_modul: No EtherCAT device!");
- goto out_close;
- }
-// goto out_close;
-
- // EtherCAT-Master und Slaves initialisieren
-
- msr_print_info("Initialising EtherCAT master");
-
- if ((ecat_master = (EtherCAT_master_t *) kmalloc(sizeof(EtherCAT_master_t), GFP_KERNEL)) == 0)
- {
- msr_print_warn(KERN_ERR "msr_modul: Could not alloc memory for EtherCAT master!\n");
- goto out_close;
- }
-
- if (EtherCAT_master_init(ecat_master, &rtl_ecat_dev) < 0)
- {
- msr_print_warn(KERN_ERR "EtherCAT could not init master!\n");
- goto out_master;
- }
-
- msr_print_info("Checking EtherCAT slaves.");
- mdelay(10); //Nachricht abwarten
-
- if (EtherCAT_check_slaves(ecat_master, ecat_slaves, ECAT_SLAVES_COUNT) != 0)
- {
- msr_print_warn(KERN_ERR "EtherCAT: Could not init slaves!\n");
- goto out_masterclear;
- }
-
- msr_print_info("Activating all EtherCAT slaves.");
- mdelay(10); //Nachricht abwarten
-
- if (EtherCAT_activate_all_slaves(ecat_master) != 0)
- {
- printk(KERN_ERR "EtherCAT: Could not activate slaves!\n");
- goto out_masterclear;
- }
-
- // Zyklischen Aufruf starten
-
-#endif
- msr_print_info("Starting cyclic sample thread.");
- mdelay(10); //Nachricht abwarten
-
- EtherCAT_write_process_data(ecat_master);
-
- //mdelay(100);
- tick_period = start_rt_timer(nano2count(TIMERTICS));
- now = rt_get_time();
-
- if ((rv = rt_task_init(&process_image, process_thread, 0/*data*/, 64000/*stacksize*/, 0/*prio*/, 1/*use fpu*/, 0/*signal*/)))
- {
- msr_print_error("Could not initialise process_thread\n");
- goto out_stoptimer;
- }
-
- msr_print_info("Initialised sample thread\n");
-
- if ((rv = rt_task_make_periodic(&process_image,
- now + tick_period,
- tick_period)))
- {
- msr_print_error("Could not start process_thread\n");
- goto out_stoptask;
- }
-
- msr_print_info("Started sample thread.");
-
- return 0;
-
- out_stoptask:
- msr_print_info("Deleting task....");
- rt_task_delete(&process_image);
-
- out_stoptimer:
- msr_print_info("Stopping timer.");
- stop_rt_timer();
-
-#ifdef USE_ETHERCAT
- out_masterclear:
- msr_print_info("Clearing EtherCAT master.");
- EtherCAT_master_clear(ecat_master);
-
- out_master:
- msr_print_info("Freeing EtherCAT master.");
- kfree(ecat_master);
-
- out_close:
- msr_print_info("Closing device.");
-
- EtherCAT_device_close(&rtl_ecat_dev);
-#endif
-
- out_rtlib:
- msr_print_info("msr_rtlib_cleanup()");
- mdelay(10);
- msr_rtlib_cleanup();
-
- out_umount:
-// rt_umount_rtai();
-
- return rv;
-}
-
-/*
-*******************************************************************************
-*
-* Function: msr_io_cleanup
-*
-* Beschreibung: Aufräumen
-*
-* Parameter:
-*
-* Rückgabe:
-*
-* Status: exp
-*
-*******************************************************************************
-*/
-
-void msr_io_cleanup(void)
-{
-
- msr_print_info("Stopping timer.");
-
- stop_rt_timer();
-
- msr_print_info("Deleting task....");
-
- rt_task_delete(&process_image);
-/*
- for(i=0;i<1000;i++) {
- udelay(100);
- if(thread_end == 1) {
- msr_print_info("Task ended at count %d",i);
- break;
- }
- }
-*/
- //noch einmal lesen
-
- msr_print_info("Read Processdata");
- EtherCAT_read_process_data(ecat_master);
-
- //EtherCAT_read_process_data(ecat_master);
-#ifdef USE_ETHERCAT
