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ethercat
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Fix application time for RTDM interface

This commit is contained in:
Andreas Stewering-Bone 2011-03-17 21:13:36 +01:00
parent 76ff88c43c
commit 37044968e9
4 changed files with 265 additions and 184 deletions
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2
examples/xenomai/Makefile.am
View File

@ -34,6 +34,6 @@ noinst_PROGRAMS = ec_xenomai_example
ec_xenomai_example_SOURCES = main.c
ec_xenomai_example_CFLAGS = -I/opt/etherlab/xenomai/include -D_GNU_SOURCE -D_REENTRANT -Wall -pipe -D__XENO__ -I$(top_srcdir)/include
ec_xenomai_example_LDFLAGS = -lrtdm -L$(top_builddir)/lib/.libs -lethercat -lnative -L/opt/etherlab/xenomai/lib -lxenomai -lpthread
ec_xenomai_example_LDFLAGS = -lrtdm -L$(top_builddir)/lib/.libs -lethercat -lnative -L/opt/etherlab/xenomai/lib -lrtdk -lxenomai -lpthread
#------------------------------------------------------------------------------

249
examples/xenomai/main.c
View File

@ -45,6 +45,7 @@
#include <native/sem.h>
#include <native/mutex.h>
#include <native/timer.h>
#include <rtdk.h>
#include <pthread.h>
/****************************************************************************/
@ -58,7 +59,7 @@ RT_TASK my_task;
int rt_fd = -1;
int run=0;
struct timeval tv;
//struct timeval tv;
unsigned int sync_ref_counter = 0;
CstructMstrAttach MstrAttach;
@ -66,8 +67,8 @@ CstructMstrAttach MstrAttach;
/****************************************************************************/
// Application parameters
#define FREQUENCY 1000
#define PRIORITY 1
//#define FREQUENCY 1000
//#define PRIORITY 1
// Optional features
#define CONFIGURE_PDOS 1
@ -102,7 +103,7 @@ static uint8_t *domain1_pd = NULL;
#define AnaInSlave01_Pos 0, 5
#define BusCoupler02_Pos 0, 6
#define AnaInSlave02_Pos 0, 7
#define DPSlave01_Pos 0, 8
#define Beckhoff_EK1100 0x00000002, 0x044c2c52
@ -429,116 +430,56 @@ uint8_t *sdo_adr = NULL;
void rt_check_domain_state(void)
{
ec_domain_state_t ds;
unsigned int printed=0;
if (rt_fd>=0)
{
ecrt_rtdm_domain_state(rt_fd,&ds);
}
/* if (ds.working_counter != domain1_state.working_counter)
if (ds.working_counter != domain1_state.working_counter)
{
printf("Domain1: WC %u.\n", ds.working_counter);
printed=1;
rt_printf("Domain1: WC %u.\n", ds.working_counter);
}
if (ds.wc_state != domain1_state.wc_state)
{
printf("Domain1: State %u.\n", ds.wc_state);
printed=1;
rt_printf("Domain1: State %u.\n", ds.wc_state);
}
if (printed)
{
int ret;
// return to realtime mode after print
ret = rt_task_set_mode(0, T_PRIMARY, NULL);
if (ret)
{
printf("error while rt_task_set_mode, code %d\n",ret);
}
}
*/
domain1_state = ds;
}
