etherlabmaster: rt/msr_module.c@b3beaa00640f (annotated)

42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	1	/******************************************************************************
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	2	*
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	3	* msr_module.c
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	4	*
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	5	* Kernelmodul für 2.6 Kernel zur Meßdatenerfassung, Steuerung und Regelung.
47 ad5f969f263b Prozessdatentimeout, Buszeit und weniger Klemmen. Florian Pose <fp@igh-essen.com> parents: 45 diff changeset	6	*
ad5f969f263b Prozessdatentimeout, Buszeit und weniger Klemmen. Florian Pose <fp@igh-essen.com> parents: 45 diff changeset	7	* Autor: Wilhelm Hagemeister, Florian Pose
42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	8	*
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	9	* (C) Copyright IgH 2002
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	10	* Ingenieurgemeinschaft IgH
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	11	* Heinz-Bäcker Str. 34
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	12	* D-45356 Essen
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	13	* Tel.: +49 201/61 99 31
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	14	* Fax.: +49 201/61 98 36
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	15	* E-mail: hm@igh-essen.com
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	16	*
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	17	* $Id$
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	18	*
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	19	*****************************************************************************/
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	20
45 f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	21	// Linux
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	22	#include <linux/module.h>
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	23	#include <linux/ipipe.h>
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	24
45 f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	25	// RT_lib
f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	26	#include <msr_main.h>
f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	27	#include <msr_utils.h>
f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	28	#include <msr_messages.h>
f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	29	#include <msr_float.h>
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	30	#include <msr_reg.h>
45 f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	31	#include "msr_param.h"
f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	32	#include "msr_jitter.h"
f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	33
f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	34	// EtherCAT
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	35	#include "../drivers/ec_master.h"
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	36	#include "../drivers/ec_device.h"
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	37	#include "../drivers/ec_types.h"
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	38	#include "../drivers/ec_module.h"
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	39
45 f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	40	// Defines/Makros
f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	41	#define TSC2US(T1, T2) ((T2 - T1) * 1000UL / cpu_khz)
47 ad5f969f263b Prozessdatentimeout, Buszeit und weniger Klemmen. Florian Pose <fp@igh-essen.com> parents: 45 diff changeset	42	#define HZREDUCTION (MSR_ABTASTFREQUENZ / HZ)
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	43
45 f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	44	/*****************************************************************************/
f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	45	/* Globale Variablen */
f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	46
f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	47	// RT_lib
42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	48	extern struct timeval process_time;
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	49	struct timeval msr_time_increment; // Increment per Interrupt
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	50
45 f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	51	// Adeos
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	52	static struct ipipe_domain this_domain;
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	53	static struct ipipe_sysinfo sys_info;
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	54
45 f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	55	// EtherCAT
f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	56
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	57	static EtherCAT_master_t *ecat_master = NULL;
47 ad5f969f263b Prozessdatentimeout, Buszeit und weniger Klemmen. Florian Pose <fp@igh-essen.com> parents: 45 diff changeset	58	static unsigned int ecat_bus_time = 0;
ad5f969f263b Prozessdatentimeout, Buszeit und weniger Klemmen. Florian Pose <fp@igh-essen.com> parents: 45 diff changeset	59	static unsigned int ecat_timeouts = 0;
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	60
