--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mini/mini.c	Tue Jan 17 18:28:15 2006 +0000
@@ -0,0 +1,160 @@
+/******************************************************************************
+ *
+ * m i n i . c
+ *
+ * Minimalmodul für EtherCAT
+ *
+ * $Id$
+ *
+ *****************************************************************************/
+
+#include <linux/module.h>
+#include <linux/delay.h>
+#include <linux/timer.h>
+
+#include "../include/EtherCAT_rt.h"
+
+/*****************************************************************************/
+
+// Auskommentieren, wenn keine zyklischen Daten erwuenscht
+#define ECAT_CYCLIC_DATA
+
+/*****************************************************************************/
+
+ec_master_t *master = NULL;
+
+#ifdef ECAT_CYCLIC_DATA
+
+int value;
+int dig1;
+
+struct timer_list timer;
+unsigned long last_start_jiffies;
+
+#endif // ECAT_CYCLIC_DATA
+
+/******************************************************************************
+ *
+ * Function: run
+ *
+ * Beschreibung: Zyklischer Prozess
+ *
+ *****************************************************************************/
+
+#ifdef ECAT_CYCLIC_DATA
+
+static void run(unsigned long data)
+{
+  static int ms = 0;
+    static unsigned long int k = 0;
+    static int firstrun = 1;
+
+    ms++;
+    ms %= 1000;
+
+#if 0
+    if (klemme >= 0)
+        EtherCAT_write_value(&ecat_slaves[klemme], kanal, up_down);
+#endif
+
+    // Prozessdaten lesen und schreiben
+    rdtscl(k);
+    EtherCAT_rt_domain_cycle(master, 1, 100);
+    firstrun = 0;
+
+    timer.expires += HZ / 1000;
+    add_timer(&timer);
+}
+
+#endif // ECAT_CYCLIC_DATA
+
+/******************************************************************************
+ *
+ * Function: init
+ *
+ *****************************************************************************/
+
+int __init init_mini_module(void)
+{
+    printk(KERN_INFO "=== Starting Minimal EtherCAT environment... ===\n");
+
+    if ((master = EtherCAT_rt_request_master(0)) == NULL) {
+        printk(KERN_ERR "EtherCAT master 0 not available!\n");
+        goto out_return;
+    }
+
+    //check_slaves();
+
+    printk("Activating all EtherCAT slaves.\n");
+
+    if (EtherCAT_rt_activate_slaves(master) != 0) {
+        printk(KERN_ERR "EtherCAT: Could not activate slaves!\n");
+        goto out_release_master;
+    }
+
+#ifdef ECAT_CYCLIC_DATA
+    printk("Starting cyclic sample thread.\n");
+
+    init_timer(&timer);
+
+    timer.function = run;
+    timer.data = 0;
+    timer.expires = jiffies+10; // Das erste Mal sofort feuern
+    last_start_jiffies = timer.expires;
+    add_timer(&timer);
+
+    printk("Initialised sample thread.\n");
+#endif
+
+    printk(KERN_INFO "=== Minimal EtherCAT environment started. ===\n");
+
+    return 0;
+
+ out_release_master:
+  EtherCAT_rt_release_master(master);
+
+ out_return:
+  return -1;
+}
+
+/******************************************************************************
+ *
+ * Function: cleanup
+ *
+ *****************************************************************************/
+
+void __exit cleanup_mini_module(void)
+{
+    printk(KERN_INFO "=== Stopping Minimal EtherCAT environment... ===\n");
+
+    if (master)
+    {
+#ifdef ECAT_CYCLIC_DATA
+        del_timer_sync(&timer);
+#endif // ECAT_CYCLIC_DATA
+
+        printk(KERN_INFO "Deactivating slaves.\n");
+
+        EtherCAT_rt_deactivate_slaves(master);
+        EtherCAT_rt_release_master(master);
+    }
+
+    printk(KERN_INFO "=== Minimal EtherCAT environment stopped. ===\n");
+}
+
+/*****************************************************************************/
+
+MODULE_LICENSE("GPL");
+MODULE_AUTHOR ("Florian Pose <fp@igh-essen.com>");
+MODULE_DESCRIPTION ("Minimal EtherCAT environment");
+
+module_init(init_mini_module);
+module_exit(cleanup_mini_module);
+
+/*****************************************************************************/
+
+/* Emacs-Konfiguration
+;;; Local Variables: ***
+;;; c-basic-offset:4 ***
+;;; End: ***
+*/