Alle Änderungen aus den Branches no_rtai und no_int nach Trunk portiert.
This commit is contained in:
Florian Pose
parent
d52281b1ba
commit
f06757ec0d
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@ -9,40 +9,22 @@
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#
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#################################################################
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#KERNELDIR=/usr/src/linux
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#KERNELDIR=/home/rich/linux-2.4.20.CX1100-rthal5
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#KERNELDIR=./linux-2.4.20.CX1100-rthal5
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MSR_DIR = /vol/projekte/msr_messen_steuern_regeln
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EC_DIR = $(MSR_DIR)/ethercat
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#IgH
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KERNELDIR = /vol/projekte/msr_messen_steuern_regeln/linux/kernel/2.4.20/include/linux-2.4.20.CX1100-rthal5
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RTAIDIR = /vol/projekte/msr_messen_steuern_regeln/linux/kernel/2.4.20/include/rtai-24.1.13
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RTLIBDIR = rt_lib
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#euler-nottuln
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#KERNELDIR = $(EC_DIR)/linux-2.4.20.CX1100-rthal5-kdb
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KERNELDIR = $(EC_DIR)/linux-2.4.20-kdb
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#KERNELDIR = /usr/src/linux
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#RTAIDIR = /usr/src/rtai
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#patra
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#KERNELDIR = /usr/src/linux-2.4.20.CX1100-rthal5
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#RTAIDIR = /usr/src/rtai-24.1.13
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#include $(KERNELDIR)/.config
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ECAT_8139_OBJ = drv_8139too.o ec_device.o ec_master.o \
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ec_slave.o ec_command.o ec_types.o
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CFLAGS = -O2 -Wall -Wuninitialized -D__KERNEL__ -DMODULE \
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-I$(KERNELDIR)/include -D_RTAI -I$(RTAIDIR)/include \
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-I$(RTLIBDIR)/msr-include
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ifdef CONFIG_SMP
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CFLAGS += -D__SMP__ -DSMP
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endif
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CFLAGS = -O2 -Wall -Wuninitialized -D__KERNEL__ \
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-DMODULE -I$(KERNELDIR)/include
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#################################################################
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all: .depend ecat_8139too.o
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all: .depend Makefile ecat_8139too.o
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ecat_8139too.o: $(ECAT_8139_OBJ)
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$(LD) -r $(ECAT_8139_OBJ) -o $@
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@ -55,7 +37,7 @@ doc docs:
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#################################################################
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.depend:
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.depend depend dep:
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$(CC) $(CFLAGS) -M *.c > .depend
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ifeq (.depend,$(wildcard .depend))
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@ -3,7 +3,7 @@
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* drv_8139too.c
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*
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* EtherCAT-Treiber für RTL8139-kompatible Netzwerkkarten.
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*
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*
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* Autoren: Wilhelm Hagemeister, Florian Pose
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*
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* $Date$
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@ -136,8 +136,6 @@
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/* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
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#include "ec_device.h"
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#include <rtai.h>
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#include <linux/delay.h>
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#include "ec_dbg.h"
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/* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
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@ -193,6 +191,17 @@ static int multicast_filter_limit = 32;
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/* bitmapped message enable number */
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static int debug = -1;
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/* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
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// Device index for EtherCAT device selection
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static int ec_device_index = -1;
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//#define ECAT_DEBUG
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EtherCAT_device_t rtl_ecat_dev;
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/* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
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/* Size of the in-memory receive ring. */
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#define RX_BUF_LEN_IDX 2 /* 0==8K, 1==16K, 2==32K, 3==64K */
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#define RX_BUF_LEN (8192 << RX_BUF_LEN_IDX)
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@ -635,6 +644,13 @@ MODULE_PARM_DESC (max_interrupt_work, "8139too maximum events handled per interr
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MODULE_PARM_DESC (media, "8139too: Bits 4+9: force full duplex, bit 5: 100Mbps");
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MODULE_PARM_DESC (full_duplex, "8139too: Force full duplex for board(s) (1)");
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/* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
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MODULE_PARM(ec_device_index, "i");
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MODULE_PARM_DESC(ec_device_index, "Index of the device reserved for EtherCAT.");
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/* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
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static int read_eeprom (void *ioaddr, int location, int addr_len);
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static int rtl8139_open (struct net_device *dev);
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static int mdio_read (struct net_device *dev, int phy_id, int location);
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@ -647,7 +663,6 @@ static int rtl8139_start_xmit (struct sk_buff *skb,
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struct net_device *dev);
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static void rtl8139_interrupt (int irq, void *dev_instance,
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struct pt_regs *regs);
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static void rt_rtl8139_interrupt(void);
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static int rtl8139_close (struct net_device *dev);
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static int netdev_ioctl (struct net_device *dev, struct ifreq *rq, int cmd);
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static struct net_device_stats *rtl8139_get_stats (struct net_device *dev);
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@ -712,16 +727,6 @@ static void rtl8139_hw_start (struct net_device *dev);
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#endif /* USE_IO_OPS */
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/* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
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#define ECATcard 1 // Diese Ethernetkarte wird für Ethercat verwendet