- if (ecat_master)
- {
-
- msr_print_info("Deactivating slaves.");
-
-
- EtherCAT_deactivate_all_slaves(ecat_master);
-
-
- msr_print_info("Clearing EtherCAT master.");
-
- EtherCAT_master_clear(ecat_master);
-
- msr_print_info("Freeing EtherCAT master.");
-
-
- kfree(ecat_master);
- ecat_master = NULL;
- }
-
- msr_print_info("Closing device.");
-
- EtherCAT_device_close(&rtl_ecat_dev);
-
-#endif
- msr_print_info("msr_rtlib_cleanup()");
-
- msr_rtlib_cleanup();
- //rt_umount_rtai();
-}
-
-/*---Treiber-Einsprungspunkte etc.-------------------------------------------*/
-
-MODULE_LICENSE("GPL");
-
-module_init(msr_init);
-module_exit(msr_io_cleanup);
-
-/*---Ende--------------------------------------------------------------------*/
--- a/rt/msr_io.h Fri Dec 16 09:23:56 2005 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,39 +0,0 @@
-
-/******************************************************************************
-*
-*
-* Alle globalen Variabeln
-*
-* Autor: Richard Hacker
-*
-* (C) Copyright IgH 2005
-* Ingenieurgemeinschaft IgH
-* Heinz-Bäcker Str. 34
-* D-45356 Essen
-* Tel.: +49 201/61 99 31
-* Fax.: +49 201/61 98 36
-* E-mail: ha@igh-essen.com
-*
-*
-* $RCSfile: msr_io.h,v $
-* $Revision: 1.2 $
-* $Author: hm $
-* $Date: 2005/09/02 10:26:38 $
-* $State: Exp $
-*
-*
-*
-*
-*
-*
-*
-*
-*
-******************************************************************************/
-
-#ifndef _ETH_GLOBALS_H_
-#define _ETH_GLOBALS_H_
-
-
-#endif
-
--- a/rt/tmp/_msr_io.c Fri Dec 16 09:23:56 2005 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,420 +0,0 @@
-/**************************************************************************************************
-*
-* msr_io.c
-*
-* Verwaltung der IO-Karten
-*
-*
-* Autor: Wilhelm Hagemeister
-*
-* (C) Copyright IgH 2002
-* Ingenieurgemeinschaft IgH
-* Heinz-Bäcker Str. 34
-* D-45356 Essen
-* Tel.: +49 201/61 99 31
-* Fax.: +49 201/61 98 36
-* E-mail: sp@igh-essen.com
-*
-*
-* $RCSfile: msr_io.c,v $
-* $Revision: 1.9 $
-* $Author: ha $
-* $Date: 2005/06/24 20:06:56 $
-* $State: Exp $
-*
-*
-* $Log: msr_io.c,v $
-* Revision 1.9 2005/06/24 20:06:56 ha
-* *** empty log message ***
-*
-* Revision 1.8 2005/06/24 17:39:05 ha
-* *** empty log message ***
-*
-*
-*
-*
-*
-*
-**************************************************************************************************/
-
-
-/*--includes-------------------------------------------------------------------------------------*/
-
-#ifndef __KERNEL__
-# define __KERNEL__
-#endif
-#ifndef MODULE
-# define MODULE
-#endif
-
-#include <linux/delay.h> /* mdelay() */
-#include <linux/spinlock.h>
-#include <linux/param.h> /* HZ */
-#include <linux/sched.h> /* jiffies */
-#include <linux/fs.h> /* everything... */
-#include <rtai_fifos.h>
-
-#include "msr_io.h"
-
-#include <msr_messages.h>
-
-
-#include "aim_globals.h"
-
-spinlock_t data_lock = SPIN_LOCK_UNLOCKED;
-
-#include "cif-rtai-io.h"
-
-/*--defines--------------------------------------------------------------------------------------*/
-
-
-/*--external functions---------------------------------------------------------------------------*/
-
-
-/*--external data--------------------------------------------------------------------------------*/
