--- a/mini/ec_mini.c Fri Dec 02 15:35:21 2005 +0000
+++ b/mini/ec_mini.c Fri Dec 16 08:15:21 2005 +0000
@@ -255,9 +255,6 @@
#ifdef ECAT_CYCLIC_DATA
printk("Starting cyclic sample thread.\n");
- schedule();
- mdelay(1000);
- schedule();
init_timer(&timer);
timer.function = run;
--- a/rt/Makefile Fri Dec 02 15:35:21 2005 +0000
+++ b/rt/Makefile Fri Dec 16 08:15:21 2005 +0000
@@ -1,64 +1,81 @@
-#----------------------------------------------------------------
-#
-# Makefile
-#
-# EtherCAT-RT-Modul
-#
-# $Id$
-#
-#----------------------------------------------------------------
+# Comment/uncomment the following line to disable/enable debugging
+#DEBUG = y
-CONFIG_FILE = ../ethercat.conf
-ifeq ($(CONFIG_FILE),$(wildcard $(CONFIG_FILE)))
-include $(CONFIG_FILE)
+# Add your debugging flag (or not) to CFLAGS
+ifeq ($(DEBUG),y)
+ DEBFLAGS = -O -g -DSHORT_DEBUG # "-O" is needed to expand inlines
else
-KERNELDIR = /vol/projekte/msr_messen_steuern_regeln/linux/kernel/2.4.20/include/linux-2.4.20.CX1100-rthal5
-RTAIDIR = /vol/projekte/msr_messen_steuern_regeln/linux/kernel/2.4.20/include/rtai-24.1.13
-RTLIBDIR = rt_lib
+ DEBFLAGS = -O2
endif
-CFLAGS = -O2 -Wall -Wuninitialized -D__KERNEL__ -DMODULE -DSERIALDEBUG -DMSR_NO_PROC -I$(KERNELDIR)/include -D_RTAI -I$(RTAIDIR)/include -I$(RTLIBDIR)/msr-include
+CFLAGS += $(DEBFLAGS)
+CFLAGS += -I..
+
+RTLIB = /vol/projekte/msr_messen_steuern_regeln/linux/kernel_space/rt_lib-4.0.0-2.6krnl
#Suchpfad für die Dateien aus dem RT-Lib-Verzeichnis
-VPATH = $(RTLIBDIR)/msr-core:$(RTLIBDIR)/msr-control:$(RTLIBDIR)/msr-math:$(RTLIBDIR)/msr-misc:$(RTLIBDIR)/msr-utils
+VPATH := $(RTLIB)/msr-core:$(RTLIB)/msr-control:$(RTLIB)/msr-hwdriver:$(RTLIB)/msr-math:$(RTLIB)/msr-misc:$(RTLIB)/msr-utils
-MODULE = msr_modul.o
-SRC = msr_io.c
-RTSRC = msr_main.c msr_lists.c msr_charbuf.c msr_reg.c msr_interpreter.c \
- msr_utils.c msr_messages.c msr_base64.c msr_proc.c msr_error_reg.c
-ALLSRC = $(SRC) $(RTSRC)
-OBJ = $(ALLSRC:.c=.o)
+#Datei aus dem RT-Libverzeichnis für dies Projekt
+RTSRC := msr_main.o msr_lists.o msr_charbuf.o msr_reg.o msr_interpreter.o msr_utils.o msr_messages.o msr_functiongen.o msr_base64.o msr_watchdog.o msr_proc.o msr_error_reg.o
-#----------------------------------------------------------------
+ifneq ($(KERNELRELEASE),)
+# call from kernel build system
-all: .output_dirs .depend $(MODULE) Makefile
-$(MODULE): $(OBJ)
- @echo "Making module"
- $(LD) -r $(OBJ) -o $@
+EXTRA_CFLAGS := -I$(RTLIB)/msr-include -D_SIMULATION -I/usr/include -mhard-float
-.c.o:
- @echo "Making obj $@"
- $(CC) -c $(CFLAGS) $< -o $@
+#EXTRA_LDFLAGS := -L/usr/lib -lm
-.output_dirs:
- @echo "x-- Directories -------------"
- @echo "| Kernel $(KERNELDIR)"
- @echo "| RTAI $(RTAIDIR)"
- @echo "| RT_lib $(RTLIBDIR)"
- @echo "x----------------------------"
+msr_modul-y := msr_module.o \
+ msr_jitter.o \
+ rt_lib/msr-core/msr_lists.o \
+ rt_lib/msr-core/msr_main.o \
+ rt_lib/msr-core/msr_charbuf.o \
+ rt_lib/msr-core/msr_reg.o \
+ rt_lib/msr-core/msr_interpreter.o \
+ rt_lib/msr-core/msr_messages.o \
+ rt_lib/msr-core/msr_proc.o \
+ rt_lib/msr-core/msr_error_reg.o \
+ rt_lib/msr-utils/msr_utils.o \
+ rt_lib/msr-math/msr_base64.o \
+ libm.o
+
+
+obj-m := msr_modul.o
+
+
+
+else
+
+
+KERNELDIR := /lib/modules/$(shell uname -r)/build
+PWD := $(shell pwd)
+
+
+
+
+default:
+ $(MAKE) -C $(KERNELDIR) M=$(PWD) modules
+
+endif
+
+
+clean:
+ rm -f core .depend
+ rm -rf .tmp_versions