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//#define ECAT_DEBUG
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EtherCAT_device_t rtl_ecat_dev;
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/* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
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static const u16 rtl8139_intr_mask =
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PCIErr | PCSTimeout | RxUnderrun | RxOverflow | RxFIFOOver |
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TxErr | TxOK | RxErr | RxOK;
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@ -999,7 +1004,7 @@ static int __devinit rtl8139_init_one (struct pci_dev *pdev,
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/* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
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if (board_idx == ECATcard)
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if (board_idx == ec_device_index)
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{
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EC_DBG("EtherCAT registering board %d.\n", board_idx);
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@ -1046,7 +1051,7 @@ static int __devinit rtl8139_init_one (struct pci_dev *pdev,
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/* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
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if (board_idx == ECATcard)
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if (board_idx == ec_device_index)
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{
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rtl_ecat_dev.lock = &tp->lock;
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}
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@ -1378,19 +1383,12 @@ static int rtl8139_open (struct net_device *dev)
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/* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
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if (dev != rtl_ecat_dev.dev)
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if (dev != rtl_ecat_dev.dev)
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{
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retval = request_irq(dev->irq, rtl8139_interrupt, SA_SHIRQ, dev->name, dev);
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if (retval)
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return retval;
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}
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else
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{
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//rt_disable_irq(dev->irq);
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retval = rt_request_global_irq(dev->irq,rt_rtl8139_interrupt);
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//rt_enable_irq(dev->irq);
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}
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if (retval)
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return retval;
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/* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
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@ -1406,11 +1404,7 @@ static int rtl8139_open (struct net_device *dev)
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{
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free_irq(dev->irq, dev);
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}
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else
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{
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rt_free_global_irq (dev->irq);
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}
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/* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
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if (tp->tx_bufs)
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@ -1419,7 +1413,7 @@ static int rtl8139_open (struct net_device *dev)
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if (tp->rx_ring)
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pci_free_consistent(tp->pci_dev, RX_BUF_TOT_LEN,
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tp->rx_ring, tp->rx_ring_dma);
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return -ENOMEM;
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}
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@ -1449,12 +1443,6 @@ static int rtl8139_open (struct net_device *dev)
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EC_DBG (KERN_WARNING "%s: unable to start kernel thread\n",
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dev->name);
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}
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#if 0
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else
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{
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rt_enable_irq(dev->irq);
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}
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#endif
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/* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
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@ -1470,6 +1458,7 @@ static void rtl_check_media (struct net_device *dev)
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if (tp->phys[0] >= 0) {
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u16 mii_lpa = mdio_read(dev, tp->phys[0], MII_LPA);
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if (mii_lpa == 0xffff)
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; /* Not there */
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else if ((mii_lpa & LPA_100FULL) == LPA_100FULL
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@ -1551,14 +1540,20 @@ static void rtl8139_hw_start (struct net_device *dev)
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if ((!(tmp & CmdRxEnb)) || (!(tmp & CmdTxEnb)))
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RTL_W8 (ChipCmd, CmdRxEnb | CmdTxEnb);
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/* Enable all known interrupts by setting the interrupt mask. */
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RTL_W16 (IntrMask, rtl8139_intr_mask);
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/* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
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if (dev != rtl_ecat_dev.dev) netif_start_queue (dev);
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if (dev != rtl_ecat_dev.dev)
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{
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/* Enable all known interrupts by setting the interrupt mask. */
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RTL_W16 (IntrMask, rtl8139_intr_mask);
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netif_start_queue (dev);
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}
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else
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{
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RTL_W16 (IntrMask, 0x0000);
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}
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/* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
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/* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
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EC_DBG(KERN_DEBUG "%s: rtl8139_hw_start finished.\n", dev->name);
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}
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@ -1829,23 +1824,11 @@ static void rtl8139_tx_timeout (struct net_device *dev)
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i == (int) (tp->dirty_tx % NUM_TX_DESC) ?
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" (queue head)" : "");
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/* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
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/* Stop a shared interrupt from scavenging while we are. */
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if (dev == rtl_ecat_dev.dev)
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{
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flags = rt_spin_lock_irqsave (&tp->lock);
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rtl8139_tx_clear (tp);
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rt_spin_unlock_irqrestore (&tp->lock,flags);
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}
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else {
