etherlabmaster: rt/msr_module.c@f525f7db2d90 (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.
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	6	* Zeitgeber ist der Timerinterrupt (tq)
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	7	*
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	8	* Autor: Wilhelm Hagemeister
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	9	*
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	10	* (C) Copyright IgH 2002
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	11	* Ingenieurgemeinschaft IgH
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	12	* Heinz-Bäcker Str. 34
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	13	* D-45356 Essen
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	14	* Tel.: +49 201/61 99 31
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	15	* Fax.: +49 201/61 98 36
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	16	* E-mail: hm@igh-essen.com
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	17	*
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	18	* $Id$
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	19	*
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	20	*****************************************************************************/
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	21
45 f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	22	// Linux
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	23	#include <linux/module.h>
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	24	#include <linux/ipipe.h>
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	25
45 f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	26	// RT_lib
f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	27	#include <msr_main.h>
f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	28	#include <msr_utils.h>
f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	29	#include <msr_messages.h>
f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	30	#include <msr_float.h>
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	31	#include <msr_reg.h>
45 f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	32	#include "msr_param.h"
f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	33	#include "msr_jitter.h"
f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	34
f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	35	// EtherCAT
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	36	#include "../drivers/ec_master.h"
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	37	#include "../drivers/ec_device.h"
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	38	#include "../drivers/ec_types.h"
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	39	#include "../drivers/ec_module.h"
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	40
45 f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	41	// Defines/Makros
f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	42	#define TSC2US(T1, T2) ((T2 - T1) * 1000UL / cpu_khz)
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	43	#define HZREDUCTION (MSR_ABTASTFREQUENZ/HZ)
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	44
45 f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	45	/*****************************************************************************/
f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	46	/* Globale Variablen */
f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	47
f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	48	// RT_lib
42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	49	extern struct timeval process_time;
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	50	struct timeval msr_time_increment; // Increment per Interrupt
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	51
45 f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	52	// Adeos
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	53	static struct ipipe_domain this_domain;
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	54	static struct ipipe_sysinfo sys_info;
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	55
45 f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	56	// EtherCAT
f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	57
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	58	static EtherCAT_master_t *ecat_master = NULL;
45 f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	59	static unsigned long ecat_bus_time = 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	#if 1
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	64	// Block 1
42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	65	ECAT_INIT_SLAVE(Beckhoff_EK1100, 0),
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	66	ECAT_INIT_SLAVE(Beckhoff_EL4102, 0),
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	67	ECAT_INIT_SLAVE(Beckhoff_EL1014, 0),
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	68	ECAT_INIT_SLAVE(Beckhoff_EL3162, 0),
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	69	ECAT_INIT_SLAVE(Beckhoff_EL2004, 0),
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	70	ECAT_INIT_SLAVE(Beckhoff_EL3102, 0),
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	71	ECAT_INIT_SLAVE(Beckhoff_EL2004, 0),
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	72	ECAT_INIT_SLAVE(Beckhoff_EL2004, 0),
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	73	ECAT_INIT_SLAVE(Beckhoff_EL2004, 0),
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	74	ECAT_INIT_SLAVE(Beckhoff_EL2004, 0),
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	75	ECAT_INIT_SLAVE(Beckhoff_EL2004, 0),
28 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	// Block 2
42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	78	ECAT_INIT_SLAVE(Beckhoff_EK1100, 1),
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	79	ECAT_INIT_SLAVE(Beckhoff_EL1014, 1),
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	80	ECAT_INIT_SLAVE(Beckhoff_EL1014, 1),
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	81	ECAT_INIT_SLAVE(Beckhoff_EL1014, 1),
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	82	ECAT_INIT_SLAVE(Beckhoff_EL1014, 1),
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	83	ECAT_INIT_SLAVE(Beckhoff_EL1014, 1),
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	84	ECAT_INIT_SLAVE(Beckhoff_EL2004, 1),
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	85	ECAT_INIT_SLAVE(Beckhoff_EL2004, 1),
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	86	ECAT_INIT_SLAVE(Beckhoff_EL2004, 1),
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	87	ECAT_INIT_SLAVE(Beckhoff_EL2004, 1),
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	88	ECAT_INIT_SLAVE(Beckhoff_EL1014, 1),
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	89	ECAT_INIT_SLAVE(Beckhoff_EL1014, 1),
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	90	ECAT_INIT_SLAVE(Beckhoff_EL1014, 1)
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	91	#endif
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	92
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	93	#if 0
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	94	// Block 3
42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	95	,ECAT_INIT_SLAVE(Beckhoff_EK1100, 2),
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	96	ECAT_INIT_SLAVE(Beckhoff_EL3162, 2),
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	97	ECAT_INIT_SLAVE(Beckhoff_EL3162, 2),
