start refactor

This commit is contained in:
Johannes Theiner 2020-10-19 19:58:28 +02:00
parent d7907f3cbe
commit 4eb994c5c8
Signed by: joethei
GPG Key ID: 9D2B9A00FDA85BCD
1 changed files with 96 additions and 91 deletions

View File

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