--- a/drivers/8139too.c Fri Dec 02 12:59:21 2005 +0000
+++ b/drivers/8139too.c Fri Dec 02 15:35:21 2005 +0000
@@ -109,7 +109,7 @@
*/
-#define DRV_NAME "8139too-ecat"
+#define DRV_NAME "8139too_ecat"
#define DRV_VERSION "0.9.27"
@@ -135,6 +135,8 @@
/* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
#include "ec_device.h"
+#include "ec_master.h"
+#include "ec_module.h"
/* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
@@ -192,12 +194,15 @@
/* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
+// Uncomment for debugging
+//#define ECAT_DEBUG
+
// Device index for EtherCAT device selection
static int ec_device_index = -1;
-
-//#define ECAT_DEBUG
-
-EtherCAT_device_t rtl_ecat_dev;
+static int ec_device_master_index = 0;
+
+static EtherCAT_device_t rtl_ecat_dev;
+static EtherCAT_master_t *rtl_ecat_master = NULL;
/* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
@@ -653,8 +658,10 @@
/* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
-MODULE_PARM(ec_device_index, "i");
+module_param(ec_device_index, int, -1);
+module_param(ec_device_master_index, int, 0);
MODULE_PARM_DESC(ec_device_index, "Index of the device reserved for EtherCAT.");
+MODULE_PARM_DESC(ec_device_master_index, "Index of the EtherCAT master to register the device.");
/* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
@@ -1016,7 +1023,7 @@
if (EtherCAT_device_assign(&rtl_ecat_dev, dev) < 0)
goto err_out;
- strcpy(dev->name,"ECAT"); //device name überschreiben
+ strcpy(dev->name,"ecat0"); //device name überschreiben
}
/* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
@@ -2955,28 +2962,73 @@
/* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
+ printk(KERN_INFO "Initializing RTL8139-EtherCAT module.\n");
+
EtherCAT_device_init(&rtl_ecat_dev);
rtl_ecat_dev.isr = rtl8139_interrupt;
+ if (pci_module_init(&rtl8139_pci_driver) < 0)
+ {
+ printk(KERN_ERR "Could not init PCI module.\n");
+ return -1;
+ }
+
+ printk(KERN_INFO "EtherCAT device index is %i.\n", ec_device_index);
+
+ if (rtl_ecat_dev.dev)
+ {
+ if ((rtl_ecat_master = EtherCAT_master(ec_device_master_index)) == NULL)
+ {
+ printk(KERN_ERR "Could not get EtherCAT master %i.\n",
+ ec_device_master_index);
+ goto out_module;
+ }
+
+ printk(KERN_INFO "Registering EtherCAT device...\n");
+ if (EtherCAT_register_device(rtl_ecat_master, &rtl_ecat_dev) < 0)
+ {
+ printk(KERN_ERR "Could not register device.\n");
+ goto out_module;
+ }
+
+ printk(KERN_INFO "EtherCAT device registered and opened.\n");
+ }
+ else
+ {
+ printk(KERN_WARNING "NO EtherCAT device registered!\n");
+ }
+
+ return 0;
+
+ out_module:
+
+ pci_unregister_driver(&rtl8139_pci_driver);
+ return -1;
+
/* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
-
- return pci_module_init (&rtl8139_pci_driver);
}
static void __exit rtl8139_cleanup_module (void)
{
- pci_unregister_driver (&rtl8139_pci_driver);
-
/* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
+ printk(KERN_INFO "Cleaning up RTL8139-EtherCAT module...\n");
+
+ if (rtl_ecat_master && rtl_ecat_dev.dev)
+ {
+ printk(KERN_INFO "Unregistering RTL8139-EtherCAT device...\n");
+ EtherCAT_unregister_device(rtl_ecat_master, &rtl_ecat_dev);
+ }
+
+ pci_unregister_driver(&rtl8139_pci_driver);
EtherCAT_device_clear(&rtl_ecat_dev);