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	98	ECAT_INIT_SLAVE(Beckhoff_EL3162, 2),
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	99	ECAT_INIT_SLAVE(Beckhoff_EL3162, 2),
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	100	ECAT_INIT_SLAVE(Beckhoff_EL3102, 2),
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	101	ECAT_INIT_SLAVE(Beckhoff_EL3102, 2),
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	102	ECAT_INIT_SLAVE(Beckhoff_EL3102, 2),
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	103	ECAT_INIT_SLAVE(Beckhoff_EL4102, 2),
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	104	ECAT_INIT_SLAVE(Beckhoff_EL4102, 2),
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	105	ECAT_INIT_SLAVE(Beckhoff_EL4102, 2),
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	106	ECAT_INIT_SLAVE(Beckhoff_EL4102, 2),
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	107	ECAT_INIT_SLAVE(Beckhoff_EL4132, 2)
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	108	#endif
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	109	};
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	110
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	111	#define ECAT_SLAVES_COUNT (sizeof(ecat_slaves) / sizeof(EtherCAT_slave_t))
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	112
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	113	#define USE_MSR_LIB
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	114
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	115	#ifdef USE_MSR_LIB
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	116	double value;
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	117	int dig1;
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	118	#endif
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	119
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	120	/******************************************************************************
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	121	*
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	122	* Function: next2004
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	*****************************************************************************/
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	125
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	126	static int next2004(int *wrap)
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	127	{
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	128	static int i = 0;
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	129	unsigned int j = 0;
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	130
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	131	*wrap = 0;
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	132
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	133	for (j = 0; j < ECAT_SLAVES_COUNT; j++)
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	134	{
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	135	i++;
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	136
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	137	i %= ECAT_SLAVES_COUNT;
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	138
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	139	if (i == 0) *wrap = 1;
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	140
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	141	if (ecat_slaves[i].desc == Beckhoff_EL2004)
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	142	{
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	143	return i;
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	144	}
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	145	}
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	146
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	147	return -1;
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	148	}
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	149
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	150	/******************************************************************************
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	151	*
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	152	* Function: msr_controller_run()
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	153	*
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	154	*****************************************************************************/
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	155
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	156	static void msr_controller_run(void)
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	157	{
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	158	static int ms = 0;
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	159	static int cnt = 0;
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	160	static unsigned long int k = 0;
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	161	static int firstrun = 1;
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	162
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	163	static int klemme = 0;
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	164	static int kanal = 0;
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	165	static int up_down = 0;
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	166	int wrap = 0;
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	167
42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	168	static unsigned int debug_counter = 0;
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	169	unsigned long t1, t2, t3, t4, t5, t6, t7;
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	170	static unsigned long lt = 0;
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	171	unsigned int tr1, tr2;
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	172
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	173	rdtscl(t1);
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	174
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	175	// Prozessdaten lesen
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	176	msr_jitter_run(MSR_ABTASTFREQUENZ);
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	177
42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	178	if (firstrun) klemme = next2004(&wrap);
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	179
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	180	ms++;
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	181	ms %= 1000;
40 d07ebafe62dd 20kHz, Wilhelm Florian Pose <fp@igh-essen.com> parents: 38 diff changeset	182	if (cnt++ > 200)
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	183	{
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	184	cnt = 0;
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	if (++kanal > 3)
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	187	{
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	188	kanal = 0;
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	189	klemme = next2004(&wrap);
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	190
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	191	if (wrap == 1)
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	192	{
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	193	if (up_down == 1) up_down = 0;
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	194	else up_down = 1;
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	195	}
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	}
