author | Florian Pose <fp@igh-essen.com> |
Fri, 06 Jan 2006 10:17:35 +0000 | |
changeset 46 | f2d7a73d2f32 |
parent 45 | f525f7db2d90 |
child 47 | ad5f969f263b |
permissions | -rw-r--r-- |
42
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/****************************************************************************** |
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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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* $Id$ |
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* |
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*****************************************************************************/ |
28 | 21 |
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// Linux |
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#include <linux/module.h> |
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#include <linux/ipipe.h> |
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// RT_lib |
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#include <msr_main.h> |
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#include <msr_utils.h> |
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#include <msr_messages.h> |
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#include <msr_float.h> |
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#include <msr_reg.h> |
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#include "msr_param.h" |
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#include "msr_jitter.h" |
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// EtherCAT |
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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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// Defines/Makros |
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#define TSC2US(T1, T2) ((T2 - T1) * 1000UL / cpu_khz) |
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#define HZREDUCTION (MSR_ABTASTFREQUENZ/HZ) |
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/*****************************************************************************/ |
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/* Globale Variablen */ |
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// RT_lib |
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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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// EtherCAT |
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static EtherCAT_master_t *ecat_master = NULL; |
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static unsigned long ecat_bus_time = 0; |
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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, 0), |
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ECAT_INIT_SLAVE(Beckhoff_EL4102, 0), |
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ECAT_INIT_SLAVE(Beckhoff_EL1014, 0), |
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ECAT_INIT_SLAVE(Beckhoff_EL3162, 0), |
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ECAT_INIT_SLAVE(Beckhoff_EL2004, 0), |
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ECAT_INIT_SLAVE(Beckhoff_EL3102, 0), |
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ECAT_INIT_SLAVE(Beckhoff_EL2004, 0), |
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ECAT_INIT_SLAVE(Beckhoff_EL2004, 0), |
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ECAT_INIT_SLAVE(Beckhoff_EL2004, 0), |
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ECAT_INIT_SLAVE(Beckhoff_EL2004, 0), |
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ECAT_INIT_SLAVE(Beckhoff_EL2004, 0), |
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// Block 2 |
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ECAT_INIT_SLAVE(Beckhoff_EK1100, 1), |
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ECAT_INIT_SLAVE(Beckhoff_EL1014, 1), |
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ECAT_INIT_SLAVE(Beckhoff_EL1014, 1), |
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ECAT_INIT_SLAVE(Beckhoff_EL1014, 1), |
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ECAT_INIT_SLAVE(Beckhoff_EL1014, 1), |
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ECAT_INIT_SLAVE(Beckhoff_EL1014, 1), |
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ECAT_INIT_SLAVE(Beckhoff_EL2004, 1), |
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ECAT_INIT_SLAVE(Beckhoff_EL2004, 1), |
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ECAT_INIT_SLAVE(Beckhoff_EL2004, 1), |
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ECAT_INIT_SLAVE(Beckhoff_EL2004, 1), |
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ECAT_INIT_SLAVE(Beckhoff_EL1014, 1), |
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ECAT_INIT_SLAVE(Beckhoff_EL1014, 1), |
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ECAT_INIT_SLAVE(Beckhoff_EL1014, 1) |
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#endif |
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#if 0 |
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// Block 3 |
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,ECAT_INIT_SLAVE(Beckhoff_EK1100, 2), |
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ECAT_INIT_SLAVE(Beckhoff_EL3162, 2), |
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ECAT_INIT_SLAVE(Beckhoff_EL3162, 2), |
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ECAT_INIT_SLAVE(Beckhoff_EL3162, 2), |
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ECAT_INIT_SLAVE(Beckhoff_EL3162, 2), |
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ECAT_INIT_SLAVE(Beckhoff_EL3102, 2), |
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ECAT_INIT_SLAVE(Beckhoff_EL3102, 2), |
