IPIPE,floatpoint,rtlib

mini/ec_mini.c

@@ -255,9 +255,6 @@ int __init init_module()
 #ifdef ECAT_CYCLIC_DATA
   printk("Starting cyclic sample thread.\n");
 
-  schedule();
-  mdelay(1000);
-  schedule();
   init_timer(&timer);
 
   timer.function = run;

rt/Makefile

@@ -1,64 +1,81 @@
-#----------------------------------------------------------------
-#
-#  Makefile
-#
-#  EtherCAT-RT-Modul
-#
-#  $Id$
-#
-#----------------------------------------------------------------
+# Comment/uncomment the following line to disable/enable debugging
+#DEBUG = y
 
-CONFIG_FILE = ../ethercat.conf
 
-ifeq ($(CONFIG_FILE),$(wildcard $(CONFIG_FILE)))
-include $(CONFIG_FILE)
+# Add your debugging flag (or not) to CFLAGS
+ifeq ($(DEBUG),y)
+  DEBFLAGS = -O -g -DSHORT_DEBUG # "-O" is needed to expand inlines
 else
-KERNELDIR = /vol/projekte/msr_messen_steuern_regeln/linux/kernel/2.4.20/include/linux-2.4.20.CX1100-rthal5
-RTAIDIR   = /vol/projekte/msr_messen_steuern_regeln/linux/kernel/2.4.20/include/rtai-24.1.13
-RTLIBDIR  = rt_lib
+  DEBFLAGS = -O2
 endif
 
-CFLAGS = -O2 -Wall -Wuninitialized -D__KERNEL__ -DMODULE -DSERIALDEBUG -DMSR_NO_PROC -I$(KERNELDIR)/include -D_RTAI -I$(RTAIDIR)/include -I$(RTLIBDIR)/msr-include
+CFLAGS += $(DEBFLAGS)
+CFLAGS += -I.. 
+
+RTLIB = /vol/projekte/msr_messen_steuern_regeln/linux/kernel_space/rt_lib-4.0.0-2.6krnl
 
 #Suchpfad für die Dateien aus dem RT-Lib-Verzeichnis
-VPATH = $(RTLIBDIR)/msr-core:$(RTLIBDIR)/msr-control:$(RTLIBDIR)/msr-math:$(RTLIBDIR)/msr-misc:$(RTLIBDIR)/msr-utils
+VPATH := $(RTLIB)/msr-core:$(RTLIB)/msr-control:$(RTLIB)/msr-hwdriver:$(RTLIB)/msr-math:$(RTLIB)/msr-misc:$(RTLIB)/msr-utils
 
-MODULE = msr_modul.o
-SRC = msr_io.c
-RTSRC = msr_main.c msr_lists.c msr_charbuf.c msr_reg.c msr_interpreter.c \
-	msr_utils.c msr_messages.c msr_base64.c msr_proc.c msr_error_reg.c
-ALLSRC = $(SRC) $(RTSRC)
-OBJ = $(ALLSRC:.c=.o)
+#Datei aus dem RT-Libverzeichnis für dies Projekt
+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
 
-#----------------------------------------------------------------
+ifneq ($(KERNELRELEASE),)
+# call from kernel build system
 
-all: .output_dirs .depend $(MODULE) Makefile
 
-$(MODULE): $(OBJ)
-	@echo "Making module"
-	$(LD) -r $(OBJ) -o $@
+EXTRA_CFLAGS := -I$(RTLIB)/msr-include -D_SIMULATION -I/usr/include -mhard-float
 
-.c.o:
-	@echo "Making obj $@"
-	$(CC) -c $(CFLAGS) $< -o $@
+#EXTRA_LDFLAGS :=  -L/usr/lib -lm
 
-.output_dirs:
-	@echo "x-- Directories -------------"
-	@echo "| Kernel $(KERNELDIR)"
-	@echo "| RTAI   $(RTAIDIR)"
-	@echo "| RT_lib $(RTLIBDIR)"
-	@echo "x----------------------------"
+msr_modul-y := msr_module.o \
+	msr_jitter.o \
+	rt_lib/msr-core/msr_lists.o \
+	rt_lib/msr-core/msr_main.o \
+	rt_lib/msr-core/msr_charbuf.o \
+	rt_lib/msr-core/msr_reg.o \
+	rt_lib/msr-core/msr_interpreter.o \
+	rt_lib/msr-core/msr_messages.o \
+	rt_lib/msr-core/msr_proc.o \
+	rt_lib/msr-core/msr_error_reg.o \
+	rt_lib/msr-utils/msr_utils.o \
+	rt_lib/msr-math/msr_base64.o \
+	libm.o 
+
+
+obj-m	:= msr_modul.o
+
+
+
+else
+
+
+KERNELDIR := /lib/modules/$(shell uname -r)/build
+PWD       := $(shell pwd)
+
+
+
+
+default:
+	$(MAKE) -C $(KERNELDIR) M=$(PWD) modules
+
+endif
 
-depend .depend dep:
-	$(CC) $(CFLAGS) -M $(SRC) > .depend
 
 clean:
-	rm -f *.o *~ core .depend
+	rm -f core .depend
+	rm -rf .tmp_versions
+	find -L -maxdepth 3 -name "*.o" -exec rm {} \;	
+	find -L -maxdepth 3 -name "*~" -exec rm {} \;	
+	find -L -maxdepth 3 -name "*.cmd" -exec rm {} \;	
+	find -L -maxdepth 3 -name "*.ko" -exec rm {} \;	
+	find -L -maxdepth 3 -name "*.mod.c" -exec rm {} \;	
+
+depend .depend dep:
+	$(CC) $(CFLAGS) -M *.c > .depend
+
 