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	if (klemme >= 0) {
42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	200	EtherCAT_write_value(&ecat_slaves[klemme], kanal, up_down);
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	201	}
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	202
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	203	#if 0
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	204	EtherCAT_write_value(&ecat_master->slaves[13], 1, ms > 500 ? 0 : 1);
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	205	EtherCAT_write_value(&ecat_master->slaves[14], 2, ms > 500 ? 0 : 1);
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	206	EtherCAT_write_value(&ecat_master->slaves[15], 3, ms > 500 ? 1 : 0);
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	207	#endif
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	208
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	209	// Prozessdaten schreiben
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	210	rdtscl(k);
42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	211	rdtscl(t2);
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	212
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	213	EtherCAT_process_data_cycle(ecat_master, 0);
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	214
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	215	t3 = ecat_master->tx_time;
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	216	t4 = ecat_master->rx_time;
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	217	tr1 = ecat_master->rx_tries;
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	218
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	219	EtherCAT_process_data_cycle(ecat_master, 1);
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	220
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	221	t5 = ecat_master->tx_time;
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	222	t6 = ecat_master->rx_time;
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	223	tr2 = ecat_master->rx_tries;
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	224
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	225	//EtherCAT_process_data_cycle(ecat_master, 2);
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	226
45 f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	227	rdtscl(t7);
f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	228
f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	229	ecat_bus_time = TSC2US(t2, t7);
f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	230
42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	231	// Daten lesen und skalieren
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	232	#ifdef USE_MSR_LIB
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	233	value = EtherCAT_read_value(&ecat_slaves[5], 0) / 3276.0;
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	234	dig1 = EtherCAT_read_value(&ecat_slaves[2], 0);
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	235	#endif
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	236
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	237	if (debug_counter == MSR_ABTASTFREQUENZ) {
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	238	printk(KERN_DEBUG "%lu: %luŽµs + %luŽµs + %luŽµs + %luŽµs + %luŽµs +"
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	239	" %luŽµs = %luŽµs (%u %u)\n",
45 f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	240	TSC2US(lt, t1),
f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	241	TSC2US(t1, t2), TSC2US(t2, t3), TSC2US(t3, t4),
f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	242	TSC2US(t4, t5), TSC2US(t5, t6), TSC2US(t6, t7),
f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	243	TSC2US(t1, t7), tr1, tr2);
42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	244	debug_counter = 0;
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	245	}
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	lt = t1;
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	248
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	249	firstrun = 0;
42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	250	debug_counter++;
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	251	}
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	252
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	253	/******************************************************************************
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	254	*
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	255	* Function: msr_run(_interrupt)
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	256	*
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	257	* Beschreibung: Routine wird zyklisch im Timerinterrupt ausgeführt
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	258	* (hier muß alles rein, was Echtzeit ist ...)
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	259	*
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	260	* Parameter: Zeiger auf msr_data
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	261	*
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	262	* Rückgabe:
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	263	*
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	264	* Status: exp
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	265	*
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	266	*****************************************************************************/
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	267
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	268	void msr_run(unsigned irq)
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	269	{
45 f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	270	static int counter = 0;
f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	271
f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	272	#ifdef USE_MSR_LIB
f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	273	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	274	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	275	#else
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	276	msr_controller_run();
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	277	#endif
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	278
40 d07ebafe62dd 20kHz, Wilhelm Florian Pose <fp@igh-essen.com> parents: 38 diff changeset	279	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	280	if (counter++ > HZREDUCTION) {
40 d07ebafe62dd 20kHz, Wilhelm Florian Pose <fp@igh-essen.com> parents: 38 diff changeset	281	ipipe_propagate_irq(irq); //und weiterreichen
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	282	counter = 0;
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	283	}
42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	284	}
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	285
45 f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	286	/*****************************************************************************/
f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	287
f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	288	void domain_entry(void)
42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	289	{
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	290	printk("Domain %s started.\n", ipipe_current_domain->name);
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	291
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	292	ipipe_get_sysinfo(&sys_info);
