# HG changeset patch
# User Florian Pose <fp@igh-essen.com>
# Date 1131122843 0
# Node ID 6f2508af550cdbcd424caba4ba8729362a9245f0
# Parent  394c89f02e4899c4114337dff376681d6c38236a
Alle ?nderungen aus den Branches no_rtai und no_int nach Trunk portiert.

diff -r 394c89f02e48 -r 6f2508af550c drivers/Makefile
--- a/drivers/Makefile	Fri Nov 04 09:38:50 2005 +0000
+++ b/drivers/Makefile	Fri Nov 04 16:47:23 2005 +0000
@@ -9,40 +9,22 @@
 #
 #################################################################
 
-#KERNELDIR=/usr/src/linux
-#KERNELDIR=/home/rich/linux-2.4.20.CX1100-rthal5
-#KERNELDIR=./linux-2.4.20.CX1100-rthal5
+MSR_DIR = /vol/projekte/msr_messen_steuern_regeln
+EC_DIR = $(MSR_DIR)/ethercat
 
-#IgH
-KERNELDIR = /vol/projekte/msr_messen_steuern_regeln/linux/kernel/2.4.20/include/linux-2.4.20.CX1100-rthal5
-RTAIDIR   = /vol/projekte/msr_messen_steuern_regeln/linux/kernel/2.4.20/include/rtai-24.1.13
-RTLIBDIR = rt_lib
-
-#euler-nottuln
+#KERNELDIR = $(EC_DIR)/linux-2.4.20.CX1100-rthal5-kdb
+KERNELDIR = $(EC_DIR)/linux-2.4.20-kdb
 #KERNELDIR = /usr/src/linux
-#RTAIDIR = /usr/src/rtai
-
-#patra
-#KERNELDIR = /usr/src/linux-2.4.20.CX1100-rthal5
-#RTAIDIR   = /usr/src/rtai-24.1.13
-
-#include $(KERNELDIR)/.config
 
 ECAT_8139_OBJ = drv_8139too.o ec_device.o ec_master.o \
 	ec_slave.o ec_command.o ec_types.o
 
-
-CFLAGS = -O2 -Wall -Wuninitialized -D__KERNEL__ -DMODULE \
-	-I$(KERNELDIR)/include -D_RTAI -I$(RTAIDIR)/include \
-	-I$(RTLIBDIR)/msr-include
-
-ifdef CONFIG_SMP
-	CFLAGS += -D__SMP__ -DSMP
-endif
+CFLAGS = -O2 -Wall -Wuninitialized -D__KERNEL__ \
+	-DMODULE -I$(KERNELDIR)/include
 
 #################################################################
 
-all: .depend ecat_8139too.o
+all: .depend Makefile ecat_8139too.o
 
 ecat_8139too.o: $(ECAT_8139_OBJ)
 	$(LD) -r $(ECAT_8139_OBJ) -o $@
@@ -55,7 +37,7 @@
 
 #################################################################
 
-.depend:
+.depend depend dep:
 	$(CC) $(CFLAGS) -M *.c > .depend
 
 ifeq (.depend,$(wildcard .depend))
diff -r 394c89f02e48 -r 6f2508af550c drivers/drv_8139too.c
--- a/drivers/drv_8139too.c	Fri Nov 04 09:38:50 2005 +0000
+++ b/drivers/drv_8139too.c	Fri Nov 04 16:47:23 2005 +0000
@@ -3,7 +3,7 @@
  *  drv_8139too.c
  *
  *  EtherCAT-Treiber für RTL8139-kompatible Netzwerkkarten.
- *           
+ *
  *  Autoren: Wilhelm Hagemeister, Florian Pose
  *
  *  $Date$
@@ -136,8 +136,6 @@
 /* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
 
 #include "ec_device.h"
-#include <rtai.h>
-#include <linux/delay.h>
 #include "ec_dbg.h"
 
 /* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
@@ -193,6 +191,17 @@
 /* bitmapped message enable number */
 static int debug = -1;
 
+/* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
+
+// Device index for EtherCAT device selection
+static int ec_device_index = -1;
+
+//#define ECAT_DEBUG
+
+EtherCAT_device_t rtl_ecat_dev;
+
+/* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
+
 /* Size of the in-memory receive ring. */
 #define RX_BUF_LEN_IDX	2	/* 0==8K, 1==16K, 2==32K, 3==64K */
 #define RX_BUF_LEN	(8192 << RX_BUF_LEN_IDX)
@@ -635,6 +644,13 @@
 MODULE_PARM_DESC (media, "8139too: Bits 4+9: force full duplex, bit 5: 100Mbps");
 MODULE_PARM_DESC (full_duplex, "8139too: Force full duplex for board(s) (1)");
 
+/* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
+
+MODULE_PARM(ec_device_index, "i");
+MODULE_PARM_DESC(ec_device_index, "Index of the device reserved for EtherCAT.");
+
+/* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
+
 static int read_eeprom (void *ioaddr, int location, int addr_len);
 static int rtl8139_open (struct net_device *dev);
 static int mdio_read (struct net_device *dev, int phy_id, int location);
@@ -647,7 +663,6 @@
 			       struct net_device *dev);
 static void rtl8139_interrupt (int irq, void *dev_instance,
 			       struct pt_regs *regs);
-static void rt_rtl8139_interrupt(void);
 static int rtl8139_close (struct net_device *dev);
 static int netdev_ioctl (struct net_device *dev, struct ifreq *rq, int cmd);
 static struct net_device_stats *rtl8139_get_stats (struct net_device *dev);
@@ -712,16 +727,6 @@
 