+ find -L -maxdepth 3 -name "*.o" -exec rm {} \;
+ find -L -maxdepth 3 -name "*~" -exec rm {} \;
+ find -L -maxdepth 3 -name "*.cmd" -exec rm {} \;
+ find -L -maxdepth 3 -name "*.ko" -exec rm {} \;
+ find -L -maxdepth 3 -name "*.mod.c" -exec rm {} \;
depend .depend dep:
- $(CC) $(CFLAGS) -M $(SRC) > .depend
+ $(CC) $(CFLAGS) -M *.c > .depend
-clean:
- rm -f *.o *~ core .depend
-#----------------------------------------------------------------
ifeq (.depend,$(wildcard .depend))
include .depend
endif
-
-#----------------------------------------------------------------
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/rt/msr_jitter.c Fri Dec 16 08:15:21 2005 +0000
@@ -0,0 +1,185 @@
+/**************************************************************************************************
+*
+* msr_jitter.c
+*
+*
+* 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: msr_adeos_latency.c,v $
+* $Revision: 1.3 $
+* $Author: hm $
+* $Date: 2005/12/07 20:13:53 $
+* $State: Exp $
+*
+*
+* $Log: msr_adeos_latency.c,v $
+* Revision 1.3 2005/12/07 20:13:53 hm
+* *** empty log message ***
+*
+* Revision 1.2 2005/12/07 15:56:13 hm
+* *** empty log message ***
+*
+* Revision 1.1 2005/12/07 08:43:40 hm
+* Initial revision
+*
+* Revision 1.5 2005/11/14 20:28:09 hm
+* *** empty log message ***
+*
+* Revision 1.4 2005/11/13 10:34:07 hm
+* *** empty log message ***
+*
+* Revision 1.3 2005/11/12 20:52:46 hm
+* *** empty log message ***
+*
+* Revision 1.2 2005/11/12 20:51:27 hm
+* *** empty log message ***
+*
+* Revision 1.1 2005/11/12 19:16:02 hm
+* Initial revision
+*
+* Revision 1.13 2005/06/17 11:35:13 hm
+* *** empty log message ***
+*
+*
+*
+*
+**************************************************************************************************/
+
+#ifndef __KERNEL__
+# define __KERNEL__
+#endif
+#ifndef MODULE
+# define MODULE
+#endif
+
+#include <linux/config.h>
+#include <linux/module.h>
+#include <linux/sched.h>
+#include <linux/kernel.h>
+#include <asm/msr.h> /* maschine-specific registers */
+#include <linux/param.h> /* fuer HZ */
+
+#include <msr_reg.h>
+#include "msr_jitter.h"
+
+/*--includes-------------------------------------------------------------------------------------*/
+
+
+/*--external functions---------------------------------------------------------------------------*/
+
+/*--external data--------------------------------------------------------------------------------*/
+
+/*--public data----------------------------------------------------------------------------------*/
+
+/*--local data-----------------------------------------------------------------------------------*/
+
+#define NUMCLASSES 16
+
+static int jittime[NUMCLASSES]={0,1,2,5,10,20,50,100,200,500,1000,2000,5000,10000,20000,50000}; //in usec
+static int jitcount[NUMCLASSES];
+static double jitpercent[NUMCLASSES];
+
+static unsigned int tcount = 1;
+
+
+
+static void msr_jit_read(void)
+{
+ int i;
+ for(i=0;i<NUMCLASSES;i++) {
+ if(tcount >100) {
+ jitpercent[i] = jitcount[i]*100.0/tcount;
+ }
+ }
+}
+
+void msr_jitter_init(void)
+{
+ msr_reg_int_list("/Taskinfo/Jitter/Classes","usec",&jittime[0],MSR_R,NUMCLASSES,NULL,NULL,NULL);
+ msr_reg_int_list("/Taskinfo/Jitter/Count","",&jitcount[0],MSR_R,NUMCLASSES,NULL,NULL,NULL);
+ msr_reg_dbl_list("/Taskinfo/Jitter/percent","%",&jitpercent[0],MSR_R,NUMCLASSES,NULL,NULL,&msr_jit_read);
+}
+
+/*