-#----------------------------------------------------------------
 
 ifeq (.depend,$(wildcard .depend))
 include .depend
 endif
-
-#----------------------------------------------------------------

rt/msr_jitter.c

@@ -0,0 +1,185 @@
+/**************************************************************************************************
+*
+*                          msr_jitter.c
+*
+*           
+*           Autor: Wilhelm Hagemeister
+*
+*           (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
+*
+*
+*           $RCSfile: msr_adeos_latency.c,v $
+*           $Revision: 1.3 $
+*           $Author: hm $
+*           $Date: 2005/12/07 20:13:53 $
+*           $State: Exp $
+*
+*
+*           $Log: msr_adeos_latency.c,v $
+*           Revision 1.3  2005/12/07 20:13:53  hm
+*           *** empty log message ***
+*
+*           Revision 1.2  2005/12/07 15:56:13  hm
+*           *** empty log message ***
+*
+*           Revision 1.1  2005/12/07 08:43:40  hm
+*           Initial revision
+*
+*           Revision 1.5  2005/11/14 20:28:09  hm
+*           *** empty log message ***
+*
+*           Revision 1.4  2005/11/13 10:34:07  hm
+*           *** empty log message ***
+*
+*           Revision 1.3  2005/11/12 20:52:46  hm
+*           *** empty log message ***
+*
+*           Revision 1.2  2005/11/12 20:51:27  hm
+*           *** empty log message ***
+*
+*           Revision 1.1  2005/11/12 19:16:02  hm
+*           Initial revision
+*
+*           Revision 1.13  2005/06/17 11:35:13  hm
+*           *** empty log message ***
+*
+*
+*
+*
+**************************************************************************************************/
+
+#ifndef __KERNEL__
+#  define __KERNEL__
+#endif
+#ifndef MODULE
+#  define MODULE
+#endif
+
+#include <linux/config.h>
+#include <linux/module.h>
+#include <linux/sched.h>
+#include <linux/kernel.h>
+#include <asm/msr.h> /* maschine-specific registers */
+#include <linux/param.h> /* fuer HZ */
+
+#include <msr_reg.h>
+#include "msr_jitter.h"
+
+/*--includes-------------------------------------------------------------------------------------*/
+ 
+
+/*--external functions---------------------------------------------------------------------------*/
+
+/*--external data--------------------------------------------------------------------------------*/
+
+/*--public data----------------------------------------------------------------------------------*/
+
+/*--local data-----------------------------------------------------------------------------------*/
+
+#define NUMCLASSES 16
+
+static int jittime[NUMCLASSES]={0,1,2,5,10,20,50,100,200,500,1000,2000,5000,10000,20000,50000}; //in usec
+static int jitcount[NUMCLASSES];
+static double jitpercent[NUMCLASSES];
+
+static unsigned int tcount = 1;
+
+
+
+static void msr_jit_read(void)
+{
+    int i;
+    for(i=0;i<NUMCLASSES;i++) {
+	if(tcount >100) {
+	    jitpercent[i] = jitcount[i]*100.0/tcount;
+	}
+    }
+}
+
+void msr_jitter_init(void)
+{
+    msr_reg_int_list("/Taskinfo/Jitter/Classes","usec",&jittime[0],MSR_R,NUMCLASSES,NULL,NULL,NULL);
+    msr_reg_int_list("/Taskinfo/Jitter/Count","",&jitcount[0],MSR_R,NUMCLASSES,NULL,NULL,NULL);
+    msr_reg_dbl_list("/Taskinfo/Jitter/percent","%",&jitpercent[0],MSR_R,NUMCLASSES,NULL,NULL,&msr_jit_read);
+}
+
+/*
+***************************************************************************************************
+*
+* Function: msr_jitter_run
+*
+* Beschreibung: 
+*               
+*
+* Parameter: Zeiger auf msr_data
+*
+* R<>ückgabe: 
+*               
+* Status: exp
+*
+***************************************************************************************************
+*/
+
+void msr_jitter_run(unsigned int hz) {
+
+    int i,hit;
+    static int firstrun = 1;
+    static int counter = 0;
+    static unsigned long k,j = 0;
+    unsigned int dt,jitter;
+
+
+    rdtscl(k);
+
+    tcount++;
+
+    //Zeitabstand zwischen zwei Interrupts in usec
+
+    dt = ((unsigned long)(100000/HZ)*((unsigned long)(k-j)))/(current_cpu_data.loops_per_jiffy/10);
+
+    jitter = (unsigned int)abs((int)dt-(int)1000000/hz); //jitter errechnet zum Sollabtastrate
+
+    //in die Klassen einsortieren
+    if(!firstrun) { //das erste mal nicht einsortieren
+	hit = 0;
+	for(i=0;i<NUMCLASSES-1;i++) {
+	    if(jitter>=jittime[i] && jitter<jittime[i+1]) {
+		jitcount[i]++;
+		hit = 1;
+		break;
+	    }
+	}
+	if(hit == 0) //grŽöŽßer als der letzte
+	    jitcount[NUMCLASSES-1]++;
+
+    }
+    else
+	firstrun = 0;
+
+    j = k;
+
+
+}
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+

rt/msr_load

@@ -12,7 +12,7 @@ fi
 
 # invoke insmod with all arguments we got
 # and use a pathname, as newer modutils don't look in . by default
-/sbin/insmod -f ./$module.o $* || exit 1
+/sbin/insmod -f ./$module.ko $* || exit 1
 
 major=`cat /proc/devices | awk "\\$2==\"$device\" {print \\$1}"`
 

rt/msr_param.h

@@ -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
+
+

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
   }
 

rt/rt_lib

@@ -1 +1 @@
-../../../linux/kernel_space/rt_lib-3.0.1-push
+../../../linux/kernel_space/rt_lib-4.0.0-2.6krnl