MSR example finished.
This commit is contained in:
Florian Pose
parent
6a12d7f440
commit
89d76149eb
|
|
@ -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 @@ $(MODULENAME)-objs := msr_rt.o \
|
|||
rt_lib/msr-math/msr_hex_bin.o \
|
||||
libm.o
|
||||
|
||||
EXTRA_CFLAGS := -I$(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 @@ clean:
|
|||
$(MAKE) -C $(KERNELDIR) M=`pwd` clean
|
||||
|
||||
install:
|
||||
@./install.sh $(MODULENAME) $(KERNEL)
|
||||
|
||||
#------------------------------------------------------------------------------
|
||||
@./install.sh $(MODULE) $(KERNEL)
|
||||
|
||||
endif
|
||||
|
||||
#------------------------------------------------------------------------------
|
||||
|
|
|
|||
|
|
@ -1,18 +1,15 @@
|
|||
#------------------------------------------------------------------------------
|
||||
#
|
||||
# Configuration file for msr realtime modules
|
||||
# Configuration file for MSR realtime modules
|
||||
#
|
||||
# $Id$
|
||||
#
|
||||
# This file is a versioned template configuration. Copy it to "rt.conf"
|
||||
# This file is a versioned template configuration. Copy it to "kernel.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 sources for module compilation
|
||||
KERNEL := `uname -r`
|
||||
|
||||
#------------------------------------------------------------------------------
|
||||
|
|
@ -1,5 +1,5 @@
|
|||
#!/bin/sh
|
||||
module="msr_rt"
|
||||
module="ec_msr_sample"
|
||||
device="msr"
|
||||
mode="664"
|
||||
|
||||
|
|
|
|||
|
|
@ -1,8 +1,6 @@
|
|||
/******************************************************************************
|
||||
*
|
||||
* m s r _ r t . c
|
||||
*
|
||||
* Kernelmodul f<EFBFBD>ür 2.6 Kernel zur Me<EFBFBD>ßdatenerfassung, Steuerung und Regelung.
|
||||
* Sample module for use with IgH MSR library.
|
||||
*
|
||||
* $Id$
|
||||
*
|
||||
|
|
@ -27,18 +25,14 @@
|
|||
|
||||
// Linux
|
||||
#include <linux/module.h>
|
||||
#include <linux/ipipe.h>
|
||||
#include <linux/slab.h>
|
||||
#include <linux/vmalloc.h>
|
||||
#include <linux/delay.h>
|
||||
|
||||
// RTAI
|
||||
#include "rtai_sched.h"
|
||||
#include "rtai_sem.h"
|
||||
|
||||
// RT_lib
|
||||
#include <msr_main.h>
|
||||
#include <msr_utils.h>
|
||||
#include <msr_messages.h>
|
||||
#include <msr_float.h>
|
||||
#include <msr_reg.h>
|
||||
#include <msr_time.h>
|
||||
#include "msr_param.h"
|
||||
|
||||
// EtherCAT
|
||||
|
|
@ -46,15 +40,21 @@
|
|||
|
||||
#define ASYNC
|
||||
|
||||
// Defines/Makros
|
||||
#define HZREDUCTION (MSR_ABTASTFREQUENZ / HZ)
|
||||
#define TIMERTICKS (1000000000 / MSR_ABTASTFREQUENZ)
|
||||
|
||||
/*****************************************************************************/
|
||||
/* Globale Variablen */
|
||||
|
||||
// Adeos
|
||||
static struct ipipe_domain this_domain;
|
||||
static struct ipipe_sysinfo sys_info;
|
||||
// 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;
|
||||
|
|
@ -64,7 +64,7 @@ ec_domain_t *domain1 = NULL;
|
|||
void *r_ssi;
|
||||
void *r_ssi_st;
|
||||
|
||||
// KanŽäle
|
||||
// Channels
|
||||
uint32_t k_ssi;
|
||||
uint32_t k_ssi_st;
|
||||
|
||||
|
|
@ -76,35 +76,64 @@ ec_field_init_t domain1_fields[] = {
|
|||
|
||||
/*****************************************************************************/
|
||||
|
||||
static void msr_controller_run(void)
|
||||
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);
|
||||
// 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);
|
||||
// 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);
|
||||
// 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);
|
||||
// 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_globals_register(void)
|
||||
int msr_reg(void)
|
||||
{
|
||||
msr_reg_kanal("/ssi_position", "", &k_ssi, TUINT);
|
||||
msr_reg_kanal("/ssi_status", "", &k_ssi_st, TUINT);
|
||||
|
|
@ -113,43 +142,38 @@ int msr_globals_register(void)
|
|||
|
||||
/*****************************************************************************/
|
||||
|
||||
void msr_run(unsigned irq)
|
||||
int request_lock(void *data)
|
||||
{
|
||||
static int counter = 0;
|
||||
// too close to the next RT cycle: deny access...