+ printk(KERN_INFO "RTL8139-EtherCAT module cleaned up.\n");
+
/* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
}
module_init(rtl8139_init_module);
module_exit(rtl8139_cleanup_module);
-
-EXPORT_SYMBOL(rtl_ecat_dev);
--- a/drivers/Makefile Fri Dec 02 12:59:21 2005 +0000
+++ b/drivers/Makefile Fri Dec 02 15:35:21 2005 +0000
@@ -13,10 +13,12 @@
#----------------------------------------------------------------
# Kbuild-Abschnitt
-obj-m := 8139too-ecat.o
+obj-m := 8139too-ecat.o ecat-master.o
-8139too-ecat-objs := 8139too.o ec_device.o ec_master.o \
- ec_slave.o ec_command.o ec_types.o
+8139too-ecat-objs := 8139too.o
+
+ecat-master-objs := ec_module.o ec_master.o ec_device.o \
+ ec_slave.o ec_command.o ec_types.o
#----------------------------------------------------------------
@@ -28,7 +30,7 @@
CONFIG_FILE = ../ethercat.conf
PWD = $(shell pwd)
-include $(CONFIG_FILE) # Für KERNELDIR
+include $(CONFIG_FILE)
default:
$(MAKE) -C $(KERNELDIR) M=$(PWD) modules
--- a/drivers/ec_device.c Fri Dec 02 12:59:21 2005 +0000
+++ b/drivers/ec_device.c Fri Dec 02 15:35:21 2005 +0000
@@ -144,7 +144,7 @@
if (!ecd->dev)
{
- printk(KERN_ERR "EtherCAT: No device to open!\n");
+ printk(KERN_ERR "EtherCAT: No net_device to open!\n");
return -1;
}
@@ -174,13 +174,10 @@
return -1;
}
- printk("EtherCAT: txcnt: %u, rxcnt: %u\n",
+ printk("EtherCAT: Stopping device (txcnt: %u, rxcnt: %u)\n",
(unsigned int) ecd->tx_intr_cnt,
(unsigned int) ecd->rx_intr_cnt);
- printk("EtherCAT: Stopping device at 0x%X\n",
- (unsigned int) ecd->dev);
-
return ecd->dev->stop(ecd->dev);
}
@@ -329,9 +326,10 @@
/***************************************************************/
+EXPORT_SYMBOL(EtherCAT_device_init);
+EXPORT_SYMBOL(EtherCAT_device_clear);
+EXPORT_SYMBOL(EtherCAT_device_assign);
EXPORT_SYMBOL(EtherCAT_device_open);
EXPORT_SYMBOL(EtherCAT_device_close);
-EXPORT_SYMBOL(EtherCAT_device_clear);
-EXPORT_SYMBOL(EtherCAT_device_debug);
-
-/***************************************************************/
+
+/***************************************************************/
--- a/drivers/ec_master.c Fri Dec 02 12:59:21 2005 +0000
+++ b/drivers/ec_master.c Fri Dec 02 15:35:21 2005 +0000
@@ -24,32 +24,21 @@
Konstruktor des EtherCAT-Masters.
@param master Zeiger auf den zu initialisierenden
- EtherCAT-Master
- @param dev Zeiger auf das EtherCAT-Gerät, mit dem der
- Master arbeiten soll
+ EtherCAT-Master
@return 0 bei Erfolg, sonst < 0 (= dev ist NULL)
*/
-int EtherCAT_master_init(EtherCAT_master_t *master,
- EtherCAT_device_t *dev)
-{
- if (!dev)
- {
- printk(KERN_ERR "EtherCAT: Master init without device!\n");
- return -1;
- }
-
+void EtherCAT_master_init(EtherCAT_master_t *master)
+{
master->slaves = NULL;
master->slave_count = 0;
- master->dev = dev;
+ master->dev = NULL;
master->command_index = 0x00;
master->tx_data_length = 0;
master->process_data = NULL;
master->process_data_length = 0;
master->debug_level = 0;
-
- return 0;
}
/***************************************************************/
@@ -80,6 +69,73 @@
/***************************************************************/
/**
+ Setzt das EtherCAT-Geraet, auf dem der Master arbeitet.
+
+ Registriert das Geraet beim master, der es daraufhin oeffnet.