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ECAT_INIT_SLAVE(Beckhoff_EL3102, 2), |
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ECAT_INIT_SLAVE(Beckhoff_EL4102, 2), |
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ECAT_INIT_SLAVE(Beckhoff_EL4102, 2), |
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ECAT_INIT_SLAVE(Beckhoff_EL4102, 2), |
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ECAT_INIT_SLAVE(Beckhoff_EL4102, 2), |
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ECAT_INIT_SLAVE(Beckhoff_EL4132, 2) |
28 | 108 |
#endif |
109 |
}; |
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110 |
||
111 |
#define ECAT_SLAVES_COUNT (sizeof(ecat_slaves) / sizeof(EtherCAT_slave_t)) |
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112 |
||
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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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121 |
* |
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122 |
* Function: next2004 |
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123 |
* |
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*****************************************************************************/ |
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static int next2004(int *wrap) |
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{ |
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128 |
static int i = 0; |
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unsigned int j = 0; |
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131 |
*wrap = 0; |
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132 |
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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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140 |
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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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151 |
* |
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152 |
* Function: msr_controller_run() |
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* |
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154 |
*****************************************************************************/ |
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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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static unsigned int debug_counter = 0; |
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unsigned long t1, t2, t3, t4, t5, t6, t7; |
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static unsigned long lt = 0; |
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unsigned int tr1, tr2; |
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rdtscl(t1); |
28 | 174 |
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175 |
// Prozessdaten lesen |
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176 |
msr_jitter_run(MSR_ABTASTFREQUENZ); |
|
177 |
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if (firstrun) klemme = next2004(&wrap); |
28 | 179 |
|
180 |
ms++; |
|
181 |
ms %= 1000; |
|
40 | 182 |
if (cnt++ > 200) |
28 | 183 |
{ |
184 |
cnt = 0; |
|
185 |
||
186 |
if (++kanal > 3) |
|
187 |
{ |
|
188 |
kanal = 0; |
|
189 |
klemme = next2004(&wrap); |
|
190 |
||
191 |
if (wrap == 1) |
|
192 |
{ |
|
193 |
if (up_down == 1) up_down = 0; |
|
194 |
else up_down = 1; |
|
195 |
} |
|
196 |
} |
|
197 |
} |
|
198 |
||
199 |
if (klemme >= 0) { |
|
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EtherCAT_write_value(&ecat_slaves[klemme], kanal, up_down); |
28 | 201 |
} |
202 |
||
203 |
#if 0 |
|
204 |
EtherCAT_write_value(&ecat_master->slaves[13], 1, ms > 500 ? 0 : 1); |
|
205 |
EtherCAT_write_value(&ecat_master->slaves[14], 2, ms > 500 ? 0 : 1); |
|
206 |
EtherCAT_write_value(&ecat_master->slaves[15], 3, ms > 500 ? 1 : 0); |
|
207 |
#endif |
|
208 |
||
209 |
// Prozessdaten schreiben |
|
210 |
rdtscl(k); |
|
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rdtscl(t2); |
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EtherCAT_process_data_cycle(ecat_master, 0); |
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t3 = ecat_master->tx_time; |
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t4 = ecat_master->rx_time; |
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tr1 = ecat_master->rx_tries; |
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EtherCAT_process_data_cycle(ecat_master, 1); |
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220 |
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t5 = ecat_master->tx_time; |
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t6 = ecat_master->rx_time; |
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tr2 = ecat_master->rx_tries; |
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224 |
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//EtherCAT_process_data_cycle(ecat_master, 2); |
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226 |
|
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rdtscl(t7); |
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228 |
|
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229 |
ecat_bus_time = TSC2US(t2, t7); |
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230 |
|
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231 |
// Daten lesen und skalieren |
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232 |
#ifdef USE_MSR_LIB |
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value = EtherCAT_read_value(&ecat_slaves[5], 0) / 3276.0; |
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234 |
dig1 = EtherCAT_read_value(&ecat_slaves[2], 0); |