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spin_lock_irqsave (&tp->lock, flags);
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rtl8139_tx_clear (tp);
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spin_unlock_irqrestore (&tp->lock, flags);
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}
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/* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
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spin_lock_irqsave (&tp->lock, flags);
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rtl8139_tx_clear (tp);
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spin_unlock_irqrestore (&tp->lock, flags);
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/* ...and finally, reset everything */
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rtl8139_hw_start (dev);
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@ -1876,7 +1859,7 @@ static int rtl8139_start_xmit (struct sk_buff *skb, struct net_device *dev)
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skb_copy_and_csum_dev(skb, tp->tx_buf[entry]);
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// Socket buffer nicht löschen, wenn vom EtherCAT-device
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if (dev != rtl_ecat_dev.dev) dev_kfree_skb(skb);
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if (dev != rtl_ecat_dev.dev) dev_kfree_skb(skb);
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}
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else
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{
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@ -1885,17 +1868,10 @@ static int rtl8139_start_xmit (struct sk_buff *skb, struct net_device *dev)
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return 0;
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}
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/* Note: the chip doesn't have auto-pad! */
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if (dev == rtl_ecat_dev.dev)
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{
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rt_spin_lock_irq(&tp->lock);
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}
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else
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{
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spin_lock_irq(&tp->lock);
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}
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/* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
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/* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
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/* Note: the chip doesn't have auto-pad! */
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spin_lock_irq(&tp->lock);
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RTL_W32_F (TxStatus0 + (entry * sizeof (u32)),
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tp->tx_flag | max(len, (unsigned int)ETH_ZLEN));
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@ -1913,17 +1889,10 @@ static int rtl8139_start_xmit (struct sk_buff *skb, struct net_device *dev)
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netif_stop_queue (dev);
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}
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if (dev == rtl_ecat_dev.dev)
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{
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rt_spin_unlock_irq(&tp->lock);
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}
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else
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{
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spin_unlock_irq(&tp->lock);
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}
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/* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
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spin_unlock_irq(&tp->lock);
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DPRINTK ("%s: Queued Tx packet size %u to slot %d.\n",
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dev->name, len, entry);
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@ -1981,12 +1950,12 @@ static void rtl8139_tx_interrupt (struct net_device *dev,
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tp->stats.tx_window_errors++;
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/* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
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if (dev == rtl_ecat_dev.dev)
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{
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rtl_ecat_dev.state = ECAT_DS_ERROR;
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}
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/* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
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} else {
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@ -2059,12 +2028,12 @@ static void rtl8139_rx_err (u32 rx_status, struct net_device *dev,
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}
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/* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
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if (dev == rtl_ecat_dev.dev)
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{
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rtl_ecat_dev.state = ECAT_DS_ERROR;
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}
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/* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
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#ifndef CONFIG_8139_OLD_RX_RESET
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@ -2170,7 +2139,7 @@ static void rtl8139_rx_interrupt (struct net_device *dev,
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/* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
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#if RTL8139_DEBUG > 2
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#if RTL8139_DEBUG > 2
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if (dev == rtl_ecat_dev.dev)
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{
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int i;
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@ -2259,7 +2228,7 @@ static void rtl8139_rx_interrupt (struct net_device *dev,
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tp->stats.rx_packets++;
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}
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}
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/* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
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cur_rx = (cur_rx + rx_size + 4 + 3) & ~3;
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@ -2330,8 +2299,6 @@ static void rtl8139_weird_interrupt (struct net_device *dev,
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}
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}
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/* The interrupt handler does all of the Rx thread work and cleans up
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after the Tx thread. */
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static void rtl8139_interrupt (int irq, void *dev_instance,
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@ -2344,16 +2311,15 @@ static void rtl8139_interrupt (int irq, void *dev_instance,
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int ackstat, status;
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int link_changed = 0; /* avoid bogus "uninit" warning */
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/* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
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/* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
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if (dev == rtl_ecat_dev.dev)
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{
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rt_spin_lock(&tp->lock);
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rtl_ecat_dev.intr_cnt++;
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}
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else
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{
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spin_lock (&tp->lock);
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spin_lock(&tp->lock);
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}
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/* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