+***************************************************************************************************
+*
+* Function: msr_jitter_run
+*
+* Beschreibung:
+*
+*
+* Parameter: Zeiger auf msr_data
+*
+* Rückgabe:
+*
+* Status: exp
+*
+***************************************************************************************************
+*/
+
+void msr_jitter_run(unsigned int hz) {
+
+ int i,hit;
+ static int firstrun = 1;
+ static int counter = 0;
+ static unsigned long k,j = 0;
+ unsigned int dt,jitter;
+
+
+ rdtscl(k);
+
+ tcount++;
+
+ //Zeitabstand zwischen zwei Interrupts in usec
+
+ dt = ((unsigned long)(100000/HZ)*((unsigned long)(k-j)))/(current_cpu_data.loops_per_jiffy/10);
+
+ jitter = (unsigned int)abs((int)dt-(int)1000000/hz); //jitter errechnet zum Sollabtastrate
+
+ //in die Klassen einsortieren
+ if(!firstrun) { //das erste mal nicht einsortieren
+ hit = 0;
+ for(i=0;i<NUMCLASSES-1;i++) {
+ if(jitter>=jittime[i] && jitter<jittime[i+1]) {
+ jitcount[i]++;
+ hit = 1;
+ break;
+ }
+ }
+ if(hit == 0) //grŽöŽßer als der letzte
+ jitcount[NUMCLASSES-1]++;
+
+ }
+ else
+ firstrun = 0;
+
+ j = k;
+
+
+}
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
--- a/rt/msr_load Fri Dec 02 15:35:21 2005 +0000
+++ b/rt/msr_load Fri Dec 16 08:15:21 2005 +0000
@@ -12,7 +12,7 @@
# invoke insmod with all arguments we got
# and use a pathname, as newer modutils don't look in . by default
-/sbin/insmod -f ./$module.o $* || exit 1
+/sbin/insmod -f ./$module.ko $* || exit 1
major=`cat /proc/devices | awk "\\$2==\"$device\" {print \\$1}"`
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/rt/msr_module.c Fri Dec 16 08:15:21 2005 +0000
@@ -0,0 +1,503 @@
+/**************************************************************************************************
+*
+* msr_module.c
+*
+* Kernelmodul für 2.6 Kernel zur Meßdatenerfassung, Steuerung und Regelung
+* Zeitgeber ist der Timerinterrupt (tq)
+*
+* 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: msr_module.c,v $
+* $Revision: 1.1 $
+* $Author: hm $
+* $Date: 2005/11/14 20:32:57 $
+* $State: Exp $
+*
+*
+* $Log: msr_module.c,v $
+* Revision 1.1 2005/11/14 20:32:57 hm
+* Initial revision
+*
+* Revision 1.13 2005/06/17 11:35:13 hm
+* *** empty log message ***
+*
+*
+*
+*
+**************************************************************************************************/
+
+
+/*--includes-------------------------------------------------------------------------------------*/
+
+
+#ifndef __KERNEL__
+# define __KERNEL__
+#endif
+#ifndef MODULE
+# define MODULE
+#endif
+
+#include <linux/config.h>
+#include <linux/module.h>
+
+#include <linux/sched.h>
+#include <linux/kernel.h>
+#include <linux/vmalloc.h>
+#include <linux/fs.h> /* everything... */
+#include <linux/proc_fs.h>
+#include <linux/time.h>
+#include <linux/timer.h>
+#include <linux/timex.h> /* fuer get_cycles */
+#include <linux/errno.h> /* error codes */
+#include <asm/msr.h> /* maschine-specific registers */
+#include <linux/param.h> /* fuer HZ */
+#include <linux/ipipe.h>
+
+#include "msr_param.h" //wird im Projektverzeichnis erwartet
+
+//#include <msr_control.h>
+#include <msr_lists.h>
+#include <msr_charbuf.h>
+#include <msr_reg.h>
+#include <msr_error_reg.h>
+#include <msr_messages.h>
+#include <msr_proc.h>
+#include <msr_utils.h>
+#include <msr_main.h>
+
+
+#include <msr_float.h>
+
+#include "../drivers/ec_master.h"
+#include "../drivers/ec_device.h"
+#include "../drivers/ec_types.h"
+#include "../drivers/ec_module.h"