 #endif /* USE_IO_OPS */
 
-/* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
-
-#define ECATcard 1  // Diese Ethernetkarte wird für Ethercat verwendet
-
-//#define ECAT_DEBUG
-
-EtherCAT_device_t rtl_ecat_dev;
-
-/* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
-
 static const u16 rtl8139_intr_mask =
 	PCIErr | PCSTimeout | RxUnderrun | RxOverflow | RxFIFOOver |
 	TxErr | TxOK | RxErr | RxOK;
@@ -999,7 +1004,7 @@
 
 	/* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
 
-	if (board_idx == ECATcard)
+	if (board_idx == ec_device_index)
         {
           EC_DBG("EtherCAT registering board %d.\n", board_idx);
 
@@ -1046,7 +1051,7 @@
 
 	/* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
 
-	if (board_idx == ECATcard)
+	if (board_idx == ec_device_index)
         {
           rtl_ecat_dev.lock = &tp->lock;
 	}
@@ -1378,19 +1383,12 @@
 
 	/* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
 
-        if (dev != rtl_ecat_dev.dev) 
+        if (dev != rtl_ecat_dev.dev)
         {
           retval = request_irq(dev->irq, rtl8139_interrupt, SA_SHIRQ, dev->name, dev);
+          if (retval)
+            return retval;
         }
-	else
-        {
-          //rt_disable_irq(dev->irq);
-          retval =  rt_request_global_irq(dev->irq,rt_rtl8139_interrupt);
-	  //rt_enable_irq(dev->irq);
-        }
-
-        if (retval)
-          return retval;
 
 	/* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
 
@@ -1406,11 +1404,7 @@
           {
             free_irq(dev->irq, dev);
           }
-          else
-          {
-            rt_free_global_irq (dev->irq);
-          }
-          
+
           /* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
 
           if (tp->tx_bufs)
@@ -1419,7 +1413,7 @@
           if (tp->rx_ring)
             pci_free_consistent(tp->pci_dev, RX_BUF_TOT_LEN,
                                 tp->rx_ring, tp->rx_ring_dma);
-          
+
           return -ENOMEM;
 
 	}
@@ -1449,12 +1443,6 @@
             EC_DBG (KERN_WARNING "%s: unable to start kernel thread\n",
                     dev->name);
 	}
-#if 0
-        else
-        {
-          rt_enable_irq(dev->irq);
-        }
-#endif
 
 	/* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
 
@@ -1470,6 +1458,7 @@
 
 	if (tp->phys[0] >= 0) {
 		u16 mii_lpa = mdio_read(dev, tp->phys[0], MII_LPA);
+
 		if (mii_lpa == 0xffff)
 			;					/* Not there */
 		else if ((mii_lpa & LPA_100FULL) == LPA_100FULL
@@ -1551,14 +1540,20 @@
 	if ((!(tmp & CmdRxEnb)) || (!(tmp & CmdTxEnb)))
 		RTL_W8 (ChipCmd, CmdRxEnb | CmdTxEnb);
 
-	/* Enable all known interrupts by setting the interrupt mask. */
-	RTL_W16 (IntrMask, rtl8139_intr_mask);
-
 	/* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
 
-        if (dev != rtl_ecat_dev.dev) netif_start_queue (dev);
-
-	/* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/        
+        if (dev != rtl_ecat_dev.dev)
+        {
+          /* Enable all known interrupts by setting the interrupt mask. */
+          RTL_W16 (IntrMask, rtl8139_intr_mask);
+          netif_start_queue (dev);
+        }
+        else
+        {
+          RTL_W16 (IntrMask, 0x0000);
+        }
+
+	/* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
 
         EC_DBG(KERN_DEBUG "%s: rtl8139_hw_start finished.\n", dev->name);
 }
@@ -1829,23 +1824,11 @@
 			i == (int) (tp->dirty_tx % NUM_TX_DESC) ?
 				" (queue head)" : "");
 
-	/* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
-
 	/* Stop a shared interrupt from scavenging while we are. */
 
-	if (dev == rtl_ecat_dev.dev)
-        {
-	    flags = rt_spin_lock_irqsave (&tp->lock);
-	    rtl8139_tx_clear (tp);
-	    rt_spin_unlock_irqrestore (&tp->lock,flags);
-	}
-	else {
-	    spin_lock_irqsave (&tp->lock, flags);
-	    rtl8139_tx_clear (tp);
-	    spin_unlock_irqrestore (&tp->lock, flags);
-	}
-
-	/* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
+        spin_lock_irqsave (&tp->lock, flags);
+        rtl8139_tx_clear (tp);
+        spin_unlock_irqrestore (&tp->lock, flags);
 
 	/* ...and finally, reset everything */
 	rtl8139_hw_start (dev);
@@ -1876,7 +1859,7 @@
           skb_copy_and_csum_dev(skb, tp->tx_buf[entry]);
 
           // Socket buffer nicht löschen, wenn vom EtherCAT-device
-          if (dev != rtl_ecat_dev.dev) dev_kfree_skb(skb); 
+          if (dev != rtl_ecat_dev.dev) dev_kfree_skb(skb);
 	}
         else
         {
@@ -1885,17 +1868,10 @@
           return 0;
 	}
 
+	/* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
+
 	/* Note: the chip doesn't have auto-pad! */
-	if (dev == rtl_ecat_dev.dev)
-        {
-          rt_spin_lock_irq(&tp->lock);
-        }
-	else
-        {
-          spin_lock_irq(&tp->lock);
-        }
-
-        /* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
+        spin_lock_irq(&tp->lock);
 
 	RTL_W32_F (TxStatus0 + (entry * sizeof (u32)),
 		   tp->tx_flag | max(len, (unsigned int)ETH_ZLEN));
@@ -1913,17 +1889,10 @@
           netif_stop_queue (dev);
         }
 
-	if (dev == rtl_ecat_dev.dev)
-        {
-          rt_spin_unlock_irq(&tp->lock);
-        }
-	else
-        {
-          spin_unlock_irq(&tp->lock);
-        }
-
 	/* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
 
