IPIPE,floatpoint,rtlib
This commit is contained in:
Wilhelm Hagemeister
parent
4286780f31
commit
cc911c7157
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@ -255,9 +255,6 @@ int __init init_module()
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#ifdef ECAT_CYCLIC_DATA
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printk("Starting cyclic sample thread.\n");
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schedule();
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mdelay(1000);
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schedule();
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init_timer(&timer);
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timer.function = run;
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103
rt/Makefile
103
rt/Makefile
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@ -1,64 +1,81 @@
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#----------------------------------------------------------------
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#
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# Makefile
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#
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# EtherCAT-RT-Modul
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#
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# $Id$
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#
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#----------------------------------------------------------------
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# Comment/uncomment the following line to disable/enable debugging
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#DEBUG = y
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CONFIG_FILE = ../ethercat.conf
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ifeq ($(CONFIG_FILE),$(wildcard $(CONFIG_FILE)))
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include $(CONFIG_FILE)
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# Add your debugging flag (or not) to CFLAGS
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ifeq ($(DEBUG),y)
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DEBFLAGS = -O -g -DSHORT_DEBUG # "-O" is needed to expand inlines
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else
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KERNELDIR = /vol/projekte/msr_messen_steuern_regeln/linux/kernel/2.4.20/include/linux-2.4.20.CX1100-rthal5
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RTAIDIR = /vol/projekte/msr_messen_steuern_regeln/linux/kernel/2.4.20/include/rtai-24.1.13
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RTLIBDIR = rt_lib
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DEBFLAGS = -O2
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endif
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CFLAGS = -O2 -Wall -Wuninitialized -D__KERNEL__ -DMODULE -DSERIALDEBUG -DMSR_NO_PROC -I$(KERNELDIR)/include -D_RTAI -I$(RTAIDIR)/include -I$(RTLIBDIR)/msr-include
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CFLAGS += $(DEBFLAGS)
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CFLAGS += -I..
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RTLIB = /vol/projekte/msr_messen_steuern_regeln/linux/kernel_space/rt_lib-4.0.0-2.6krnl
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#Suchpfad für die Dateien aus dem RT-Lib-Verzeichnis
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VPATH = $(RTLIBDIR)/msr-core:$(RTLIBDIR)/msr-control:$(RTLIBDIR)/msr-math:$(RTLIBDIR)/msr-misc:$(RTLIBDIR)/msr-utils
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VPATH := $(RTLIB)/msr-core:$(RTLIB)/msr-control:$(RTLIB)/msr-hwdriver:$(RTLIB)/msr-math:$(RTLIB)/msr-misc:$(RTLIB)/msr-utils
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MODULE = msr_modul.o
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SRC = msr_io.c
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RTSRC = msr_main.c msr_lists.c msr_charbuf.c msr_reg.c msr_interpreter.c \
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msr_utils.c msr_messages.c msr_base64.c msr_proc.c msr_error_reg.c
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ALLSRC = $(SRC) $(RTSRC)
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OBJ = $(ALLSRC:.c=.o)
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#Datei aus dem RT-Libverzeichnis für dies Projekt
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RTSRC := msr_main.o msr_lists.o msr_charbuf.o msr_reg.o msr_interpreter.o msr_utils.o msr_messages.o msr_functiongen.o msr_base64.o msr_watchdog.o msr_proc.o msr_error_reg.o
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#----------------------------------------------------------------
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ifneq ($(KERNELRELEASE),)
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# call from kernel build system
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all: .output_dirs .depend $(MODULE) Makefile
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$(MODULE): $(OBJ)
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@echo "Making module"
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$(LD) -r $(OBJ) -o $@
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EXTRA_CFLAGS := -I$(RTLIB)/msr-include -D_SIMULATION -I/usr/include -mhard-float
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.c.o:
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@echo "Making obj $@"
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$(CC) -c $(CFLAGS) $< -o $@
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#EXTRA_LDFLAGS := -L/usr/lib -lm
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.output_dirs:
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@echo "x-- Directories -------------"
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@echo "| Kernel $(KERNELDIR)"
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@echo "| RTAI $(RTAIDIR)"
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@echo "| RT_lib $(RTLIBDIR)"
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@echo "x----------------------------"
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msr_modul-y := msr_module.o \
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msr_jitter.o \
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rt_lib/msr-core/msr_lists.o \
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rt_lib/msr-core/msr_main.o \
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rt_lib/msr-core/msr_charbuf.o \
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rt_lib/msr-core/msr_reg.o \
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rt_lib/msr-core/msr_interpreter.o \
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rt_lib/msr-core/msr_messages.o \
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rt_lib/msr-core/msr_proc.o \
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rt_lib/msr-core/msr_error_reg.o \
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rt_lib/msr-utils/msr_utils.o \
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rt_lib/msr-math/msr_base64.o \
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libm.o
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obj-m := msr_modul.o
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else
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KERNELDIR := /lib/modules/$(shell uname -r)/build
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PWD := $(shell pwd)
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default:
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$(MAKE) -C $(KERNELDIR) M=$(PWD) modules
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endif
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depend .depend dep:
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$(CC) $(CFLAGS) -M $(SRC) > .depend
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clean:
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rm -f *.o *~ core .depend
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rm -f core .depend
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rm -rf .tmp_versions
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find -L -maxdepth 3 -name "*.o" -exec rm {} \;