-
-
-/*--public data----------------------------------------------------------------------------------*/
-
-#define PB_CARDS 4
-struct {
- unsigned int fd;
- unsigned int timestamp;
- unsigned int fault;
- unsigned int active;
- void *in_buf;
- void *out_buf;
- size_t in_buf_len;
- size_t out_buf_len;
-
- unsigned int reset_timeout;
-} card[PB_CARDS];
-
-
-/*
-***************************************************************************************************
-*
-* Function: msr_io_init
-*
-* Beschreibung: Initialisieren der I/O-Karten
-*
-* Parameter:
-*
-* Rückgabe:
-*
-* Status: exp
-*
-***************************************************************************************************
-*/
-void x_PB_io(unsigned long card_no) {
- int rv = 0;
- unsigned int flags;
-
- spin_lock_irqsave(&data_lock, flags);
-
- switch (card_no) {
- case 0:
- rv = cif_exchange_io(card[0].fd,card[0].in_buf,card[0].out_buf);
- if (!rv)
- card[0].timestamp = jiffies;
- break;
- case 1:
- rv = cif_exchange_io(card[1].fd,card[1].in_buf,card[1].out_buf);
-// rv = cif_read_io(card[1].fd,card[1].in_buf);
-// IMO.to_dSPACE.P101.HX_Stat = 51;
-// IMO.from_dSPACE.P101.HX_Control |= IMO.to_dSPACE.P101.HX_Stat<<4;
-// rv += cif_write_io(card[1].fd,card[1].out_buf);
- if (!rv)
- card[1].timestamp = jiffies;
- break;
- /*
- case 2:
- rv = cif_exchange_io(card[2].fd,&cif_in.P201,&cif_out.P201);
- break;
- */
- case 3:
- rv = cif_exchange_io(card[3].fd,card[3].in_buf,card[3].out_buf);
- if (!rv)
- card[3].timestamp = jiffies;
- break;
- }
-
- if (rv) {
- msr_print_error("Error during exchange_io %i %i",
- card_no, rv );
- }
-
- spin_unlock_irqrestore(&data_lock, flags);
-
-}
-
-int msr_io_init()
-{
- int rv;
-
- memset(card, 0, sizeof(card));
-
-#define FIFO_BUF 10000
-
- if ((rv = rtf_create(0, FIFO_BUF)) < 0) {
- msr_print_error("Could not open FIFO %i", rv);
- return -1;
- }
-
-#ifndef _SIMULATION
-/*
- card[0].in_buf_len = sizeof(IMO.from_dSPACE);
- card[0].out_buf_len = sizeof(IMO.to_dSPACE);
- card[0].in_buf = &IMO.from_dSPACE;
- card[0].out_buf = &IMO.to_dSPACE;
- card[0].active = 1;
- if (!(card[0].fd = cif_open_card(0, card[0].in_buf_len,
- card[0].out_buf_len, x_PB_io, 0))) {
- msr_print_error("Cannot open CIF card PB01");
- return -1;
- }
-
-
- card[1].in_buf_len = sizeof(IMO.to_dSPACE.P101);
- card[1].out_buf_len = sizeof(IMO.from_dSPACE.P101);
- card[1].in_buf = &IMO.to_dSPACE.P101;
- card[1].out_buf = &IMO.from_dSPACE.P101;
- card[1].active = 1;
- if (!(card[1].fd = cif_open_card(1, card[1].in_buf_len,
- card[1].out_buf_len, x_PB_io, 1))) {
- msr_print_error("Cannot open CIF card P101");
- return -1;
- }
-
- card[2].in_buf_len = sizeof(IMO.to_dSPACE.P201);
- card[2].out_buf_len = sizeof(IMO.from_dSPACE.P201);
- card[2].in_buf = &IMO.to_dSPACE.P201;
- card[2].out_buf = &IMO.from_dSPACE.P201;
- if (!(card[2].fd = cif_open_card(2, card[2].in_buf_len,
- card[2].out_buf_len, x_PB_io, 2))) {
- msr_print_error("Cannot open CIF card P201");
- return -1;
- }
-
-*/
- card[3].in_buf_len = sizeof(dSPACE.in);
- card[3].out_buf_len = sizeof(dSPACE.out);
- card[3].in_buf = &dSPACE.in;
- card[3].out_buf = &dSPACE.out;
- card[3].active = 1;