+        spin_unlock_irq(&tp->lock);
+
 	DPRINTK ("%s: Queued Tx packet size %u to slot %d.\n",
 		 dev->name, len, entry);
 
@@ -1981,12 +1950,12 @@
 				tp->stats.tx_window_errors++;
 
                         /* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
-                        
+
                         if (dev == rtl_ecat_dev.dev)
                         {
                           rtl_ecat_dev.state = ECAT_DS_ERROR;
                         }
-                        
+
                         /* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
 
 		} else {
@@ -2059,12 +2028,12 @@
 	}
 
         /* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
-                        
+
         if (dev == rtl_ecat_dev.dev)
         {
           rtl_ecat_dev.state = ECAT_DS_ERROR;
         }
-                        
+
         /* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
 
 #ifndef CONFIG_8139_OLD_RX_RESET
@@ -2170,7 +2139,7 @@
 
                 /* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
 
-#if RTL8139_DEBUG > 2                        
+#if RTL8139_DEBUG > 2
                 if (dev == rtl_ecat_dev.dev)
 		{
                   int i;
@@ -2259,7 +2228,7 @@
                     tp->stats.rx_packets++;
                   }
                 }
-                  
+
                 /* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
 
 		cur_rx = (cur_rx + rx_size + 4 + 3) & ~3;
@@ -2330,8 +2299,6 @@
 	}
 }
 
-
-
 /* The interrupt handler does all of the Rx thread work and cleans up
    after the Tx thread. */
 static void rtl8139_interrupt (int irq, void *dev_instance,
@@ -2344,16 +2311,15 @@
 	int ackstat, status;
 	int link_changed = 0; /* avoid bogus "uninit" warning */
 
-        /* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/        
+        /* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
 
 	if (dev == rtl_ecat_dev.dev)
         {
-          rt_spin_lock(&tp->lock);
           rtl_ecat_dev.intr_cnt++;
 	}
 	else
         {
-          spin_lock (&tp->lock);
+          spin_lock(&tp->lock);
         }
 
         /* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
@@ -2424,13 +2390,9 @@
 
         /* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
 
-	if (dev == rtl_ecat_dev.dev)
+	if (dev != rtl_ecat_dev.dev)
         {
-          rt_spin_unlock(&tp->lock);
-        }
-	else
-        {
-          spin_unlock(&tp->lock);
+          spin_unlock (&tp->lock);
         }
 
         /* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
@@ -2439,15 +2401,6 @@
 		 dev->name, RTL_R16 (IntrStatus));
 }
 
-/* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
-
-static void rt_rtl8139_interrupt(void)
-{
-  rtl8139_interrupt(rtl_ecat_dev.dev->irq, rtl_ecat_dev.dev, NULL);
-}
-
-/* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
-
 static int rtl8139_close (struct net_device *dev)
 {
 	struct rtl8139_private *tp = dev->priv;
@@ -2472,26 +2425,13 @@
 		wait_for_completion (&tp->thr_exited);
 	    }
 	}
-	
+
         /* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
 
 	DPRINTK ("%s: Shutting down ethercard, status was 0x%4.4x.\n",
 			dev->name, RTL_R16 (IntrStatus));
 
-        /* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
-
-	//mdelay(1);
-
-        if (dev == rtl_ecat_dev.dev)
-        {
-          flags = rt_spin_lock_irqsave(&tp->lock);
-        }
-	else
-        {
-          spin_lock_irqsave(&tp->lock, flags);
-        }
-
-        /* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
+        spin_lock_irqsave(&tp->lock, flags);
 
 	/* Stop the chip's Tx and Rx DMA processes. */
 	RTL_W8 (ChipCmd, 0);
@@ -2503,33 +2443,15 @@
 	tp->stats.rx_missed_errors += RTL_R32 (RxMissed);
 	RTL_W32 (RxMissed, 0);
 
+        spin_unlock_irqrestore (&tp->lock, flags);
+        synchronize_irq ();
+
         /* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
 
-        if (dev == rtl_ecat_dev.dev)
-        {
-          rt_spin_unlock_irqrestore (&tp->lock, flags);
-          synchronize_irq ();
-	}
-	else
-        {
-          spin_unlock_irqrestore (&tp->lock, flags);
-          synchronize_irq ();
-	}
-
-	EC_DBG ("rtl8139: freeing irq");
-
-	//mdelay(1);
-
         if (dev != rtl_ecat_dev.dev)
         {
-          free_irq (dev->irq, dev);
-	} 
-	else
-        {
-          rt_disable_irq(dev->irq);
-          rt_free_global_irq (dev->irq);
-          rt_enable_irq(dev->irq);
-	}
+          free_irq(dev->irq, dev);
+        }
 
         /* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
 
@@ -2744,7 +2666,7 @@
 			rc = -EFAULT;
 			goto err_out_gregs;
 		}
-                
+
                 if (regs.len > regs_len)
                         regs.len = regs_len;
                 if (regs.len < regs_len) {
@@ -2868,22 +2790,12 @@
 
         /* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
 
-	if (dev == rtl_ecat_dev.dev)
+	if (dev == rtl_ecat_dev.dev || netif_running(dev))
         {
-          flags = rt_spin_lock_irqsave (&tp->lock);
+          spin_lock_irqsave (&tp->lock, flags);
           tp->stats.rx_missed_errors += RTL_R32 (RxMissed);
           RTL_W32 (RxMissed, 0);
-          rt_spin_unlock_irqrestore (&tp->lock, flags);
-	}
-	else
-        {
-          if (netif_running(dev))
-          {
-            spin_lock_irqsave (&tp->lock, flags);
-            tp->stats.rx_missed_errors += RTL_R32 (RxMissed);
-            RTL_W32 (RxMissed, 0);
-            spin_unlock_irqrestore (&tp->lock, flags);
-          }
+          spin_unlock_irqrestore (&tp->lock, flags);
 	}
 
