--- a/examples/msr/Makefile Thu May 11 13:29:06 2006 +0000
+++ b/examples/msr/Makefile Fri May 12 10:12:14 2006 +0000
@@ -2,6 +2,8 @@
#
# Makefile
#
+# Sample module for use with IgH MSR library.
+#
# $Id$
#
# Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
@@ -23,21 +25,17 @@
#
#------------------------------------------------------------------------------
-ifneq ($(KERNELRELEASE),)
+MODULE := ec_msr_sample
#------------------------------------------------------------------------------
# kbuild section
#------------------------------------------------------------------------------
-ifneq ($(wildcard $(src)/rt.conf),)
-include $(src)/rt.conf
-else
-MODULENAME := rt
-endif
+ifneq ($(KERNELRELEASE),)
-obj-m := $(MODULENAME).o
+obj-m := $(MODULE).o
-$(MODULENAME)-objs := msr_rt.o \
+$(MODULE)-objs := msr_sample.o \
rt_lib/msr-core/msr_lists.o \
rt_lib/msr-core/msr_main.o \
rt_lib/msr-core/msr_charbuf.o \
@@ -52,22 +50,18 @@
rt_lib/msr-math/msr_hex_bin.o \
libm.o
-EXTRA_CFLAGS := -I$(src)/rt_lib/msr-include -D_SIMULATION \
- -I/usr/include -mhard-float \
- -DSVNREV=$(shell svnversion $(src)) -DUSER=$(USER)
-
-#------------------------------------------------------------------------------
-
-else
+EXTRA_CFLAGS := -I$(src)/rt_lib/msr-include -I/usr/realtime/include \
+ -D_SIMULATION -mhard-float
#------------------------------------------------------------------------------
# default section
#------------------------------------------------------------------------------
-ifneq ($(wildcard rt.conf),)
-include rt.conf
else
-MODULENAME := msr_rt
+
+ifneq ($(wildcard kernel.conf),)
+include kernel.conf
+else
KERNEL := $(shell uname -r)
endif
@@ -80,8 +74,8 @@
$(MAKE) -C $(KERNELDIR) M=`pwd` clean
install:
- @./install.sh $(MODULENAME) $(KERNEL)
+ @./install.sh $(MODULE) $(KERNEL)
+
+endif
#------------------------------------------------------------------------------
-
-endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/msr/kernel.conf.tmpl Fri May 12 10:12:14 2006 +0000
@@ -0,0 +1,15 @@
+#------------------------------------------------------------------------------
+#
+# Configuration file for MSR realtime modules
+#
+# $Id$
+#
+# This file is a versioned template configuration. Copy it to "kernel.conf"
+# (which is ignored by Subversion) and adjust it to your needs.
+#
+#------------------------------------------------------------------------------
+
+# Kernel sources for module compilation
+KERNEL := `uname -r`
+
+#------------------------------------------------------------------------------
--- a/examples/msr/msr_load Thu May 11 13:29:06 2006 +0000
+++ b/examples/msr/msr_load Fri May 12 10:12:14 2006 +0000
@@ -1,5 +1,5 @@
#!/bin/sh
-module="msr_rt"
+module="ec_msr_sample"
device="msr"
mode="664"
--- a/examples/msr/msr_rt.c Thu May 11 13:29:06 2006 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,296 +0,0 @@
-/******************************************************************************
- *
- * m s r _ r t . c
- *
- * Kernelmodul für 2.6 Kernel zur Meßdatenerfassung, Steuerung und Regelung.
- *
- * $Id$
- *
- * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
- *
- * This file is part of the IgH EtherCAT Master.
- *
- * The IgH EtherCAT Master is free software; you can redistribute it
- * and/or modify it under the terms of the GNU General Public License
- * as published by the Free Software Foundation; version 2 of the License.
