# HG changeset patch
# User Florian Pose <fp@igh-essen.com>
# Date 1144746490 0
# Node ID 3e9155836bc74a933b5e2bf3ffcf76d57c695f6e
# Parent  786d4cba38fbbcb69d9ac72447c65cbd437a2124
Install script for realtime software

diff -r 786d4cba38fb -r 3e9155836bc7 rt/Makefile
--- a/rt/Makefile	Tue Apr 11 08:26:18 2006 +0000
+++ b/rt/Makefile	Tue Apr 11 09:08:10 2006 +0000
@@ -12,22 +12,28 @@
 #  Kbuild-Abschnitt
 #------------------------------------------------------------------------------
 
-obj-m := msr_modul.o
+ifneq ($(wildcard $(src)/rt.conf),)
+include $(src)/rt.conf
+else
+MODULENAME := rt
+endif
 
-msr_modul-objs := msr_module.o \
-		rt_lib/msr-core/msr_lists.o \
-		rt_lib/msr-core/msr_main.o \
-		rt_lib/msr-core/msr_charbuf.o \
-		rt_lib/msr-core/msr_reg.o \
-		rt_lib/msr-core/msr_interpreter.o \
-		rt_lib/msr-core/msr_messages.o \
-		rt_lib/msr-core/msr_proc.o \
-		rt_lib/msr-core/msr_error_reg.o \
-		rt_lib/msr-utils/msr_utils.o \
-		rt_lib/msr-utils/msr_time.o \
-		rt_lib/msr-math/msr_base64.o \
-		rt_lib/msr-math/msr_hex_bin.o \
-		libm.o
+obj-m := $(MODULENAME).o
+
+$(MODULENAME)-objs := msr_rt.o \
+			rt_lib/msr-core/msr_lists.o \
+			rt_lib/msr-core/msr_main.o \
+			rt_lib/msr-core/msr_charbuf.o \
+			rt_lib/msr-core/msr_reg.o \
+			rt_lib/msr-core/msr_interpreter.o \
+			rt_lib/msr-core/msr_messages.o \
+			rt_lib/msr-core/msr_proc.o \
+			rt_lib/msr-core/msr_error_reg.o \
+			rt_lib/msr-utils/msr_utils.o \
+			rt_lib/msr-utils/msr_time.o \
+			rt_lib/msr-math/msr_base64.o \
+			rt_lib/msr-math/msr_hex_bin.o \
+			libm.o
 
 EXTRA_CFLAGS := -I$(src)/rt_lib/msr-include -D_SIMULATION \
 		-I/usr/include -mhard-float \
@@ -41,18 +47,24 @@
 #  Default-Abschnitt
 #------------------------------------------------------------------------------
 
-ifneq ($(wildcard ethercat.conf),)
-include ethercat.conf
+ifneq ($(wildcard rt.conf),)
+include rt.conf
 else
-KERNELDIR = /usr/src/linux
+MODULENAME := msr_rt
+KERNEL := $(shell uname -r)
 endif
 
+KERNELDIR := /lib/modules/$(KERNEL)/build
+
 modules:
-	$(MAKE) -C $(KERNELDIR) M=`pwd` modules
+	$(MAKE) -C $(KERNELDIR) M=`pwd`
 
 clean:
 	$(MAKE) -C $(KERNELDIR) M=`pwd` clean
 
+install:
+	@./install.sh $(MODULENAME) $(KERNEL)
+
 #------------------------------------------------------------------------------
 
