author | Florian Pose <fp@igh-essen.com> |
Fri, 16 Dec 2005 15:23:56 +0000 | |
branch | kernel2.6 |
changeset 35 | ed834aa98f89 |
parent 33 | f4171b8aadf8 |
child 36 | 6e9de6fbf74c |
permissions | -rwxr-xr-x |
28 | 1 |
/************************************************************************************************** |
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* |
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* msr_module.c |
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* |
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* Kernelmodul für 2.6 Kernel zur Meßdatenerfassung, Steuerung und Regelung |
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* Zeitgeber ist der Timerinterrupt (tq) |
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* |
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* Autor: Wilhelm Hagemeister |
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* |
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* (C) Copyright IgH 2002 |
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* Ingenieurgemeinschaft IgH |
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* Heinz-Bäcker Str. 34 |
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* D-45356 Essen |
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* Tel.: +49 201/61 99 31 |
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* Fax.: +49 201/61 98 36 |
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* E-mail: hm@igh-essen.com |
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* |
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* |
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* $RCSfile: msr_module.c,v $ |
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* $Revision: 1.1 $ |
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* $Author: hm $ |
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* $Date: 2005/11/14 20:32:57 $ |
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* $State: Exp $ |
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* |
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* |
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* $Log: msr_module.c,v $ |
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* Revision 1.1 2005/11/14 20:32:57 hm |
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* Initial revision |
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* |
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* Revision 1.13 2005/06/17 11:35:13 hm |
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* *** empty log message *** |
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* |
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* |
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* |
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* |
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**************************************************************************************************/ |
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/*--includes-------------------------------------------------------------------------------------*/ |
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#ifndef __KERNEL__ |
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# define __KERNEL__ |
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#endif |
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#ifndef MODULE |
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# define MODULE |
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#endif |
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#include <linux/config.h> |
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#include <linux/module.h> |
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#include <linux/sched.h> |
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#include <linux/kernel.h> |
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#include <linux/vmalloc.h> |
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#include <linux/fs.h> /* everything... */ |
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#include <linux/proc_fs.h> |
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#include <linux/time.h> |
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#include <linux/timer.h> |
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#include <linux/timex.h> /* fuer get_cycles */ |
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#include <linux/errno.h> /* error codes */ |
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#include <asm/msr.h> /* maschine-specific registers */ |
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#include <linux/param.h> /* fuer HZ */ |
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#include <linux/ipipe.h> |
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#include "msr_param.h" //wird im Projektverzeichnis erwartet |
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//#include <msr_control.h> |
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#include <msr_lists.h> |
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#include <msr_charbuf.h> |
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#include <msr_reg.h> |
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#include <msr_error_reg.h> |
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#include <msr_messages.h> |
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#include <msr_proc.h> |
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#include <msr_utils.h> |
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#include <msr_main.h> |
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#include <msr_float.h> |
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#include "../drivers/ec_master.h" |
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#include "../drivers/ec_device.h" |
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#include "../drivers/ec_types.h" |
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#include "../drivers/ec_module.h" |
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#include "msr_jitter.h" |
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MODULE_AUTHOR("Wilhelm Hagemeister, Ingenieurgemeinschaft IgH"); |
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MODULE_LICENSE("GPL"); |
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/*--external functions---------------------------------------------------------------------------*/ |
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/*--external data--------------------------------------------------------------------------------*/ |
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#define HZREDUCTION (MSR_ABTASTFREQUENZ/HZ) |
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extern wait_queue_head_t msr_read_waitqueue; |
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extern struct msr_char_buf *msr_kanal_puffer; |
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extern int proc_abtastfrequenz; |
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/*--public data----------------------------------------------------------------------------------*/ |
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/*--local data-----------------------------------------------------------------------------------*/ |
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//struct timer_list timer; |
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extern struct timeval process_time; |
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struct timeval msr_time_increment; // Increment per Interrupt |
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//adeos |
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static struct ipipe_domain this_domain; |
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static struct ipipe_sysinfo sys_info; |
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static EtherCAT_master_t *ecat_master = NULL; |
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static EtherCAT_slave_t ecat_slaves[] = |
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{ |
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#if 1 |
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// Block 1 |
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ECAT_INIT_SLAVE(Beckhoff_EK1100), |
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ECAT_INIT_SLAVE(Beckhoff_EL4102), |
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ECAT_INIT_SLAVE(Beckhoff_EL1014), |
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ECAT_INIT_SLAVE(Beckhoff_EL3162), |
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ECAT_INIT_SLAVE(Beckhoff_EL2004), |
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ECAT_INIT_SLAVE(Beckhoff_EL3102), |