- if (!(card[3].fd = cif_open_card(0, card[3].in_buf_len,
- card[3].out_buf_len, x_PB_io,3))) {
- msr_print_error("Cannot open CIF card P301");
- return -1;
- }
-
- //msr_reg_chk_failure(&int_cif_io_fail,TINT,T_CHK_HIGH,0,T_CRIT,"CIF Card was not ready to exchange data");
-
-
-#endif
-
- return 0;
-}
-
-/*
-***************************************************************************************************
-*
-* Function: msr_io_register
-*
-* Beschreibung: Rohdaten als Kanaele registrieren
-*
-* Parameter:
-*
-* Rückgabe:
-*
-* Status: exp
-*
-***************************************************************************************************
-*/
-
-int msr_io_register()
-{
-
-#ifndef _SIMULATION
-
-#endif
-
- return 0;
-}
-
-
-/*
-***************************************************************************************************
-*
-* Function: msr_io_write
-*
-* Beschreibung: Schreiben der Werte
-*
-* Parameter:
-*
-* Rückgabe:
-*
-* Status: exp
-*
-***************************************************************************************************
-*/
-int msr_io_write()
-{
- static int return_value = 0;
- int rv;
- int i = 0;
- unsigned int flags;
- unsigned int com_check_timestamp = 0;
- static int COM_Up = 1;
-
- if (jiffies - com_check_timestamp > HZ/20) {
-
- if ( rtf_put_if(0,&IMO,sizeof(IMO)) != sizeof(IMO)) {
- //msr_print_error("Could not output data");
- }
-
- com_check_timestamp = jiffies;
-
- spin_lock_irqsave(&data_lock, flags);
- for ( i=0; i < PB_CARDS; i++) {
- // Ignore inactive and cards that already have a fault
- if (!card[i].active || card[i].fault)
- continue;
-
- // For active cards, check timestamp value. Mark card
- // as faulty if there was no data exchange in the last
- // 50ms
- if (jiffies - card[i].timestamp > HZ/20) {
- COM_Up = 0;
- card[i].fault = 1;
- card[i].reset_timeout = jiffies;
- msr_print_error("Card %i timed out", i);
- }
-
- }
-
- spin_unlock_irqrestore(&data_lock, flags);
-
- for ( i = 0; i < PB_CARDS; i++ ) {
- if (!card[i].active || (card[i].active && !card[i].fault))
- continue;
-
- switch (card[i].fault) {
- case 1:
- rv = cif_write_io(card[i].fd,card[i].out_buf);
-
- if (!rv) {
- msr_print_error("Card %i online", i);
- card[i].fault = 0;
- card[i].timestamp = jiffies;
- break;
- }
-
- msr_print_error("rv of cif_write_io(%i) = %i",
- i, rv);
-
- card[i].fault = 2;
- cif_set_host_state(card[i].fd,0);
- card[i].reset_timeout = jiffies;
-
- case 2:
- if (cif_card_ready(card[i].fd)) {
- cif_set_host_state(card[i].fd,1);
- card[i].fault = 0;
- break;
- }
- if (jiffies < card[i].reset_timeout)
- break;
-
- rv = cif_reset_card(card[i].fd,10,1);
- msr_print_error("rv of cif_reset_card(%i) = %i",
- i, rv);
-
- // Reset again in 10 seconds
- card[i].reset_timeout += 10*HZ;
- }
- }
- }
-
- if (COM_Up)
- IMO.to_dSPACE.Status = IMO.from_dSPACE.WatchDog;
-
-// if (return_value)
-// int_cif_io_fail = 1;
-
- return return_value;
-}
-
-/*
-***************************************************************************************************
-*
-* Function: msr_io_read
-*
-* Beschreibung: Lesen der Werte
-*
-* Parameter:
-*
-* Rückgabe:
-*
-* Status: exp
-*
-***************************************************************************************************