 endif
diff -r 786d4cba38fb -r 3e9155836bc7 rt/ethercat.conf.tmpl
--- a/rt/ethercat.conf.tmpl	Tue Apr 11 08:26:18 2006 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,13 +0,0 @@
-#------------------------------------------------------------------------------
-#
-#  EtherCAT Konfigurationsdatei Kernel 2.6
-#
-#  $Id$
-#
-#  This file is a versioned template configuration. Copy it to "ethercat.conf"
-#  (which is ignored by Subversion) and adjust it to your needs.
-#
-#------------------------------------------------------------------------------
-
-KERNELDIR = /usr/src/linux
-
diff -r 786d4cba38fb -r 3e9155836bc7 rt/install.sh
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/rt/install.sh	Tue Apr 11 09:08:10 2006 +0000
@@ -0,0 +1,49 @@
+#!/bin/sh
+
+#------------------------------------------------------------------------------
+#
+#  Realtime module install script
+#
+#  $Id: install.sh 5 2006-04-07 13:49:10Z fp $
+#
+#------------------------------------------------------------------------------
+
+# Fetch parameters
+
+if [ $# -ne 2 ]; then
+    echo "Usage: $0 <MODULENAME> <KERNEL>"
+    exit 1
+fi
+
+MODULENAME=$1
+KERNEL=$2
+
+MODULESDIR=/lib/modules/$KERNEL/kernel/drivers/rt
+
+echo "Realtime installer"
+echo "  target: $MODULENAME"
+echo "  kernel: $KERNEL"
+
+# Create target directory
+
+if [ ! -d $MODULESDIR ]; then
+    echo "  creating $MODULESDIR..."
+    mkdir $MODULESDIR || exit 1
+fi
+
+# Install files
+
+echo "  installing $MODULENAME..."
+if ! cp $MODULENAME.ko $MODULESDIR/$MODULENAME.ko; then exit 1; fi
+
+# Calculate dependencies
+
+echo "  building module dependencies..."
+depmod
+
+# Finish
+
+echo "done."
+exit 0
+
+#------------------------------------------------------------------------------
diff -r 786d4cba38fb -r 3e9155836bc7 rt/msr_load
--- a/rt/msr_load	Tue Apr 11 08:26:18 2006 +0000
+++ b/rt/msr_load	Tue Apr 11 09:08:10 2006 +0000
@@ -1,5 +1,5 @@
 #!/bin/sh 
-module="msr_modul"
+module="msr_rt"
 device="msr"
 mode="664"
 
