diff --git a/Makefile b/Makefile
index 50f8f12d1d028b59b17e195ace8d22c3faf35dd2..0c31324cb8cb1c9068fa29862b27fdd468027eef 100644
--- a/Makefile
+++ b/Makefile
@@ -14,26 +14,22 @@ ifeq ($(CONFIG_FILE),$(wildcard $(CONFIG_FILE)))
include $(CONFIG_FILE)
endif
-#----------------------------------------------------------------
+obj-m := drivers/ mini/
-all: .drivers .rt .mini
+ifeq ($(MAKE_RT),yes)
+obj-m += rt/
+endif
-doc docs:
- doxygen Doxyfile
+#----------------------------------------------------------------
-.drivers:
- $(MAKE) -C drivers
+all:
+ $(MAKE) -C $(KERNELDIR) M=`pwd` modules
-ifeq ($(MAKE_RT),yes)
-.rt:
- $(MAKE) -C rt
-else
-.rt:
- @echo "Skipping Real-Time."
-endif
+clean:
+ $(MAKE) -C $(KERNELDIR) M=`pwd` clean
-.mini:
- $(MAKE) -C mini
+doc docs:
+ doxygen Doxyfile
config conf $(CONFIG_FILE):
@echo "# EtherCAT Konfigurationsdatei Kernel 2.6" > $(CONFIG_FILE)
@@ -46,9 +42,4 @@ config conf $(CONFIG_FILE):
@echo >> $(CONFIG_FILE)
@echo "$(CONFIG_FILE) erstellt."
-clean:
- $(MAKE) -C rt clean
- $(MAKE) -C drivers clean
- $(MAKE) -C mini clean
-
#----------------------------------------------------------------
diff --git a/drivers/Makefile b/drivers/Makefile
index bcb4c30d689e3d21039a56c92c0fe98704581ae6..0a796c1458dfedcc13754ae8205f5a085c951203 100644
--- a/drivers/Makefile
+++ b/drivers/Makefile
@@ -32,13 +32,11 @@ else
#------------------------------------------------------------------------------
# Default-Abschnitt
-include ../ethercat.conf
-
modules:
- $(MAKE) -C $(KERNELDIR) M=`pwd` modules
+ $(MAKE) -C ..
clean:
- $(MAKE) -C $(KERNELDIR) M=`pwd` clean
+ $(MAKE) -C .. clean
#------------------------------------------------------------------------------
diff --git a/rt/msr_module.c b/rt/msr_module.c
index b934f011d1f5781a0ef8273e3bd7706a728a0c59..549f733c1c4af2726518910150ebede7530bcc9e 100644
--- a/rt/msr_module.c
+++ b/rt/msr_module.c
@@ -19,75 +19,44 @@
*
*****************************************************************************/
-#ifndef __KERNEL__
-# define __KERNEL__
-#endif
-#ifndef MODULE
-# define MODULE
-#endif
-
-#include <linux/config.h>
+// Linux
#include <linux/module.h>
-
-#include <linux/sched.h>
-#include <linux/kernel.h>
-#include <linux/vmalloc.h>
-#include <linux/fs.h> /* everything... */
-#include <linux/proc_fs.h>
-#include <linux/time.h>
-#include <linux/timer.h>
-#include <linux/timex.h> /* fuer get_cycles */
-#include <linux/errno.h> /* error codes */
-#include <asm/msr.h> /* maschine-specific registers */
-#include <linux/param.h> /* fuer HZ */
#include <linux/ipipe.h>
-#include "msr_param.h" //wird im Projektverzeichnis erwartet
-
-//#include <msr_control.h>
-#include <msr_lists.h>
-#include <msr_charbuf.h>
-#include <msr_reg.h>
-#include <msr_error_reg.h>
-#include <msr_messages.h>
-#include <msr_proc.h>
-#include <msr_utils.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"
-#include "msr_jitter.h"
-
-#define TSC2US(T) ((unsigned long) (T) * 1000UL / cpu_khz)
-
-/*--external data------------------------------------------------------------*/
-
+// Defines/Makros
+#define TSC2US(T1, T2) ((T2 - T1) * 1000UL / cpu_khz)
#define HZREDUCTION (MSR_ABTASTFREQUENZ/HZ)
-extern wait_queue_head_t msr_read_waitqueue;