void rt_check_master_state(void)
{
ec_master_state_t ms;
unsigned int printed=0;
if (rt_fd>=0)
{
ecrt_rtdm_master_state(rt_fd,&ms);
}
/*
if (ms.slaves_responding != master_state.slaves_responding)
{
printf("%u slave(s).\n", ms.slaves_responding);
printed=1;
rt_printf("%u slave(s).\n", ms.slaves_responding);
}
if (ms.al_states != master_state.al_states)
{
printf("AL states: 0x%02X.\n", ms.al_states);
printed=1;
rt_printf("AL states: 0x%02X.\n", ms.al_states);
}
if (ms.link_up != master_state.link_up)
{
printf("Link is %s.\n", ms.link_up ? "up" : "down");
printed=1;
rt_printf("Link is %s.\n", ms.link_up ? "up" : "down");
}
if (printed)
{
int ret;
// return to realtime mode after print
ret = rt_task_set_mode(0, T_PRIMARY, NULL);
if (ret)
{
printf("error while rt_task_set_mode, code %d\n",ret);
}
}*/
master_state = ms;
}
void rt_receive()
{
if (rt_fd>=0)
{
ecrt_rtdm_master_recieve(rt_fd);
}
}
void rt_send()
{
if (rt_fd>=0)
{
ecrt_rtdm_master_send(rt_fd);
}
}
void rt_sync()
{
RTIME now;
int ret;
now = rt_timer_read();
//now -= 946684800ULL * 1000000000ULL;
printf("Write Sync Time %i\n",now);
ret = rt_task_set_mode(0, T_PRIMARY, NULL);
if (ret)
{
printf("error while rt_task_set_mode, code %d\n",ret);
}
if (rt_fd>=0)
{
@ -565,45 +506,45 @@ void rt_sync()
#if SDO_ACCESS
void read_sdo(void)
{
switch (ecrt_sdo_request_state(sdo))
{
case EC_REQUEST_UNUSED: // request was not used yet
ecrt_sdo_request_read(sdo); // trigger first read
break;
case EC_REQUEST_BUSY:
fprintf(stderr, "Still busy...\n");
break;
case EC_REQUEST_SUCCESS:
fprintf(stderr, "SDO value: 0x%04X\n",
EC_READ_U16(ecrt_sdo_request_data(sdo)));
ecrt_sdo_request_read(sdo); // trigger next read
break;
case EC_REQUEST_ERROR:
fprintf(stderr, "Failed to read SDO!\n");
ecrt_sdo_request_read(sdo); // retry reading
break;
}
switch (ecrt_sdo_request_state(sdo))
{
case EC_REQUEST_UNUSED: // request was not used yet
ecrt_sdo_request_read(sdo); // trigger first read
break;
case EC_REQUEST_BUSY:
fprintf(stderr, "Still busy...\n");
break;
case EC_REQUEST_SUCCESS:
fprintf(stderr, "SDO value: 0x%04X\n",
EC_READ_U16(ecrt_sdo_request_data(sdo)));
ecrt_sdo_request_read(sdo); // trigger next read
break;
case EC_REQUEST_ERROR:
fprintf(stderr, "Failed to read SDO!\n");
ecrt_sdo_request_read(sdo); // retry reading
break;
}
}
void PrintSDOState(void)
{
switch (ecrt_sdo_request_state(sdo))
{
case EC_REQUEST_UNUSED: // request was not used yet
fprintf(stderr, "SDO State: EC_REQUEST_UNUSED\n"); // trigger first read
break;
case EC_REQUEST_BUSY:
fprintf(stderr, "SDO State: EC_REQUEST_BUSY\n");
break;
case EC_REQUEST_SUCCESS:
fprintf(stderr, "SDO State: EC_REQUEST_SUCCESS\n");
break;
case EC_REQUEST_ERROR:
fprintf(stderr, "SDO State: EC_REQUEST_ERROR\n");