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235 |
#endif |
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236 |
|
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237 |
if (debug_counter == MSR_ABTASTFREQUENZ) { |
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238 |
printk(KERN_DEBUG "%lu: %luŽµs + %luŽµs + %luŽµs + %luŽµs + %luŽµs +" |
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239 |
" %luŽµs = %luŽµs (%u %u)\n", |
45
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|
240 |
TSC2US(lt, t1), |
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|
241 |
TSC2US(t1, t2), TSC2US(t2, t3), TSC2US(t3, t4), |
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|
242 |
TSC2US(t4, t5), TSC2US(t5, t6), TSC2US(t6, t7), |
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|
243 |
TSC2US(t1, t7), tr1, tr2); |
42
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244 |
debug_counter = 0; |
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245 |
} |
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|
246 |
|
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247 |
lt = t1; |
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248 |
|
28 | 249 |
firstrun = 0; |
42
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250 |
debug_counter++; |
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251 |
} |
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|
252 |
|
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|
253 |
/****************************************************************************** |
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254 |
* |
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|
255 |
* Function: msr_run(_interrupt) |
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|
256 |
* |
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257 |
* Beschreibung: Routine wird zyklisch im Timerinterrupt ausgeführt |
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|
258 |
* (hier muß alles rein, was Echtzeit ist ...) |
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|
259 |
* |
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260 |
* Parameter: Zeiger auf msr_data |
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|
261 |
* |
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|
262 |
* Rückgabe: |
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|
263 |
* |
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|
264 |
* Status: exp |
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|
265 |
* |
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266 |
*****************************************************************************/ |
28 | 267 |
|
268 |
void msr_run(unsigned irq) |
|
269 |
{ |
|
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|
270 |
static int counter = 0; |
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|
271 |
|
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|
272 |
#ifdef USE_MSR_LIB |
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|
273 |
timeval_add(&process_time, &process_time, &msr_time_increment); |
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|
274 |
MSR_ADEOS_INTERRUPT_CODE(msr_controller_run(); msr_write_kanal_list();); |
28 | 275 |
#else |
276 |
msr_controller_run(); |
|
277 |
#endif |
|
278 |
||
40 | 279 |
ipipe_control_irq(irq,0,IPIPE_ENABLE_MASK); //Interrupt bestŽätigen |
45
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|
280 |
if (counter++ > HZREDUCTION) { |
40 | 281 |
ipipe_propagate_irq(irq); //und weiterreichen |
28 | 282 |
counter = 0; |
283 |
} |
|
42
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|
284 |
} |
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|
285 |
|
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|
286 |
/*****************************************************************************/ |
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|
287 |
|
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|
288 |
void domain_entry(void) |
42
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|
289 |
{ |
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|
290 |
printk("Domain %s started.\n", ipipe_current_domain->name); |
28 | 291 |
|
292 |
ipipe_get_sysinfo(&sys_info); |
|
293 |
ipipe_virtualize_irq(ipipe_current_domain,sys_info.archdep.tmirq, |
|
294 |
&msr_run, NULL, IPIPE_HANDLE_MASK); |
|
295 |
||
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|
296 |
ipipe_tune_timer(1000000000UL/MSR_ABTASTFREQUENZ,0); |
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|
297 |
} |
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|
298 |
|
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|
299 |
/****************************************************************************** |
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|
300 |
* |
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|
301 |
* Function: msr_register_channels |
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302 |
* |
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|
303 |
* Beschreibung: KanŽäle registrieren |
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304 |
* |
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|
305 |
* Parameter: |
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306 |
* |
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|
307 |
* RŽückgabe: |
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308 |
* |
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309 |
* Status: exp |
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|
310 |
* |
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|
311 |
*****************************************************************************/ |
28 | 312 |