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@ -2424,13 +2390,9 @@ static void rtl8139_interrupt (int irq, void *dev_instance,
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/* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
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if (dev == rtl_ecat_dev.dev)
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if (dev != rtl_ecat_dev.dev)
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{
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rt_spin_unlock(&tp->lock);
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}
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else
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{
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spin_unlock(&tp->lock);
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spin_unlock (&tp->lock);
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}
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/* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
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@ -2439,15 +2401,6 @@ static void rtl8139_interrupt (int irq, void *dev_instance,
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dev->name, RTL_R16 (IntrStatus));
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}
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/* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
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static void rt_rtl8139_interrupt(void)
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{
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rtl8139_interrupt(rtl_ecat_dev.dev->irq, rtl_ecat_dev.dev, NULL);
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}
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/* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
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static int rtl8139_close (struct net_device *dev)
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{
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struct rtl8139_private *tp = dev->priv;
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@ -2472,26 +2425,13 @@ static int rtl8139_close (struct net_device *dev)
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wait_for_completion (&tp->thr_exited);
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}
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}
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/* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
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DPRINTK ("%s: Shutting down ethercard, status was 0x%4.4x.\n",
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dev->name, RTL_R16 (IntrStatus));
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/* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
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|
||||
//mdelay(1);
|
||||
|
||||
if (dev == rtl_ecat_dev.dev)
|
||||
{
|
||||
flags = rt_spin_lock_irqsave(&tp->lock);
|
||||
}
|
||||
else
|
||||
{
|
||||
spin_lock_irqsave(&tp->lock, flags);
|
||||
}
|
||||
|
||||
/* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
|
||||
spin_lock_irqsave(&tp->lock, flags);
|
||||
|
||||
/* Stop the chip's Tx and Rx DMA processes. */
|
||||
RTL_W8 (ChipCmd, 0);
|
||||
|
|
@ -2503,33 +2443,15 @@ static int rtl8139_close (struct net_device *dev)
|
|||
tp->stats.rx_missed_errors += RTL_R32 (RxMissed);
|
||||
RTL_W32 (RxMissed, 0);
|
||||
|
||||
spin_unlock_irqrestore (&tp->lock, flags);
|
||||
synchronize_irq ();
|
||||
|
||||
/* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
|
||||
|
||||
if (dev == rtl_ecat_dev.dev)
|
||||
{
|
||||
rt_spin_unlock_irqrestore (&tp->lock, flags);
|
||||
synchronize_irq ();
|
||||
}
|
||||
else
|
||||
{
|
||||
spin_unlock_irqrestore (&tp->lock, flags);
|
||||
synchronize_irq ();
|
||||
}
|
||||
|
||||
EC_DBG ("rtl8139: freeing irq");
|
||||
|
||||
//mdelay(1);
|
||||
|
||||
if (dev != rtl_ecat_dev.dev)
|
||||
{
|
||||
free_irq (dev->irq, dev);
|
||||
}
|
||||
else
|
||||
{
|
||||
rt_disable_irq(dev->irq);
|
||||
rt_free_global_irq (dev->irq);
|
||||
rt_enable_irq(dev->irq);
|
||||
}
|
||||
free_irq(dev->irq, dev);
|
||||
}
|
||||
|
||||
/* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
|
||||
|
||||
|
|
@ -2744,7 +2666,7 @@ static int netdev_ethtool_ioctl (struct net_device *dev, void *useraddr)
|
|||
rc = -EFAULT;
|
||||
goto err_out_gregs;
|
||||
}
|
||||
|
||||
|
||||
if (regs.len > regs_len)
|
||||
regs.len = regs_len;
|
||||
if (regs.len < regs_len) {
|
||||
|
|
@ -2868,22 +2790,12 @@ static struct net_device_stats *rtl8139_get_stats (struct net_device *dev)
|
|||
|
||||
/* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
|
||||
|
||||
if (dev == rtl_ecat_dev.dev)
|
||||
if (dev == rtl_ecat_dev.dev || netif_running(dev))
|
||||
{
|
||||
flags = rt_spin_lock_irqsave (&tp->lock);
|
||||
spin_lock_irqsave (&tp->lock, flags);
|
||||
tp->stats.rx_missed_errors += RTL_R32 (RxMissed);
|
||||
RTL_W32 (RxMissed, 0);
|
||||
rt_spin_unlock_irqrestore (&tp->lock, flags);
|
||||
}
|
||||
else
|
||||
{
|
||||
if (netif_running(dev))
|
||||
{
|
||||
spin_lock_irqsave (&tp->lock, flags);
|
||||
tp->stats.rx_missed_errors += RTL_R32 (RxMissed);
|
||||
RTL_W32 (RxMissed, 0);
|
||||
spin_unlock_irqrestore (&tp->lock, flags);
|
||||
}
|
||||
spin_unlock_irqrestore (&tp->lock, flags);
|
||||
}
|
||||
|
||||
/* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
|
||||
|
|
@ -2947,22 +2859,9 @@ static void rtl8139_set_rx_mode (struct net_device *dev)
|
|||
unsigned long flags;
|
||||
struct rtl8139_private *tp = dev->priv;
|
||||
|
||||
/* EtherCAT >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>*/
|
||||
|
||||
if (dev == rtl_ecat_dev.dev)
|
||||
{
|
||||
flags = rt_spin_lock_irqsave (&tp->lock);
|
||||
__set_rx_mode(dev);
|
||||
rt_spin_unlock_irqrestore (&tp->lock, flags);
|
||||
}
|
||||
else
|
||||
{
|
||||
spin_lock_irqsave (&tp->lock, flags);
|
||||
__set_rx_mode(dev);
|
||||
spin_unlock_irqrestore (&tp->lock, flags);
|
||||
}
|
||||
|
||||
/* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
|
||||
spin_lock_irqsave (&tp->lock, flags);
|
||||
__set_rx_mode(dev);
|
||||
spin_unlock_irqrestore (&tp->lock, flags);
|
||||
}
|
||||
|
||||
#ifdef CONFIG_PM
|
||||
|
|
|
|||
|
|
@ -6,16 +6,15 @@
|
|||
#define ECMASTER_DEBUG
|
||||
|
||||
|
||||
#include "../rs232dbg/rs232dbg.h"
|
||||
//#include "../rs232dbg/rs232dbg.h"
|
||||
|
||||
|
||||
#ifdef ECMASTER_DEBUG
|
||||
/* note: prints function name for you */
|
||||
//# define EC_DBG(fmt, args...) SDBG_print(fmt, ## args)
|
||||
|
||||
#define EC_DBG(fmt, args...) SDBG_print("%s: " fmt, __FUNCTION__ , ## args)
|
||||
//#define EC_DBG(fmt, args...) printk(KERN_INFO fmt, ## args)
|
||||
|
||||
//#define EC_DBG(fmt, args...) SDBG_print("%s: " fmt, __FUNCTION__ , ## args)
|
||||
#define EC_DBG(fmt, args...) printk(fmt, ## args)
|
||||
#else
|
||||
#define EC_DBG(fmt, args...)
|
||||
#endif
|
||||
|
|
|
|||
|
|
@ -12,7 +12,6 @@
|
|||
#include <linux/skbuff.h>
|
||||
#include <linux/if_ether.h>
|
||||
#include <linux/netdevice.h>
|
||||
#include <rtai.h>
|
||||
#include <linux/delay.h>
|
||||
|
||||
#include "ec_device.h"
|
||||
|
|
@ -22,7 +21,7 @@
|
|||
|
||||
/**
|
||||
EtherCAT-Geräte-Konstuktor.
|
||||
|
||||
|
||||
Initialisiert ein EtherCAT-Gerät, indem es die Variablen
|
||||
in der Struktur auf die Default-Werte setzt.
|
||||
|
||||
|
|
@ -48,7 +47,7 @@ void EtherCAT_device_init(EtherCAT_device_t *ecd)
|
|||
|
||||
/**
|
||||
EtherCAT-Geräte-Destuktor.
|
||||
|
||||
|
||||
Gibt den dynamisch allozierten Speicher des
|
||||
EtherCAT-Gerätes (die beiden Socket-Buffer) wieder frei.
|
||||
|
||||
|
|
@ -76,7 +75,7 @@ void EtherCAT_device_clear(EtherCAT_device_t *ecd)
|
|||
|
||||
/**
|
||||
Weist einem EtherCAT-Gerät das entsprechende net_device zu.
|
||||
|
||||
|
||||
Prüft das net_device, allokiert Socket-Buffer in Sende- und
|
||||
Empfangsrichtung und weist dem EtherCAT-Gerät und den
|
||||
Socket-Buffern das net_device zu.
|
||||
|
|
@ -279,6 +278,26 @@ int EtherCAT_device_receive(EtherCAT_device_t *ecd,
|
|||
|
||||
/***************************************************************/
|
||||
|
||||
/**
|
||||
Ruft manuell die Interrupt-Routine der Netzwerkkarte auf.
|
||||
|
||||
@param ecd EtherCAT-Gerät
|
||||
|
||||
@return Anzahl der kopierten Bytes bei Erfolg, sonst < 0
|
||||
*/
|
||||
|
||||
void EtherCAT_device_call_isr(EtherCAT_device_t *ecd)
|
||||
{
|
||||
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");
|
||||
}
|
||||
|
||||
/***************************************************************/
|
||||
|
||||
/**
|
||||
Gibt alle Informationen über das Device-Objekt aus.