break;
default:
fprintf(stderr, "SDO State: undefined\n");
break;
switch (ecrt_sdo_request_state(sdo))
{
case EC_REQUEST_UNUSED: // request was not used yet
fprintf(stderr, "SDO State: EC_REQUEST_UNUSED\n"); // trigger first read
break;
case EC_REQUEST_BUSY:
fprintf(stderr, "SDO State: EC_REQUEST_BUSY\n");
break;
case EC_REQUEST_SUCCESS:
fprintf(stderr, "SDO State: EC_REQUEST_SUCCESS\n");
break;
case EC_REQUEST_ERROR:
fprintf(stderr, "SDO State: EC_REQUEST_ERROR\n");
break;
default:
fprintf(stderr, "SDO State: undefined\n");
break;
}
}
#endif
@ -646,7 +587,7 @@ void my_task_proc(void *arg)
ret = rt_task_set_mode(0, T_PRIMARY, NULL);
if (ret) {
printf("error while rt_task_set_mode, code %d\n",ret);
rt_printf("error while rt_task_set_mode, code %d\n",ret);
return;
}
@ -661,7 +602,9 @@ void my_task_proc(void *arg)
}
// receive ethercat
rt_receive();
ecrt_rtdm_master_recieve(rt_fd);
ecrt_rtdm_domain_process(rt_fd);
rt_check_domain_state();
if (divcounter ==0)
@ -684,7 +627,8 @@ void my_task_proc(void *arg)
rt_sync();
// send process data
rt_send();
ecrt_rtdm_domain_queque(rt_fd);
ecrt_rtdm_master_send(rt_fd);
}
}
@ -724,6 +668,9 @@ int main(int argc, char **argv)
mlockall(MCL_CURRENT | MCL_FUTURE);
/* Perform auto-init of rt_print buffers if the task doesn't do so */
rt_print_auto_init(1);
signal(SIGTERM, catch_signal);
signal(SIGINT, catch_signal);
@ -851,6 +798,92 @@ int main(int argc, char **argv)
return -1;
}
#endif
printf("Get Configuring EL6731...\n");
sc_dpslv_01 = ecrt_master_slave_config(master, DPSlave01_Pos, Beckhoff_EL6731);
if (!sc_dpslv_01) {
fprintf(stderr, "Failed to get slave configuration.\n");
return -1;
}
printf("Configuring EL6731...\n");
if (ecrt_slave_config_pdos(sc_dpslv_01, EC_END, slave_7_syncs))
{
fprintf(stderr, "Failed to configure PDOs.\n");
return -1;
}
#if SDO_ACCESS
// DP Slave Parameter Set
fprintf(stderr, "Creating SDO requests...\n");
if (!(sdo = ecrt_slave_config_create_sdo_request(sc_dpslv_01, 0x8000, 0, 1))) {
fprintf(stderr, "Failed to create SDO request.\n");
return -1;
}
ecrt_sdo_request_timeout(sdo, 500); // ms
EC_WRITE_U8(ecrt_sdo_request_data(sdo), 0);
PrintSDOState();
ecrt_sdo_request_write(sdo);
PrintSDOState();
// Station Address
if (!(sdo = ecrt_slave_config_create_sdo_request(sc_dpslv_01, 0x8000, 1, 2))) {
fprintf(stderr, "Failed to create SDO request.\n");
return -1;
}
ecrt_sdo_request_timeout(sdo, 500); // ms
EC_WRITE_U16(ecrt_sdo_request_data(sdo), 5);
//EC_WRITE_U8(ecrt_sdo_request_data(sdo), 00);
//EC_WRITE_U8(ecrt_sdo_request_data(sdo)+1, 10);
PrintSDOState();
ecrt_sdo_request_write(sdo);
PrintSDOState();
// Device Type (DP Ident Number)