diff -r 786d4cba38fb -r 3e9155836bc7 rt/msr_module.c
--- a/rt/msr_module.c	Tue Apr 11 08:26:18 2006 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,276 +0,0 @@
-/******************************************************************************
- *
- *  msr_module.c
- *
- *  Kernelmodul f�ür 2.6 Kernel zur Me�ßdatenerfassung, Steuerung und Regelung.
- *
- *  Autor: Wilhelm Hagemeister, Florian Pose
- *
- *  (C) Copyright IgH 2002
- *  Ingenieurgemeinschaft IgH
- *  Heinz-B�äcker Str. 34
- *  D-45356 Essen
- *  Tel.: +49 201/61 99 31
- *  Fax.: +49 201/61 98 36
- *  E-mail: hm@igh-essen.com
- *
- *  $Id$
- *
- *****************************************************************************/
-
-// Linux
-#include <linux/module.h>
-#include <linux/ipipe.h>
-#include <linux/slab.h>
-#include <linux/vmalloc.h>
-#include <linux/delay.h>
-
-// RT_lib
-#include <msr_main.h>
-#include <msr_utils.h>
-#include <msr_messages.h>
-#include <msr_float.h>
-#include <msr_reg.h>
-#include <msr_time.h>
-#include "msr_param.h"
-
-// EtherCAT
-#include "../include/ecrt.h"
-
-#define ASYNC
-
-// Defines/Makros
-#define HZREDUCTION (MSR_ABTASTFREQUENZ / HZ)
-
-/*****************************************************************************/
-/* Globale Variablen */
-
-// Adeos
-static struct ipipe_domain this_domain;
-static struct ipipe_sysinfo sys_info;
-
-// EtherCAT
-ec_master_t *master = NULL;
-ec_domain_t *domain1 = NULL;
-
-// Prozessdaten
-void *r_ssi;
-void *r_ssi_st;
-
-// KanŽäle
-uint32_t k_ssi;
-uint32_t k_ssi_st;
-
-ec_field_init_t domain1_fields[] = {
-    {&r_ssi,    "5", "Beckhoff", "EL5001", "InputValue", 0},
-    {&r_ssi_st, "5", "Beckhoff", "EL5001", "Status",     0},
-    {}
-};
-
-/*****************************************************************************/
-
-static void msr_controller_run(void)
-{
-#ifdef ASYNC
-    // Empfangen
-    ecrt_master_async_receive(master);
-    ecrt_domain_process(domain1);
-#else
-    // Senden und empfangen
-    ecrt_domain_queue(domain1);
-    ecrt_master_run(master);
-    ecrt_master_sync_io(master);
-    ecrt_domain_process(domain1);
-#endif
-
-    // Prozessdaten verarbeiten
-    k_ssi =    EC_READ_U32(r_ssi);
-    k_ssi_st = EC_READ_U8 (r_ssi_st);
-
-#ifdef ASYNC
-    // Senden
-    ecrt_domain_queue(domain1);
-    ecrt_master_run(master);
-    ecrt_master_async_send(master);
-#endif
-}
-
-/*****************************************************************************/
-
-int msr_globals_register(void)
-{
-    msr_reg_kanal("/ssi_position", "", &k_ssi,    TUINT);
-    msr_reg_kanal("/ssi_status",   "", &k_ssi_st, TUINT);
-    return 0;
-}
-
-/*****************************************************************************/
-
-void msr_run(unsigned irq)
-{
-    static int counter = 0;
-
-    MSR_ADEOS_INTERRUPT_CODE(msr_controller_run(); msr_write_kanal_list(););
-
-    ipipe_control_irq(irq, 0, IPIPE_ENABLE_MASK); // Interrupt bestŽätigen
-    if (++counter >= HZREDUCTION) {
-	ipipe_propagate_irq(irq);  // und weiterreichen
-	counter = 0;
-    }
-}
-
-/*****************************************************************************/
-
-void domain_entry(void)
-{
-    printk("Domain %s started.\n", ipipe_current_domain->name);
-
-    ipipe_get_sysinfo(&sys_info);
-    ipipe_virtualize_irq(ipipe_current_domain,sys_info.archdep.tmirq,
-			 &msr_run, NULL, IPIPE_HANDLE_MASK);
-
-    ipipe_tune_timer(1000000000UL / MSR_ABTASTFREQUENZ, 0);
-}
-
-/*****************************************************************************/
-
-int __init init_rt_module(void)
-{
-    struct ipipe_domain_attr attr; //ipipe
-#if 1
-    ec_slave_t *slave;
-#endif
-
-    // Als allererstes die RT-Lib initialisieren
-    if (msr_rtlib_init(1, MSR_ABTASTFREQUENZ, 10, &msr_globals_register) < 0) {
-        msr_print_warn("msr_modul: can't initialize rtlib!");
-        goto out_return;
-    }
-
-    if ((master = ecrt_request_master(0)) == NULL) {
-        printk(KERN_ERR "Failed to request master 0!\n");
-        goto out_msr_cleanup;
-    }
-
-    //ecrt_master_print(master, 2);
-
-    printk(KERN_INFO "Creating domains...\n");
-    if (!(domain1 = ecrt_master_create_domain(master))) {
-        printk(KERN_ERR "Failed to create domains!\n");