|
||||
|
||||
|
|
|
|||
|
|
@ -78,6 +78,7 @@ int EtherCAT_device_close(EtherCAT_device_t *);
|
|||
|
||||
int EtherCAT_device_send(EtherCAT_device_t *, unsigned char *, unsigned int);
|
||||
int EtherCAT_device_receive(EtherCAT_device_t *, unsigned char *, unsigned int);
|
||||
void EtherCAT_device_call_isr(EtherCAT_device_t *);
|
||||
|
||||
void EtherCAT_device_debug(EtherCAT_device_t *);
|
||||
|
||||
|
|
|
|||
|
|
@ -18,9 +18,6 @@
|
|||
#include "ec_master.h"
|
||||
#include "ec_dbg.h"
|
||||
|
||||
// FIXME: Klappt nur solange, wie es nur einen Master gibt! fp
|
||||
static int ASYNC = 0;
|
||||
|
||||
/***************************************************************/
|
||||
|
||||
/**
|
||||
|
|
@ -159,13 +156,12 @@ int EtherCAT_check_slaves(EtherCAT_master_t *master,
|
|||
}
|
||||
else
|
||||
{
|
||||
EC_DBG("EtherCAT: Slave count on bus: %i. Found: %i.\n",
|
||||
cmd->working_counter, slave_count);
|
||||
EC_DBG("EtherCAT: Found all %i slaves.\n", slave_count);
|
||||
}
|
||||
|
||||
EtherCAT_remove_command(master, cmd);
|
||||
|
||||
// For every slave in the list
|
||||
// For every slave in the list
|
||||
for (i = 0; i < slave_count; i++)
|
||||
{
|
||||
cur = &slaves[i];
|
||||
|
|
@ -239,21 +235,28 @@ int EtherCAT_check_slaves(EtherCAT_master_t *master,
|
|||
if (EtherCAT_read_slave_information(master, cur->station_address,
|
||||
0x0008, &cur->vendor_id) != 0)
|
||||
{
|
||||
EC_DBG(KERN_ERR "EtherCAT: Could not read SII!\n");
|
||||
EC_DBG(KERN_ERR "EtherCAT: Could not read SII vendor id!\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
if (EtherCAT_read_slave_information(master, cur->station_address,
|
||||
0x000A, &cur->product_code) != 0)
|
||||
{
|
||||
EC_DBG(KERN_ERR "EtherCAT: Could not read SII!\n");
|
||||
EC_DBG(KERN_ERR "EtherCAT: Could not read SII product code!\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
if (EtherCAT_read_slave_information(master, cur->station_address,
|
||||
0x000E, &cur->revision_number) != 0)
|
||||
{
|
||||
EC_DBG(KERN_ERR "EtherCAT: Could not read SII!\n");
|
||||
EC_DBG(KERN_ERR "EtherCAT: Could not read SII revision number!\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
if (EtherCAT_read_slave_information(master, cur->station_address,
|
||||
0x0012, &cur->serial_number) != 0)
|
||||
{
|
||||
EC_DBG(KERN_ERR "EtherCAT: Could not read SII serial number!\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
|
|
@ -284,7 +287,8 @@ int EtherCAT_check_slaves(EtherCAT_master_t *master,
|
|||
|
||||
if (!found)
|
||||
{
|
||||
EC_DBG(KERN_ERR "EtherCAT: Unknown slave device (vendor %X, code %X) at position %i.\n",
|
||||
EC_DBG(KERN_ERR "EtherCAT: Unknown slave device"
|
||||
" (vendor %X, code %X) at position %i.\n",
|
||||
i, cur->vendor_id, cur->product_code);
|
||||
return -1;
|
||||
}
|
||||
|
|
@ -312,8 +316,9 @@ int EtherCAT_check_slaves(EtherCAT_master_t *master,
|
|||
slaves[i].process_data = master->process_data + pos;
|
||||
slaves[i].logical_address0 = pos;
|
||||
|
||||
EC_DBG(KERN_DEBUG "EtherCAT: Slave %i - \"%s %s\" - Logical Address 0x%08X\n",
|
||||
i, slaves[i].desc->vendor_name, slaves[i].desc->product_name, pos);
|
||||
EC_DBG(KERN_DEBUG "EtherCAT: Slave %i - Address 0x%X, \"%s %s\", s/n %u\n",
|
||||
i, pos, slaves[i].desc->vendor_name, slaves[i].desc->product_name,
|
||||
slaves[i].serial_number);
|
||||
|
||||
pos += slaves[i].desc->data_length;
|
||||
}
|
||||
|
|
@ -451,7 +456,7 @@ int EtherCAT_read_slave_information(EtherCAT_master_t *master,
|
|||
entsprechenden Antworten.
|
||||
|
||||
@param master EtherCAT-Master
|
||||
|
||||
|
||||
@return 0 bei Erfolg, sonst < 0
|
||||
*/
|
||||
|
||||
|
|
@ -459,28 +464,30 @@ int EtherCAT_async_send_receive(EtherCAT_master_t *master)
|
|||
{
|
||||
unsigned int wait_cycles;
|
||||
int i;
|
||||
|
||||
|
||||
// Send all commands
|
||||
|
||||
for (i = 0; i < ECAT_NUM_RETRIES; i++)
|
||||
{
|
||||
ASYNC = 1;
|
||||
if (EtherCAT_send(master) < 0)
|
||||
{
|
||||
return -1;
|
||||
}
|
||||
ASYNC = 0;
|
||||
|
||||
// Wait until something is received or an error has occurred
|
||||
|
||||
wait_cycles = 10;
|
||||
EtherCAT_device_call_isr(master->dev);
|
||||
|
||||
while (master->dev->state == ECAT_DS_SENT && wait_cycles)
|
||||
{
|
||||
udelay(1000);
|
||||
wait_cycles--;
|
||||
EtherCAT_device_call_isr(master->dev);
|
||||
}
|
||||
|
||||
|
||||
//EC_DBG("Master async send: tries %d",tries_left);
|
||||
|
||||
|
||||
if (!wait_cycles)
|
||||
{
|
||||
EC_DBG(KERN_ERR "EtherCAT: Asynchronous receive timeout.\n");
|
||||
|
|
@ -492,7 +499,7 @@ int EtherCAT_async_send_receive(EtherCAT_master_t *master)
|
|||
EC_DBG(KERN_ERR "EtherCAT: Asyncronous send error. State %i\n", master->dev->state);
|
||||
continue;
|
||||
}
|
||||
|
||||
|
||||
// Receive all commands
|
||||
if (EtherCAT_receive(master) < 0)
|
||||
{
|
||||
|
|
@ -518,7 +525,7 @@ int EtherCAT_async_send_receive(EtherCAT_master_t *master)
|
|||
Danach wird die Sendefunktion des EtherCAT-Gerätes aufgerufen.