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	61	static EtherCAT_slave_t ecat_slaves[] =
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	62	{
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	63	// Block 1
42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	64	ECAT_INIT_SLAVE(Beckhoff_EK1100, 0),
51 b3beaa00640f 8139too: Immer alle Frames empfangen. Florian Pose <fp@igh-essen.com> parents: 48 diff changeset	65	ECAT_INIT_SLAVE(Beckhoff_EL3102, 0)
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	66	};
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	67
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	68	#define ECAT_SLAVES_COUNT (sizeof(ecat_slaves) / sizeof(EtherCAT_slave_t))
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	69
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	70	#define USE_MSR_LIB
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	71
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	72	#ifdef USE_MSR_LIB
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	73	double value;
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	74	int dig1;
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	75	#endif
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	76
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	77	/******************************************************************************
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	78	*
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	79	* Function: msr_controller_run()
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	80	*
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	81	*****************************************************************************/
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	82
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	83	static void msr_controller_run(void)
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	84	{
48 7e75772ea28c Sinnvolle Meldung verlorener Frames, Zustand antwortender Slaves. Florian Pose <fp@igh-essen.com> parents: 47 diff changeset	85	static unsigned int debug_counter = 0;
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	86
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	87	// Prozessdaten lesen
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	88	msr_jitter_run(MSR_ABTASTFREQUENZ);
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	89
51 b3beaa00640f 8139too: Immer alle Frames empfangen. Florian Pose <fp@igh-essen.com> parents: 48 diff changeset	90	if (debug_counter == 0) {
b3beaa00640f 8139too: Immer alle Frames empfangen. Florian Pose <fp@igh-essen.com> parents: 48 diff changeset	91	ecat_master->debug_level = 2;
b3beaa00640f 8139too: Immer alle Frames empfangen. Florian Pose <fp@igh-essen.com> parents: 48 diff changeset	92	}
b3beaa00640f 8139too: Immer alle Frames empfangen. Florian Pose <fp@igh-essen.com> parents: 48 diff changeset	93
b3beaa00640f 8139too: Immer alle Frames empfangen. Florian Pose <fp@igh-essen.com> parents: 48 diff changeset	94	// Prozessdaten schreiben
b3beaa00640f 8139too: Immer alle Frames empfangen. Florian Pose <fp@igh-essen.com> parents: 48 diff changeset	95
b3beaa00640f 8139too: Immer alle Frames empfangen. Florian Pose <fp@igh-essen.com> parents: 48 diff changeset	96	if (EtherCAT_process_data_cycle(ecat_master, 0, 40) < 0)
b3beaa00640f 8139too: Immer alle Frames empfangen. Florian Pose <fp@igh-essen.com> parents: 48 diff changeset	97	ecat_timeouts++;
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	98
48 7e75772ea28c Sinnvolle Meldung verlorener Frames, Zustand antwortender Slaves. Florian Pose <fp@igh-essen.com> parents: 47 diff changeset	99	if (debug_counter == 0) {
7e75772ea28c Sinnvolle Meldung verlorener Frames, Zustand antwortender Slaves. Florian Pose <fp@igh-essen.com> parents: 47 diff changeset	100	ecat_master->debug_level = 0;
7e75772ea28c Sinnvolle Meldung verlorener Frames, Zustand antwortender Slaves. Florian Pose <fp@igh-essen.com> parents: 47 diff changeset	101	}
7e75772ea28c Sinnvolle Meldung verlorener Frames, Zustand antwortender Slaves. Florian Pose <fp@igh-essen.com> parents: 47 diff changeset	102
51 b3beaa00640f 8139too: Immer alle Frames empfangen. Florian Pose <fp@igh-essen.com> parents: 48 diff changeset	103	value = EtherCAT_read_value(&ecat_slaves[1], 0);
42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	104
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	105	debug_counter++;
48 7e75772ea28c Sinnvolle Meldung verlorener Frames, Zustand antwortender Slaves. Florian Pose <fp@igh-essen.com> parents: 47 diff changeset	106	if (debug_counter >= MSR_ABTASTFREQUENZ * 5) debug_counter = 0;
42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	107	}
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	108
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	109	/******************************************************************************
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	110	*
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	111	* Function: msr_run(_interrupt)
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	112	*
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	113	* Beschreibung: Routine wird zyklisch im Timerinterrupt ausgeführt
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	114	* (hier muß alles rein, was Echtzeit ist ...)