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ECAT_INIT_SLAVE(Beckhoff_EL2004), |
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ECAT_INIT_SLAVE(Beckhoff_EL2004), |
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ECAT_INIT_SLAVE(Beckhoff_EL2004), |
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ECAT_INIT_SLAVE(Beckhoff_EL2004), |
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ECAT_INIT_SLAVE(Beckhoff_EL2004), |
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// Block 2 |
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ECAT_INIT_SLAVE(Beckhoff_EK1100), |
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ECAT_INIT_SLAVE(Beckhoff_EL1014), |
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ECAT_INIT_SLAVE(Beckhoff_EL1014), |
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ECAT_INIT_SLAVE(Beckhoff_EL1014), |
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ECAT_INIT_SLAVE(Beckhoff_EL1014), |
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ECAT_INIT_SLAVE(Beckhoff_EL1014), |
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ECAT_INIT_SLAVE(Beckhoff_EL2004), |
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ECAT_INIT_SLAVE(Beckhoff_EL2004), |
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ECAT_INIT_SLAVE(Beckhoff_EL2004), |
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ECAT_INIT_SLAVE(Beckhoff_EL2004), |
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ECAT_INIT_SLAVE(Beckhoff_EL1014), |
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ECAT_INIT_SLAVE(Beckhoff_EL1014), |
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ECAT_INIT_SLAVE(Beckhoff_EL1014) |
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#endif |
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#if 1 |
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// Block 3 |
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,ECAT_INIT_SLAVE(Beckhoff_EK1100), |
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ECAT_INIT_SLAVE(Beckhoff_EL3162), |
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ECAT_INIT_SLAVE(Beckhoff_EL3162), |
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ECAT_INIT_SLAVE(Beckhoff_EL3162), |
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ECAT_INIT_SLAVE(Beckhoff_EL3162), |
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ECAT_INIT_SLAVE(Beckhoff_EL3102), |
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ECAT_INIT_SLAVE(Beckhoff_EL3102), |
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ECAT_INIT_SLAVE(Beckhoff_EL3102), |
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ECAT_INIT_SLAVE(Beckhoff_EL3102), |
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ECAT_INIT_SLAVE(Beckhoff_EL4102), |
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ECAT_INIT_SLAVE(Beckhoff_EL4102), |
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ECAT_INIT_SLAVE(Beckhoff_EL4102), |
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ECAT_INIT_SLAVE(Beckhoff_EL4102) |
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#endif |
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}; |
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#define ECAT_SLAVES_COUNT (sizeof(ecat_slaves) / sizeof(EtherCAT_slave_t)) |
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#define USE_MSR_LIB |
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#ifdef USE_MSR_LIB |
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double value; |
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int dig1; |
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#endif |
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/****************************************************************************** |
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* |
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* Function: next2004 |
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* |
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*****************************************************************************/ |
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static int next2004(int *wrap) |
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{ |
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static int i = 0; |
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unsigned int j = 0; |
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*wrap = 0; |
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for (j = 0; j < ECAT_SLAVES_COUNT; j++) |
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{ |
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i++; |
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i %= ECAT_SLAVES_COUNT; |
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if (i == 0) *wrap = 1; |
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if (ecat_slaves[i].desc == Beckhoff_EL2004) |
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{ |
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return i; |
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} |
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} |
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return -1; |
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} |
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/****************************************************************************** |
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* |
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* Function: msr_controller_run() |
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* |
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*****************************************************************************/ |
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static void msr_controller_run(void) |
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{ |
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static int ms = 0; |
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static int cnt = 0; |
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static unsigned long int k = 0; |
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static int firstrun = 1; |
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static int klemme = 0; |
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static int kanal = 0; |
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static int up_down = 0; |
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int wrap = 0; |
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// Prozessdaten lesen |
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msr_jitter_run(MSR_ABTASTFREQUENZ); |
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if (!firstrun) |
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{ |
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EtherCAT_read_process_data(ecat_master); |
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// Daten lesen und skalieren |
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#ifdef USE_MSR_LIB |
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value = EtherCAT_read_value(&ecat_master->slaves[5], 0) / 3276.0; |
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dig1 = EtherCAT_read_value(&ecat_master->slaves[2], 0); |
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#endif |
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} |
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else |
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klemme = next2004(&wrap); |
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ms++; |
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ms %= 1000; |
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if (cnt++ > 20) |
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{ |
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cnt = 0; |
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if (++kanal > 3) |
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{ |
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kanal = 0; |
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klemme = next2004(&wrap); |
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if (wrap == 1) |
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{ |
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if (up_down == 1) up_down = 0; |
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else up_down = 1; |
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} |
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} |
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} |
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if (klemme >= 0) { |
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EtherCAT_write_value(&ecat_master->slaves[klemme], kanal,up_down); |
