--- a/mini/ec_mini.c Fri Dec 16 15:23:56 2005 +0000
+++ b/mini/ec_mini.c Fri Dec 16 15:25:13 2005 +0000
@@ -228,47 +228,51 @@
int __init init_module()
{
- printk(KERN_INFO "=== Starting Minimal EtherCAT environment... ===\n");
-
- if ((ecat_master = EtherCAT_request(0)) == NULL)
- {
- printk(KERN_ERR "EtherCAT master 0 not available!\n");
- return -1;
- }
-
- printk("Checking EtherCAT slaves.\n");
-
- if (EtherCAT_check_slaves(ecat_master, ecat_slaves, ECAT_SLAVES_COUNT) != 0)
- {
- printk(KERN_ERR "EtherCAT: Could not init slaves!\n");
- return -1;
- }
-
- printk("Activating all EtherCAT slaves.\n");
-
- if (EtherCAT_activate_all_slaves(ecat_master) != 0)
- {
- printk(KERN_ERR "EtherCAT: Could not activate slaves!\n");
- return -1;
- }
-
-#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;
+ printk(KERN_INFO "=== Starting Minimal EtherCAT environment... ===\n");
+
+ if ((ecat_master = EtherCAT_request(0)) == NULL) {
+ printk(KERN_ERR "EtherCAT master 0 not available!\n");
+ goto out_return;
+ }
+
+ printk("Checking EtherCAT slaves.\n");
+
+ if (EtherCAT_check_slaves(ecat_master, ecat_slaves, ECAT_SLAVES_COUNT) != 0) {
+ printk(KERN_ERR "EtherCAT: Could not init slaves!\n");
+ goto out_release_master;
+ }
+
+ printk("Activating all EtherCAT slaves.\n");
+
+ if (EtherCAT_activate_all_slaves(ecat_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_release(ecat_master);
+
+ out_return:
+ return -1;
}
/******************************************************************************
@@ -284,14 +288,14 @@
if (ecat_master)
{
#ifdef ECAT_CYCLIC_DATA
- del_timer_sync(&timer);
- EtherCAT_clear_process_data(ecat_master);
+ del_timer_sync(&timer);
+ EtherCAT_clear_process_data(ecat_master);
#endif // ECAT_CYCLIC_DATA
- printk(KERN_INFO "Deactivating slaves.\n");
- EtherCAT_deactivate_all_slaves(ecat_master);
-
- EtherCAT_release(ecat_master);
+ printk(KERN_INFO "Deactivating slaves.\n");
+ EtherCAT_deactivate_all_slaves(ecat_master);
+
+ EtherCAT_release(ecat_master);
}
printk(KERN_INFO "=== Minimal EtherCAT environment stopped. ===\n");
--- a/rt/msr_module.c Fri Dec 16 15:23:56 2005 +0000
+++ b/rt/msr_module.c Fri Dec 16 15:25:13 2005 +0000
@@ -31,7 +31,7 @@
* *** empty log message ***
*
*
-*
+* Hello Emacs: -*- c-basic-offset: 2; -*-
*
**************************************************************************************************/
@@ -163,7 +163,8 @@
ECAT_INIT_SLAVE(Beckhoff_EL4102),
ECAT_INIT_SLAVE(Beckhoff_EL4102),
ECAT_INIT_SLAVE(Beckhoff_EL4102),
- ECAT_INIT_SLAVE(Beckhoff_EL4102)
+ ECAT_INIT_SLAVE(Beckhoff_EL4102),
+ ECAT_INIT_SLAVE(Beckhoff_EL4132)
#endif
@@ -294,8 +295,8 @@
*
* Parameter: Zeiger auf msr_data
*
-* Rckgabe:
-*
+* Rckgabe:
+*
* Status: exp
*
***************************************************************************************************
@@ -305,10 +306,10 @@
void msr_run(unsigned irq)
{
- static int counter = 0;
-#ifdef USE_MSR_LIB
-
- timeval_add(&process_time,&process_time,&msr_time_increment);
+ static int counter = 0;
+#ifdef USE_MSR_LIB
+
+ timeval_add(&process_time,&process_time,&msr_time_increment);
MSR_ADEOS_INTERRUPT_CODE(
msr_controller_run();
@@ -318,7 +319,7 @@
msr_controller_run();
#endif
/* und wieder in die Timerliste eintragen */
- /* und neu in die Taskqueue eintragen */
+ /* und neu in die Taskqueue eintragen */
// timer.expires += 1;
// add_timer(&timer);
@@ -382,52 +383,42 @@
int __init init_module()
{
- int result = 0;
-
struct ipipe_domain_attr attr; //ipipe
- //als allererstes die RT-lib initialisieren
