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ethercat
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ethercat/rt/msr_module.c

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/******************************************************************************
*
* msr_module.c
*
* Kernelmodul f<>ür 2.6 Kernel zur Me<4D>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 "../drivers/ec_master.h"
#include "../drivers/ec_device.h"
#include "../drivers/ec_types.h"
#include "../drivers/ec_module.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
static EtherCAT_master_t *ecat_master = NULL;
static unsigned int ecat_bus_time = 0;
static unsigned int ecat_timeouts = 0;
static EtherCAT_slave_t ecat_slaves[] =
{
// Block 1
ECAT_INIT_SLAVE(Beckhoff_EK1100, 0),
ECAT_INIT_SLAVE(Beckhoff_EL4102, 0),
ECAT_INIT_SLAVE(Beckhoff_EL1014, 0),
ECAT_INIT_SLAVE(Beckhoff_EL3162, 0),
ECAT_INIT_SLAVE(Beckhoff_EL2004, 0),
ECAT_INIT_SLAVE(Beckhoff_EL3102, 0),
ECAT_INIT_SLAVE(Beckhoff_EL2004, 0),
// Block 2
ECAT_INIT_SLAVE(Beckhoff_EK1100, 1),
ECAT_INIT_SLAVE(Beckhoff_EL1014, 1),
ECAT_INIT_SLAVE(Beckhoff_EL1014, 1),
ECAT_INIT_SLAVE(Beckhoff_EL1014, 1),
ECAT_INIT_SLAVE(Beckhoff_EL1014, 1),
ECAT_INIT_SLAVE(Beckhoff_EL1014, 1),
ECAT_INIT_SLAVE(Beckhoff_EL2004, 1),
ECAT_INIT_SLAVE(Beckhoff_EL2004, 1),
ECAT_INIT_SLAVE(Beckhoff_EL2004, 1),
ECAT_INIT_SLAVE(Beckhoff_EL2004, 1),
ECAT_INIT_SLAVE(Beckhoff_EL1014, 1),
ECAT_INIT_SLAVE(Beckhoff_EL1014, 1),
ECAT_INIT_SLAVE(Beckhoff_EL1014, 1)
};
#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 int firstrun = 1;
static int klemme = 0;
static int kanal = 0;
static int up_down = 0;
int wrap = 0;
static unsigned int debug_counter = 0;
unsigned long t1, t2, t3;
unsigned int bustime1, bustime2;
static unsigned long lt = 0;
rdtscl(t1);
// Prozessdaten lesen
msr_jitter_run(MSR_ABTASTFREQUENZ);
if (firstrun) klemme = next2004(&wrap);
ms++;
ms %= 1000;
if (cnt++ > 200)
{
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_slaves[klemme], kanal, up_down);
}
// Prozessdaten schreiben
rdtscl(t2);
if (EtherCAT_process_data_cycle(ecat_master, 0, 40) < 0)
ecat_timeouts++;
bustime1 = ecat_master->bus_time;
if (EtherCAT_process_data_cycle(ecat_master, 1, 40) < 0)
ecat_timeouts++;
bustime2 = ecat_master->bus_time;
rdtscl(t3);
ecat_bus_time = TSC2US(t2, t3);
// Daten lesen und skalieren
#ifdef USE_MSR_LIB
value = EtherCAT_read_value(&ecat_slaves[5], 0) / 3276.0;
dig1 = EtherCAT_read_value(&ecat_slaves[2], 0);
#endif
if (debug_counter == MSR_ABTASTFREQUENZ) {
printk(KERN_DEBUG "%lu: %luŽµs + %uŽµs + %uŽµs = %luŽµs\n", TSC2US(lt, t1),
TSC2US(t1, t2), bustime1, bustime2, TSC2US(t1, t3));
debug_counter = 0;
}
lt = t1;
firstrun = 0;
debug_counter++;
}
/******************************************************************************
*
* Function: msr_run(_interrupt)
*
* Beschreibung: Routine wird zyklisch im Timerinterrupt ausgef<65>ührt
* (hier mu<6D>ß alles rein, was Echtzeit ist ...)
*
* Parameter: Zeiger auf msr_data
*
* R<>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
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)
{
#ifdef USE_MSR_LIB
msr_reg_kanal("/value", "V", &value, TDBL);
msr_reg_kanal("/dig1", "", &dig1, TINT);
#endif
msr_reg_kanal("/Taskinfo/EtherCAT/BusTime", "us", &ecat_bus_time, TUINT);
msr_reg_kanal("/Taskinfo/EtherCAT/Timeouts", "", &ecat_timeouts, TUINT);
return 0;
}
/******************************************************************************
* the init/clean material
*****************************************************************************/
int __init init_module()
{
unsigned int i;
struct ipipe_domain_attr attr; //ipipe
// Als allererstes die RT-lib initialisieren
#ifdef USE_MSR_LIB
if (msr_rtlib_init(1,MSR_ABTASTFREQUENZ,10,&msr_globals_register) < 0) {
msr_print_warn("msr_modul: can't initialize rtlib!");
goto out_return;
}
#endif
msr_jitter_init();
printk(KERN_INFO "=== Starting EtherCAT environment... ===\n");
if ((ecat_master = EtherCAT_request(0)) == NULL) {
printk(KERN_ERR "EtherCAT master 0 not available!\n");
goto out_msr_cleanup;
}
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");
goto out_release_master;
}
printk("Activating all EtherCAT slaves.\n");
for (i = 0; i < ECAT_SLAVES_COUNT; i++) {
if (EtherCAT_activate_slave(ecat_master, ecat_slaves + i) < 0) {
printk(KERN_ERR "EtherCAT: Could not activate slave %i!\n", i);
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_release(ecat_master);
out_msr_cleanup:
msr_rtlib_cleanup();
out_return:
return -1;
}
/*****************************************************************************/
void __exit cleanup_module()
{
unsigned int i;
msr_print_info("msk_modul: unloading...");
ipipe_tune_timer(1000000000UL / HZ, 0); //alten Timertakt wieder herstellen
ipipe_unregister_domain(&this_domain);
if (ecat_master)
{
printk(KERN_INFO "=== Stopping EtherCAT environment... ===\n");
printk(KERN_INFO "Deactivating slaves.\n");
for (i = 0; i < ECAT_SLAVES_COUNT; i++) {
if (EtherCAT_deactivate_slave(ecat_master, ecat_slaves + i) < 0) {
printk(KERN_WARNING "Warning - Could not deactivate slave!\n");
}
}
EtherCAT_release(ecat_master);
printk(KERN_INFO "=== EtherCAT environment stopped. ===\n");
}
#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);
/*****************************************************************************/
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