         /* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
@@ -2947,22 +2859,9 @@
 	unsigned long flags;
 	struct rtl8139_private *tp = dev->priv;
 
-        /* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
-
-	if (dev == rtl_ecat_dev.dev)
-        {
-          flags = rt_spin_lock_irqsave (&tp->lock);
-          __set_rx_mode(dev);
-          rt_spin_unlock_irqrestore (&tp->lock, flags);
-	}
-	else
-        {
-          spin_lock_irqsave (&tp->lock, flags);
-          __set_rx_mode(dev);
-          spin_unlock_irqrestore (&tp->lock, flags);
-	}
-
-        /* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
+        spin_lock_irqsave (&tp->lock, flags);
+        __set_rx_mode(dev);
+        spin_unlock_irqrestore (&tp->lock, flags);
 }
 
 #ifdef CONFIG_PM
diff -r 394c89f02e48 -r 6f2508af550c drivers/ec_dbg.h
--- a/drivers/ec_dbg.h	Fri Nov 04 09:38:50 2005 +0000
+++ b/drivers/ec_dbg.h	Fri Nov 04 16:47:23 2005 +0000
@@ -6,16 +6,15 @@
 #define ECMASTER_DEBUG
 
 
-#include "../rs232dbg/rs232dbg.h"
+//#include "../rs232dbg/rs232dbg.h"
 
 
 #ifdef ECMASTER_DEBUG
 /* note: prints function name for you */
 //#  define EC_DBG(fmt, args...) SDBG_print(fmt, ## args)
 
-#define EC_DBG(fmt, args...) SDBG_print("%s: " fmt, __FUNCTION__ , ## args)
-//#define EC_DBG(fmt, args...) printk(KERN_INFO fmt, ## args)
-
+//#define EC_DBG(fmt, args...) SDBG_print("%s: " fmt, __FUNCTION__ , ## args)
+#define EC_DBG(fmt, args...) printk(fmt, ## args)
 #else
 #define EC_DBG(fmt, args...)
 #endif
diff -r 394c89f02e48 -r 6f2508af550c drivers/ec_device.c
--- a/drivers/ec_device.c	Fri Nov 04 09:38:50 2005 +0000
+++ b/drivers/ec_device.c	Fri Nov 04 16:47:23 2005 +0000
@@ -12,7 +12,6 @@
 #include <linux/skbuff.h>
 #include <linux/if_ether.h>
 #include <linux/netdevice.h>
-#include <rtai.h>
 #include <linux/delay.h>
 
 #include "ec_device.h"
@@ -22,7 +21,7 @@
 
 /**
    EtherCAT-Geräte-Konstuktor.
-   
+
    Initialisiert ein EtherCAT-Gerät, indem es die Variablen
    in der Struktur auf die Default-Werte setzt.
 
@@ -48,7 +47,7 @@
 
 /**
    EtherCAT-Geräte-Destuktor.
-   
+
    Gibt den dynamisch allozierten Speicher des
    EtherCAT-Gerätes (die beiden Socket-Buffer) wieder frei.
 
@@ -76,7 +75,7 @@
 
 /**
    Weist einem EtherCAT-Gerät das entsprechende net_device zu.
-   
+
    Prüft das net_device, allokiert Socket-Buffer in Sende- und
    Empfangsrichtung und weist dem EtherCAT-Gerät und den
    Socket-Buffern das net_device zu.
@@ -280,6 +279,26 @@
 /***************************************************************/
 
 /**
+   Ruft manuell die Interrupt-Routine der Netzwerkkarte auf.
+
+   @param ecd EtherCAT-Gerät
+
+   @return Anzahl der kopierten Bytes bei Erfolg, sonst < 0
+*/
+
+void EtherCAT_device_call_isr(EtherCAT_device_t *ecd)
+{
+  EC_DBG(KERN_DEBUG "EtherCAT: Calling ISR...\n");
+
+  // Manuell die ISR aufrufen
+  rtl8139_interrupt(0, ecd->dev, NULL);
+
+  EC_DBG(KERN_DEBUG "EtherCAT: ISR finished.\n");
+}
+
+/***************************************************************/
+
+/**
    Gibt alle Informationen über das Device-Objekt aus.
 
    @param ecd EtherCAT-Gerät
diff -r 394c89f02e48 -r 6f2508af550c drivers/ec_device.h
--- a/drivers/ec_device.h	Fri Nov 04 09:38:50 2005 +0000
+++ b/drivers/ec_device.h	Fri Nov 04 16:47:23 2005 +0000
@@ -78,6 +78,7 @@
 
 int EtherCAT_device_send(EtherCAT_device_t *, unsigned char *, unsigned int);
 int EtherCAT_device_receive(EtherCAT_device_t *, unsigned char *, unsigned int);
+void EtherCAT_device_call_isr(EtherCAT_device_t *);
 
 void EtherCAT_device_debug(EtherCAT_device_t *);
 
diff -r 394c89f02e48 -r 6f2508af550c drivers/ec_master.c
--- a/drivers/ec_master.c	Fri Nov 04 09:38:50 2005 +0000
+++ b/drivers/ec_master.c	Fri Nov 04 16:47:23 2005 +0000
@@ -18,9 +18,6 @@
 #include "ec_master.h"
 #include "ec_dbg.h"
 
-// FIXME: Klappt nur solange, wie es nur einen Master gibt! fp
-static int ASYNC = 0;
-
 /***************************************************************/
 
 /**
@@ -159,13 +156,12 @@
   }
   else
   {
-    EC_DBG("EtherCAT: Slave count on bus: %i. Found: %i.\n",
-           cmd->working_counter, slave_count);
+    EC_DBG("EtherCAT: Found all %i slaves.\n", slave_count);
   }
 