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find -L -maxdepth 3 -name "*~" -exec rm {} \;
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find -L -maxdepth 3 -name "*.cmd" -exec rm {} \;
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find -L -maxdepth 3 -name "*.ko" -exec rm {} \;
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find -L -maxdepth 3 -name "*.mod.c" -exec rm {} \;
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depend .depend dep:
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$(CC) $(CFLAGS) -M *.c > .depend
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#----------------------------------------------------------------
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ifeq (.depend,$(wildcard .depend))
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include .depend
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endif
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#----------------------------------------------------------------
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@ -0,0 +1,185 @@
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/**************************************************************************************************
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*
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* msr_jitter.c
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*
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*
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* Autor: Wilhelm Hagemeister
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*
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* (C) Copyright IgH 2002
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* Ingenieurgemeinschaft IgH
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* Heinz-B<EFBFBD>äcker Str. 34
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* D-45356 Essen
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* Tel.: +49 201/61 99 31
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* Fax.: +49 201/61 98 36
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* E-mail: hm@igh-essen.com
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*
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*
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* $RCSfile: msr_adeos_latency.c,v $
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* $Revision: 1.3 $
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* $Author: hm $
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* $Date: 2005/12/07 20:13:53 $
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* $State: Exp $
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*
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*
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* $Log: msr_adeos_latency.c,v $
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* Revision 1.3 2005/12/07 20:13:53 hm
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* *** empty log message ***
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*
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* Revision 1.2 2005/12/07 15:56:13 hm
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* *** empty log message ***
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*
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* Revision 1.1 2005/12/07 08:43:40 hm
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* Initial revision
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*
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* Revision 1.5 2005/11/14 20:28:09 hm
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* *** empty log message ***
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*
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* Revision 1.4 2005/11/13 10:34:07 hm
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* *** empty log message ***
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*
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* Revision 1.3 2005/11/12 20:52:46 hm
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* *** empty log message ***
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*
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* Revision 1.2 2005/11/12 20:51:27 hm
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* *** empty log message ***
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*
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* Revision 1.1 2005/11/12 19:16:02 hm
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* Initial revision
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*
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* Revision 1.13 2005/06/17 11:35:13 hm
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* *** empty log message ***
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*
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*
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*
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*
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**************************************************************************************************/
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#ifndef __KERNEL__
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# define __KERNEL__
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#endif
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#ifndef MODULE
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# define MODULE
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#endif
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#include <linux/config.h>
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#include <linux/module.h>
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#include <linux/sched.h>
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#include <linux/kernel.h>
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#include <asm/msr.h> /* maschine-specific registers */
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#include <linux/param.h> /* fuer HZ */
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#include <msr_reg.h>
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#include "msr_jitter.h"
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/*--includes-------------------------------------------------------------------------------------*/
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/*--external functions---------------------------------------------------------------------------*/
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/*--external data--------------------------------------------------------------------------------*/
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/*--public data----------------------------------------------------------------------------------*/
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/*--local data-----------------------------------------------------------------------------------*/
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#define NUMCLASSES 16
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static int jittime[NUMCLASSES]={0,1,2,5,10,20,50,100,200,500,1000,2000,5000,10000,20000,50000}; //in usec
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static int jitcount[NUMCLASSES];
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static double jitpercent[NUMCLASSES];
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static unsigned int tcount = 1;
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static void msr_jit_read(void)
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{
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int i;
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for(i=0;i<NUMCLASSES;i++) {
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if(tcount >100) {
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jitpercent[i] = jitcount[i]*100.0/tcount;
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}
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}
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}
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void msr_jitter_init(void)
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{