-
-extern struct msr_char_buf *msr_kanal_puffer;
-
-extern int proc_abtastfrequenz;
-
-/*--local data---------------------------------------------------------------*/
+/*****************************************************************************/
+/* Globale Variablen */
+// RT_lib
extern struct timeval process_time;
struct timeval msr_time_increment; // Increment per Interrupt
-//adeos
-
+// Adeos
static struct ipipe_domain this_domain;
-
static struct ipipe_sysinfo sys_info;
+// EtherCAT
+
static EtherCAT_master_t *ecat_master = NULL;
+static unsigned long ecat_bus_time = 0;
static EtherCAT_slave_t ecat_slaves[] =
{
@@ -178,7 +147,6 @@ static int next2004(int *wrap)
return -1;
}
-
/******************************************************************************
*
* Function: msr_controller_run()
@@ -256,21 +224,23 @@ static void msr_controller_run(void)
//EtherCAT_process_data_cycle(ecat_master, 2);
+ rdtscl(t7);
+
+ ecat_bus_time = TSC2US(t2, t7);
+
// 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
- rdtscl(t7);
-
if (debug_counter == MSR_ABTASTFREQUENZ) {
printk(KERN_DEBUG "%lu: %luŽµs + %luŽµs + %luŽµs + %luŽµs + %luŽµs +"
" %luŽµs = %luŽµs (%u %u)\n",
- TSC2US(t1 - lt),
- TSC2US(t2 - t1), TSC2US(t3 - t2), TSC2US(t4 - t3),
- TSC2US(t5 - t4), TSC2US(t6 - t5), TSC2US(t7 - t6),
- TSC2US(t7 - t1), tr1, tr2);
+ TSC2US(lt, t1),
+ TSC2US(t1, t2), TSC2US(t2, t3), TSC2US(t3, t4),
+ TSC2US(t4, t5), TSC2US(t5, t6), TSC2US(t6, t7),
+ TSC2US(t1, t7), tr1, tr2);
debug_counter = 0;
}
@@ -297,31 +267,25 @@ static void msr_controller_run(void)
void msr_run(unsigned irq)
{
- static int counter = 0;
-#ifdef USE_MSR_LIB
-
- timeval_add(&process_time,&process_time,&msr_time_increment);
+ static int counter = 0;
- MSR_ADEOS_INTERRUPT_CODE(
- msr_controller_run();
- msr_write_kanal_list();
- );
+#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); //Interrupt bestŽätigen
- if(counter++ > HZREDUCTION) {
+ if (counter++ > HZREDUCTION) {
ipipe_propagate_irq(irq); //und weiterreichen
counter = 0;
}
}
-void domain_entry (void)
+/*****************************************************************************/
+
+void domain_entry(void)
{
printk("Domain %s started.\n", ipipe_current_domain->name);
@@ -352,14 +316,10 @@ int msr_globals_register(void)
msr_reg_kanal("/value", "V", &value, TDBL);
msr_reg_kanal("/dig1", "", &dig1, TINT);
#endif
-#if 0
- 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);
-#endif
- return 0;
+
+ msr_reg_kanal("/Taskinfo/EtherCAT/BusTime", "us", &ecat_bus_time, TUINT);
+
+ return 0;
}
/******************************************************************************
@@ -434,7 +394,7 @@ void __exit cleanup_module()
msr_print_info("msk_modul: unloading...");
- ipipe_tune_timer(1000000000UL/HZ,0); //alten Timertakt wieder herstellen
+ ipipe_tune_timer(1000000000UL / HZ, 0); //alten Timertakt wieder herstellen
ipipe_unregister_domain(&this_domain);
if (ecat_master)
diff --git a/rt/rt_lib b/rt/rt_lib
deleted file mode 120000
index 8706493ac51e196c792454bf6b8913c99644ecab..0000000000000000000000000000000000000000
--- a/rt/rt_lib
+++ /dev/null
@@ -1 +0,0 @@
-../../../linux/kernel_space/rt_lib-4.0.0-2.6krnl
\ No newline at end of file