|
||||
|
||||
@param master EtherCAT-Master
|
||||
|
||||
|
||||
@return 0 bei Erfolg, sonst < 0
|
||||
*/
|
||||
|
||||
|
|
@ -614,7 +621,7 @@ int EtherCAT_send(EtherCAT_master_t *master)
|
|||
|
||||
// Pad with zeros
|
||||
while (pos < 46) master->tx_data[pos++] = 0x00;
|
||||
|
||||
|
||||
master->tx_data_length = framelength;
|
||||
|
||||
#ifdef DEBUG_SEND_RECEIVE
|
||||
|
|
@ -635,7 +642,7 @@ int EtherCAT_send(EtherCAT_master_t *master)
|
|||
{
|
||||
EC_DBG(KERN_DEBUG "device send...\n");
|
||||
}
|
||||
|
||||
|
||||
// Send frame
|
||||
if (EtherCAT_device_send(master->dev, master->tx_data, framelength) != 0)
|
||||
{
|
||||
|
|
@ -644,7 +651,7 @@ int EtherCAT_send(EtherCAT_master_t *master)
|
|||
EC_DBG(KERN_DEBUG);
|
||||
for (i = 0; i < framelength; i++)
|
||||
{
|
||||
EC_DBG("%02X ", master->tx_data[i]);
|
||||
EC_DBG("%02X ", master->tx_data[i]);
|
||||
if ((i + 1) % 16 == 0) EC_DBG("\n" KERN_DEBUG);
|
||||
}
|
||||
EC_DBG("\n");
|
||||
|
|
@ -669,7 +676,7 @@ int EtherCAT_send(EtherCAT_master_t *master)
|
|||
allen gesendeten Kommandos ihre Antworten zu.
|
||||
|
||||
@param master EtherCAT-Master
|
||||
|
||||
|
||||
@return 0 bei Erfolg, sonst < 0
|
||||
*/
|
||||
|
||||
|
|
|
|||
|
|
@ -37,9 +37,10 @@ void EtherCAT_slave_init(EtherCAT_slave_t *slave)
|
|||
slave->vendor_id = 0;
|
||||
slave->product_code = 0;
|
||||
slave->revision_number = 0;
|
||||
|
||||
slave->serial_number = 0;
|
||||
|
||||
slave->desc = 0;
|
||||
|
||||
|
||||
slave->logical_address0 = 0;
|
||||
|
||||
slave->current_state = ECAT_STATE_UNKNOWN;
|
||||
|
|
|
|||
|
|
@ -18,6 +18,9 @@
|
|||
|
||||
/**
|
||||
EtherCAT-Slave
|
||||
|
||||
Achtung: Bei Änderungen dieser Struktur immer das Define
|
||||
ECAT_INIT_SLAVE anpassen!
|
||||
*/
|
||||
|
||||
typedef struct
|
||||
|
|
@ -35,6 +38,7 @@ typedef struct
|
|||
unsigned int vendor_id; /**< Identifikationsnummer des Herstellers */
|
||||
unsigned int product_code; /**< Herstellerspezifischer Produktcode */
|
||||
unsigned int revision_number; /**< Revisionsnummer */
|
||||
unsigned int serial_number; /**< Seriennummer der Klemme */
|
||||
|
||||
const EtherCAT_slave_desc_t *desc; /**< Zeiger auf die Beschreibung
|
||||
des Slave-Typs */
|
||||
|
|
@ -49,7 +53,7 @@ typedef struct
|
|||
}
|
||||
EtherCAT_slave_t;
|
||||
|
||||
#define ECAT_INIT_SLAVE(TYPE) {0, 0, 0, 0, 0, 0, 0, 0, \
|
||||
#define ECAT_INIT_SLAVE(TYPE) {0, 0, 0, 0, 0, 0, 0, 0, 0, \
|
||||
TYPE, 0, ECAT_STATE_UNKNOWN, \
|
||||
ECAT_STATE_UNKNOWN, NULL}
|
||||
|
||||
|
|
|
|||
|
|
@ -8,13 +8,18 @@
|
|||
#
|
||||
#----------------------------------------------------------------
|
||||
|
||||
MSRDIR = /vol/projekte/msr_messen_steuern_regeln
|
||||
KERNELDIR = $(MSRDIR)/linux/kernel/2.4.20/include/linux-2.4.20.CX1100-rthal5
|
||||
CFLAGS = -O2 -Wall -Wuninitialized -D__KERNEL__ -DMODULE -I$(KERNELDIR)/include
|
||||
EC_DIR = /vol/projekte/msr_messen_steuern_regeln/ethercat
|
||||
|
||||
#KERNELDIR = $(EC_DIR)/linux-2.4.20.CX1100-rthal5-kdb
|
||||
KERNELDIR = $(EC_DIR)/linux-2.4.20-kdb
|
||||
#KERNELDIR = /usr/src/linux
|
||||
|
||||
CFLAGS = -O2 -Wall -Wuninitialized -D__KERNEL__ \
|
||||
-DMODULE -I$(KERNELDIR)/include
|
||||
|
||||
MODULE = ec_mini_mod.o
|
||||
|
||||
SRC = ec_mini.c
|
||||
SRC = ec_mini.c
|
||||
OBJ = $(SRC:.c=.o)
|
||||
|
||||
#----------------------------------------------------------------
|
||||
|
|
|
|||
114
mini/ec_mini.c
114
mini/ec_mini.c
|
|
@ -12,19 +12,32 @@
|
|||
#include <linux/tqueue.h>
|
||||
#include <linux/slab.h>
|
||||
#include <linux/delay.h>
|
||||
#include <linux/completion.h>
|
||||
|
||||
#include "../drivers/ec_master.h"
|
||||
#include "../drivers/ec_device.h"
|
||||
#include "../drivers/ec_types.h"
|
||||
#include "../drivers/ec_dbg.h"
|
||||
|
||||
/******************************************************************************/
|
||||
|