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msr_reg_int_list("/Taskinfo/Jitter/Classes","usec",&jittime[0],MSR_R,NUMCLASSES,NULL,NULL,NULL);
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msr_reg_int_list("/Taskinfo/Jitter/Count","",&jitcount[0],MSR_R,NUMCLASSES,NULL,NULL,NULL);
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msr_reg_dbl_list("/Taskinfo/Jitter/percent","%",&jitpercent[0],MSR_R,NUMCLASSES,NULL,NULL,&msr_jit_read);
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}
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/*
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***************************************************************************************************
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*
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* Function: msr_jitter_run
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*
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* Beschreibung:
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*
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*
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* Parameter: Zeiger auf msr_data
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*
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* R<EFBFBD>ückgabe:
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*
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* Status: exp
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*
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***************************************************************************************************
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*/
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void msr_jitter_run(unsigned int hz) {
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int i,hit;
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static int firstrun = 1;
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static int counter = 0;
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static unsigned long k,j = 0;
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unsigned int dt,jitter;
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rdtscl(k);
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tcount++;
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//Zeitabstand zwischen zwei Interrupts in usec
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dt = ((unsigned long)(100000/HZ)*((unsigned long)(k-j)))/(current_cpu_data.loops_per_jiffy/10);
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jitter = (unsigned int)abs((int)dt-(int)1000000/hz); //jitter errechnet zum Sollabtastrate
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//in die Klassen einsortieren
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if(!firstrun) { //das erste mal nicht einsortieren
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hit = 0;
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for(i=0;i<NUMCLASSES-1;i++) {
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if(jitter>=jittime[i] && jitter<jittime[i+1]) {
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jitcount[i]++;
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hit = 1;
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break;
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}
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}
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if(hit == 0) //grŽöŽßer als der letzte
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jitcount[NUMCLASSES-1]++;
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}
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else
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firstrun = 0;
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j = k;
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}
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@ -12,7 +12,7 @@ fi
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# invoke insmod with all arguments we got
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# and use a pathname, as newer modutils don't look in . by default
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/sbin/insmod -f ./$module.o $* || exit 1
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/sbin/insmod -f ./$module.ko $* || exit 1
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major=`cat /proc/devices | awk "\\$2==\"$device\" {print \\$1}"`
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@ -0,0 +1,503 @@
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/**************************************************************************************************
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*
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* msr_module.c
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*
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* Kernelmodul f<EFBFBD>ür 2.6 Kernel zur Me<EFBFBD>ßdatenerfassung, Steuerung und Regelung
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* Zeitgeber ist der Timerinterrupt (tq)
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*
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* Autor: Wilhelm Hagemeister
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*
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* (C) Copyright IgH 2002
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* Ingenieurgemeinschaft IgH
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* Heinz-B<EFBFBD>äcker Str. 34
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* D-45356 Essen
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* Tel.: +49 201/61 99 31
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* Fax.: +49 201/61 98 36
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* E-mail: hm@igh-essen.com
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*
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*
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* $RCSfile: msr_module.c,v $
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* $Revision: 1.1 $
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* $Author: hm $
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* $Date: 2005/11/14 20:32:57 $
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* $State: Exp $
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*
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*
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* $Log: msr_module.c,v $
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* Revision 1.1 2005/11/14 20:32:57 hm
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* Initial revision
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*
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* Revision 1.13 2005/06/17 11:35:13 hm
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* *** empty log message ***
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*
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*
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*
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*
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**************************************************************************************************/
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/*--includes-------------------------------------------------------------------------------------*/
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#ifndef __KERNEL__
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# define __KERNEL__
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#endif
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#ifndef MODULE
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# define MODULE
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#endif
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#include <linux/config.h>
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#include <linux/module.h>
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#include <linux/sched.h>
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#include <linux/kernel.h>
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#include <linux/vmalloc.h>
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#include <linux/fs.h> /* everything... */