|
313 |
int msr_globals_register(void) |
|
314 |
{ |
|
315 |
#ifdef USE_MSR_LIB |
|
316 |
msr_reg_kanal("/value", "V", &value, TDBL); |
|
317 |
msr_reg_kanal("/dig1", "", &dig1, TINT); |
|
318 |
#endif |
|
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|
319 |
|
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|
320 |
msr_reg_kanal("/Taskinfo/EtherCAT/BusTime", "us", &ecat_bus_time, TUINT); |
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|
321 |
|
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|
322 |
return 0; |
28 | 323 |
} |
324 |
||
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|
325 |
/****************************************************************************** |
28 | 326 |
* the init/clean material |
42
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|
327 |
*****************************************************************************/ |
28 | 328 |
|
329 |
int __init init_module() |
|
330 |
{ |
|
42
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|
331 |
unsigned int i; |
28 | 332 |
struct ipipe_domain_attr attr; //ipipe |
333 |
||
36
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|
334 |
// Als allererstes die RT-lib initialisieren |
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|
335 |
#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
|
336 |
if (msr_rtlib_init(1,MSR_ABTASTFREQUENZ,10,&msr_globals_register) < 0) { |
28 | 337 |
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
|
338 |
goto out_return; |
28 | 339 |
} |
340 |
#endif |
|
341 |
||
342 |
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
|
343 |
|
6e9de6fbf74c
EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
Florian Pose <fp@igh-essen.com>
parents:
33
diff
changeset
|
344 |
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
|
345 |
|
6e9de6fbf74c
EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
Florian Pose <fp@igh-essen.com>
parents:
33
diff
changeset
|
346 |
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
|
347 |
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
|
348 |
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
|
349 |
} |
6e9de6fbf74c
EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
Florian Pose <fp@igh-essen.com>
parents:
33
diff
changeset
|
350 |
|
6e9de6fbf74c
EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
Florian Pose <fp@igh-essen.com>
parents:
33
diff
changeset
|
351 |
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
|
352 |
|
6e9de6fbf74c
EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
Florian Pose <fp@igh-essen.com>
parents:
33
diff
changeset
|
353 |
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
|
354 |
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
|
355 |
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
|
356 |
} |
6e9de6fbf74c
EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
Florian Pose <fp@igh-essen.com>
parents:
33
diff
changeset
|
357 |
|
6e9de6fbf74c
EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
Florian Pose <fp@igh-essen.com>
parents:
33
diff
changeset
|
358 |
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
|
359 |
|
42
a22a202d0f42
Domains, Warten beim Senden, 10kHz.
Florian Pose <fp@igh-essen.com>
parents:
40
diff
changeset
|
360 |
for (i = 0; i < ECAT_SLAVES_COUNT; i++) { |
a22a202d0f42
Domains, Warten beim Senden, 10kHz.
Florian Pose <fp@igh-essen.com>
parents:
40
diff
changeset
|
361 |
if (EtherCAT_activate_slave(ecat_master, ecat_slaves + i) < 0) { |
43 | 362 |
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
|
363 |
goto out_release_master; |
a22a202d0f42
Domains, Warten beim Senden, 10kHz.
Florian Pose <fp@igh-essen.com>
parents:
40
diff
changeset
|
364 |
} |
36
6e9de6fbf74c
EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
Florian Pose <fp@igh-essen.com>
parents:
33
diff
changeset
|
365 |
} |
6e9de6fbf74c
EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
Florian Pose <fp@igh-essen.com>
parents:
33
diff
changeset
|
366 |
|
6e9de6fbf74c
EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
Florian Pose <fp@igh-essen.com>
parents:
33
diff
changeset
|
367 |
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
|
368 |
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
|
369 |
msr_time_increment.tv_usec=(unsigned int)(1000000/MSR_ABTASTFREQUENZ); |
28 | 370 |
|
371 |
ipipe_init_attr (&attr); |
|
372 |
attr.name = "IPIPE-MSR-MODULE"; |
|
373 |
attr.priority = IPIPE_ROOT_PRIO + 1; |
|
374 |
attr.entry = &domain_entry; |
|
375 |
ipipe_register_domain(&this_domain,&attr); |
|
376 |
||
36
6e9de6fbf74c
EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
Florian Pose <fp@igh-essen.com>
parents:
33
diff
changeset
|
377 |
return 0; |
6e9de6fbf74c
EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
Florian Pose <fp@igh-essen.com>
parents:
33
diff
changeset
|
378 |
|
6e9de6fbf74c
EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
Florian Pose <fp@igh-essen.com>
parents:
33
diff
changeset
|
379 |
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
|
380 |
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
|
381 |
|
6e9de6fbf74c
EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
Florian Pose <fp@igh-essen.com>
parents:
33
diff
changeset
|
382 |
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
|
383 |
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
|
384 |
|
6e9de6fbf74c
EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
Florian Pose <fp@igh-essen.com>
parents:
33
diff
changeset
|
385 |
out_return: |
6e9de6fbf74c
EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
Florian Pose <fp@igh-essen.com>
parents:
33
diff
changeset
|
386 |
return -1; |
28 | 387 |
} |
388 |
||
42
a22a202d0f42
Domains, Warten beim Senden, 10kHz.