+
+ @param master Der EtherCAT-Master
+ @param device Das EtherCAT-Geraet
+ @return 0, wenn alles o.k.,
+ < 0, wenn bereits ein Geraet registriert
+ oder das Geraet nicht geoeffnet werden konnte.
+*/
+
+int EtherCAT_register_device(EtherCAT_master_t *master,
+ EtherCAT_device_t *device)
+{
+ if (!master || !device)
+ {
+ printk(KERN_ERR "EtherCAT: Illegal parameters for register_device()!\n");
+ return -1;
+ }
+
+ if (master->dev)
+ {
+ printk(KERN_ERR "EtherCAT: Master already has a device.\n");
+ return -1;
+ }
+
+ if (EtherCAT_device_open(device) < 0)
+ {
+ printk(KERN_ERR "EtherCAT: Could not open device %X!\n",
+ (unsigned int) master->dev);
+ return -1;
+ }
+
+ master->dev = device;
+
+ return 0;
+}
+
+/***************************************************************/
+
+/**
+ Loescht das EtherCAT-Geraet, auf dem der Master arbeitet.
+
+ @param master Der EtherCAT-Master
+ @param device Das EtherCAT-Geraet
+*/
+
+void EtherCAT_unregister_device(EtherCAT_master_t *master,
+ EtherCAT_device_t *device)
+{
+ if (master->dev != device)
+ {
+ printk(KERN_WARNING "EtherCAT: Trying to unregister unknown device.\n");
+ return;
+ }
+
+ if (EtherCAT_device_close(master->dev) < 0)
+ {
+ printk(KERN_WARNING "EtherCAT: Could not close device!\n");
+ }
+
+ master->dev = NULL;
+}
+
+/***************************************************************/
+
+/**
Sendet ein einzelnes Kommando in einem Frame und
wartet auf dessen Empfang.
@@ -325,17 +381,9 @@
unsigned int i, j, found, length, pos;
unsigned char data[2];
- // EtherCAT_clear_slaves() must be called before!
- if (master->slaves || master->slave_count)
- {
- printk(KERN_ERR "EtherCAT duplicate slave check!");
- return -1;
- }
-
- // No slaves.
if (slave_count == 0)
{
- printk(KERN_ERR "EtherCAT: No slaves in list!");
+ printk(KERN_ERR "EtherCAT: No slaves in list!\n");
return -1;
}
@@ -1090,9 +1138,13 @@
EXPORT_SYMBOL(EtherCAT_master_init);
EXPORT_SYMBOL(EtherCAT_master_clear);
+EXPORT_SYMBOL(EtherCAT_register_device);
+EXPORT_SYMBOL(EtherCAT_unregister_device);
EXPORT_SYMBOL(EtherCAT_read_process_data);
EXPORT_SYMBOL(EtherCAT_write_process_data);
EXPORT_SYMBOL(EtherCAT_check_slaves);
EXPORT_SYMBOL(EtherCAT_activate_all_slaves);
EXPORT_SYMBOL(EtherCAT_clear_process_data);
EXPORT_SYMBOL(EtherCAT_deactivate_all_slaves);
+
+/***************************************************************/
--- a/drivers/ec_master.h Fri Dec 02 12:59:21 2005 +0000
+++ b/drivers/ec_master.h Fri Dec 02 15:35:21 2005 +0000
@@ -56,9 +56,13 @@
/***************************************************************/
// Master creation and deletion
-int EtherCAT_master_init(EtherCAT_master_t *, EtherCAT_device_t *);
+void EtherCAT_master_init(EtherCAT_master_t *);
void EtherCAT_master_clear(EtherCAT_master_t *);
+// Registration of devices
+int EtherCAT_register_device(EtherCAT_master_t *, EtherCAT_device_t *);
+void EtherCAT_unregister_device(EtherCAT_master_t *, EtherCAT_device_t *);
+
// Sending and receiving
int EtherCAT_simple_send_receive(EtherCAT_master_t *, EtherCAT_command_t *);
int EtherCAT_simple_send(EtherCAT_master_t *, EtherCAT_command_t *);
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/drivers/ec_module.c Fri Dec 02 15:35:21 2005 +0000