   EtherCAT_remove_command(master, cmd);  
 
-   // For every slave in the list
+  // For every slave in the list
   for (i = 0; i < slave_count; i++)
   {
     cur = &slaves[i];
@@ -239,21 +235,28 @@
     if (EtherCAT_read_slave_information(master, cur->station_address,
                                         0x0008, &cur->vendor_id) != 0)
     {
-      EC_DBG(KERN_ERR "EtherCAT: Could not read SII!\n");
+      EC_DBG(KERN_ERR "EtherCAT: Could not read SII vendor id!\n");
       return -1;
     }
 
     if (EtherCAT_read_slave_information(master, cur->station_address,
                                         0x000A, &cur->product_code) != 0)
     {
-      EC_DBG(KERN_ERR "EtherCAT: Could not read SII!\n");
+      EC_DBG(KERN_ERR "EtherCAT: Could not read SII product code!\n");
       return -1;
     }
 
     if (EtherCAT_read_slave_information(master, cur->station_address,
                                         0x000E, &cur->revision_number) != 0)
     {
-      EC_DBG(KERN_ERR "EtherCAT: Could not read SII!\n");
+      EC_DBG(KERN_ERR "EtherCAT: Could not read SII revision number!\n");
+      return -1;
+    }
+
+    if (EtherCAT_read_slave_information(master, cur->station_address,
+                                        0x0012, &cur->serial_number) != 0)
+    {
+      EC_DBG(KERN_ERR "EtherCAT: Could not read SII serial number!\n");
       return -1;
     }
 
@@ -284,7 +287,8 @@
 
     if (!found)
     {
-      EC_DBG(KERN_ERR "EtherCAT: Unknown slave device (vendor %X, code %X) at position %i.\n",
+      EC_DBG(KERN_ERR "EtherCAT: Unknown slave device"
+             " (vendor %X, code %X) at position %i.\n",
              i, cur->vendor_id, cur->product_code);
       return -1;      
     }
@@ -312,8 +316,9 @@
     slaves[i].process_data = master->process_data + pos;
     slaves[i].logical_address0 = pos;
 
-    EC_DBG(KERN_DEBUG "EtherCAT: Slave %i - \"%s %s\" - Logical Address 0x%08X\n",
-           i, slaves[i].desc->vendor_name, slaves[i].desc->product_name, pos);
+    EC_DBG(KERN_DEBUG "EtherCAT: Slave %i - Address 0x%X, \"%s %s\", s/n %u\n",
+           i, pos, slaves[i].desc->vendor_name, slaves[i].desc->product_name,
+           slaves[i].serial_number);
 
     pos += slaves[i].desc->data_length;
   }  
@@ -451,7 +456,7 @@
    entsprechenden Antworten.
 
    @param master EtherCAT-Master
-   
+
    @return 0 bei Erfolg, sonst < 0
 */
 
@@ -459,28 +464,30 @@
 {
   unsigned int wait_cycles;
   int i;
-  
+
   // Send all commands
 
   for (i = 0; i < ECAT_NUM_RETRIES; i++)
   {
-    ASYNC = 1;
     if (EtherCAT_send(master) < 0)
     {
       return -1;
     }
-    ASYNC = 0;
 
     // Wait until something is received or an error has occurred
+
     wait_cycles = 10;
+    EtherCAT_device_call_isr(master->dev);
+
     while (master->dev->state == ECAT_DS_SENT && wait_cycles)
     {
       udelay(1000);
       wait_cycles--;
-    }
-    
+      EtherCAT_device_call_isr(master->dev);
+    }
+
     //EC_DBG("Master async send: tries %d",tries_left);
-    
+
     if (!wait_cycles)
     {
       EC_DBG(KERN_ERR "EtherCAT: Asynchronous receive timeout.\n");
@@ -492,7 +499,7 @@
       EC_DBG(KERN_ERR "EtherCAT: Asyncronous send error. State %i\n", master->dev->state);
       continue;
     }
-    
+
     // Receive all commands
     if (EtherCAT_receive(master) < 0)
     {
@@ -518,7 +525,7 @@
    Danach wird die Sendefunktion des EtherCAT-Gerätes aufgerufen.
 
    @param master EtherCAT-Master
-   
+
    @return 0 bei Erfolg, sonst < 0
 */
 
@@ -614,7 +621,7 @@
 
   // Pad with zeros
   while (pos < 46) master->tx_data[pos++] = 0x00;
-  
+
   master->tx_data_length = framelength;
 
 #ifdef DEBUG_SEND_RECEIVE
@@ -635,7 +642,7 @@
   {
     EC_DBG(KERN_DEBUG "device send...\n");
   }
- 
+
   // Send frame
   if (EtherCAT_device_send(master->dev, master->tx_data, framelength) != 0)
   {
@@ -644,7 +651,7 @@
     EC_DBG(KERN_DEBUG);
     for (i = 0; i < framelength; i++)
     {
-      EC_DBG("%02X ", master->tx_data[i]);      
+      EC_DBG("%02X ", master->tx_data[i]);
       if ((i + 1) % 16 == 0) EC_DBG("\n" KERN_DEBUG);
     }
     EC_DBG("\n");
@@ -669,7 +676,7 @@
    allen gesendeten Kommandos ihre Antworten zu.
 