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	115	*
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	116	* Parameter: Zeiger auf msr_data
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	117	*
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	118	* Rückgabe:
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	119	*
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	120	* Status: exp
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	121	*
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	122	*****************************************************************************/
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	123
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	124	void msr_run(unsigned irq)
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	125	{
45 f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	126	static int counter = 0;
f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	127
f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	128	#ifdef USE_MSR_LIB
f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	129	timeval_add(&process_time, &process_time, &msr_time_increment);
f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	130	MSR_ADEOS_INTERRUPT_CODE(msr_controller_run(); msr_write_kanal_list(););
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	131	#else
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	132	msr_controller_run();
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	133	#endif
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	134
40 d07ebafe62dd 20kHz, Wilhelm Florian Pose <fp@igh-essen.com> parents: 38 diff changeset	135	ipipe_control_irq(irq,0,IPIPE_ENABLE_MASK); //Interrupt bestŽätigen
45 f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	136	if (counter++ > HZREDUCTION) {
40 d07ebafe62dd 20kHz, Wilhelm Florian Pose <fp@igh-essen.com> parents: 38 diff changeset	137	ipipe_propagate_irq(irq); //und weiterreichen
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	138	counter = 0;
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	139	}
42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	140	}
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	141
45 f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	142	/*****************************************************************************/
f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	143
f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	144	void domain_entry(void)
42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	145	{
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	146	printk("Domain %s started.\n", ipipe_current_domain->name);
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	147
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	148	ipipe_get_sysinfo(&sys_info);
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	149	ipipe_virtualize_irq(ipipe_current_domain,sys_info.archdep.tmirq,
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	150	&msr_run, NULL, IPIPE_HANDLE_MASK);
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	151
42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	152	ipipe_tune_timer(1000000000UL/MSR_ABTASTFREQUENZ,0);
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	153	}
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	154
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	155	/******************************************************************************
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	156	*
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	157	* Function: msr_register_channels
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	158	*
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	159	* Beschreibung: KanŽäle registrieren
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	160	*
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	161	* Parameter:
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	162	*
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	163	* RŽückgabe:
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	164	*
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	165	* Status: exp
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	166	*
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	167	*****************************************************************************/
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	168
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	169	int msr_globals_register(void)
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	170	{
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	171	#ifdef USE_MSR_LIB
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	172	msr_reg_kanal("/value", "V", &value, TDBL);
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	173	msr_reg_kanal("/dig1", "", &dig1, TINT);
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	174	#endif
45 f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	175
f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	176	msr_reg_kanal("/Taskinfo/EtherCAT/BusTime", "us", &ecat_bus_time, TUINT);
47 ad5f969f263b Prozessdatentimeout, Buszeit und weniger Klemmen. Florian Pose <fp@igh-essen.com> parents: 45 diff changeset	177	msr_reg_kanal("/Taskinfo/EtherCAT/Timeouts", "", &ecat_timeouts, TUINT);
45 f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	178
f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	179	return 0;
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	180	}
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	181
42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	182	/******************************************************************************
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	183	* the init/clean material
42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	184	*****************************************************************************/
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	185
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	186	int __init init_module()
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	187	{
42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	188	unsigned int i;
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	189	struct ipipe_domain_attr attr; //ipipe
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	190
36 6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	191	// Als allererstes die RT-lib initialisieren
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	192	#ifdef USE_MSR_LIB
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	193	if (msr_rtlib_init(1,MSR_ABTASTFREQUENZ,10,&msr_globals_register) < 0) {
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	194	msr_print_warn("msr_modul: can't initialize rtlib!");
36 6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	195	goto out_return;
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	196	}
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	197	#endif
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	198
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	199	msr_jitter_init();
36 6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	200
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	201	printk(KERN_INFO "=== Starting EtherCAT environment... ===\n");
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	202