@@ -0,0 +1,142 @@
+/******************************************************************************
+ *
+ * ec_module.c
+ *
+ * EtherCAT-Master-Treiber
+ *
+ * Autoren: Wilhelm Hagemeister, Florian Pose
+ *
+ * $Id$
+ *
+ * (C) Copyright IgH 2005
+ * Ingenieurgemeinschaft IgH
+ * Heinz-Bäcker Str. 34
+ * D-45356 Essen
+ * Tel.: +49 201/61 99 31
+ * Fax.: +49 201/61 98 36
+ * E-mail: sp@igh-essen.com
+ *
+ ******************************************************************************/
+
+#include <linux/module.h>
+#include <linux/kernel.h>
+#include <linux/init.h>
+
+#include "ec_module.h"
+
+/******************************************************************************/
+
+#define SUBVERSION_ID "$Id$"
+
+int ecat_master_count = 1;
+EtherCAT_master_t *ecat_masters = NULL;
+
+/******************************************************************************/
+
+MODULE_AUTHOR ("Wilhelm Hagemeister <hm@igh-essen.com>, Florian Pose <fp@igh-essen.com>");
+MODULE_DESCRIPTION ("EtherCAT master driver module");
+MODULE_LICENSE("GPL");
+MODULE_VERSION(SUBVERSION_ID);
+
+module_param(ecat_master_count, int, 1);
+MODULE_PARM_DESC(ecat_master_count, "Number of EtherCAT master to initialize.");
+
+module_init(ecat_init_module);
+module_exit(ecat_cleanup_module);
+
+EXPORT_SYMBOL(EtherCAT_master);
+
+/******************************************************************************/
+
+/**
+ Init-Funktion des EtherCAT-Master-Treibermodules
+
+ Initialisiert soviele Master, wie im Parameter ecat_master_count
+ angegeben wurde (Default ist 1).
+
+ @returns 0, wenn alles o.k., -1 bei ungueltiger Anzahl Master
+ oder zu wenig Speicher.
+*/
+
+int __init ecat_init_module(void)
+{
+ unsigned int i;
+
+ printk(KERN_ERR "EtherCAT: Master driver %s\n", SUBVERSION_ID);
+
+ if (ecat_master_count < 1)
+ {
+ printk(KERN_ERR "EtherCAT: Error - Illegal ecat_master_count: %i\n",
+ ecat_master_count);
+ return -1;
+ }
+
+ printk(KERN_ERR "EtherCAT: Initializing %i EtherCAT master(s)...\n",
+ ecat_master_count);
+
+ if ((ecat_masters = (EtherCAT_master_t *) kmalloc(sizeof(EtherCAT_master_t)
+ * ecat_master_count,
+ GFP_KERNEL)) == NULL)
+ {
+ printk(KERN_ERR "EtherCAT: Could not allocate memory for EtherCAT master(s)!\n");
+ return -1;
+ }
+
+ for (i = 0; i < ecat_master_count; i++)
+ {
+ EtherCAT_master_init(&ecat_masters[i]);
+ }
+
+ printk(KERN_ERR "EtherCAT: Master driver initialized.\n");
+
+ return 0;
+}
+
+/******************************************************************************/
+
+/**
+ Cleanup-Funktion des EtherCAT-Master-Treibermoduls
+
+ Entfernt alle Master-Instanzen.
+*/
+
+void __exit ecat_cleanup_module(void)
+{
+ unsigned int i;
+
+ printk(KERN_ERR "EtherCAT: Cleaning up master driver...\n");
+
+ if (ecat_masters)
+ {
+ for (i = 0; i < ecat_master_count; i++)
+ {
+ EtherCAT_master_clear(&ecat_masters[i]);
+ }
+
+ kfree(ecat_masters);
+ }
+
+ printk(KERN_ERR "EtherCAT: Master driver cleaned up.\n");
+}
+
+/******************************************************************************/
+
+/**
+ Gibt einen Zeiger auf einen bestimmten EtherCAT-Master zurueck.
+
+ @param index Index des gewuenschten Masters
+ @returns Zeiger auf EtherCAT-Master oder NULL, wenn Parameter ungueltig.