    @param master EtherCAT-Master
-   
+
    @return 0 bei Erfolg, sonst < 0
 */
 
diff -r 394c89f02e48 -r 6f2508af550c drivers/ec_slave.c
--- a/drivers/ec_slave.c	Fri Nov 04 09:38:50 2005 +0000
+++ b/drivers/ec_slave.c	Fri Nov 04 16:47:23 2005 +0000
@@ -37,9 +37,10 @@
   slave->vendor_id = 0;
   slave->product_code = 0;
   slave->revision_number = 0;
-  
+  slave->serial_number = 0;
+
   slave->desc = 0;
-  
+
   slave->logical_address0 = 0;
 
   slave->current_state = ECAT_STATE_UNKNOWN;
diff -r 394c89f02e48 -r 6f2508af550c drivers/ec_slave.h
--- a/drivers/ec_slave.h	Fri Nov 04 09:38:50 2005 +0000
+++ b/drivers/ec_slave.h	Fri Nov 04 16:47:23 2005 +0000
@@ -18,6 +18,9 @@
 
 /**
    EtherCAT-Slave
+
+   Achtung: Bei Änderungen dieser Struktur immer das Define
+   ECAT_INIT_SLAVE anpassen!
 */
 
 typedef struct
@@ -35,6 +38,7 @@
   unsigned int vendor_id; /**< Identifikationsnummer des Herstellers */
   unsigned int product_code; /**< Herstellerspezifischer Produktcode */
   unsigned int revision_number; /**< Revisionsnummer */
+  unsigned int serial_number; /**< Seriennummer der Klemme */
 
   const EtherCAT_slave_desc_t *desc; /**< Zeiger auf die Beschreibung
                                         des Slave-Typs */
@@ -49,7 +53,7 @@
 }
 EtherCAT_slave_t;
 
-#define ECAT_INIT_SLAVE(TYPE) {0, 0, 0, 0, 0, 0, 0, 0, \
+#define ECAT_INIT_SLAVE(TYPE) {0, 0, 0, 0, 0, 0, 0, 0, 0, \
                                TYPE, 0, ECAT_STATE_UNKNOWN, \
                                ECAT_STATE_UNKNOWN, NULL}
 
diff -r 394c89f02e48 -r 6f2508af550c mini/Makefile
--- a/mini/Makefile	Fri Nov 04 09:38:50 2005 +0000
+++ b/mini/Makefile	Fri Nov 04 16:47:23 2005 +0000
@@ -8,13 +8,18 @@
 #
 #----------------------------------------------------------------
 
-MSRDIR = /vol/projekte/msr_messen_steuern_regeln
-KERNELDIR = $(MSRDIR)/linux/kernel/2.4.20/include/linux-2.4.20.CX1100-rthal5
-CFLAGS = -O2 -Wall -Wuninitialized -D__KERNEL__ -DMODULE -I$(KERNELDIR)/include
+EC_DIR = /vol/projekte/msr_messen_steuern_regeln/ethercat
+
+#KERNELDIR = $(EC_DIR)/linux-2.4.20.CX1100-rthal5-kdb
+KERNELDIR = $(EC_DIR)/linux-2.4.20-kdb
+#KERNELDIR = /usr/src/linux
+
+CFLAGS = -O2 -Wall -Wuninitialized -D__KERNEL__ \
+	-DMODULE -I$(KERNELDIR)/include
 
 MODULE = ec_mini_mod.o
 
-SRC = ec_mini.c 
+SRC = ec_mini.c
 OBJ = $(SRC:.c=.o)
 
 #----------------------------------------------------------------
diff -r 394c89f02e48 -r 6f2508af550c mini/ec_mini.c
--- a/mini/ec_mini.c	Fri Nov 04 09:38:50 2005 +0000
+++ b/mini/ec_mini.c	Fri Nov 04 16:47:23 2005 +0000
@@ -12,19 +12,32 @@
 #include <linux/tqueue.h>
 #include <linux/slab.h>
 #include <linux/delay.h>
+#include <linux/completion.h>
 
 #include "../drivers/ec_master.h"
 #include "../drivers/ec_device.h"
 #include "../drivers/ec_types.h"
 #include "../drivers/ec_dbg.h"
 
+/******************************************************************************/
+
+#define ECAT_OPEN
+#define ECAT_MASTER
+#define ECAT_SLAVES
+#define ECAT_CYCLIC_DATA
+
+/******************************************************************************/
+
 extern EtherCAT_device_t rtl_ecat_dev;
 
-//static EtherCAT_master_t *ecat_master = NULL;
-
+#ifdef ECAT_MASTER
+static EtherCAT_master_t *ecat_master = NULL;
+#endif
+
+#ifdef ECAT_SLAVES
+static EtherCAT_slave_t ecat_slaves[] =
+{
 #if 0
-static EtherCAT_slave_t ecat_slaves[] =
-{
   // Block 1
   ECAT_INIT_SLAVE(Beckhoff_EK1100),
   ECAT_INIT_SLAVE(Beckhoff_EL4102),
@@ -44,6 +57,7 @@
   ECAT_INIT_SLAVE(Beckhoff_EL2004),
   ECAT_INIT_SLAVE(Beckhoff_EL2004),
   ECAT_INIT_SLAVE(Beckhoff_EL2004),
+#endif
 
   // Block 2
   ECAT_INIT_SLAVE(Beckhoff_EK1100),
@@ -72,8 +86,13 @@
 #define ECAT_SLAVES_COUNT (sizeof(ecat_slaves) / sizeof(EtherCAT_slave_t))
 #endif
 
+#ifdef ECAT_CYCLIC_DATA
 double value;
 int dig1;
+struct tq_struct cyclic_task;
+struct clientdata {task_queue *queue;} cyclic_data;
+static DECLARE_COMPLETION(on_exit);
+#endif
 
 /******************************************************************************
  *
@@ -81,7 +100,7 @@
  *
  *****************************************************************************/
 
-#if 0
+#ifdef ECAT_CYCLIC_DATA
 static int next2004(int *wrap)
 {
   static int i = 0;
@@ -109,20 +128,23 @@
 
 /******************************************************************************
  *
- * Function: msr_controller
+ * Function: run
  *
  * Beschreibung: Zyklischer Prozess
  *
  *****************************************************************************/
 