-        goto out_release_master;
-    }
-
-    printk(KERN_INFO "Registering domain fields...\n");
-    if (ecrt_domain_register_field_list(domain1, domain1_fields)) {
-        printk(KERN_ERR "Failed to register domain fields.\n");
-        goto out_release_master;
-    }
-
-    printk(KERN_INFO "Activating master...\n");
-    if (ecrt_master_activate(master)) {
-        printk(KERN_ERR "Could not activate master!\n");
-        goto out_release_master;
-    }
-
-#if 0
-    if (ecrt_master_fetch_sdo_lists(master)) {
-        printk(KERN_ERR "Failed to fetch SDO lists!\n");
-        goto out_deactivate;
-    }
-    ecrt_master_print(master, 2);
-#else
-    ecrt_master_print(master, 1);
-#endif
-
-#if 1
-    if (!(slave = ecrt_master_get_slave(master, "5"))) {
-        printk(KERN_ERR "Failed to get slave!\n");
-        goto out_deactivate;
-    }
-
-    if (
-        ecrt_slave_sdo_write_exp8(slave, 0x4061, 1,  1) || // disable frame error bit
-        ecrt_slave_sdo_write_exp8(slave, 0x4061, 2,  0) || // power failure bit
-        ecrt_slave_sdo_write_exp8(slave, 0x4061, 3,  1) || // inhibit time
-        ecrt_slave_sdo_write_exp8(slave, 0x4061, 4,  0) || // test mode
-        ecrt_slave_sdo_write_exp8(slave, 0x4066, 0,  1) || // dualcode
-        ecrt_slave_sdo_write_exp8(slave, 0x4067, 0,  5) || // 125kbaud
-        ecrt_slave_sdo_write_exp8(slave, 0x4068, 0,  0) || // single-turn
-        ecrt_slave_sdo_write_exp8(slave, 0x4069, 0, 25) || // frame size
-        ecrt_slave_sdo_write_exp8(slave, 0x406A, 0, 25) || // data length
-        ecrt_slave_sdo_write_exp16(slave, 0x406B, 0, 30000) // inhibit time in us
-        ) {
-        printk(KERN_ERR "Failed to configure SSI slave!\n");
-        goto out_deactivate;
-    }
-#endif
-
-#ifdef ASYNC
-    // Einmal senden und warten...
-    ecrt_master_prepare_async_io(master);
-#endif
-
-    ipipe_init_attr(&attr);
-    attr.name = "IPIPE-MSR-MODULE";
-    attr.priority = IPIPE_ROOT_PRIO + 1;
-    attr.entry = &domain_entry;
-    ipipe_register_domain(&this_domain, &attr);
-    return 0;
-
-#if 1
- out_deactivate:
-    ecrt_master_deactivate(master);
-#endif
- out_release_master:
-    ecrt_release_master(master);
- out_msr_cleanup:
-    msr_rtlib_cleanup();
- out_return:
-    return -1;
-}
-
-/*****************************************************************************/
-
-void __exit cleanup_rt_module(void)
-{
-    msr_print_info("msk_modul: unloading...");
-
-    ipipe_tune_timer(1000000000UL / HZ, 0); //alten Timertakt wieder herstellen
-    ipipe_unregister_domain(&this_domain);
-
-    if (master) {
-        printk(KERN_INFO "=== Stopping EtherCAT environment... ===\n");
-
-        printk(KERN_INFO "Deactivating master...\n");
-        ecrt_master_deactivate(master);
-        ecrt_release_master(master);
-
-        printk(KERN_INFO "=== EtherCAT environment stopped. ===\n");
-    }
-
-    msr_rtlib_cleanup();
-}
-
-/*****************************************************************************/
-
-#define EC_LIT(X) #X
-#define EC_STR(X) EC_LIT(X)
-#define COMPILE_INFO "Revision " EC_STR(SVNREV) \
-                     ", compiled by " EC_STR(USER) \
-                     " at " __DATE__ " " __TIME__
-
-MODULE_LICENSE("GPL");
-MODULE_AUTHOR ("Florian Pose <fp@igh-essen.com>");
-MODULE_DESCRIPTION ("EtherCAT real-time test environment");
-MODULE_VERSION(COMPILE_INFO);
-
-module_init(init_rt_module);
-module_exit(cleanup_rt_module);
-
-/*****************************************************************************/
-
-/* Emacs-Konfiguration
-;;; Local Variables: ***
-;;; c-basic-offset:4 ***
-;;; End: ***
-*/
diff -r 786d4cba38fb -r 3e9155836bc7 rt/msr_rt.c
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/rt/msr_rt.c	Tue Apr 11 09:08:10 2006 +0000
@@ -0,0 +1,271 @@
+/******************************************************************************
+ *
+ *  m s r _ r t . c
+ *
+ *  Kernelmodul f�ür 2.6 Kernel zur Me�ßdatenerfassung, Steuerung und Regelung.
+ *
+ *  Autor: Wilhelm Hagemeister, Florian Pose
+ *
+ *  (C) Copyright IgH 2002
+ *  Ingenieurgemeinschaft IgH
+ *  Heinz-B�äcker Str. 34
+ *  D-45356 Essen
+ *  Tel.: +49 201/61 99 31