- *
- * The IgH EtherCAT Master is distributed in the hope that it will be
- * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with the IgH EtherCAT Master; if not, write to the Free Software
- * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
- *
- *****************************************************************************/
-
-// 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;
-
-// Kanäle
-uint32_t k_ssi;
-uint32_t k_ssi_st;
-
-ec_field_init_t domain1_fields[] = {
- {&r_ssi, "0:3", "Beckhoff", "EL5001", "InputValue", 0},
- {&r_ssi_st, "0:3", "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 bestätigen
- 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_start_eoe(master)) {
- printk(KERN_ERR "Failed to start EoE processing!\n");
- goto out_deactivate;
- }
-#endif
-
-#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, 0);
-#endif
-
-#if 1
- if (!(slave = ecrt_master_get_slave(master, "0:3"))) {
- 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
-
-#if 0
- if (!(slave = ecrt_master_get_slave(master, "1:0"))) {
- printk(KERN_ERR "Failed to get slave!\n");
- goto out_deactivate;
- }
- if (ecrt_slave_write_alias(slave, 0x5678)) {
- printk(KERN_ERR "Failed to write alias!\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: ***
-*/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/msr/msr_sample.c Fri May 12 10:12:14 2006 +0000
@@ -0,0 +1,314 @@
+/******************************************************************************
+ *
+ * Sample module for use with IgH MSR library.
+ *
+ * $Id$
+ *
+ * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ * This file is part of the IgH EtherCAT Master.
+ *
+ * The IgH EtherCAT Master is free software; you can redistribute it
+ * and/or modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; version 2 of the License.
+ *
+ * The IgH EtherCAT Master is distributed in the hope that it will be
+ * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the IgH EtherCAT Master; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ *****************************************************************************/
+
+// Linux
+#include <linux/module.h>
+
+// RTAI
+#include "rtai_sched.h"
+#include "rtai_sem.h"
+
+// RT_lib
+#include <msr_main.h>
+#include <msr_reg.h>
+#include "msr_param.h"
+
+// EtherCAT
+#include "../../include/ecrt.h"
+
+#define ASYNC
+
+#define HZREDUCTION (MSR_ABTASTFREQUENZ / HZ)
+#define TIMERTICKS (1000000000 / MSR_ABTASTFREQUENZ)
+
+/*****************************************************************************/
+
+// RTAI
+RT_TASK task;
+SEM master_sem;
+cycles_t t_start = 0, t_critical;
+
+// MSR
+extern unsigned long msr_controller_execution_time;
+extern unsigned long msr_controller_call_time;
+extern wait_queue_head_t msr_read_waitqueue;
+int count_wakeup = 0;
+
+// EtherCAT
+ec_master_t *master = NULL;
+ec_domain_t *domain1 = NULL;
+
+// Prozessdaten
+void *r_ssi;
+void *r_ssi_st;
+
+// Channels
+uint32_t k_ssi;
+uint32_t k_ssi_st;
+
+ec_field_init_t domain1_fields[] = {
+ {&r_ssi, "0:3", "Beckhoff", "EL5001", "InputValue", 0},
+ {&r_ssi_st, "0:3", "Beckhoff", "EL5001", "Status", 0},
+ {}
+};
+
+/*****************************************************************************/
+
+void msr_run(long data)
+{
+ cycles_t t_last_start;
+
+ while (1)
+ {
+ t_last_start = t_start;
+ t_start = get_cycles();
+
+ rt_sem_wait(&master_sem);
+
+#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
+
+ rt_sem_signal(&master_sem);
+
+ /* write data to MSR ring buffers */
+ msr_write_kanal_list();
+
+ /* wake up MSR read queue */
+ if(++count_wakeup >= MSR_ABTASTFREQUENZ / 10) {
+ wake_up_interruptible(&msr_read_waitqueue);
+ count_wakeup = 0;
+ }
+
+ /* calculate timing */
+ msr_controller_execution_time =
+ (unsigned long) (get_cycles() - t_start) * 1000 / cpu_khz;
+ msr_controller_call_time =
+ (unsigned long) (t_start - t_last_start) * 1000 / cpu_khz;
+
+ rt_task_wait_period();
+ }
+}
+
+/*****************************************************************************/
+
+int msr_reg(void)
+{
+ msr_reg_kanal("/ssi_position", "", &k_ssi, TUINT);
+ msr_reg_kanal("/ssi_status", "", &k_ssi_st, TUINT);
+ return 0;
+}
+
+/*****************************************************************************/
+
+int request_lock(void *data)
+{
+ // too close to the next RT cycle: deny access...
