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ethercat
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ISR-Aufruf in read_process_data

This commit is contained in:
Wilhelm Hagemeister 2005-11-04 17:05:20 +00:00
parent f06757ec0d
commit ab171db9c1
4 changed files with 32 additions and 12 deletions
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34
drivers/Makefile
View File

@ -9,22 +9,40 @@
# #
################################################################# #################################################################
MSR_DIR = /vol/projekte/msr_messen_steuern_regeln #KERNELDIR=/usr/src/linux
EC_DIR = $(MSR_DIR)/ethercat #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 #IgH
KERNELDIR = $(EC_DIR)/linux-2.4.20-kdb 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 #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 $(KERNELDIR)/.config
ECAT_8139_OBJ = drv_8139too.o ec_device.o ec_master.o \ ECAT_8139_OBJ = drv_8139too.o ec_device.o ec_master.o \
ec_slave.o ec_command.o ec_types.o ec_slave.o ec_command.o ec_types.o
CFLAGS = -O2 -Wall -Wuninitialized -D__KERNEL__ \
-DMODULE -I$(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) ecat_8139too.o: $(ECAT_8139_OBJ)
$(LD) -r $(ECAT_8139_OBJ) -o $@ $(LD) -r $(ECAT_8139_OBJ) -o $@
@ -37,7 +55,7 @@ doc docs:
################################################################# #################################################################
.depend depend dep: .depend:
$(CC) $(CFLAGS) -M *.c > .depend $(CC) $(CFLAGS) -M *.c > .depend
ifeq (.depend,$(wildcard .depend)) ifeq (.depend,$(wildcard .depend))

4
drivers/ec_device.c
View File

@ -288,12 +288,12 @@ int EtherCAT_device_receive(EtherCAT_device_t *ecd,
void EtherCAT_device_call_isr(EtherCAT_device_t *ecd) 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 // Manuell die ISR aufrufen
rtl8139_interrupt(0, ecd->dev, NULL); rtl8139_interrupt(0, ecd->dev, NULL);
EC_DBG(KERN_DEBUG "EtherCAT: ISR finished.\n"); // EC_DBG(KERN_DEBUG "EtherCAT: ISR finished.\n");
} }
/***************************************************************/ /***************************************************************/

2
drivers/ec_master.c
View File

@ -1767,6 +1767,8 @@ int EtherCAT_read_process_data(EtherCAT_master_t *master)
return -1; return -1;
} }
EtherCAT_device_call_isr(master->dev);
if (EtherCAT_receive(master) < 0) if (EtherCAT_receive(master) < 0)
{ {
EC_DBG(KERN_ERR "EtherCAT: Could not receive cyclic command!\n"); EC_DBG(KERN_ERR "EtherCAT: Could not receive cyclic command!\n");

4
rt/msr_io.c
View File

@ -86,7 +86,7 @@ extern EtherCAT_device_t rtl_ecat_dev;
static EtherCAT_slave_t ecat_slaves[] = static EtherCAT_slave_t ecat_slaves[] =
{ {
//Block 1 //Block 1
ECAT_INIT_SLAVE(Beckhoff_EK1100), /* ECAT_INIT_SLAVE(Beckhoff_EK1100),
ECAT_INIT_SLAVE(Beckhoff_EL4102), ECAT_INIT_SLAVE(Beckhoff_EL4102),
ECAT_INIT_SLAVE(Beckhoff_EL3162), ECAT_INIT_SLAVE(Beckhoff_EL3162),
ECAT_INIT_SLAVE(Beckhoff_EL1014), ECAT_INIT_SLAVE(Beckhoff_EL1014),
@ -103,7 +103,7 @@ static EtherCAT_slave_t ecat_slaves[] =
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), ECAT_INIT_SLAVE(Beckhoff_EL2004),
ECAT_INIT_SLAVE(Beckhoff_EL2004), ECAT_INIT_SLAVE(Beckhoff_EL2004), */
//Block 2 //Block 2
ECAT_INIT_SLAVE(Beckhoff_EK1100), ECAT_INIT_SLAVE(Beckhoff_EK1100),
ECAT_INIT_SLAVE(Beckhoff_EL4102), ECAT_INIT_SLAVE(Beckhoff_EL4102),