if (!(sdo = ecrt_slave_config_create_sdo_request(sc_dpslv_01, 0x8000, 4, 4))) {
fprintf(stderr, "Failed to create SDO request.\n");
return -1;
}
ecrt_sdo_request_timeout(sdo, 500); // ms
sdo_adr = ecrt_sdo_request_data(sdo);
EC_WRITE_U32(sdo_adr, 0x095F);
//EC_WRITE_U8(sdo_ad, 0x00); // Device Type
//EC_WRITE_U8(sdo_adr+1, 0x00);
//EC_WRITE_U8(sdo_adr+2, 0x09);
//EC_WRITE_U8(sdo_adr+3, 0x5F);
PrintSDOState();
ecrt_sdo_request_write(sdo);
PrintSDOState();
// DP CfgData Slave
if (!(sdo = ecrt_slave_config_create_sdo_request(sc_dpslv_01, 0x8002, 0, 244))) {
fprintf(stderr, "Failed to create SDO request.\n");
return -1;
}
ecrt_sdo_request_timeout(sdo, 500); // ms
sdo_adr = ecrt_sdo_request_data(sdo);
EC_WRITE_U8(sdo_adr, 0x10); // Device Type
EC_WRITE_U8(sdo_adr+1, 0x20);
PrintSDOState();
ecrt_sdo_request_write(sdo);
PrintSDOState();
// DP Slave Parameter Set
if (!(sdo = ecrt_slave_config_create_sdo_request(sc_dpslv_01, 0x8000, 0, 1))) {
fprintf(stderr, "Failed to create SDO request.\n");
return -1;
}
ecrt_sdo_request_timeout(sdo, 500); // ms
EC_WRITE_U8(ecrt_sdo_request_data(sdo), 0x33); // DP Slave Parameter Set
PrintSDOState();
ecrt_sdo_request_write(sdo);
PrintSDOState();
#endif

48
include/ec_rtdm.h
View File

@ -5,11 +5,9 @@
* ec_rtdm.h Copyright (C) 2009-2010 Moehwald GmbH B.Benner
* 2011 IgH Andreas Stewering-Bone
*
* This file is used for Prisma RT to interface to EtherCAT devices
*
* This file is part of ethercatrtdm interface to IgH EtherCAT master
* This file is part of the IgH EtherCAT master
*
* The Moehwald ethercatrtdm interface is free software; you can
* The IgH EtherCAT master is free software; you can
* redistribute it and/or modify it under the terms of the GNU Lesser General
* Public License as published by the Free Software Foundation; version 2.1
* of the License.
@ -41,15 +39,19 @@
// IOCTRL Values for RTDM_EXTENSION
//
// Realtime IOCTRL function
#define EC_RTDM_MSTRATTACH 1 // attach to a running master
#define EC_RTDM_MSTRGETMUTNAME 2 // return the mutexname
#define EC_RTDM_MSTRRECEIVE 3 // call the master receive
#define EC_RTDM_MSTRSEND 4 // call the master send
#define EC_RTDM_DOMAINSTATE 5 // get domain state
#define EC_RTDM_MASTERSTATE 6 // get master state
#define EC_RTDM_MASTER_APP_TIME 7
#define EC_RTDM_SYNC_REF_CLOCK 8
#define EC_RTDM_SYNC_SLAVE_CLOCK 9
#define EC_RTDM_MSTRATTACH 1 // attach to a running master
#define EC_RTDM_MSTRGETMUTNAME 2 // return the mutexname
#define EC_RTDM_MASTER_RECEIVE 3 // call the master receive
#define EC_RTDM_DOMAIN_PROCESS 4 // process domain data
#define EC_RTDM_DOMAIN_QUEQUE 5 // prepare domain data
#define EC_RTDM_MASTER_SEND 6 // call the master send
#define EC_RTDM_DOMAINSTATE 7 // get domain state
