start refactor
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187
Bearbeiten2.c
187
Bearbeiten2.c
@ -1,124 +1,129 @@
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/*
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* Beispiel: Grundgeruest einer Modbus-Kommunikation
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*
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* Aufbau einer Modbus-Kommunikation ohne weitere Funktion
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*
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*/
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#include <rtai_mbx.h>
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#include <rtai_sched.h>
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#include <uint128.h>
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#include <sys/rtai_modbus.h>
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#define DEBUG 1
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#define SENSOR_PART_TURNTABLE 1<<0
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#define SENSOR_PART_DRILL 1<<1
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#define SENSOR_PART_MESURING 1<<2
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#define SENSOR_DRILL_UP 1<<3
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#define SENSOR_DRILL_DOWN 1<<4
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#define SENSOR_TURNTABLE_POS 1<<5
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#define SENSOR_PART_TEST 1<<6
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#define ACTOR_DRILL 1<<0
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#define ACTOR_TURNTABLE 1<<1
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#define ACTOR_DRILL_DOWN 1<<2
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#define ACTOR_DRILL_UP 1<<3
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#define ACTOR_PART_HOLD 1<<4
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#define ACTOR_TESTER 1<<5
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#define ACTOR_EXIT 1<<6
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#define ACTOR_ENTRANCE 1<<7
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MODULE_LICENSE("GPL");
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static RT_TASK entry_task;
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/* Control Task */
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int readAll(int connection, int *value) {
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if (rt_modbus_get(fd_node, DIGITAL_IN, 0, (unsigned short *) &value)) {
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return 1;
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}
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return 0;
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}
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int read(int connection, int part, int *result) {
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int value;
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int code = readAll(connection, &value);
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*result = (value & part) != 0;
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return code;
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}
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int disable(int connection, int part) {
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int value;
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int code = readAll(connection, &value);
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if (code) return code;
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if (rt_modbus_set(connection, DIGITAL_OUT, output &= part))
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return 1;
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return 0;
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}
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int enable(int connection, int part) {
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int value;
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int code = readAll(connection, &value);
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if (code) return code;
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if (rt_modbus_set(connection, DIGITAL_OUT, output |= part))
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return 1;
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return 0;
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}
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static void
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entry(long x)
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{
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int fd_node;
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int ready = 0;
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turntable(long x) {
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int connection;
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int ready = 0;
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rt_printk("control: task started\n");
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rt_printk("turntable: task started\n");
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/* Verbindung zum Modbus-Knoten herstellen */
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if ((fd_node = rt_modbus_connect("modbus-node")) == -1) {
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rt_printk("Acontrol: task exited\n");
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return;
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}
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rt_printk("control: MODBUS communication opened\n");
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if ((connection = rt_modbus_connect("modbus-node")) == -1) {
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rt_printk("turntable: task exited\n");
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return;
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}
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rt_printk("turntable: MODBUS communication opened\n");
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while(1) {
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int value = 0;
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int output = 0;
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if(rt_modbus_get(fd_node, DIGITAL_IN, 0, (unsigned short *) &value))
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goto fail;
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if(rt_modbus_get(fd_node, DIGITAL_OUT, 0, (unsigned short *) &output))
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goto fail;
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while (1) {
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int partOnTable;
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if (read(connection, SENSOR_PART_TURNTABLE, &partOnTable)) goto fail;
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if(value >32) {
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rt_printk("halloo welt");
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if(rt_modbus_set(fd_node, DIGITAL_OUT, 0, output |= 0b00000010))
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goto fail;
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if (partOnTable) {
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rt_printk("halloo welt");
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if (enable(connection, ACTOR_TURNTABLE)) goto fail;
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} else {
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if (disable(connection, ACTOR_TURNTABLE)) goto fail;
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}
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// if(rt_modbus_set(fd_node, DIGITAL_IN, 0, 00000000))
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// goto fail;
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// }
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}else {
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if(rt_modbus_set(fd_node, DIGITAL_OUT, 0, output &= 0b00000000))
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goto fail;
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}
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if (ready)
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goto fail;
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/* Evtl. Ausgang zum Aufraemen */
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if (ready)
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goto fail;
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/* Fair zu Linux sein und Zeit abgeben */
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rt_sleep(1000 * nano2count(1000000));
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}
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rt_sleep(1000 * nano2count(1000000));
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}
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/* Aufraeumen */
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fail:
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rt_modbus_disconnect(fd_node);
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rt_printk("control: task exited\n");
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fail:
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rt_modbus_disconnect(connection);
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rt_printk("turntable: task exited with failure\n");
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}
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/* Funktion die beim Entfernen des Moduls aufgerufen wird */
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static void __exit
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example_exit(void)
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{
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/* Task loeschen */
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rt_task_delete(&entry_task);
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/* Timer stoppen */
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stop_rt_timer();
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printk("rtai_example unloaded\n");
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example_exit(void) {
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rt_task_delete(&entry_task);
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stop_rt_timer();
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printk("module Bearbeiten2 unloaded\n");
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}
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/* Funktion die beim Laden des Moduls aufgerufen wird */
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static int __init
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example_init(void)
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{
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/* variables Timing basierend auf dem CPU-Takt */
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rt_set_oneshot_mode();
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/* Timer starten */
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start_rt_timer(0);
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/* Modbuskommunikation initialisieren */
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modbus_init();
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/* Taskinitialisierung
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*
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* &task = Adresse des zu initialisierenden TCB
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* control = zum Task gehörende Funktion
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* 0 = Uebergabeparameter an die zum Task gehoerende Funktion (long)
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* 1024 = Stacksize
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* 0 = Priorität des Tasks (0 = groesste)
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* 0 = uses_fpu (Fliesskommaeinheit nicht benutzen); im Praktikum sollte es 0 bleiben
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* NULL = &signal_handler; Referenz zu einer Fkt., die bei jeder Aktivierung
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* des Tasks aufgerufen wird, ansonsten NULL
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*
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* Achtung: Nach der Initialisierung ist der Task "suspended"!
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*
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*/
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if (rt_task_init(&entry_task, entry, 0, 1024, 0, 0, NULL)) {
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printk("cannot initialize control task\n");
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goto fail;
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}
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example_init(void) {
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rt_set_oneshot_mode();
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start_rt_timer(0);
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modbus_init();
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/* suspend -> ready bzw. running */
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rt_task_resume(&entry_task);
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printk("rtai_example loaded\n");
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return (0);
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if (rt_task_init(&entry_task, entry, 0, 1024, 0, 0, NULL)) {
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printk("cannot initialize control task\n");
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goto fail;
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}
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fail:
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/* Aufraeumen */
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stop_rt_timer();
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return (1);
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rt_task_resume(&entry_task);
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printk("loaded module Bearbeiten2\n");
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return (0);
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fail:
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stop_rt_timer();
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return (1);
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}
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/* Modulein- und ausstieg festlegen */
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module_exit(example_exit)
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module_init(example_init)
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