|
||||
if (get_cycles() - t_start > t_critical) return -1;
|
||||
|
||||
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;
|
||||
}
|
||||
// allow access
|
||||
rt_sem_wait(&master_sem);
|
||||
return 0;
|
||||
}
|
||||
|
||||
/*****************************************************************************/
|
||||
|
||||
void domain_entry(void)
|
||||
void release_lock(void *data)
|
||||
{
|
||||
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);
|
||||
rt_sem_signal(&master_sem);
|
||||
}
|
||||
|
||||
/*****************************************************************************/
|
||||
|
||||
int __init init_rt_module(void)
|
||||
int __init init_mod(void)
|
||||
{
|
||||
struct ipipe_domain_attr attr; //ipipe
|
||||
#if 1
|
||||
RTIME ticks;
|
||||
#if 0
|
||||
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_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;
|
||||
}
|
||||
|
|
@ -159,7 +183,7 @@ int __init init_rt_module(void)
|
|||
goto out_msr_cleanup;
|
||||
}
|
||||
|
||||
//ecrt_master_print(master, 2);
|
||||
ecrt_master_callbacks(master, request_lock, release_lock, NULL);
|
||||
|
||||
printk(KERN_INFO "Creating domains...\n");
|
||||
if (!(domain1 = ecrt_master_create_domain(master))) {
|
||||
|
|
@ -179,13 +203,6 @@ int __init init_rt_module(void)
|
|||
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");
|
||||
|
|
@ -196,7 +213,7 @@ int __init init_rt_module(void)
|
|||
ecrt_master_print(master, 0);
|
||||
#endif
|
||||
|
||||
#if 1
|
||||
#if 0
|
||||
if (!(slave = ecrt_master_get_slave(master, "0:3"))) {
|
||||
printk(KERN_ERR "Failed to get slave!\n");
|
||||
goto out_deactivate;
|
||||
|
|
@ -235,62 +252,63 @@ int __init init_rt_module(void)
|
|||
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);
|
||||
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;
|
||||
|
||||
#if 1
|
||||
out_stop_task:
|
||||
rt_task_delete(&task);
|
||||
out_stop_timer:
|
||||
stop_rt_timer();
|
||||
out_deactivate:
|
||||
ecrt_master_deactivate(master);
|
||||
#endif
|
||||
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_rt_module(void)
|
||||
void __exit cleanup_mod(void)
|
||||
{
|
||||
printk(KERN_INFO "Cleanign up rt module...\n");
|
||||
printk(KERN_INFO "=== Unloading EtherCAT RTAI MSR sample module... ===\n");
|
||||
|
||||
ipipe_tune_timer(1000000000UL / HZ, 0); // Alten Timertakt wiederherstellen
|
||||
ipipe_unregister_domain(&this_domain);
|
||||
|
||||
printk(KERN_INFO "=== Stopping EtherCAT environment... ===\n");
|
||||
rt_task_delete(&task);
|
||||
stop_rt_timer();
|
||||
ecrt_master_deactivate(master);
|
||||
ecrt_release_master(master);
|
||||
printk(KERN_INFO "=== EtherCAT environment stopped. ===\n");
|
||||
|
||||
rt_sem_delete(&master_sem);
|
||||
msr_rtlib_cleanup();
|
||||
|
||||
printk(KERN_INFO "=== EtherCAT RTAI MSR sample module unloaded. ===\n");
|
||||
}
|
||||
|
||||
/*****************************************************************************/
|
||||
|
||||
#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 <fp@igh-essen.com>");
|
||||
MODULE_DESCRIPTION ("EtherCAT real-time test environment");
|
||||
MODULE_VERSION(COMPILE_INFO);
|
||||
MODULE_DESCRIPTION ("EtherCAT RTAI MSR sample module");
|
||||
|
||||
module_init(init_rt_module);
|
||||
module_exit(cleanup_rt_module);
|
||||
module_init(init_mod);
|
||||
module_exit(cleanup_mod);
|
||||
|
||||
/*****************************************************************************/
|
||||
|
||||
/* Emacs-Konfiguration
|
||||
;;; Local Variables: ***
|
||||
;;; c-basic-offset:4 ***
|
||||
;;; End: ***
|
||||
*/
|
||||
|
|
@ -1,5 +1,5 @@
|
|||
#!/bin/sh
|
||||
module="msr_rt"
|
||||
module="ec_msr_sample"
|
||||
device="msr"
|
||||
|
||||
# invoke rmmod with all arguments we got
|
||||
|
|
|
|||
Loading…
Reference in New Issue