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	203	if ((ecat_master = EtherCAT_request(0)) == NULL) {
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	204	printk(KERN_ERR "EtherCAT master 0 not available!\n");
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	205	goto out_msr_cleanup;
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	206	}
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	207
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	208	printk("Checking EtherCAT slaves.\n");
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	209
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	210	if (EtherCAT_check_slaves(ecat_master, ecat_slaves, ECAT_SLAVES_COUNT) != 0) {
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	211	printk(KERN_ERR "EtherCAT: Could not init slaves!\n");
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	212	goto out_release_master;
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	213	}
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	214
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	215	printk("Activating all EtherCAT slaves.\n");
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	216
42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	217	for (i = 0; i < ECAT_SLAVES_COUNT; i++) {
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	218	if (EtherCAT_activate_slave(ecat_master, ecat_slaves + i) < 0) {
43 35120a61d55e Sch?nheitskorrekturen. Florian Pose <fp@igh-essen.com> parents: 42 diff changeset	219	printk(KERN_ERR "EtherCAT: Could not activate slave %i!\n", i);
42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	220	goto out_release_master;
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	221	}
36 6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	222	}
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	223
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	224	do_gettimeofday(&process_time);
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	225	msr_time_increment.tv_sec=0;
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	226	msr_time_increment.tv_usec=(unsigned int)(1000000/MSR_ABTASTFREQUENZ);
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	227
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	228	ipipe_init_attr (&attr);
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	229	attr.name = "IPIPE-MSR-MODULE";
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	230	attr.priority = IPIPE_ROOT_PRIO + 1;
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	231	attr.entry = &domain_entry;
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	232	ipipe_register_domain(&this_domain,&attr);
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	233
36 6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	234	return 0;
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	235
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	236	out_release_master:
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	237	EtherCAT_release(ecat_master);
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	238
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	239	out_msr_cleanup:
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	240	msr_rtlib_cleanup();
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	241
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	242	out_return:
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	243	return -1;
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	244	}
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	245
42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	246	/*****************************************************************************/
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	247
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	248	void __exit cleanup_module()
42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	249	{
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	250	unsigned int i;
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	251
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	252	msr_print_info("msk_modul: unloading...");
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	253
45 f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	254	ipipe_tune_timer(1000000000UL / HZ, 0); //alten Timertakt wieder herstellen
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	255	ipipe_unregister_domain(&this_domain);
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	256
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	257	if (ecat_master)
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	258	{
43 35120a61d55e Sch?nheitskorrekturen. Florian Pose <fp@igh-essen.com> parents: 42 diff changeset	259	printk(KERN_INFO "=== Stopping EtherCAT environment... ===\n");
35120a61d55e Sch?nheitskorrekturen. Florian Pose <fp@igh-essen.com> parents: 42 diff changeset	260
36 6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	261	printk(KERN_INFO "Deactivating slaves.\n");
42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	262
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	263	for (i = 0; i < ECAT_SLAVES_COUNT; i++) {
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	264	if (EtherCAT_deactivate_slave(ecat_master, ecat_slaves + i) < 0) {
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	265	printk(KERN_WARNING "Warning - Could not deactivate slave!\n");
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	266	}
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	267	}
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	268
36 6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	269	EtherCAT_release(ecat_master);
43 35120a61d55e Sch?nheitskorrekturen. Florian Pose <fp@igh-essen.com> parents: 42 diff changeset	270
35120a61d55e Sch?nheitskorrekturen. Florian Pose <fp@igh-essen.com> parents: 42 diff changeset	271	printk(KERN_INFO "=== EtherCAT environment stopped. ===\n");
35120a61d55e Sch?nheitskorrekturen. Florian Pose <fp@igh-essen.com> parents: 42 diff changeset	272	}
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	273
36 6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	274	#ifdef USE_MSR_LIB
6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	275	msr_rtlib_cleanup();
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	276	#endif
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	277	}
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	278
42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	279	/*****************************************************************************/
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	280
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	281	MODULE_LICENSE("GPL");
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	282	MODULE_AUTHOR ("Wilhelm Hagemeister <hm@igh-essen.com>");
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	283	MODULE_DESCRIPTION ("EtherCAT test environment");
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	284
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	285	module_init(init_module);
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	286	module_exit(cleanup_module);
36 6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	287
42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	288	/*****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Fri, 13 Jan 2006 13:44:22 +0000
changeset 51	b3beaa00640f
parent 48	7e75772ea28c
child 54	7506e67dd122
permissions	-rw-r--r--