+*/
+
+EtherCAT_master_t *EtherCAT_master(int index)
+{
+ if (index < 0 || index >= ecat_master_count)
+ {
+ printk(KERN_ERR "EtherCAT: Master %i does not exist!\n", index);
+ return NULL;
+ }
+
+ return &ecat_masters[index];
+}
+
+/******************************************************************************/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/drivers/ec_module.h Fri Dec 02 15:35:21 2005 +0000
@@ -0,0 +1,34 @@
+/******************************************************************************
+ *
+ * ec_module.h
+ *
+ * EtherCAT-Master-Treiber
+ *
+ * Autoren: Wilhelm Hagemeister, Florian Pose
+ *
+ * $Id$
+ *
+ * (C) Copyright IgH 2005
+ * Ingenieurgemeinschaft IgH
+ * Heinz-Bäcker Str. 34
+ * D-45356 Essen
+ * Tel.: +49 201/61 99 31
+ * Fax.: +49 201/61 98 36
+ * E-mail: sp@igh-essen.com
+ *
+ ******************************************************************************/
+
+#include <linux/module.h>
+#include <linux/kernel.h>
+#include <linux/init.h>
+
+#include "ec_master.h"
+
+/******************************************************************************/
+
+int __init ecat_init_module(void);
+void __exit ecat_cleanup_module(void);
+
+EtherCAT_master_t *EtherCAT_master(int);
+
+/******************************************************************************/
--- a/mini/ec_mini.c Fri Dec 02 12:59:21 2005 +0000
+++ b/mini/ec_mini.c Fri Dec 02 15:35:21 2005 +0000
@@ -15,27 +15,17 @@
#include "../drivers/ec_master.h"
#include "../drivers/ec_device.h"
#include "../drivers/ec_types.h"
+#include "../drivers/ec_module.h"
/******************************************************************************/
-#define ECAT
-
-#define ECAT_OPEN
-#define ECAT_MASTER
-#define ECAT_SLAVES
+// Auskommentieren, wenn keine zyklischen Daten erwuenscht
#define ECAT_CYCLIC_DATA
/******************************************************************************/
-#ifdef ECAT
-
-extern EtherCAT_device_t rtl_ecat_dev;
-
-#ifdef ECAT_MASTER
static EtherCAT_master_t *ecat_master = NULL;
-#endif
-
-#ifdef ECAT_SLAVES
+
static EtherCAT_slave_t ecat_slaves[] =
{
#if 0
@@ -91,10 +81,6 @@
#define ECAT_SLAVES_COUNT (sizeof(ecat_slaves) / sizeof(EtherCAT_slave_t))
-#endif // ECAT_SLAVES
-
-#endif // ECAT
-
#ifdef ECAT_CYCLIC_DATA
int value;
@@ -111,7 +97,6 @@
*
*****************************************************************************/
-#ifdef ECAT
#ifdef ECAT_CYCLIC_DATA
static int next2004(int *wrap)
@@ -138,7 +123,6 @@
return -1;
}
#endif
-#endif
/******************************************************************************
*
@@ -152,7 +136,6 @@
static void run(unsigned long data)
{
-#ifdef ECAT
static int ms = 0;
static int cnt = 0;
static unsigned long int k = 0;
@@ -230,7 +213,6 @@
rdtscl(k);
EtherCAT_write_process_data(ecat_master);
firstrun = 0;
-#endif
timer.expires += HZ / 1000;
add_timer(&timer);
@@ -246,119 +228,50 @@
int __init init_module()
{
-#ifdef ECAT
-#ifdef ECAT_OPEN
- int rv = -1;
-#endif
-#endif
-
- printk(KERN_INFO "=== Starting Minimal EtherCAT environment... ===\n");
-
-#ifdef ECAT
-
- EtherCAT_device_debug(&rtl_ecat_dev);
-
-#ifdef ECAT_OPEN
- printk("Opening EtherCAT device.\n");