-#if 0
-void msr_controller()
-{
+#ifdef ECAT_CYCLIC_DATA
+void run(void *ptr)
+{
+  struct clientdata *data = (struct clientdata *) ptr;
+
+#if 1
   static int ms = 0;
   static int cnt = 0;
   static unsigned long int k = 0;
   static int firstrun = 1;
-  
+
   static int klemme = 12;
   static int kanal = 0;
   static int up_down = 0;
@@ -133,10 +155,10 @@
 
 #if 0
   ecat_tx_delay = ((unsigned int) (100000 / HZ) * (ecat_master->dev->tx_time-k))
-    / (current_cpu_data.loops_per_jiffy / 10);  
+    / (current_cpu_data.loops_per_jiffy / 10);
   ecat_rx_delay = ((unsigned int) (100000 / HZ) * (ecat_master->dev->rx_time-k))
-    / (current_cpu_data.loops_per_jiffy / 10);  
-  
+    / (current_cpu_data.loops_per_jiffy / 10);
+
   rx_intr = ecat_master->dev->rx_intr_cnt;
   tx_intr = ecat_master->dev->tx_intr_cnt;
   total_intr = ecat_master->dev->intr_cnt;
@@ -145,6 +167,8 @@
   // Prozessdaten lesen
   if (!firstrun)
   {
+    klemme = next2004(&wrap);
+
     EtherCAT_read_process_data(ecat_master);
 
     // Daten lesen und skalieren
@@ -152,11 +176,13 @@
     dig1 = EtherCAT_read_value(&ecat_master->slaves[3], 0);
   }
 
+#if 0
   // Daten schreiben
   EtherCAT_write_value(&ecat_master->slaves[4], 0, ms > 500 ? 1 : 0);
   EtherCAT_write_value(&ecat_master->slaves[4], 1, ms > 500 ? 0 : 1);
   EtherCAT_write_value(&ecat_master->slaves[4], 2, ms > 500 ? 0 : 1);
   EtherCAT_write_value(&ecat_master->slaves[4], 3, ms > 500 ? 1 : 0);
+#endif
 
   if (cnt++ > 20)
   {
@@ -168,7 +194,7 @@
       klemme = next2004(&wrap);
 
       if (wrap == 1)
-      { 
+      {
         if (up_down == 1) up_down = 0;
         else up_down = 1;
       }
@@ -177,15 +203,29 @@
 
   if (klemme >= 0)
     EtherCAT_write_value(&ecat_master->slaves[klemme], kanal,up_down);
-  
-  //EtherCAT_write_value(&ecat_master->slaves[13], 1, ms > 500 ? 0 : 1);
-  //EtherCAT_write_value(&ecat_master->slaves[14], 2, ms > 500 ? 0 : 1);
-  //EtherCAT_write_value(&ecat_master->slaves[15], 3, ms > 500 ? 1 : 0);
-  
+
+#if 0
+  EtherCAT_write_value(&ecat_master->slaves[13], 1, ms > 500 ? 0 : 1);
+  EtherCAT_write_value(&ecat_master->slaves[14], 2, ms > 500 ? 0 : 1);
+  EtherCAT_write_value(&ecat_master->slaves[15], 3, ms > 500 ? 1 : 0);
+#endif
+
   // Prozessdaten schreiben
   rdtscl(k);
   EtherCAT_write_process_data(ecat_master);
   firstrun = 0;
+#endif
+
+  if (data->queue)
+  {
+    // Neu in die Taskqueue eintragen
+    queue_task(&cyclic_task, data->queue);
+  }
+  else
+  {
+    //last_queue_finished = 0;
+    complete(&on_exit);
+  }
 }
 #endif
 
@@ -195,10 +235,8 @@
 *
 ******************************************************************************/
 
-//#define ECAT_OPEN
-
 int init()
-{   
+{
 #ifdef ECAT_OPEN
   int rv = -1;
 #endif
@@ -219,14 +257,13 @@
   }
 
   if (!rtl_ecat_dev.dev) // Es gibt kein EtherCAT-Device
-  {  
+  {
     EC_DBG(KERN_ERR "msr_modul: No EtherCAT device!\n");
     goto out_close;
   }
 #endif
 
-#if 0
-  // EtherCAT-Master und Slaves initialisieren
+#ifdef ECAT_MASTER
   EC_DBG("Initialising EtherCAT master\n");
 
   if ((ecat_master = (EtherCAT_master_t *) kmalloc(sizeof(EtherCAT_master_t), GFP_KERNEL)) == 0)
@@ -240,9 +277,11 @@
     EC_DBG(KERN_ERR "EtherCAT could not init master!\n");
     goto out_master;
   }
-#endif
-
-#if 0
+
+  ecat_master->debug_level = 1;
+#endif
+
+#ifdef ECAT_SLAVES
   EC_DBG("Checking EtherCAT slaves.\n");
 
   if (EtherCAT_check_slaves(ecat_master, ecat_slaves, ECAT_SLAVES_COUNT) != 0)
@@ -258,12 +297,15 @@
     EC_DBG(KERN_ERR "EtherCAT: Could not activate slaves!\n");
     goto out_masterclear;
   }
-
-  // Zyklischen Aufruf starten
-
+#endif
+
+#ifdef ECAT_CYCLIC_DATA
   EC_DBG("Starting cyclic sample thread.\n");
 
-  EtherCAT_write_process_data(ecat_master);
+  cyclic_task.routine = run;
+  cyclic_task.data = (void *) &cyclic_data;
+  cyclic_data.queue = &tq_timer;
+  queue_task(&cyclic_task, &tq_timer);
 
   EC_DBG("Initialised sample thread.\n");
 #endif
@@ -272,13 +314,13 @@
 
   return 0;
 
-#if 0
+#ifdef ECAT_SLAVES
  out_masterclear:
   EC_DBG(KERN_INFO "Clearing EtherCAT master.\n");
   EtherCAT_master_clear(ecat_master);
 #endif
 