+ *  Fax.: +49 201/61 98 36
+ *  E-mail: hm@igh-essen.com
+ *
+ *  $Id$
+ *
+ *****************************************************************************/
+
+// Linux
+#include <linux/module.h>
+#include <linux/ipipe.h>
+#include <linux/slab.h>
+#include <linux/vmalloc.h>
+#include <linux/delay.h>
+
+// RT_lib
+#include <msr_main.h>
+#include <msr_utils.h>
+#include <msr_messages.h>
+#include <msr_float.h>
+#include <msr_reg.h>
+#include <msr_time.h>
+#include "msr_param.h"
+
+// EtherCAT
+#include "../include/ecrt.h"
+
+#define ASYNC
+
+// Defines/Makros
+#define HZREDUCTION (MSR_ABTASTFREQUENZ / HZ)
+
+/*****************************************************************************/
+/* Globale Variablen */
+
+// Adeos
+static struct ipipe_domain this_domain;
+static struct ipipe_sysinfo sys_info;
+
+// EtherCAT
+ec_master_t *master = NULL;
+ec_domain_t *domain1 = NULL;
+
+// Prozessdaten
+void *r_ssi;
+void *r_ssi_st;
+
+// KanŽäle
+uint32_t k_ssi;
+uint32_t k_ssi_st;
+
+ec_field_init_t domain1_fields[] = {
+    {&r_ssi,    "5", "Beckhoff", "EL5001", "InputValue", 0},
+    {&r_ssi_st, "5", "Beckhoff", "EL5001", "Status",     0},
+    {}
+};
+
+/*****************************************************************************/
+
+static void msr_controller_run(void)
+{
+#ifdef ASYNC
+    // Empfangen
+    ecrt_master_async_receive(master);
+    ecrt_domain_process(domain1);
+#else
+    // Senden und empfangen
+    ecrt_domain_queue(domain1);
+    ecrt_master_run(master);
+    ecrt_master_sync_io(master);
+    ecrt_domain_process(domain1);
+#endif
+
+    // Prozessdaten verarbeiten
+    k_ssi =    EC_READ_U32(r_ssi);
+    k_ssi_st = EC_READ_U8 (r_ssi_st);
+
+#ifdef ASYNC
+    // Senden
+    ecrt_domain_queue(domain1);
+    ecrt_master_run(master);
+    ecrt_master_async_send(master);
+#endif
+}
+
+/*****************************************************************************/
+
+int msr_globals_register(void)
+{
+    msr_reg_kanal("/ssi_position", "", &k_ssi,    TUINT);
+    msr_reg_kanal("/ssi_status",   "", &k_ssi_st, TUINT);
+    return 0;
+}
+
+/*****************************************************************************/
+
+void msr_run(unsigned irq)
+{
+    static int counter = 0;
+
+    MSR_ADEOS_INTERRUPT_CODE(msr_controller_run(); msr_write_kanal_list(););
+
+    ipipe_control_irq(irq, 0, IPIPE_ENABLE_MASK); // Interrupt bestŽätigen
+    if (++counter >= HZREDUCTION) {
+	ipipe_propagate_irq(irq);  // und weiterreichen
+	counter = 0;
+    }
+}
+
+/*****************************************************************************/
+
+void domain_entry(void)
+{
+    printk("Domain %s started.\n", ipipe_current_domain->name);
+
+    ipipe_get_sysinfo(&sys_info);
+    ipipe_virtualize_irq(ipipe_current_domain,sys_info.archdep.tmirq,
+			 &msr_run, NULL, IPIPE_HANDLE_MASK);
+
+    ipipe_tune_timer(1000000000UL / MSR_ABTASTFREQUENZ, 0);
+}
+
+/*****************************************************************************/
+
+int __init init_rt_module(void)
+{
+    struct ipipe_domain_attr attr; //ipipe
+#if 1
+    ec_slave_t *slave;
+#endif
+
+    // Als allererstes die RT-Lib initialisieren
+    if (msr_rtlib_init(1, MSR_ABTASTFREQUENZ, 10, &msr_globals_register) < 0) {
+        printk(KERN_ERR "Failed to initialize rtlib!\n");
+        goto out_return;
+    }
+
+    if ((master = ecrt_request_master(0)) == NULL) {
+        printk(KERN_ERR "Failed to request master 0!\n");
+        goto out_msr_cleanup;
+    }
+
+    //ecrt_master_print(master, 2);
+
+    printk(KERN_INFO "Creating domains...\n");
+    if (!(domain1 = ecrt_master_create_domain(master))) {
+        printk(KERN_ERR "Failed to create domains!\n");
+        goto out_release_master;
+    }
+
+    printk(KERN_INFO "Registering domain fields...\n");
+    if (ecrt_domain_register_field_list(domain1, domain1_fields)) {
+        printk(KERN_ERR "Failed to register domain fields.\n");
+        goto out_release_master;
+    }
+
+    printk(KERN_INFO "Activating master...\n");
+    if (ecrt_master_activate(master)) {
+        printk(KERN_ERR "Could not activate master!\n");
+        goto out_release_master;
+    }
+
+#if 0
+    if (ecrt_master_fetch_sdo_lists(master)) {