||||
#define ECAT_OPEN
|
||||
#define ECAT_MASTER
|
||||
#define ECAT_SLAVES
|
||||
#define ECAT_CYCLIC_DATA
|
||||
|
||||
/******************************************************************************/
|
||||
|
||||
extern EtherCAT_device_t rtl_ecat_dev;
|
||||
|
||||
//static EtherCAT_master_t *ecat_master = NULL;
|
||||
#ifdef ECAT_MASTER
|
||||
static EtherCAT_master_t *ecat_master = NULL;
|
||||
#endif
|
||||
|
||||
#if 0
|
||||
#ifdef ECAT_SLAVES
|
||||
static EtherCAT_slave_t ecat_slaves[] =
|
||||
{
|
||||
#if 0
|
||||
// Block 1
|
||||
ECAT_INIT_SLAVE(Beckhoff_EK1100),
|
||||
ECAT_INIT_SLAVE(Beckhoff_EL4102),
|
||||
|
|
@ -44,6 +57,7 @@ static EtherCAT_slave_t ecat_slaves[] =
|
|||
ECAT_INIT_SLAVE(Beckhoff_EL2004),
|
||||
ECAT_INIT_SLAVE(Beckhoff_EL2004),
|
||||
ECAT_INIT_SLAVE(Beckhoff_EL2004),
|
||||
#endif
|
||||
|
||||
// Block 2
|
||||
ECAT_INIT_SLAVE(Beckhoff_EK1100),
|
||||
|
|
@ -72,8 +86,13 @@ static EtherCAT_slave_t ecat_slaves[] =
|
|||
#define ECAT_SLAVES_COUNT (sizeof(ecat_slaves) / sizeof(EtherCAT_slave_t))
|
||||
#endif
|
||||
|
||||
#ifdef ECAT_CYCLIC_DATA
|
||||
double value;
|
||||
int dig1;
|
||||
struct tq_struct cyclic_task;
|
||||
struct clientdata {task_queue *queue;} cyclic_data;
|
||||
static DECLARE_COMPLETION(on_exit);
|
||||
#endif
|
||||
|
||||
/******************************************************************************
|
||||
*
|
||||
|
|
@ -81,7 +100,7 @@ int dig1;
|
|||
*
|
||||
*****************************************************************************/
|
||||
|
||||
#if 0
|
||||
#ifdef ECAT_CYCLIC_DATA
|
||||
static int next2004(int *wrap)
|
||||
{
|
||||
static int i = 0;
|
||||
|
|
@ -109,20 +128,23 @@ static int next2004(int *wrap)
|
|||
|
||||
/******************************************************************************
|
||||
*
|
||||
* Function: msr_controller
|
||||
* Function: run
|
||||
*
|
||||
* Beschreibung: Zyklischer Prozess
|
||||
*
|
||||
*****************************************************************************/
|
||||
|
||||
#if 0
|
||||
void msr_controller()
|
||||
#ifdef ECAT_CYCLIC_DATA
|
||||
void run(void *ptr)
|
||||
{
|
||||
struct clientdata *data = (struct clientdata *) ptr;
|
||||
|
||||
#if 1
|
||||
static int ms = 0;
|
||||
static int cnt = 0;
|
||||
static unsigned long int k = 0;
|
||||
static int firstrun = 1;
|
||||
|
||||
|
||||
static int klemme = 12;
|
||||
static int kanal = 0;
|
||||
static int up_down = 0;
|
||||
|
|
@ -133,10 +155,10 @@ void msr_controller()
|
|||
|
||||
#if 0
|
||||
ecat_tx_delay = ((unsigned int) (100000 / HZ) * (ecat_master->dev->tx_time-k))
|
||||
/ (current_cpu_data.loops_per_jiffy / 10);
|
||||
/ (current_cpu_data.loops_per_jiffy / 10);
|
||||
ecat_rx_delay = ((unsigned int) (100000 / HZ) * (ecat_master->dev->rx_time-k))
|
||||
/ (current_cpu_data.loops_per_jiffy / 10);
|
||||
|
||||
/ (current_cpu_data.loops_per_jiffy / 10);
|
||||
|
||||
rx_intr = ecat_master->dev->rx_intr_cnt;
|
||||
tx_intr = ecat_master->dev->tx_intr_cnt;
|
||||
total_intr = ecat_master->dev->intr_cnt;
|
||||
|
|
@ -145,6 +167,8 @@ void msr_controller()
|
|||
// Prozessdaten lesen
|
||||
if (!firstrun)
|
||||
{
|
||||
klemme = next2004(&wrap);
|
||||
|
||||
EtherCAT_read_process_data(ecat_master);
|
||||
|
||||
// Daten lesen und skalieren
|
||||
|
|
@ -152,11 +176,13 @@ void msr_controller()
|
|||
dig1 = EtherCAT_read_value(&ecat_master->slaves[3], 0);
|
||||
}
|
||||
|
||||
#if 0
|
||||
// Daten schreiben
|
||||
EtherCAT_write_value(&ecat_master->slaves[4], 0, ms > 500 ? 1 : 0);
|
||||
EtherCAT_write_value(&ecat_master->slaves[4], 1, ms > 500 ? 0 : 1);
|
||||
EtherCAT_write_value(&ecat_master->slaves[4], 2, ms > 500 ? 0 : 1);
|
||||
EtherCAT_write_value(&ecat_master->slaves[4], 3, ms > 500 ? 1 : 0);
|
||||
#endif
|
||||
|
||||
if (cnt++ > 20)
|
||||
{
|
||||
|
|
@ -168,7 +194,7 @@ void msr_controller()