+
+#include "msr_jitter.h"
+
+MODULE_AUTHOR("Wilhelm Hagemeister, Ingenieurgemeinschaft IgH");
+MODULE_LICENSE("GPL");
+
+/*--external functions---------------------------------------------------------------------------*/
+
+/*--external data--------------------------------------------------------------------------------*/
+
+#define HZREDUCTION (MSR_ABTASTFREQUENZ/HZ)
+
+extern wait_queue_head_t msr_read_waitqueue;
+
+extern struct msr_char_buf *msr_kanal_puffer;
+
+extern int proc_abtastfrequenz;
+
+/*--public data----------------------------------------------------------------------------------*/
+/*--local data-----------------------------------------------------------------------------------*/
+//struct timer_list timer;
+
+extern struct timeval process_time;
+struct timeval msr_time_increment; // Increment per Interrupt
+
+//adeos
+
+static struct ipipe_domain this_domain;
+
+static struct ipipe_sysinfo sys_info;
+
+static EtherCAT_master_t *ecat_master = NULL;
+
+static EtherCAT_slave_t ecat_slaves[] =
+{
+
+
+#if 1
+ // Block 1
+ 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),
+ ECAT_INIT_SLAVE(Beckhoff_EL2004),
+ 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_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)
+#endif
+
+#if 1
+ // Block 3
+ ,ECAT_INIT_SLAVE(Beckhoff_EK1100),
+ ECAT_INIT_SLAVE(Beckhoff_EL3162),
+ 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_EL3102),
+ ECAT_INIT_SLAVE(Beckhoff_EL3102),
+
+ ECAT_INIT_SLAVE(Beckhoff_EL4102),
+ ECAT_INIT_SLAVE(Beckhoff_EL4102),
+ ECAT_INIT_SLAVE(Beckhoff_EL4102),
+ ECAT_INIT_SLAVE(Beckhoff_EL4102)
+
+
+#endif
+};
+
+#define ECAT_SLAVES_COUNT (sizeof(ecat_slaves) / sizeof(EtherCAT_slave_t))
+
+#define USE_MSR_LIB
+
+#ifdef USE_MSR_LIB
+double value;
+int dig1;
+#endif
+
+/******************************************************************************
+ *
+ * Function: next2004
+ *
+ *****************************************************************************/
+
+
+
+static int next2004(int *wrap)
+{
+ static int i = 0;
+ unsigned 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_run()
+ *
+ *****************************************************************************/
+
+static void msr_controller_run(void)
+{
+ static int ms = 0;
+ static int cnt = 0;
+ static unsigned long int k = 0;
+ static int firstrun = 1;
+
+ static int klemme = 0;
+ static int kanal = 0;
+ static int up_down = 0;
+ int wrap = 0;
+
+
+ // Prozessdaten lesen
+ msr_jitter_run(MSR_ABTASTFREQUENZ);
+
+ if (!firstrun)
+ {
+ EtherCAT_read_process_data(ecat_master);
+
+ // Daten lesen und skalieren
+#ifdef USE_MSR_LIB
+ value = EtherCAT_read_value(&ecat_master->slaves[5], 0) / 3276.0;
+ dig1 = EtherCAT_read_value(&ecat_master->slaves[2], 0);
+#endif
+ }
+ else
+ klemme = next2004(&wrap);
+
+
+ ms++;
+ ms %= 1000;
+ 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);
+ //printk("ECAT write: Klemme: %d, Kanal: %d, Wert: %d\n",klemme,kanal,up_down);
+ }
+
+#if 0
+ 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);
+#endif
+
+ // Prozessdaten schreiben
+ rdtscl(k);
+ EtherCAT_write_process_data(ecat_master);
+ firstrun = 0;
+
+}
+
+/*
+***************************************************************************************************
+*
+* Function: msr_run(_interrupt)
+*
+* Beschreibung: Routine wird zyklisch im Timerinterrupt ausgeführt
+* (hier muß alles rein, was Echtzeit ist ...)