-#if 0
+#ifdef ECAT_MASTER
  out_master:
   EC_DBG(KERN_INFO "Freeing EtherCAT master.\n");
   kfree(ecat_master);
@@ -304,14 +346,18 @@
 {
   EC_DBG(KERN_INFO "=== Stopping Minimal EtherCAT environment... ===\n");
 
-  // Noch einmal lesen
-  //EC_DBG(KERN_INFO "Reading process data.\n");
-  //EtherCAT_read_process_data(ecat_master);
-
-#if 0
+#ifdef ECAT_MASTER
   if (ecat_master)
   {
-#if 0
+    //ecat_master->debug_level = 1;
+
+#ifdef ECAT_CYCLIC_DATA
+    cyclic_data.queue = NULL;
+    wait_for_completion(&on_exit);
+    EtherCAT_clear_process_data(ecat_master);
+#endif
+
+#ifdef ECAT_SLAVES
     EC_DBG(KERN_INFO "Deactivating slaves.\n");
     EtherCAT_deactivate_all_slaves(ecat_master);
 #endif
diff -r 394c89f02e48 -r 6f2508af550c rs232dbg/Makefile
--- a/rs232dbg/Makefile	Fri Nov 04 09:38:50 2005 +0000
+++ b/rs232dbg/Makefile	Fri Nov 04 16:47:23 2005 +0000
@@ -1,47 +1,22 @@
-#IgH
-KERNELDIR = /vol/projekte/msr_messen_steuern_regeln/linux/kernel/2.4.20/include/linux-2.4.20.CX1100-rthal5
-RTAIDIR   = /vol/projekte/msr_messen_steuern_regeln/linux/kernel/2.4.20/include/rtai-24.1.13
-RTLIBDIR = rt_lib
 
-#euler-nottuln
-#KERNELDIR = /usr/src/linux
-#RTAIDIR = /usr/src/rtai
+MSRDIR = /vol/projekte/msr_messen_steuern_regeln
+ECATDIR = $(MSRDIR)/ethercat
 
-#patra
-#KERNELDIR = /usr/src/linux-2.4.20.CX1100-rthal5
-#RTAIDIR   = /usr/src/rtai-24.1.13
+KERNELDIR = $(ECATDIR)/linux-2.4.20.CX1100-rthal5-kdb
+RTAIDIR   = $(MSRDIR)/linux/kernel/2.4.20/include/rtai-24.1.13
 
-RTLIBDIR=rt_lib
-
-#include $(KERNELDIR)/.config
-
-#CFLAGS = -DRTAI -D__KERNEL__ -DMODULE -I$(KERNELDIR)/include -I$(RTAIDIR)/include -I$(RTLIBDIR)/msr-include \
-#	-Wall -Wstrict-prototypes -Wno-trigraphs -O2 -fno-strict-aliasing -fno-common -fomit-frame-pointer \
-#	-pipe -mpreferred-stack-boundary=2 -march=i686 -nostdinc -iwithprefix include
-
-CFLAGS = -O2 -Wall -Wuninitialized -D__KERNEL__ -DMODULE -I$(KERNELDIR)/include -D_RTAI -I$(RTAIDIR)/include -I$(RTLIBDIR)/msr-include
-
-#CFLAGS += -DSIMULATION
-#LDFLAGS = 
-
-#VPATH = $(RTLIBDIR)/
+CFLAGS = -O2 -Wall -Wuninitialized -D__KERNEL__ -DMODULE \
+	-I$(KERNELDIR)/include -D_RTAI -I$(RTAIDIR)/include -I$(RTLIBDIR)/msr-include
 
 TARGET = sdbg
 MODULE = $(TARGET).o
 
 SRC = rs232dbg.c aip_com.c
 
-#Suchpfad für die Dateien aus dem RT-Lib-Verzeichnis
-VPATH = $(RTLIBDIR)/msr-core:$(RTLIBDIR)/msr-control:$(RTLIBDIR)/msr-math:$(RTLIBDIR)/msr-misc:$(RTLIBDIR)/msr-utils
-
-#Datei aus dem RT-Libverzeichnis für dies Projekt
-RTSRC = 
-
-ALLSRC = $(SRC) $(RTSRC)
+ALLSRC = $(SRC)
 
 OBJS = $(ALLSRC:.c=.o)  
 
-
 all: .depend $(TARGET).o Makefile
 
 $(TARGET).o: $(SRC:.c=.o) $(RTSRC:.c=.o)
@@ -57,26 +32,6 @@
 depend .depend dep:
 	$(CC) $(CFLAGS) -M *.c > $@
 
-
-
-
 ifeq (.depend,$(wildcard .depend))
 include .depend
 endif
-
-
-#all: msr_module.o
-#
-#msr_io.o: msr_io.c msr_io.h
-#	$(CC) $(CFLAGS) -c -o $@ $<
-#
-#msr_module.o: msr_io.o
-#	$(LD) -r -o $@ $^
-#
-
-#                  $(CC) -c $(CFLAGS) $(CPPFLAGS) -o $@ $<
-
-
-#clean:
-#	rm -f *.o *~ core
-
diff -r 394c89f02e48 -r 6f2508af550c rs232dbg/aip_com.c
--- a/rs232dbg/aip_com.c	Fri Nov 04 09:38:50 2005 +0000
+++ b/rs232dbg/aip_com.c	Fri Nov 04 16:47:23 2005 +0000
@@ -810,7 +810,7 @@
 //void cleanup_module(void)  Hm, IgH
 void cleanup_aip_com(void)
 {
-    int i;
+    unsigned int i;
     for (i = 0; i < RT_COM_CNT; i++) {
         struct rt_com_struct    *p = &(rt_com_table[i]);
         if (0 < p->used) {