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#include <linux/proc_fs.h>
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#include <linux/time.h>
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#include <linux/timer.h>
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#include <linux/timex.h> /* fuer get_cycles */
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#include <linux/errno.h> /* error codes */
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#include <asm/msr.h> /* maschine-specific registers */
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#include <linux/param.h> /* fuer HZ */
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#include <linux/ipipe.h>
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#include "msr_param.h" //wird im Projektverzeichnis erwartet
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//#include <msr_control.h>
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#include <msr_lists.h>
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#include <msr_charbuf.h>
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#include <msr_reg.h>
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#include <msr_error_reg.h>
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#include <msr_messages.h>
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#include <msr_proc.h>
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#include <msr_utils.h>
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#include <msr_main.h>
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#include <msr_float.h>
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#include "../drivers/ec_master.h"
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#include "../drivers/ec_device.h"
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#include "../drivers/ec_types.h"
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#include "../drivers/ec_module.h"
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#include "msr_jitter.h"
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MODULE_AUTHOR("Wilhelm Hagemeister, Ingenieurgemeinschaft IgH");
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MODULE_LICENSE("GPL");
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/*--external functions---------------------------------------------------------------------------*/
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/*--external data--------------------------------------------------------------------------------*/
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#define HZREDUCTION (MSR_ABTASTFREQUENZ/HZ)
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extern wait_queue_head_t msr_read_waitqueue;
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extern struct msr_char_buf *msr_kanal_puffer;
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extern int proc_abtastfrequenz;
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/*--public data----------------------------------------------------------------------------------*/
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/*--local data-----------------------------------------------------------------------------------*/
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//struct timer_list timer;
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extern struct timeval process_time;
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struct timeval msr_time_increment; // Increment per Interrupt
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//adeos
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static struct ipipe_domain this_domain;
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static struct ipipe_sysinfo sys_info;
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static EtherCAT_master_t *ecat_master = NULL;
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static EtherCAT_slave_t ecat_slaves[] =
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{
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#if 1
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// Block 1
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ECAT_INIT_SLAVE(Beckhoff_EK1100),
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ECAT_INIT_SLAVE(Beckhoff_EL4102),
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ECAT_INIT_SLAVE(Beckhoff_EL1014),
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ECAT_INIT_SLAVE(Beckhoff_EL3162),
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ECAT_INIT_SLAVE(Beckhoff_EL2004),
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ECAT_INIT_SLAVE(Beckhoff_EL3102),
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ECAT_INIT_SLAVE(Beckhoff_EL2004),
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ECAT_INIT_SLAVE(Beckhoff_EL2004),
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ECAT_INIT_SLAVE(Beckhoff_EL2004),
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ECAT_INIT_SLAVE(Beckhoff_EL2004),
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ECAT_INIT_SLAVE(Beckhoff_EL2004),
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// Block 2
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ECAT_INIT_SLAVE(Beckhoff_EK1100),
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ECAT_INIT_SLAVE(Beckhoff_EL1014),
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ECAT_INIT_SLAVE(Beckhoff_EL1014),
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ECAT_INIT_SLAVE(Beckhoff_EL1014),
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ECAT_INIT_SLAVE(Beckhoff_EL1014),
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ECAT_INIT_SLAVE(Beckhoff_EL1014),
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ECAT_INIT_SLAVE(Beckhoff_EL2004),
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ECAT_INIT_SLAVE(Beckhoff_EL2004),
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ECAT_INIT_SLAVE(Beckhoff_EL2004),
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ECAT_INIT_SLAVE(Beckhoff_EL2004),
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ECAT_INIT_SLAVE(Beckhoff_EL1014),
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ECAT_INIT_SLAVE(Beckhoff_EL1014),
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ECAT_INIT_SLAVE(Beckhoff_EL1014)
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#endif
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#if 1
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// Block 3
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,ECAT_INIT_SLAVE(Beckhoff_EK1100),
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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 ausgef<EFBFBD>ührt
|
||||
* (hier mu<EFBFBD>ß alles rein, was Echtzeit ist ...)
|
||||
*
|
||||
* Parameter: Zeiger auf msr_data
|
||||
*
|
||||
* R<EFBFBD>ückgabe:
|
||||
*
|
||||
* 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);
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
|
@ -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€Œiso8859-15<02>äle in [HZ]*/
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
172
rt/msrserv.pl
172
rt/msrserv.pl
|
|
@ -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 Sys::Syslog qw(:DEFAULT setlogsock);
|
|||
use vars qw (
|
||||
$self $pid $dolog $port $dev %opts $selfbase
|
||||
$len $offset $stream $written $read $log $blksize
|
||||
$instdir
|
||||
$authfile %authhosts
|
||||
);
|
||||
|
||||
|
|
@ -33,13 +58,13 @@ setlogsock("unix");
|
|||
# Prototypes and some little Tools
|
||||
sub spawn;
|
||||
sub logmsg {
|
||||
my ($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 @@ $dolog = $opts{"l"};
|
|||
$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 @@ $| = 1;
|
|||
if ($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 @@ listen (Server, SOMAXCONN)
|
|||
%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");
|
||||
logmsg ("notice", 2, "Server started at port $port");
|
||||
|
||||
my $waitpid = 0;
|
||||
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
|
||||
|
||||
# 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);
|
||||
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 $n = 0;
|
||||
|
||||
# tell about the requesting client
|
||||
logmsg ("info", 2, "Connection from >$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
|
||||
}
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue