diff --git a/examples/msr/Makefile b/examples/msr/Makefile
index 3d427fd71c8049afe13c0f0b514d4bf76ee90833..8e05d0540cc818fde2fb46c513d55a645506b040 100644
--- a/examples/msr/Makefile
+++ b/examples/msr/Makefile
@@ -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
+
+#------------------------------------------------------------------------------
diff --git a/examples/msr/rt.conf.tmpl b/examples/msr/kernel.conf.tmpl
similarity index 70%
rename from examples/msr/rt.conf.tmpl
rename to examples/msr/kernel.conf.tmpl
index aa2a4ea79694de5fca67ecc604978831ccdf759c..cd72d5eeadb30ea461b3e0ab51ca6ba88869272a 100644
--- a/examples/msr/rt.conf.tmpl
+++ b/examples/msr/kernel.conf.tmpl
@@ -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`
#------------------------------------------------------------------------------
diff --git a/examples/msr/msr_load b/examples/msr/msr_load
index 26d14e9a7277fb70c00b4ee8ee32c35b17958839..afa1fcca2b6dc701bd6b4ffdc9b5eb753188da5f 100755
--- a/examples/msr/msr_load
+++ b/examples/msr/msr_load
@@ -1,5 +1,5 @@
#!/bin/sh
-module="msr_rt"
+module="ec_msr_sample"
device="msr"
mode="664"
diff --git a/examples/msr/msr_rt.c b/examples/msr/msr_sample.c
similarity index 62%
rename from examples/msr/msr_rt.c
rename to examples/msr/msr_sample.c
index 5aedb08501a54072035c24f6bfbfa0c679e9af0c..66c92e3c3fa3b3bbcdddd9de88ddd7dc9dc9f154 100644
--- a/examples/msr/msr_rt.c
+++ b/examples/msr/msr_sample.c
@@ -1,8 +1,6 @@
/******************************************************************************
*
- * m s r _ r t . c
- *
- * Kernelmodul für 2.6 Kernel zur Meßdatenerfassung, 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;
-
- MSR_ADEOS_INTERRUPT_CODE(msr_controller_run(); msr_write_kanal_list(););
+ // too close to the next RT cycle: deny access...
+ if (get_cycles() - t_start > t_critical) return -1;
- 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: ***
-*/
diff --git a/examples/msr/msr_unload b/examples/msr/msr_unload
index be7e9871195f3648b963b825d22f10cd5cd2eff2..bf360b1467b6f973c43cc37085dcb3c7b9c77e9a 100755
--- a/examples/msr/msr_unload
+++ b/examples/msr/msr_unload
@@ -1,5 +1,5 @@
#!/bin/sh
-module="msr_rt"
+module="ec_msr_sample"
device="msr"
# invoke rmmod with all arguments we got