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//printk("ECAT write: Klemme: %d, Kanal: %d, Wert: %d\n",klemme,kanal,up_down); |
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} |
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#if 0 |
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EtherCAT_write_value(&ecat_master->slaves[13], 1, ms > 500 ? 0 : 1); |
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EtherCAT_write_value(&ecat_master->slaves[14], 2, ms > 500 ? 0 : 1); |
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EtherCAT_write_value(&ecat_master->slaves[15], 3, ms > 500 ? 1 : 0); |
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#endif |
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// Prozessdaten schreiben |
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rdtscl(k); |
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EtherCAT_write_process_data(ecat_master); |
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firstrun = 0; |
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} |
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/* |
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*************************************************************************************************** |
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* |
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* Function: msr_run(_interrupt) |
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* |
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* Beschreibung: Routine wird zyklisch im Timerinterrupt ausgeführt |
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* (hier muß alles rein, was Echtzeit ist ...) |
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* |
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* Parameter: Zeiger auf msr_data |
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* |
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* Rückgabe: |
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* |
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* Status: exp |
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* |
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*************************************************************************************************** |
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*/ |
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void msr_run(unsigned irq) |
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{ |
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static int counter = 0; |
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#ifdef USE_MSR_LIB |
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timeval_add(&process_time,&process_time,&msr_time_increment); |
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MSR_ADEOS_INTERRUPT_CODE( |
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msr_controller_run(); |
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msr_write_kanal_list(); |
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); |
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#else |
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msr_controller_run(); |
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#endif |
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/* und wieder in die Timerliste eintragen */ |
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/* und neu in die Taskqueue eintragen */ |
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// timer.expires += 1; |
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// add_timer(&timer); |
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ipipe_control_irq(irq,0,IPIPE_ENABLE_MASK); //nicht weiterreichen |
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if(counter++ > HZREDUCTION) { |
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ipipe_propagate_irq(irq); //wie lange braucht der Rest der Pipeline ?? |
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counter = 0; |
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} |
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} |
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void domain_entry (int iflag) { |
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printk("Domain %s started.\n", ipipe_current_domain->name); |
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ipipe_get_sysinfo(&sys_info); |
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ipipe_virtualize_irq(ipipe_current_domain,sys_info.archdep.tmirq, |
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&msr_run, NULL, IPIPE_HANDLE_MASK); |
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ipipe_tune_timer(1000000000UL/MSR_ABTASTFREQUENZ,0); |
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} |
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/* |
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******************************************************************************* |
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* |
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* Function: msr_register_channels |
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* |
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* Beschreibung: KanŽäle registrieren |
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* |
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* Parameter: |
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* |
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* RŽückgabe: |
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* |
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* Status: exp |
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* |
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******************************************************************************* |
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*/ |
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int msr_globals_register(void) |
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{ |
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#ifdef USE_MSR_LIB |
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msr_reg_kanal("/value", "V", &value, TDBL); |
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msr_reg_kanal("/dig1", "", &dig1, TINT); |
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#endif |
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/* msr_reg_kanal("/Taskinfo/Ecat/TX-Delay","us",&ecat_tx_delay,TUINT); |
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msr_reg_kanal("/Taskinfo/Ecat/RX-Delay","us",&ecat_rx_delay,TUINT); |
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msr_reg_kanal("/Taskinfo/Ecat/TX-Cnt","",&tx_intr,TUINT); |
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msr_reg_kanal("/Taskinfo/Ecat/RX-Cnt","",&rx_intr,TUINT); |
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msr_reg_kanal("/Taskinfo/Ecat/Total-Cnt","",&total_intr,TUINT); |
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*/ |
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return 0; |
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} |
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/**************************************************************************************************** |
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* the init/clean material |
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****************************************************************************************************/ |
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int __init init_module() |
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{ |
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int result = 0; |
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struct ipipe_domain_attr attr; //ipipe |
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//als allererstes die RT-lib initialisieren |
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#ifdef USE_MSR_LIB |
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result = msr_rtlib_init(1,MSR_ABTASTFREQUENZ,10,&msr_globals_register); |
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if (result < 0) { |
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msr_print_warn("msr_modul: can't initialize rtlib!"); |
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return result; |
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} |
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#endif |
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msr_jitter_init(); |
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printk(KERN_INFO "=== Starting EtherCAT environment... ===\n"); |
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401 |
||
33
f4171b8aadf8
Master-Reservierung und Use-Count f?r NIC-Treiber.
