/******************************************************************************
 *
 *  msr_module.c
 *
 *  Kernelmodul f�ür 2.6 Kernel zur Me�ßdatenerfassung, Steuerung und Regelung.
 *
 *  Autor: Wilhelm Hagemeister, Florian Pose
 *
 *  (C) Copyright IgH 2002
 *  Ingenieurgemeinschaft IgH
 *  Heinz-B�äcker Str. 34
 *  D-45356 Essen
 *  Tel.: +49 201/61 99 31
 *  Fax.: +49 201/61 98 36
 *  E-mail: hm@igh-essen.com
 *
 *  $Id$
 *
 *****************************************************************************/

// Linux
#include <linux/module.h>
#include <linux/ipipe.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_param.h"
#include "msr_jitter.h"

// EtherCAT
#include "../include/EtherCAT_rt.h"
#include "../include/EtherCAT_si.h"

// Defines/Makros
#define TSC2US(T1, T2) ((T2 - T1) * 1000UL / cpu_khz)
#define HZREDUCTION (MSR_ABTASTFREQUENZ / HZ)

/*****************************************************************************/
/* Globale Variablen */

// RT_lib
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;

// EtherCAT
ec_master_t *master = NULL;
ec_slave_t *s_in1, *s_out1, *s_ssi, *s_inc;

uint16_t angle0;

ec_slave_init_t slaves[] = {
    {&s_in1,  "1", "Beckhoff", "EL3102", 0},
    {&s_out1, "2", "Beckhoff", "EL2004", 0},
    {&s_ssi,  "3", "Beckhoff", "EL5001", 0},
    {&s_inc,  "0:4", "Beckhoff", "EL5101", 0}
};

#define SLAVE_COUNT (sizeof(slaves) / sizeof(ec_slave_init_t))

/******************************************************************************
 *
 * Function: msr_controller_run()
 *
 *****************************************************************************/

static void msr_controller_run(void)
{
    static unsigned int counter = 0;

    msr_jitter_run(MSR_ABTASTFREQUENZ);

    EC_WRITE_EL20XX(s_out1, 3, EC_READ_EL31XX(s_in1, 0) < 0);

    if (!counter) {
        EtherCAT_rt_debug_level(master, 2);
    }

    // Prozessdaten lesen und schreiben
    EtherCAT_rt_domain_xio(master, 0, 40);

    if (counter) {
        counter--;
    }
    else {
        EtherCAT_rt_debug_level(master, 0);
        printk("SSI status=0x%X value=%u\n",
               EC_READ_EL5001_STATE(s_ssi), EC_READ_EL5001_VALUE(s_ssi));
        printk("INC status=0x%X value=%u\n",
               EC_READ_EL5101_STATE(s_inc), EC_READ_EL5101_VALUE(s_inc));

        counter = MSR_ABTASTFREQUENZ * 5;
    }

    angle0 = EC_READ_EL5101_VALUE(s_inc);
}

/******************************************************************************
 *
 *  Function: msr_run(_interrupt)
 *
 *  Beschreibung: Routine wird zyklisch im Timerinterrupt ausgef�ührt
 *                (hier mu�ß alles rein, was Echtzeit ist ...)
 *
 *  Parameter: Zeiger auf msr_data
 *
 *  R�ückgabe:
 *
 *  Status: exp
 *
 *****************************************************************************/

void msr_run(unsigned irq)
{
    static int counter = 0;

    timeval_add(&process_time, &process_time, &msr_time_increment);
    MSR_ADEOS_INTERRUPT_CODE(msr_controller_run(); msr_write_kanal_list(););

    ipipe_control_irq(irq,0,IPIPE_ENABLE_MASK);  //Interrupt bestŽätigen
    if (counter++ > HZREDUCTION) {
	ipipe_propagate_irq(irq);  //und weiterreichen
	counter = 0;
    }
}

