--- a/drivers/Makefile Fri Nov 04 16:47:23 2005 +0000
+++ b/drivers/Makefile Fri Nov 04 17:05:20 2005 +0000
@@ -9,22 +9,40 @@
#
#################################################################
-MSR_DIR = /vol/projekte/msr_messen_steuern_regeln
-EC_DIR = $(MSR_DIR)/ethercat
+#KERNELDIR=/usr/src/linux
+#KERNELDIR=/home/rich/linux-2.4.20.CX1100-rthal5
+#KERNELDIR=./linux-2.4.20.CX1100-rthal5
-#KERNELDIR = $(EC_DIR)/linux-2.4.20.CX1100-rthal5-kdb
-KERNELDIR = $(EC_DIR)/linux-2.4.20-kdb
+#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
+
+#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
+
+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
#################################################################
-all: .depend Makefile ecat_8139too.o
+all: .depend ecat_8139too.o
ecat_8139too.o: $(ECAT_8139_OBJ)
$(LD) -r $(ECAT_8139_OBJ) -o $@
@@ -37,7 +55,7 @@
#################################################################
-.depend depend dep:
+.depend:
$(CC) $(CFLAGS) -M *.c > .depend
ifeq (.depend,$(wildcard .depend))
--- a/drivers/ec_device.c Fri Nov 04 16:47:23 2005 +0000
+++ b/drivers/ec_device.c Fri Nov 04 17:05:20 2005 +0000
@@ -288,12 +288,12 @@
void EtherCAT_device_call_isr(EtherCAT_device_t *ecd)
{
- EC_DBG(KERN_DEBUG "EtherCAT: Calling ISR...\n");
+// 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");
+// EC_DBG(KERN_DEBUG "EtherCAT: ISR finished.\n");
}
/***************************************************************/
--- a/drivers/ec_master.c Fri Nov 04 16:47:23 2005 +0000
+++ b/drivers/ec_master.c Fri Nov 04 17:05:20 2005 +0000
@@ -1767,6 +1767,8 @@
return -1;
}
+ EtherCAT_device_call_isr(master->dev);
+
if (EtherCAT_receive(master) < 0)
{
EC_DBG(KERN_ERR "EtherCAT: Could not receive cyclic command!\n");
--- a/rt/msr_io.c Fri Nov 04 16:47:23 2005 +0000
+++ b/rt/msr_io.c Fri Nov 04 17:05:20 2005 +0000
@@ -86,7 +86,7 @@
static EtherCAT_slave_t ecat_slaves[] =
{
//Block 1
- ECAT_INIT_SLAVE(Beckhoff_EK1100),
+/* ECAT_INIT_SLAVE(Beckhoff_EK1100),
ECAT_INIT_SLAVE(Beckhoff_EL4102),
ECAT_INIT_SLAVE(Beckhoff_EL3162),
ECAT_INIT_SLAVE(Beckhoff_EL1014),
@@ -103,7 +103,7 @@
ECAT_INIT_SLAVE(Beckhoff_EL2004),
ECAT_INIT_SLAVE(Beckhoff_EL2004),
ECAT_INIT_SLAVE(Beckhoff_EL2004),
- ECAT_INIT_SLAVE(Beckhoff_EL2004),
+ ECAT_INIT_SLAVE(Beckhoff_EL2004), */
//Block 2
ECAT_INIT_SLAVE(Beckhoff_EK1100),
ECAT_INIT_SLAVE(Beckhoff_EL4102),