#define EC_RTDM_MASTERSTATE 8 // get master state
#define EC_RTDM_MASTER_APP_TIME 9 // set app time
#define EC_RTDM_SYNC_REF_CLOCK 10 // sync ref clock
#define EC_RTDM_SYNC_SLAVE_CLOCK 11 // sync slave clocks
#define EC_RTDM_MASTER_SYNC_MONITOR_QUEQUE 12 // prepare DC sync information
#define EC_RTDM_MASTER_SYNC_MONITOR_PROCESS 13 // get DC sync information
typedef struct _CstructMstrAttach
{
@ -58,14 +60,18 @@ typedef struct _CstructMstrAttach
} CstructMstrAttach;
#define ecrt_rtdm_master_attach(X,Y) rt_dev_ioctl(X, EC_RTDM_MSTRATTACH, Y)
#define ecrt_rtdm_master_recieve(X) rt_dev_ioctl(X, EC_RTDM_MSTRRECEIVE)
#define ecrt_rtdm_master_send(X) rt_dev_ioctl(X, EC_RTDM_MSTRSEND)
#define ecrt_rtdm_domain_state(X,Y) rt_dev_ioctl(X, EC_RTDM_DOMAINSTATE, Y)
#define ecrt_rtdm_master_state(X,Y) rt_dev_ioctl(X, EC_RTDM_MASTERSTATE, Y)
#define ecrt_rtdm_master_application_time(X,Y) rt_dev_ioctl(X, EC_RTDM_MASTER_APP_TIME, Y)
#define ecrt_rtdm_master_sync_reference_clock(X) rt_dev_ioctl(X, EC_RTDM_SYNC_REF_CLOCK)
#define ecrt_rtdm_master_sync_slave_clocks(X) rt_dev_ioctl(X, EC_RTDM_SYNC_SLAVE_CLOCK);
#define ecrt_rtdm_master_attach(X,Y) rt_dev_ioctl(X, EC_RTDM_MSTRATTACH, Y)
#define ecrt_rtdm_master_recieve(X) rt_dev_ioctl(X, EC_RTDM_MASTER_RECEIVE)
#define ecrt_rtdm_domain_process(X) rt_dev_ioctl(X, EC_RTDM_DOMAIN_PROCESS)
#define ecrt_rtdm_domain_queque(X) rt_dev_ioctl(X, EC_RTDM_DOMAIN_QUEQUE)
#define ecrt_rtdm_master_send(X) rt_dev_ioctl(X, EC_RTDM_MASTER_SEND)
#define ecrt_rtdm_domain_state(X,Y) rt_dev_ioctl(X, EC_RTDM_DOMAINSTATE, Y)
#define ecrt_rtdm_master_state(X,Y) rt_dev_ioctl(X, EC_RTDM_MASTERSTATE, Y)
#define ecrt_rtdm_master_application_time(X,Y) rt_dev_ioctl(X, EC_RTDM_MASTER_APP_TIME, Y)
#define ecrt_rtdm_master_sync_reference_clock(X) rt_dev_ioctl(X, EC_RTDM_SYNC_REF_CLOCK)
#define ecrt_rtdm_master_sync_slave_clocks(X) rt_dev_ioctl(X, EC_RTDM_SYNC_SLAVE_CLOCK)
#define ecrt_rtdm_master_sync_monitor_queque(X) rt_dev_ioctl(X, EC_RTDM_MASTER_MONITOR_QUEQUE)
#define ecrt_rtdm_master_sync_monitor_process(X,Y) rt_dev_ioctl(X, EC_RTDM_MASTER_MONITOR_PROCESS,Y)
#endif

150
rtdm/module.c
View File

@ -5,11 +5,10 @@
* ec_rtdm.c Copyright (C) 2009-2010 Moehwald GmbH B.Benner
* 2011 IgH Andreas Stewering-Bone
*
* This file is used for Prisma RT to interface to EtherCAT devices
*
* This file is part of ethercatrtdm interface to IgH EtherCAT master
* This file is part of the IgH EtherCAT master
*
* The Moehwald ec_rtdm interface is free software; you can
* The IgH EtherCAT master is free software; you can
* redistribute it and/or modify it under the terms of the GNU Lesser General
* Public License as published by the Free Software Foundation; version 2.1
* of the License.