Florian Pose <fp@igh-essen.com>
parents:
28
diff
changeset
|
402 |
if ((ecat_master = EtherCAT_request(0)) == NULL) |
28 | 403 |
{ |
33
f4171b8aadf8
Master-Reservierung und Use-Count f?r NIC-Treiber.
Florian Pose <fp@igh-essen.com>
parents:
28
diff
changeset
|
404 |
printk(KERN_ERR "EtherCAT master 0 not available!\n"); |
28 | 405 |
msr_rtlib_cleanup(); |
406 |
return -1; |
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} |
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printk("Checking EtherCAT slaves.\n"); |
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if (EtherCAT_check_slaves(ecat_master, ecat_slaves, ECAT_SLAVES_COUNT) != 0) |
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{ |
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printk(KERN_ERR "EtherCAT: Could not init slaves!\n"); |
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msr_rtlib_cleanup(); |
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return -1; |
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} |
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417 |
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printk("Activating all EtherCAT slaves.\n"); |
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419 |
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if (EtherCAT_activate_all_slaves(ecat_master) != 0) |
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{ |
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printk(KERN_ERR "EtherCAT: Could not activate slaves!\n"); |
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msr_rtlib_cleanup(); |
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return -1; |
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} |
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426 |
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427 |
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do_gettimeofday(&process_time); |
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msr_time_increment.tv_sec=0; |
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msr_time_increment.tv_usec=(unsigned int)(1000000/MSR_ABTASTFREQUENZ); |
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431 |
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ipipe_init_attr (&attr); |
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attr.name = "IPIPE-MSR-MODULE"; |
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attr.priority = IPIPE_ROOT_PRIO + 1; |
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attr.entry = &domain_entry; |
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ipipe_register_domain(&this_domain,&attr); |
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437 |
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438 |
//den Timertakt |
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/* |
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init_timer(&timer); |
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441 |
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timer.function = msr_run; |
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timer.data = 0; |
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timer.expires = jiffies+10; // Das erste Mal sofort feuern |
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add_timer(&timer); |
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*/ |
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return 0; /* succeed */ |
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} |
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449 |
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450 |
||
451 |
//**************************************************************************** |
|
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void __exit cleanup_module() |
|
453 |
||
454 |
{ |
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455 |
msr_print_info("msk_modul: unloading..."); |
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456 |
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457 |
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458 |
// del_timer_sync(&timer); |
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ipipe_tune_timer(1000000000UL/HZ,0); //alten Timertakt wieder herstellen |
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460 |
||
461 |
ipipe_unregister_domain(&this_domain); |
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462 |
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463 |
||
464 |
||
465 |
printk(KERN_INFO "=== Stopping EtherCAT environment... ===\n"); |
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466 |
||
467 |
if (ecat_master) |
|
468 |
{ |
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469 |
EtherCAT_clear_process_data(ecat_master); |
|
470 |
printk(KERN_INFO "Deactivating slaves.\n"); |
|
471 |
EtherCAT_deactivate_all_slaves(ecat_master); |
|
33
f4171b8aadf8
Master-Reservierung und Use-Count f?r NIC-Treiber.
Florian Pose <fp@igh-essen.com>
parents:
28
diff
changeset
|
472 |
|
f4171b8aadf8
Master-Reservierung und Use-Count f?r NIC-Treiber.
Florian Pose <fp@igh-essen.com>
parents:
28
diff
changeset
|
473 |
EtherCAT_release(ecat_master); |
28 | 474 |
} |
475 |
||
476 |
printk(KERN_INFO "=== EtherCAT environment stopped. ===\n"); |
|
477 |
||
478 |
// msr_controller_cleanup(); |
|
479 |
#ifdef USE_MSR_LIB |
|
480 |
msr_rtlib_cleanup(); |
|
481 |
#endif |
|
482 |
} |
|
483 |
||
484 |
MODULE_LICENSE("GPL"); |
|
485 |
MODULE_AUTHOR ("Wilhelm Hagemeister <hm@igh-essen.com>"); |
|
486 |
MODULE_DESCRIPTION ("EtherCAT test environment"); |
|
487 |
||
488 |
module_init(init_module); |
|
489 |
module_exit(cleanup_module); |
|
490 |
||
491 |
||
492 |
||
493 |
||
494 |
||
495 |
||
496 |
||
497 |
||
498 |
||
499 |
||
500 |
||
501 |
||
502 |
||
503 |
||
504 |
||
505 |