+*
+* Parameter: Zeiger auf msr_data
+*
+* Rückgabe:
+*
+* Status: exp
+*
+***************************************************************************************************
+*/
+
+
+void msr_run(unsigned irq)
+{
+
+ static int counter = 0;
+#ifdef USE_MSR_LIB
+
+ timeval_add(&process_time,&process_time,&msr_time_increment);
+
+ MSR_ADEOS_INTERRUPT_CODE(
+ msr_controller_run();
+ msr_write_kanal_list();
+ );
+#else
+ msr_controller_run();
+#endif
+ /* und wieder in die Timerliste eintragen */
+ /* und neu in die Taskqueue eintragen */
+// timer.expires += 1;
+// add_timer(&timer);
+
+ ipipe_control_irq(irq,0,IPIPE_ENABLE_MASK); //nicht weiterreichen
+ if(counter++ > HZREDUCTION) {
+ ipipe_propagate_irq(irq); //wie lange braucht der Rest der Pipeline ??
+ counter = 0;
+ }
+
+
+}
+
+void domain_entry (int iflag) {
+ 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);
+
+}
+
+/*
+*******************************************************************************
+*
+* Function: msr_register_channels
+*
+* Beschreibung: KanŽäle registrieren
+*
+* Parameter:
+*
+* RŽückgabe:
+*
+* Status: exp
+*
+*******************************************************************************
+*/
+
+int msr_globals_register(void)
+{
+#ifdef USE_MSR_LIB
+ msr_reg_kanal("/value", "V", &value, TDBL);
+ msr_reg_kanal("/dig1", "", &dig1, TINT);
+#endif
+/* 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;
+}
+
+
+/****************************************************************************************************
+ * the init/clean material
+ ****************************************************************************************************/
+
+
+int __init init_module()
+{
+ int result = 0;
+
+ struct ipipe_domain_attr attr; //ipipe
+
+ //als allererstes die RT-lib initialisieren
+#ifdef USE_MSR_LIB
+ result = msr_rtlib_init(1,MSR_ABTASTFREQUENZ,10,&msr_globals_register);
+
+ if (result < 0) {
+ msr_print_warn("msr_modul: can't initialize rtlib!");
+ return result;
+ }
+#endif
+
+ msr_jitter_init();
+ printk(KERN_INFO "=== Starting EtherCAT environment... ===\n");
+
+ if ((ecat_master = EtherCAT_master(0)) == NULL)
+ {
+ printk(KERN_ERR "No EtherCAT master available!\n");
+ msr_rtlib_cleanup();
+ return -1;
+ }
+
+ printk("Checking EtherCAT slaves.\n");
+
+ if (EtherCAT_check_slaves(ecat_master, ecat_slaves, ECAT_SLAVES_COUNT) != 0)
+ {
+ printk(KERN_ERR "EtherCAT: Could not init slaves!\n");