@ -43,23 +42,23 @@
#define EC_RTDM_MAX_MASTERS 5 /**< Maximum number of masters. */
#define EC_RTDM_GINFO(fmt, args...) \
printk(KERN_INFO "EtherCATrtdm: " fmt, ##args)
rtdm_printk(KERN_INFO "EtherCATrtdm: " fmt, ##args)
#define EC_RTDM_GERR(fmt, args...) \
printk(KERN_ERR "EtherCATrtdm ERROR: " fmt, ##args)
rtdm_printk(KERN_ERR "EtherCATrtdm ERROR: " fmt, ##args)
#define EC_RTDM_GWARN(fmt, args...) \
printk(KERN_WARNING "EtherCATrtdm WARNING: " fmt, ##args)
rtdm_printk(KERN_WARNING "EtherCATrtdm WARNING: " fmt, ##args)
#define EC_RTDM_INFO(devno, fmt, args...) \
printk(KERN_INFO "EtherCATrtdm %u: " fmt, devno, ##args)
rtdm_printk(KERN_INFO "EtherCATrtdm %u: " fmt, devno, ##args)
#define EC_RTDM_ERR(devno, fmt, args...) \
printk(KERN_ERR "EtherCATrtdm %u ERROR: " fmt, devno, ##args)
rtdm_printk(KERN_ERR "EtherCATrtdm %u ERROR: " fmt, devno, ##args)
#define EC_RTDM_WARN(devno, fmt, args...) \
printk(KERN_WARNING "EtherCATrtdm %u WARNING: " fmt, devno, ##args)
rtdm_printk(KERN_WARNING "EtherCATrtdm %u WARNING: " fmt, devno, ##args)
@ -161,29 +160,8 @@ void receive_callback(void *cb_data)
}
}
void receive_process(EC_RTDM_DRV_STRUCT * pdrvstruc)
{
if (pdrvstruc->master)
{
rt_mutex_acquire(&pdrvstruc->masterlock,TM_INFINITE);
ecrt_master_receive(pdrvstruc->master);
ecrt_domain_process(pdrvstruc->domain);
pdrvstruc->reccnt++;
rt_mutex_release(&pdrvstruc->masterlock);
}
}
void send_process(EC_RTDM_DRV_STRUCT * pdrvstruc)
{
if (pdrvstruc->master)
{
rt_mutex_acquire(&pdrvstruc->masterlock,TM_INFINITE);
ecrt_domain_queue(pdrvstruc->domain);
ecrt_master_send(pdrvstruc->master);
pdrvstruc->sendcnt++;
rt_mutex_release(&pdrvstruc->masterlock);
}
}
void detach_master(EC_RTDM_DRV_STRUCT * pdrvstruc)
{
@ -342,46 +320,76 @@ int ec_rtdm_ioctl_rt(struct rtdm_dev_context *context,
}
}
break;
case EC_RTDM_MSTRRECEIVE:
case EC_RTDM_MASTER_RECEIVE:
{
if (pdrvstruc->isattached)
{
receive_process(pdrvstruc);
if (pdrvstruc->master)
{
rt_mutex_acquire(&pdrvstruc->masterlock,TM_INFINITE);
ecrt_master_receive(pdrvstruc->master);
pdrvstruc->reccnt++;
rt_mutex_release(&pdrvstruc->masterlock);
}
}
}
break;
case EC_RTDM_MSTRSEND:
case EC_RTDM_DOMAIN_PROCESS:
{
if (pdrvstruc->isattached)
{
rt_mutex_acquire(&pdrvstruc->masterlock,TM_INFINITE);
ecrt_domain_process(pdrvstruc->domain);
rt_mutex_release(&pdrvstruc->masterlock);
}
}
break;
case EC_RTDM_MASTER_SEND:
{
if (pdrvstruc->isattached)
{
send_process(pdrvstruc);
if (pdrvstruc->master)
{
rt_mutex_acquire(&pdrvstruc->masterlock,TM_INFINITE);
ecrt_master_send(pdrvstruc->master);
pdrvstruc->sendcnt++;
rt_mutex_release(&pdrvstruc->masterlock);
}
}
}
break;
case EC_RTDM_DOMAIN_QUEQUE:
{
if (pdrvstruc->isattached)
{
rt_mutex_acquire(&pdrvstruc->masterlock,TM_INFINITE);
ecrt_domain_queue(pdrvstruc->domain);
rt_mutex_release(&pdrvstruc->masterlock);
}
}
break;
case EC_RTDM_MASTER_APP_TIME:
{
if (!pdrvstruc->isattached)
{
rtdm_printk("ERROR : No Master attached\n");
return -EFAULT;
}
if (rtdm_rw_user_ok(user_info, arg, sizeof(app_time)))
if (rtdm_safe_copy_from_user(user_info, &app_time, arg, sizeof(app_time)))
{
// copy data from user
if (rtdm_copy_from_user(user_info, &app_time, arg, sizeof(app_time)))
{
return -EFAULT;
}
if (pdrvstruc->master)
{
rt_mutex_acquire(&pdrvstruc->masterlock,TM_INFINITE);
ecrt_master_application_time(pdrvstruc->master, app_time);
rt_mutex_release(&pdrvstruc->masterlock);
}
rtdm_printk("ERROR : can't copy data to driver\n");
return -EFAULT;
}
if (pdrvstruc->master)
{
rt_mutex_acquire(&pdrvstruc->masterlock,TM_INFINITE);
ecrt_master_application_time(pdrvstruc->master, app_time);
rt_mutex_release(&pdrvstruc->masterlock);
}
}
break;
@ -419,6 +427,40 @@ int ec_rtdm_ioctl_rt(struct rtdm_dev_context *context,
}
}
break;
case EC_RTDM_MASTER_SYNC_MONITOR_QUEQUE:
{
if (!pdrvstruc->isattached)
{
return -EFAULT;
}
if (pdrvstruc->master)
{
rt_mutex_acquire(&pdrvstruc->masterlock,TM_INFINITE);
ecrt_master_sync_monitor_queue(pdrvstruc->master);
rt_mutex_release(&pdrvstruc->masterlock);
}
}
break;
case EC_RTDM_MASTER_SYNC_MONITOR_PROCESS:
{
uint32_t ret;
if (!pdrvstruc->isattached)
{
return -EFAULT;
}
if (pdrvstruc->master)
{
rt_mutex_acquire(&pdrvstruc->masterlock,TM_INFINITE);
ret = ecrt_master_sync_monitor_process(pdrvstruc->master);
rt_mutex_release(&pdrvstruc->masterlock);
if (rtdm_safe_copy_to_user(user_info, arg, &ret, sizeof(ret)))
{
EC_RTDM_ERR(pdrvstruc->masterno,"copy to user param failed!\n");
ret=-EFAULT;
}
}
}
break;
case EC_RTDM_MSTRATTACH:
{
unsigned int mstridx;
@ -650,7 +692,7 @@ static struct rtdm_device ec_rtdm_device_t = {
driver_name: EC_RTDM_DEV_FILE_NAME,
driver_version: RTDM_DRIVER_VER(1,0,1),
peripheral_name: EC_RTDM_DEV_FILE_NAME,
provider_name: "Moehwald GmbH - Bosch Group",
provider_name: "EtherLab Community",
// proc_name: ethcatrtdm_device.device_name,
};
@ -703,7 +745,7 @@ void cleanup_module(void)
{
unsigned int i;
EC_RTDM_GINFO("Cleanup EtherCAT RTDM Interface to Igh EtherCAT Master - Moehwald GmbH\n");
EC_RTDM_GINFO("Cleanup EtherCAT RTDM Interface \n");
for (i=0;i<EC_RTDM_MAX_MASTERS;i++)
{
if (ec_rtdm_masterintf[i].isattached)
@ -716,4 +758,4 @@ void cleanup_module(void)
}
MODULE_LICENSE("GPL");
MODULE_DESCRIPTION("EtherCAT RTDM Interface to Igh EtherCAT Master");
MODULE_DESCRIPTION("EtherCAT RTDM Interface");