-#ifdef USE_MSR_LIB
- result = msr_rtlib_init(1,MSR_ABTASTFREQUENZ,10,&msr_globals_register);
-
- if (result < 0) {
+ // Als allererstes die RT-lib initialisieren
+#ifdef USE_MSR_LIB
+ if (msr_rtlib_init(1,MSR_ABTASTFREQUENZ,10,&msr_globals_register) < 0) {
msr_print_warn("msr_modul: can't initialize rtlib!");
- return result;
+ goto out_return;
}
#endif
msr_jitter_init();
- printk(KERN_INFO "=== Starting EtherCAT environment... ===\n");
-
- if ((ecat_master = EtherCAT_request(0)) == NULL)
- {
- printk(KERN_ERR "EtherCAT master 0 not available!\n");
- msr_rtlib_cleanup();
- return -1;
- }
-
- printk("Checking EtherCAT slaves.\n");
-
- if (EtherCAT_check_slaves(ecat_master, ecat_slaves, ECAT_SLAVES_COUNT) != 0)
- {
- printk(KERN_ERR "EtherCAT: Could not init slaves!\n");
- msr_rtlib_cleanup();
- return -1;
- }
-
- printk("Activating all EtherCAT slaves.\n");
-
- if (EtherCAT_activate_all_slaves(ecat_master) != 0)
- {
- printk(KERN_ERR "EtherCAT: Could not activate slaves!\n");
- msr_rtlib_cleanup();
- return -1;
- }
-
-
- do_gettimeofday(&process_time);
- msr_time_increment.tv_sec=0;
- msr_time_increment.tv_usec=(unsigned int)(1000000/MSR_ABTASTFREQUENZ);
+
+ printk(KERN_INFO "=== Starting EtherCAT environment... ===\n");
+
+ if ((ecat_master = EtherCAT_request(0)) == NULL) {
+ printk(KERN_ERR "EtherCAT master 0 not available!\n");
+ goto out_msr_cleanup;
+ }
+
+ printk("Checking EtherCAT slaves.\n");
+
+ if (EtherCAT_check_slaves(ecat_master, ecat_slaves, ECAT_SLAVES_COUNT) != 0) {
+ printk(KERN_ERR "EtherCAT: Could not init slaves!\n");
+ goto out_release_master;
+ }
+
+ printk("Activating all EtherCAT slaves.\n");
+
+ if (EtherCAT_activate_all_slaves(ecat_master) != 0) {
+ printk(KERN_ERR "EtherCAT: Could not activate slaves!\n");
+ goto out_release_master;
+ }
+
+ do_gettimeofday(&process_time);
+ msr_time_increment.tv_sec=0;
+ msr_time_increment.tv_usec=(unsigned int)(1000000/MSR_ABTASTFREQUENZ);
ipipe_init_attr (&attr);
attr.name = "IPIPE-MSR-MODULE";
@@ -435,16 +426,16 @@
attr.entry = &domain_entry;
ipipe_register_domain(&this_domain,&attr);
- //den Timertakt
-/*
- init_timer(&timer);
-
- timer.function = msr_run;
- timer.data = 0;
- timer.expires = jiffies+10; // Das erste Mal sofort feuern
- add_timer(&timer);
-*/
- return 0; /* succeed */
+ return 0;
+
+ out_release_master:
+ EtherCAT_release(ecat_master);
+
+ out_msr_cleanup:
+ msr_rtlib_cleanup();
+
+ out_return:
+ return -1;
}
@@ -454,30 +445,23 @@
{
msr_print_info("msk_modul: unloading...");
-
-// del_timer_sync(&timer);
ipipe_tune_timer(1000000000UL/HZ,0); //alten Timertakt wieder herstellen
-
ipipe_unregister_domain(&this_domain);
-
-
printk(KERN_INFO "=== Stopping EtherCAT environment... ===\n");
if (ecat_master)
{
- EtherCAT_clear_process_data(ecat_master);
- printk(KERN_INFO "Deactivating slaves.\n");
- EtherCAT_deactivate_all_slaves(ecat_master);
-
- EtherCAT_release(ecat_master);
+ EtherCAT_clear_process_data(ecat_master);
+ printk(KERN_INFO "Deactivating slaves.\n");
+ EtherCAT_deactivate_all_slaves(ecat_master);
+ EtherCAT_release(ecat_master);
}
printk(KERN_INFO "=== EtherCAT environment stopped. ===\n");
-// msr_controller_cleanup();
-#ifdef USE_MSR_LIB
- msr_rtlib_cleanup();
+#ifdef USE_MSR_LIB
+ msr_rtlib_cleanup();
#endif
}
@@ -487,19 +471,19 @@
module_init(init_module);
module_exit(cleanup_module);
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
+
+
+
+
+
+
+
+
+
+
+
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+
+
+