/*****************************************************************************/

void domain_entry(void)
{
    printk("Domain %s started.\n", ipipe_current_domain->name);

    ipipe_get_sysinfo(&sys_info);
    ipipe_virtualize_irq(ipipe_current_domain,sys_info.archdep.tmirq,
			 &msr_run, NULL, IPIPE_HANDLE_MASK);

    ipipe_tune_timer(1000000000UL / MSR_ABTASTFREQUENZ, 0);
}

/******************************************************************************
 *
 *  Function: msr_register_channels
 *
 *  Beschreibung: KanŽäle registrieren
 *
 *  Parameter:
 *
 *  RŽückgabe:
 *
 *  Status: exp
 *
 *****************************************************************************/

int msr_globals_register(void)
{
    //msr_reg_kanal("/value", "V", &value, TDBL);
    //msr_reg_kanal("/dig1", "", &dig1, TINT);
    msr_reg_kanal("/angle0", "", &angle0, TINT);

    return 0;
}

/******************************************************************************
 * the init/clean material
 *****************************************************************************/

int __init init_rt_module(void)
{
    struct ipipe_domain_attr attr; //ipipe

    // Als allererstes die RT-lib initialisieren
    if (msr_rtlib_init(1,MSR_ABTASTFREQUENZ,10,&msr_globals_register) < 0) {
        msr_print_warn("msr_modul: can't initialize rtlib!");
        goto out_return;
    }

    msr_jitter_init();

    printk(KERN_INFO "=== Starting EtherCAT environment... ===\n");

    if ((master = EtherCAT_rt_request_master(0)) == NULL) {
        printk(KERN_ERR "Error requesting master 0!\n");
        goto out_msr_cleanup;
    }

    if (EtherCAT_rt_register_slave_list(master, slaves, SLAVE_COUNT)) {
        printk(KERN_ERR "EtherCAT: Could not register slaves!\n");
        goto out_release_master;
    }

    if (EtherCAT_rt_activate_slaves(master) < 0) {
        printk(KERN_ERR "EtherCAT: Could not activate slaves!\n");
        goto out_release_master;
    }

    if (EtherCAT_rt_canopen_sdo_write(master, s_ssi, 0x4067, 0, 1, 2)) {
        printk(KERN_ERR "EtherCAT: Could not set SSI baud rate!\n");
        goto out_release_master;
    }

    if (EtherCAT_rt_canopen_sdo_write(master, s_ssi, 0x4061, 4, 1, 1)) {
        printk(KERN_ERR "EtherCAT: Could not set SSI feature bit!\n");
        goto out_release_master;
    }

    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);

    return 0;

 out_release_master:
    EtherCAT_rt_release_master(master);

 out_msr_cleanup:
    msr_rtlib_cleanup();

 out_return:
    return -1;
}

/*****************************************************************************/

void __exit cleanup_rt_module(void)
{
    msr_print_info("msk_modul: unloading...");

    ipipe_tune_timer(1000000000UL / HZ, 0); //alten Timertakt wieder herstellen
    ipipe_unregister_domain(&this_domain);

    if (master)
    {
        printk(KERN_INFO "=== Stopping EtherCAT environment... ===\n");

        printk(KERN_INFO "Deactivating slaves.\n");

        if (EtherCAT_rt_deactivate_slaves(master) < 0) {
          printk(KERN_WARNING "Warning - Could not deactivate slaves!\n");
        }

        EtherCAT_rt_release_master(master);

        printk(KERN_INFO "=== EtherCAT environment stopped. ===\n");
    }

    msr_rtlib_cleanup();
}

/*****************************************************************************/

MODULE_LICENSE("GPL");
MODULE_AUTHOR ("Wilhelm Hagemeister <hm@igh-essen.com>");
MODULE_DESCRIPTION ("EtherCAT test environment");

module_init(init_rt_module);
module_exit(cleanup_rt_module);

/*****************************************************************************/

/* Emacs-Konfiguration
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*/