-*/
-int msr_io_read()
-{
- int return_value = 0;
-
-#ifndef _SIMULATION
-
- int_cif_io_fail = 0;
- /*
- return_value = cif_exchange_io(fd_PB01,
- &cif_out,&cif_in,
- sizeof(cif_out),sizeof(cif_in)
- );
- */
-/* if (return_value) */
-/* int_cif_io_fail = 1; */
-// printk("%i\n", return_value);
-
-#endif
- return return_value;
-}
-
-
-/*
-***************************************************************************************************
-*
-* Function: msr_io_cleanup
-*
-* Beschreibung: Aufräumen
-*
-* Parameter:
-*
-* Rückgabe:
-*
-* Status: exp
-*
-***************************************************************************************************
-*/
-void msr_io_cleanup()
-{
-/*
- cif_set_host_state(card[0].fd,0);
- cif_close_card(card[0].fd);
-
- cif_set_host_state(card[1].fd,0);
- cif_close_card(card[1].fd);
-
- cif_set_host_state(card[2].fd,0);
- cif_close_card(card[2].fd);
-
-
-*/
- cif_set_host_state(card[3].fd,0);
- cif_close_card(card[3].fd);
-
- rtf_destroy(0);
-}
-
-
--- a/rt/tmp/_msr_io.h Fri Dec 16 09:23:56 2005 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,236 +0,0 @@
-/**************************************************************************************************
-*
-* msr_io.h
-*
-* Verwaltung der IO-Karten
-
-*
-* Autor: Wilhelm Hagemeister
-*
-* (C) Copyright IgH 2002
-* Ingenieurgemeinschaft IgH
-* Heinz-Bäcker Str. 34
-* D-45356 Essen
-* Tel.: +49 201/61 99 31
-* Fax.: +49 201/61 98 36
-* E-mail: sp@igh-essen.com
-*
-*
-* $RCSfile: msr_io.h,v $
-* $Revision: 1.5 $
-* $Author: ha $
-* $Date: 2005/06/24 20:08:15 $
-* $State: Exp $
-*
-*
-* $Log: msr_io.h,v $
-* Revision 1.5 2005/06/24 20:08:15 ha
-* *** empty log message ***
-*
-* Revision 1.4 2005/06/24 17:39:05 ha
-* *** empty log message ***
-*
-* Revision 1.3 2005/02/28 17:11:48 hm
-* *** empty log message ***
-*
-* Revision 1.1 2005/02/10 16:34:24 hm
-* Initial revision
-*
-* Revision 1.4 2004/12/21 22:03:54 hm
-* *** empty log message ***
-*
-* Revision 1.3 2004/12/16 15:44:01 hm
-* *** empty log message ***
-*
-* Revision 1.2 2004/12/01 17:07:49 hm
-* *** empty log message ***
-*
-* Revision 1.1 2004/11/26 15:14:21 hm
-* Initial revision
-*
-* Revision 1.1 2004/11/01 11:05:20 hm
-* Initial revision
-*
-* Revision 1.1 2004/10/21 12:09:23 hm
-* Initial revision
-*
-* Revision 1.3 2004/09/21 18:10:58 hm
-* *** empty log message ***
-*
-* Revision 1.2 2004/07/22 17:28:02 hm
-* *** empty log message ***
-*
-* Revision 1.1 2004/06/21 08:46:52 hm
-* Initial revision
-*
-* Revision 1.4 2004/06/02 20:38:42 hm
-* *** empty log message ***
-*
-* Revision 1.3 2004/06/02 20:38:18 hm
-* *** empty log message ***
-*
-* Revision 1.2 2004/06/02 12:15:17 hm
-* *** empty log message ***
-*
-* Revision 1.5 2003/02/20 17:33:37 hm
-* *** empty log message ***
-*
-* Revision 1.4 2003/02/14 18:17:28 hm
-* *** empty log message ***
-*
-* Revision 1.3 2003/02/13 17:11:12 hm
-* *** empty log message ***
-*
-* Revision 1.2 2003/01/30 15:05:58 hm
-* *** empty log message ***
-*
-* Revision 1.1 2003/01/24 20:40:09 hm
-* Initial revision
-*
-* Revision 1.1 2003/01/22 15:55:40 hm
-* Initial revision
-*
-* Revision 1.1 2002/08/13 16:26:27 hm
-* Initial revision
-*
-* Revision 1.4 2002/07/04 13:34:27 sp