+ if (get_cycles() - t_start > t_critical) return -1;
+
+ // allow access
+ rt_sem_wait(&master_sem);
+ return 0;
+}
+
+/*****************************************************************************/
+
+void release_lock(void *data)
+{
+ rt_sem_signal(&master_sem);
+}
+
+/*****************************************************************************/
+
+int __init init_mod(void)
+{
+ RTIME ticks;
+#if 0
+ ec_slave_t *slave;
+#endif
+
+ printk(KERN_INFO "=== Starting EtherCAT RTAI MSR sample module... ===\n");
+
+ rt_sem_init(&master_sem, 1);
+ t_critical = cpu_khz * 800 / MSR_ABTASTFREQUENZ; // ticks for 80%
+
+ if (msr_rtlib_init(1, MSR_ABTASTFREQUENZ, 10, &msr_reg) < 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_callbacks(master, request_lock, release_lock, NULL);
+
+ 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, 0);
+#endif
+
+#if 0
+ if (!(slave = ecrt_master_get_slave(master, "0:3"))) {
+ 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
+
+#if 0
+ if (!(slave = ecrt_master_get_slave(master, "1:0"))) {
+ printk(KERN_ERR "Failed to get slave!\n");
+ goto out_deactivate;
+ }
+ if (ecrt_slave_write_alias(slave, 0x5678)) {
+ printk(KERN_ERR "Failed to write alias!\n");
+ goto out_deactivate;
+ }
+#endif
+
+#ifdef ASYNC
+ // Einmal senden und warten...
+ ecrt_master_prepare_async_io(master);
+#endif
+
+ if (ecrt_master_start_eoe(master)) {
+ printk(KERN_ERR "Failed to start EoE processing!\n");
+ goto out_deactivate;
+ }
+
+ printk("Starting cyclic sample thread...\n");
+ ticks = start_rt_timer(nano2count(TIMERTICKS));
+ if (rt_task_init(&task, msr_run, 0, 2000, 0, 1, NULL)) {
+ printk(KERN_ERR "Failed to init RTAI task!\n");
+ goto out_stop_timer;
+ }
+ if (rt_task_make_periodic(&task, rt_get_time() + ticks, ticks)) {
+ printk(KERN_ERR "Failed to run RTAI task!\n");
+ goto out_stop_task;
+ }
+
+ printk(KERN_INFO "=== EtherCAT RTAI MSR sample module started. ===\n");
+ return 0;
+
+ out_stop_task:
+ rt_task_delete(&task);
+ out_stop_timer:
+ stop_rt_timer();
+ out_deactivate:
+ ecrt_master_deactivate(master);
+ out_release_master:
+ ecrt_release_master(master);
+ out_msr_cleanup:
+ msr_rtlib_cleanup();
+ out_return:
+ rt_sem_delete(&master_sem);
+ return -1;
+}
+
+/*****************************************************************************/
+
+void __exit cleanup_mod(void)
+{
+ printk(KERN_INFO "=== Unloading EtherCAT RTAI MSR sample module... ===\n");
+
+ rt_task_delete(&task);
+ stop_rt_timer();
+ ecrt_master_deactivate(master);
+ ecrt_release_master(master);
+ rt_sem_delete(&master_sem);
+ msr_rtlib_cleanup();
+
+ printk(KERN_INFO "=== EtherCAT RTAI MSR sample module unloaded. ===\n");
+}
+
+/*****************************************************************************/
+
+MODULE_LICENSE("GPL");
+MODULE_AUTHOR ("Florian Pose <fp@igh-essen.com>");
+MODULE_DESCRIPTION ("EtherCAT RTAI MSR sample module");
+
+module_init(init_mod);
+module_exit(cleanup_mod);
+
+/*****************************************************************************/
--- a/examples/msr/msr_unload Thu May 11 13:29:06 2006 +0000
+++ b/examples/msr/msr_unload Fri May 12 10:12:14 2006 +0000
@@ -1,5 +1,5 @@
#!/bin/sh
-module="msr_rt"
+module="ec_msr_sample"
device="msr"
# invoke rmmod with all arguments we got
--- a/examples/msr/rt.conf.tmpl Thu May 11 13:29:06 2006 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,18 +0,0 @@
-#------------------------------------------------------------------------------
-#
-# 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`
-
-#------------------------------------------------------------------------------