+ msr_rtlib_cleanup();
+ return -1;
+ }
+
+ printk("Activating all EtherCAT slaves.\n");
+
+ if (EtherCAT_activate_all_slaves(ecat_master) != 0)
+ {
+ printk(KERN_ERR "EtherCAT: Could not activate slaves!\n");
+ msr_rtlib_cleanup();
+ return -1;
+ }
+
+
+ do_gettimeofday(&process_time);
+ msr_time_increment.tv_sec=0;
+ msr_time_increment.tv_usec=(unsigned int)(1000000/MSR_ABTASTFREQUENZ);
+
+ 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);
+
+ //den Timertakt
+/*
+ init_timer(&timer);
+
+ timer.function = msr_run;
+ timer.data = 0;
+ timer.expires = jiffies+10; // Das erste Mal sofort feuern
+ add_timer(&timer);
+*/
+ return 0; /* succeed */
+}
+
+
+//****************************************************************************
+void __exit cleanup_module()
+
+{
+ msr_print_info("msk_modul: unloading...");
+
+
+// del_timer_sync(&timer);
+ ipipe_tune_timer(1000000000UL/HZ,0); //alten Timertakt wieder herstellen
+
+ ipipe_unregister_domain(&this_domain);
+
+
+
+ printk(KERN_INFO "=== Stopping EtherCAT environment... ===\n");
+
+ if (ecat_master)
+ {
+ EtherCAT_clear_process_data(ecat_master);
+ printk(KERN_INFO "Deactivating slaves.\n");
+ EtherCAT_deactivate_all_slaves(ecat_master);
+ }
+
+ printk(KERN_INFO "=== EtherCAT environment stopped. ===\n");
+
+// msr_controller_cleanup();
+#ifdef USE_MSR_LIB
+ msr_rtlib_cleanup();
+#endif
+}
+
+MODULE_LICENSE("GPL");
+MODULE_AUTHOR ("Wilhelm Hagemeister <hm@igh-essen.com>");
+MODULE_DESCRIPTION ("EtherCAT test environment");
+
+module_init(init_module);
+module_exit(cleanup_module);
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/rt/msr_param.h Fri Dec 16 08:15:21 2005 +0000
@@ -0,0 +1,7 @@
+#ifndef _MSR_PARAM_H_
+#define _MSR_PARAM_H_
+#define MSR_ABTASTFREQUENZ 5000 //FIXME nur für den Simulator, der virtuelle 10 Mal schneller läuft ....HZ /* Abtastrate der Kan%/1€Œiso8859-15äle in [HZ]*/
+
+#endif
+
+
--- a/rt/msrserv.pl Fri Dec 02 15:35:21 2005 +0000
+++ b/rt/msrserv.pl Fri Dec 16 08:15:21 2005 +0000
@@ -1,18 +1,42 @@
#!/usr/bin/perl -w
-
+#------------------------------------------------------------
+#
+# (C) Copyright
+# Diese Software ist geistiges Eigentum der
+# Ingenieurgemeinschaft IgH. Sie darf von
+# Toyota Motorsport GmbH
+# beliebig kopiert und veraendert werden.
+# Die Weitergabe an Dritte ist untersagt.
+# Dieser Urhebrrechtshinweis muss erhalten
+# bleiben.