-* *** empty log message ***
-*
-* Revision 1.3 2002/07/04 12:08:34 sp
-* *** empty log message ***
-*
-* Revision 1.2 2002/07/04 08:44:19 sp
-* Änderung des Autors :) und des Datums
-*
-* Revision 1.1 2002/07/04 08:25:26 sp
-* Initial revision
-*
-*
-*
-*
-*
-*
-*
-**************************************************************************************************/
-
-/*--Schutz vor mehrfachem includieren------------------------------------------------------------*/
-
-#ifndef _MSR_IO_H_
-#define _MSR_IO_H_
-
-/*--includes-------------------------------------------------------------------------------------*/
-
-//#include "msr_control.h"
-
-/*--defines--------------------------------------------------------------------------------------*/
-
-
-struct cif_in_t { /* Von Feld nach dSPACE */
- uint8_t CIM_stat;
- uint8_t P101[91];
- uint8_t P201[72];
- uint8_t P301[72];
-} __attribute__ ((packed));
-
-struct cif_out_t { /* Von dSPACE zum Feld */
- uint8_t WatchDog;
- uint8_t P101[39];
- uint8_t P201[32];
- uint8_t P301[32];
-} __attribute__ ((packed));
-
-/*--external functions---------------------------------------------------------------------------*/
-
-/*--external data--------------------------------------------------------------------------------*/
-
-/*--public data----------------------------------------------------------------------------------*/
-
-/*
-***************************************************************************************************
-*
-* Function: msr_io_init
-*
-* Beschreibung: Initialisieren der I/O-Karten
-*
-* Parameter:
-*
-* Rückgabe:
-*
-* Status: exp
-*
-***************************************************************************************************
-*/
-int msr_io_init();
-
-/*
-***************************************************************************************************
-*
-* Function: msr_io_register
-*
-* Beschreibung: Kanaele oder Parameter registrieren
-*
-* Parameter:
-*
-* Rückgabe:
-*
-* Status: exp
-*
-***************************************************************************************************
-*/
-
-int msr_io_register();
-
-/*
-***************************************************************************************************
-*
-* Function: msr_io_write
-*
-* Beschreibung: Schreiben der Werte
-*
-* Parameter:
-*
-* Rückgabe:
-*
-* Status: exp
-*
-***************************************************************************************************
-*/
-int msr_io_write();
-
-/*
-***************************************************************************************************
-*
-* Function: msr_io_write
-*
-* Beschreibung: Lesen der Werte
-*
-* Parameter:
-*
-* Rückgabe:
-*
-* Status: exp
-*
-***************************************************************************************************
-*/
-int msr_io_read();
-
-/*
-***************************************************************************************************
-*
-* Function: msr_io_cleanup
-*
-* Beschreibung: Aufräumen
-*
-* Parameter:
-*
-* Rückgabe:
-*
-* Status: exp
-*
-***************************************************************************************************
-*/
-void msr_io_cleanup();
-
-#endif
-
-