+        printk(KERN_ERR "Failed to fetch SDO lists!\n");
+        goto out_deactivate;
+    }
+    ecrt_master_print(master, 2);
+#else
+    ecrt_master_print(master, 1);
+#endif
+
+#if 1
+    if (!(slave = ecrt_master_get_slave(master, "5"))) {
+        printk(KERN_ERR "Failed to get slave!\n");
+        goto out_deactivate;
+    }
+
+    if (
+        ecrt_slave_sdo_write_exp8(slave, 0x4061, 1,  1) || // disable frame error bit
+        ecrt_slave_sdo_write_exp8(slave, 0x4061, 2,  0) || // power failure bit
+        ecrt_slave_sdo_write_exp8(slave, 0x4061, 3,  1) || // inhibit time
+        ecrt_slave_sdo_write_exp8(slave, 0x4061, 4,  0) || // test mode
+        ecrt_slave_sdo_write_exp8(slave, 0x4066, 0,  1) || // dualcode
+        ecrt_slave_sdo_write_exp8(slave, 0x4067, 0,  5) || // 125kbaud
+        ecrt_slave_sdo_write_exp8(slave, 0x4068, 0,  0) || // single-turn
+        ecrt_slave_sdo_write_exp8(slave, 0x4069, 0, 25) || // frame size
+        ecrt_slave_sdo_write_exp8(slave, 0x406A, 0, 25) || // data length
+        ecrt_slave_sdo_write_exp16(slave, 0x406B, 0, 30000) // inhibit time in us
+        ) {
+        printk(KERN_ERR "Failed to configure SSI slave!\n");
+        goto out_deactivate;
+    }
+#endif
+
+#ifdef ASYNC
+    // Einmal senden und warten...
+    ecrt_master_prepare_async_io(master);
+#endif
+
+    ipipe_init_attr(&attr);
+    attr.name = "IPIPE-MSR-MODULE";
+    attr.priority = IPIPE_ROOT_PRIO + 1;
+    attr.entry = &domain_entry;
+    ipipe_register_domain(&this_domain, &attr);
+    return 0;
+
+#if 1
+ out_deactivate:
+    ecrt_master_deactivate(master);
+#endif
+ out_release_master:
+    ecrt_release_master(master);
+ out_msr_cleanup:
+    msr_rtlib_cleanup();
+ out_return:
+    return -1;
+}
+
+/*****************************************************************************/
+
+void __exit cleanup_rt_module(void)
+{
+    printk(KERN_INFO "Cleanign up rt module...\n");
+
+    ipipe_tune_timer(1000000000UL / HZ, 0); // Alten Timertakt wiederherstellen
+    ipipe_unregister_domain(&this_domain);
+
+    printk(KERN_INFO "=== Stopping EtherCAT environment... ===\n");
+    ecrt_master_deactivate(master);
+    ecrt_release_master(master);
+    printk(KERN_INFO "=== EtherCAT environment stopped. ===\n");
+
+    msr_rtlib_cleanup();
+}
+
+/*****************************************************************************/
+
+#define EC_LIT(X) #X
+#define EC_STR(X) EC_LIT(X)
+#define COMPILE_INFO "Revision " EC_STR(SVNREV) \
+                     ", compiled by " EC_STR(USER) \
+                     " at " __DATE__ " " __TIME__
+
+MODULE_LICENSE("GPL");
+MODULE_AUTHOR ("Florian Pose <fp@igh-essen.com>");
+MODULE_DESCRIPTION ("EtherCAT real-time test environment");
+MODULE_VERSION(COMPILE_INFO);
+
+module_init(init_rt_module);
+module_exit(cleanup_rt_module);
+
+/*****************************************************************************/
+
+/* Emacs-Konfiguration
+;;; Local Variables: ***
+;;; c-basic-offset:4 ***
+;;; End: ***
+*/
diff -r 786d4cba38fb -r 3e9155836bc7 rt/msr_unload
--- a/rt/msr_unload	Tue Apr 11 08:26:18 2006 +0000
+++ b/rt/msr_unload	Tue Apr 11 09:08:10 2006 +0000
@@ -1,16 +1,9 @@
 #!/bin/sh
-module="msr_modul"
+module="msr_rt"
 device="msr"
 
 # invoke rmmod with all arguments we got
 /sbin/rmmod $module $* || exit 1
 
 # Remove stale nodes
-
-rm -f /dev/${device} /dev/${device}0 
-
-
-
-
-
-
+rm -f /dev/${device} /dev/${device}0
diff -r 786d4cba38fb -r 3e9155836bc7 rt/rt.conf.tmpl
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/rt/rt.conf.tmpl	Tue Apr 11 09:08:10 2006 +0000
@@ -0,0 +1,18 @@
+#------------------------------------------------------------------------------
+#
+#  Configuration file for msr realtime modules
+#
+#  $Id$
+#
+#  This file is a versioned template configuration. Copy it to "rt.conf"
+#  (which is ignored by Subversion) and adjust it to your needs.
+#
+#------------------------------------------------------------------------------
+
+# Module name (without extension)
+MODULENAME := ec_rt_sample
+
+# The kernel to compile the EtherCAT sources against
+KERNEL := `uname -r`
+
+#------------------------------------------------------------------------------