+#
+# Ingenieurgemeinschaft IgH
+# Heinz-Baecker-Strasse 34
+# D-45356 Essen
+# Tel.: +49-201/61 99 31
+# Fax.: +49-201/61 98 36
+# WWW: http://www.igh-essen.com
+# Email: msr@igh-essen.com
+#
+#------------------------------------------------------------
+#
# Multithreaded Server
# according to the example from "Programming Perl"
+# this code is improved according to the example from
+# perldoc perlipc, so now safely being usable under Perl 5.8
+# (see note (*))
#
# works with read/write on a device-file
#
# $Revision: 1.1 $
-# $Date: 2002/07/09 10:10:59 $
+# $Date: 2004/10/01 16:00:42 $
# $RCSfile: msrserv.pl,v $
#
+#------------------------------------------------------------
require 5.002;
use strict;
-BEGIN { $ENV{PATH} = '/usr/bin:/bin' }
+BEGIN { $ENV{PATH} = '/opt/msr/bin:/usr/bin:/bin' }
use Socket;
use Carp;
use FileHandle;
@@ -23,6 +47,7 @@
use vars qw (
$self $pid $dolog $port $dev %opts $selfbase
$len $offset $stream $written $read $log $blksize
+ $instdir
$authfile %authhosts
);
@@ -33,13 +58,13 @@
# Prototypes and some little Tools
sub spawn;
sub logmsg {
- my ($level, @text) = @_;
- syslog("daemon|$level", @text) if $dolog;
+ my ($level, $debug, @text) = @_;
+ syslog("daemon|$level", @text) if $debug > $dolog;
# print STDERR "daemon|$level", @text, "\n" if $dolog;
}
sub out {
my $waitpid = wait;
- logmsg("notice", "$waitpid exited");
+ logmsg("notice", 2, "$waitpid exited");
unlink "$selfbase.pid";
exit 0;
}
@@ -68,7 +93,8 @@
$port = $opts{"p"};
$dev = $opts{"d"};
$blksize = 1024; # try to write as much bytes
-$authfile = "/opt/kbw/etc/hosts.auth";
+$instdir = "/opt/msr";
+$authfile = "$instdir/etc/hosts.auth";
# Start logging
openlog($self, 'pid');
@@ -80,12 +106,12 @@
if ($pid = fork) {
# open LOG, ">$log" if $dolog;
# close LOG;
- logmsg("notice", "forked process: $pid\n");
+ logmsg("notice", 2, "forked process: $pid\n");
exit 0;
}
# Server tells about startup success
-open (PID, ">$selfbase.pid");
+open (PID, ">/$instdir/var/run/$selfbase.pid");
print PID "$$\n";
close PID;
@@ -107,106 +133,122 @@
%authhosts = ();
# get authorized hosts
open (AUTH, $authfile)
- or logmsg ("notice", "Could not read allowed hosts file: $authfile");
+ or logmsg ("notice", 2, "Could not read allowed hosts file: $authfile");
while (<AUTH>) {
chomp;
my $host = lc $_;
- logmsg ("notice", "Authorized host: $host");
- $authhosts{$_} = 1 if $host =~ /^[\d\w]/;
+ if ($host =~ /^[\d\w]/) {
+ $authhosts{$_} = 1;
+ logmsg ("notice", 2, "Authorized host: >$host<");
+ }
}
close (AUTH);
# tell about open server socket
-logmsg ("notice", "Server started at port $port");
-
-my $waitpid = 0;
+logmsg ("notice", 2, "Server started at port $port");
+
+my $waitedpid = 0;
my $paddr;
# wait for children to return, thus avoiding zombies
+# improvement (*)
+use POSIX ":sys_wait_h";
sub REAPER {
- $waitpid = wait;
- $SIG{CHLD} = \&REAPER;
- logmsg ("notice", "reaped $waitpid", ($? ? " with exit $?" : ""));
+ my $child;
+ while (($waitedpid = waitpid(-1,WNOHANG)) > 0) {
+ logmsg ("notice", 2, "reaped $waitedpid", ($? ? " with exit $?" : ""));
+ }
+ $SIG{CHLD} = \&REAPER; # loathe sysV
}
# also all sub-processes should wait for their children
$SIG{CHLD} = \&REAPER;
# start a new server for every incoming request
-for ( ; $paddr = accept(Client, Server); close (Client)) {
- my ($port, $iaddr) = sockaddr_in($paddr);
- my $name = lc gethostbyaddr($iaddr, AF_INET);
- my $ipaddr = inet_ntoa($iaddr);
- my $n = 0;
-
+# improvement (*) -- loop forever
+
+while ( 1 ) {
+ for ( $waitedpid = 0;
+ ($paddr = accept(Client,Server)) || $waitedpid;