Florian Pose <fp@igh-essen.com>
parents:
40
diff
changeset
|
389 |
/*****************************************************************************/ |
a22a202d0f42
Domains, Warten beim Senden, 10kHz.
Florian Pose <fp@igh-essen.com>
parents:
40
diff
changeset
|
390 |
|
28 | 391 |
void __exit cleanup_module() |
42
a22a202d0f42
Domains, Warten beim Senden, 10kHz.
Florian Pose <fp@igh-essen.com>
parents:
40
diff
changeset
|
392 |
{ |
a22a202d0f42
Domains, Warten beim Senden, 10kHz.
Florian Pose <fp@igh-essen.com>
parents:
40
diff
changeset
|
393 |
unsigned int i; |
a22a202d0f42
Domains, Warten beim Senden, 10kHz.
Florian Pose <fp@igh-essen.com>
parents:
40
diff
changeset
|
394 |
|
28 | 395 |
msr_print_info("msk_modul: unloading..."); |
396 |
||
45
f525f7db2d90
Verbesserte Makefiles (MODPOST-Warnungen entfernt).
Florian Pose <fp@igh-essen.com>
parents:
43
diff
changeset
|
397 |
ipipe_tune_timer(1000000000UL / HZ, 0); //alten Timertakt wieder herstellen |
28 | 398 |
ipipe_unregister_domain(&this_domain); |
399 |
||
400 |
if (ecat_master) |
|
401 |
{ |
|
43 | 402 |
printk(KERN_INFO "=== Stopping EtherCAT environment... ===\n"); |
403 |
||
36
6e9de6fbf74c
EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
Florian Pose <fp@igh-essen.com>
parents:
33
diff
changeset
|
404 |
printk(KERN_INFO "Deactivating slaves.\n"); |
42
a22a202d0f42
Domains, Warten beim Senden, 10kHz.
Florian Pose <fp@igh-essen.com>
parents:
40
diff
changeset
|
405 |
|
a22a202d0f42
Domains, Warten beim Senden, 10kHz.
Florian Pose <fp@igh-essen.com>
parents:
40
diff
changeset
|
406 |
for (i = 0; i < ECAT_SLAVES_COUNT; i++) { |
a22a202d0f42
Domains, Warten beim Senden, 10kHz.
Florian Pose <fp@igh-essen.com>
parents:
40
diff
changeset
|
407 |
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
|
408 |
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
|
409 |
} |
a22a202d0f42
Domains, Warten beim Senden, 10kHz.
Florian Pose <fp@igh-essen.com>
parents:
40
diff
changeset
|
410 |
} |
a22a202d0f42
Domains, Warten beim Senden, 10kHz.
Florian Pose <fp@igh-essen.com>
parents:
40
diff
changeset
|
411 |
|
36
6e9de6fbf74c
EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
Florian Pose <fp@igh-essen.com>
parents:
33
diff
changeset
|
412 |
EtherCAT_release(ecat_master); |
43 | 413 |
|
414 |
printk(KERN_INFO "=== EtherCAT environment stopped. ===\n"); |
|
415 |
} |
|
28 | 416 |
|
36
6e9de6fbf74c
EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt.
Florian Pose <fp@igh-essen.com>
parents:
33
diff
changeset
|
417 |
#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
|
418 |
msr_rtlib_cleanup(); |
28 | 419 |
#endif |
420 |
} |
|
421 |
||
42
a22a202d0f42
Domains, Warten beim Senden, 10kHz.
Florian Pose <fp@igh-essen.com>
parents:
40
diff
changeset
|
422 |
/*****************************************************************************/ |
a22a202d0f42
Domains, Warten beim Senden, 10kHz.
Florian Pose <fp@igh-essen.com>
parents:
40
diff
changeset
|
423 |
|
28 | 424 |
MODULE_LICENSE("GPL"); |
425 |
MODULE_AUTHOR ("Wilhelm Hagemeister <hm@igh-essen.com>"); |
|
426 |
MODULE_DESCRIPTION ("EtherCAT test environment"); |
|
427 |
||
428 |
module_init(init_module); |
|
429 |
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
|
430 |
|
42
a22a202d0f42
Domains, Warten beim Senden, 10kHz.
Florian Pose <fp@igh-essen.com>
parents:
40
diff
changeset
|
431 |
/*****************************************************************************/ |