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	293	ipipe_virtualize_irq(ipipe_current_domain,sys_info.archdep.tmirq,
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	294	&msr_run, NULL, IPIPE_HANDLE_MASK);
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	295
42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	296	ipipe_tune_timer(1000000000UL/MSR_ABTASTFREQUENZ,0);
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	297	}
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	298
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	299	/******************************************************************************
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	300	*
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	301	* Function: msr_register_channels
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	302	*
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	303	* Beschreibung: KanŽäle registrieren
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	304	*
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	305	* Parameter:
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	306	*
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	307	* RŽückgabe:
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	308	*
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	309	* Status: exp
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	310	*
a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	311	*****************************************************************************/
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	312
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	313	int msr_globals_register(void)
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	314	{
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	315	#ifdef USE_MSR_LIB
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	316	msr_reg_kanal("/value", "V", &value, TDBL);
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	317	msr_reg_kanal("/dig1", "", &dig1, TINT);
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	318	#endif
45 f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	319
f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	320	msr_reg_kanal("/Taskinfo/EtherCAT/BusTime", "us", &ecat_bus_time, TUINT);
f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	321
f525f7db2d90 Verbesserte Makefiles (MODPOST-Warnungen entfernt). Florian Pose <fp@igh-essen.com> parents: 43 diff changeset	322	return 0;
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	323	}
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	324
42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	325	/******************************************************************************
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	326	* the init/clean material
42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	327	*****************************************************************************/
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	328
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	329	int __init init_module()
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	330	{
42 a22a202d0f42 Domains, Warten beim Senden, 10kHz. Florian Pose <fp@igh-essen.com> parents: 40 diff changeset	331	unsigned int i;
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	332	struct ipipe_domain_attr attr; //ipipe
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	333
36 6e9de6fbf74c EtherCAT_release() im Fehlerfall beim Laden von Modulen mini und rt. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	334	// 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	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 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	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 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	339	}
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	340	#endif
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	341
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	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 35120a61d55e Sch?nheitskorrekturen. Florian Pose <fp@igh-essen.com> parents: 42 diff changeset	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 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	370
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	371	ipipe_init_attr (&attr);
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	372	attr.name = "IPIPE-MSR-MODULE";
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	373	attr.priority = IPIPE_ROOT_PRIO + 1;
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	374	attr.entry = &domain_entry;
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	375	ipipe_register_domain(&this_domain,&attr);
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	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 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	387	}
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	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 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	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 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	395	msr_print_info("msk_modul: unloading...");
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	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 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	398	ipipe_unregister_domain(&this_domain);
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	399
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	400	if (ecat_master)
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	401	{
43 35120a61d55e Sch?nheitskorrekturen. Florian Pose <fp@igh-essen.com> parents: 42 diff changeset	402	printk(KERN_INFO "=== Stopping EtherCAT environment... ===\n");
35120a61d55e Sch?nheitskorrekturen. Florian Pose <fp@igh-essen.com> parents: 42 diff changeset	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 35120a61d55e Sch?nheitskorrekturen. Florian Pose <fp@igh-essen.com> parents: 42 diff changeset	413
35120a61d55e Sch?nheitskorrekturen. Florian Pose <fp@igh-essen.com> parents: 42 diff changeset	414	printk(KERN_INFO "=== EtherCAT environment stopped. ===\n");
35120a61d55e Sch?nheitskorrekturen. Florian Pose <fp@igh-essen.com> parents: 42 diff changeset	415	}
28 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	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 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	419	#endif
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	420	}
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	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 801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	424	MODULE_LICENSE("GPL");
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	425	MODULE_AUTHOR ("Wilhelm Hagemeister <hm@igh-essen.com>");
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	426	MODULE_DESCRIPTION ("EtherCAT test environment");
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	427
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	428	module_init(init_module);
801dc7eabf51 IPIPE,floatpoint,rtlib Wilhelm Hagemeister <hm@igh-essen.com> parents: diff changeset	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	/*****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Fri, 06 Jan 2006 09:49:26 +0000
changeset 45	f525f7db2d90
parent 43	35120a61d55e
child 47	ad5f969f263b
permissions	-rw-r--r--