+ $waitedpid = 0, close Client ) {
+ next if $waitedpid and not $paddr;
+ my ($port, $iaddr) = sockaddr_in($paddr);
+ my $name = lc gethostbyaddr($iaddr, AF_INET);
+ my $ipaddr = inet_ntoa($iaddr);
+ my $n = 0;
+
# tell about the requesting client
- logmsg ("info", "Connection from $ipaddr ($name) at port $port");
-
- spawn sub {
- my ($head, $hlen, $pos, $pegel, $typ, $siz, $nch, $nrec, $dat, $i, $j, $n, $llen);
- my ($watchpegel, $shmpegel);
- my ($rin, $rout, $in, $line, $data_requested, $oversample);
- my (@channels);
+ logmsg ("info", 2, "Connection from >$ipaddr< ($name) at port $port");
+ spawn sub {
+ my ($head, $hlen, $pos, $pegel, $typ, $siz, $nch, $nrec, $dat, $i, $j, $n, $llen);
+ my ($watchpegel, $shmpegel);
+ my ($rin, $rout, $in, $line, $data_requested, $oversample);
+ my (@channels);
+
# to use stdio on writing to Client
- Client->autoflush();
-
+ Client->autoflush();
+
# Open Device
- sysopen (DEV, "$dev", O_RDWR | O_NONBLOCK, 0666) or die("can't open $dev");
-
+ sysopen (DEV, "$dev", O_RDWR | O_NONBLOCK, 0666) or die("can't open $dev");
+
# Bitmask to check for input on stdin
- $rin = "";
- vec($rin, fileno(Client), 1) = 1;
-
+ $rin = "";
+ vec($rin, fileno(Client), 1) = 1;
+
# check for authorized hosts
- my $access = 'allow';
- $access = 'allow' if $authhosts{$ipaddr};
- $line = "<remote_host host=\"$ipaddr\" access=\"$access\">\n";
- $len = length $line;
- $offset = 0;
- while ($len) {
+ my $access = 'deny';
+ $access = 'allow' if $authhosts{$ipaddr};
+ $line = "<remote_host host=\"$ipaddr\" access=\"$access\">\n";
+ logmsg ("info", 2, $line);
+ $len = length $line;
+ $offset = 0;
+ while ($len) {
$written = syswrite (DEV, $line, $len, $offset);
$len -= $written;
$offset += $written;
- }
-
- while ( 1 ) {
- $in = select ($rout=$rin, undef, undef, 0.0); # poll client
+ }
+
+ while ( 1 ) {
+ $in = select ($rout=$rin, undef, undef, 0.0); # poll client
# look for any Input from Client
- if ($in) {
+ if ($in) {
# exit on EOF
- $len = sysread (Client, $line, $blksize) or exit;
- logmsg("info", "got $len bytes: \"$line\"");
- $offset = 0;
+ $len = sysread (Client, $line, $blksize) or exit;
+ logmsg("info", 0, "got $len bytes: \"$line\"");
+ $offset = 0;
# copy request to device
- while ($len) {
- $written = syswrite (DEV, $line, $len, $offset);
- $len -= $written;
- $offset += $written;
+ while ($len) {
+ $written = syswrite (DEV, $line, $len, $offset);
+ $len -= $written;
+ $offset += $written;
+ }
+ }
+# look for some output from device
+ if ($len = sysread DEV, $stream, $blksize) {
+ print Client $stream;
+ } else {
+ select undef, undef, undef, 0.1; # calm down if nothing on device
}
}
-# look for some output from device
- if ($len = sysread DEV, $stream, $blksize) {
- print Client $stream;
- } else {
- select undef, undef, undef, 0.1; # calm down if nothing on device
- }
- }
- }
+ };
+ logmsg("info", 2, "spawned\n");
+ }
+ logmsg("info", 2, "server loop\n");
}
sub spawn {
my $coderef = shift;
-
+
unless (@_ == 0 && $coderef && ref($coderef) eq 'CODE') {
confess "usage: spawn CODEREF";
}
my $pid;
if (!defined($pid = fork)) {
- logmsg ("notice", "fork failed: $!");
+ logmsg ("notice", 2, "fork failed: $!");
return;
} elsif ($pid) {
- logmsg ("notice", "Request $pid");
+ logmsg ("notice", 2, "Request $pid");
return; # Parent
}
--- a/rt/rt_lib Fri Dec 02 15:35:21 2005 +0000
+++ b/rt/rt_lib Fri Dec 16 08:15:21 2005 +0000
@@ -1,1 +1,1 @@
-../../../linux/kernel_space/rt_lib-3.0.1-push
\ No newline at end of file
+../../../linux/kernel_space/rt_lib-4.0.0-2.6krnl
\ No newline at end of file