-
- // HIER PASSIERT DER FEHLER:
- if (EtherCAT_device_open(&rtl_ecat_dev) < 0)
- {
- printk(KERN_ERR "msr_modul: Could not initialize EtherCAT NIC.\n");
- goto out_nothing;
- }
-
- if (!rtl_ecat_dev.dev) // Es gibt kein EtherCAT-Device
- {
- printk(KERN_ERR "msr_modul: No EtherCAT device!\n");
- goto out_close;
- }
-#endif // ECAT_OPEN
-
-#ifdef ECAT_MASTER
- printk("Initialising EtherCAT master\n");
-
- if ((ecat_master = (EtherCAT_master_t *) kmalloc(sizeof(EtherCAT_master_t), GFP_KERNEL)) == 0)
- {
- printk(KERN_ERR "msr_modul: Could not alloc memory for EtherCAT master!\n");
- goto out_close;
- }
-
- if (EtherCAT_master_init(ecat_master, &rtl_ecat_dev) < 0)
- {
- printk(KERN_ERR "EtherCAT could not init master!\n");
- goto out_master;
- }
-
- //ecat_master->debug_level = 1;
-
-#endif // ECAT_MASTER
-
-#ifdef ECAT_SLAVES
- 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_masterclear;
- }
-
- 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_masterclear;
- }
-#endif
-
-#endif // ECAT
-
-#ifdef ECAT_CYCLIC_DATA
- printk("Starting cyclic sample thread.\n");
-
- schedule();
- mdelay(1000);
- schedule();
- 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;
-
-#ifdef ECAT
-
-#ifdef ECAT_SLAVES
- out_masterclear:
- printk(KERN_INFO "Clearing EtherCAT master.\n");
- EtherCAT_master_clear(ecat_master);
-#endif
-
-#ifdef ECAT_MASTER
- out_master:
- printk(KERN_INFO "Freeing EtherCAT master.\n");
- kfree(ecat_master);
-#endif
-
-#ifdef ECAT_OPEN
- out_close:
- printk(KERN_INFO "Closing device.\n");
- EtherCAT_device_close(&rtl_ecat_dev);
-
- out_nothing:
- return rv;
-#endif
-
-#endif // ECAT
+ printk(KERN_INFO "=== Starting Minimal EtherCAT environment... ===\n");
+
+ if ((ecat_master = EtherCAT_master(0)) == NULL)
+ {
+ printk(KERN_ERR "No EtherCAT master 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");
+
+ schedule();
+ mdelay(1000);
+ schedule();
+ 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;
}
/******************************************************************************
@@ -371,48 +284,16 @@
{
printk(KERN_INFO "=== Stopping Minimal EtherCAT environment... ===\n");
-#ifdef ECAT_MASTER
-
-#ifdef ECAT
if (ecat_master)
{
-#endif
- //ecat_master->debug_level = 1;
-
-#ifdef ECAT_CYCLIC_DATA
-
- del_timer_sync(&timer);
-
-#ifdef ECAT
- EtherCAT_clear_process_data(ecat_master);
-#endif
-
+#ifdef ECAT_CYCLIC_DATA
+ del_timer_sync(&timer);
+ EtherCAT_clear_process_data(ecat_master);
#endif // ECAT_CYCLIC_DATA
-#ifdef ECAT
-
-#ifdef ECAT_SLAVES
- printk(KERN_INFO "Deactivating slaves.\n");
- EtherCAT_deactivate_all_slaves(ecat_master);
-#endif
-
- printk(KERN_INFO "Clearing EtherCAT master.\n");
- EtherCAT_master_clear(ecat_master);
-
- printk(KERN_INFO "Freeing EtherCAT master.\n");
- kfree(ecat_master);
- ecat_master = NULL;
- }
-#endif // ECAT
-
-#endif // ECAT_MASTER
-
-#ifdef ECAT
-#ifdef ECAT_OPEN
- printk(KERN_INFO "Closing device.\n");
- EtherCAT_device_close(&rtl_ecat_dev);
-#endif
-#endif
+ printk(KERN_INFO "Deactivating slaves.\n");
+ EtherCAT_deactivate_all_slaves(ecat_master);
+ }
printk(KERN_INFO "=== Minimal EtherCAT environment stopped. ===\n");
}