|
|||
klemme = next2004(&wrap);
|
||||
|
||||
if (wrap == 1)
|
||||
{
|
||||
{
|
||||
if (up_down == 1) up_down = 0;
|
||||
else up_down = 1;
|
||||
}
|
||||
|
|
@ -177,15 +203,29 @@ void msr_controller()
|
|||
|
||||
if (klemme >= 0)
|
||||
EtherCAT_write_value(&ecat_master->slaves[klemme], kanal,up_down);
|
||||
|
||||
//EtherCAT_write_value(&ecat_master->slaves[13], 1, ms > 500 ? 0 : 1);
|
||||
//EtherCAT_write_value(&ecat_master->slaves[14], 2, ms > 500 ? 0 : 1);
|
||||
//EtherCAT_write_value(&ecat_master->slaves[15], 3, ms > 500 ? 1 : 0);
|
||||
|
||||
|
||||
#if 0
|
||||
EtherCAT_write_value(&ecat_master->slaves[13], 1, ms > 500 ? 0 : 1);
|
||||
EtherCAT_write_value(&ecat_master->slaves[14], 2, ms > 500 ? 0 : 1);
|
||||
EtherCAT_write_value(&ecat_master->slaves[15], 3, ms > 500 ? 1 : 0);
|
||||
#endif
|
||||
|
||||
// Prozessdaten schreiben
|
||||
rdtscl(k);
|
||||
EtherCAT_write_process_data(ecat_master);
|
||||
firstrun = 0;
|
||||
#endif
|
||||
|
||||
if (data->queue)
|
||||
{
|
||||
// Neu in die Taskqueue eintragen
|
||||
queue_task(&cyclic_task, data->queue);
|
||||
}
|
||||
else
|
||||
{
|
||||
//last_queue_finished = 0;
|
||||
complete(&on_exit);
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
|
|
@ -195,10 +235,8 @@ void msr_controller()
|
|||
*
|
||||
******************************************************************************/
|
||||
|
||||
//#define ECAT_OPEN
|
||||
|
||||
int init()
|
||||
{
|
||||
{
|
||||
#ifdef ECAT_OPEN
|
||||
int rv = -1;
|
||||
#endif
|
||||
|
|
@ -219,14 +257,13 @@ int init()
|
|||
}
|
||||
|
||||
if (!rtl_ecat_dev.dev) // Es gibt kein EtherCAT-Device
|
||||
{
|
||||
{
|
||||
EC_DBG(KERN_ERR "msr_modul: No EtherCAT device!\n");
|
||||
goto out_close;
|
||||
}
|
||||
#endif
|
||||
|
||||
#if 0
|
||||
// EtherCAT-Master und Slaves initialisieren
|
||||
#ifdef ECAT_MASTER
|
||||
EC_DBG("Initialising EtherCAT master\n");
|
||||
|
||||
if ((ecat_master = (EtherCAT_master_t *) kmalloc(sizeof(EtherCAT_master_t), GFP_KERNEL)) == 0)
|
||||
|
|
@ -240,9 +277,11 @@ int init()
|
|||
EC_DBG(KERN_ERR "EtherCAT could not init master!\n");
|
||||
goto out_master;
|
||||
}
|
||||
|
||||
ecat_master->debug_level = 1;
|
||||
#endif
|
||||
|
||||
#if 0
|
||||
#ifdef ECAT_SLAVES
|
||||
EC_DBG("Checking EtherCAT slaves.\n");
|
||||
|
||||
if (EtherCAT_check_slaves(ecat_master, ecat_slaves, ECAT_SLAVES_COUNT) != 0)
|
||||
|
|
@ -258,12 +297,15 @@ int init()
|
|||
EC_DBG(KERN_ERR "EtherCAT: Could not activate slaves!\n");
|
||||
goto out_masterclear;
|
||||
}
|
||||
#endif
|
||||
|
||||
// Zyklischen Aufruf starten
|
||||
|
||||
#ifdef ECAT_CYCLIC_DATA
|
||||
EC_DBG("Starting cyclic sample thread.\n");
|
||||
|
||||
EtherCAT_write_process_data(ecat_master);
|
||||
cyclic_task.routine = run;
|
||||
cyclic_task.data = (void *) &cyclic_data;
|
||||
cyclic_data.queue = &tq_timer;
|
||||
queue_task(&cyclic_task, &tq_timer);
|
||||
|
||||
EC_DBG("Initialised sample thread.\n");
|
||||
#endif
|
||||
|
|
@ -272,13 +314,13 @@ int init()
|
|||
|
||||
return 0;
|
||||
|
||||
#if 0
|
||||
#ifdef ECAT_SLAVES
|
||||
out_masterclear:
|
||||
EC_DBG(KERN_INFO "Clearing EtherCAT master.\n");
|
||||
EtherCAT_master_clear(ecat_master);
|
||||
#endif
|
||||
|
||||
#if 0
|
||||
#ifdef ECAT_MASTER
|
||||
out_master:
|
||||
EC_DBG(KERN_INFO "Freeing EtherCAT master.\n");
|
||||
kfree(ecat_master);
|
||||
|
|
@ -304,14 +346,18 @@ void cleanup()
|
|||
{
|
||||
EC_DBG(KERN_INFO "=== Stopping Minimal EtherCAT environment... ===\n");
|
||||
|
||||
// Noch einmal lesen
|
||||
//EC_DBG(KERN_INFO "Reading process data.\n");
|
||||
//EtherCAT_read_process_data(ecat_master);
|
||||
|
||||
#if 0
|
||||
#ifdef ECAT_MASTER
|
||||
if (ecat_master)
|
||||
{
|
||||
#if 0
|
||||
//ecat_master->debug_level = 1;
|
||||
|
||||
#ifdef ECAT_CYCLIC_DATA
|
||||
cyclic_data.queue = NULL;
|
||||
wait_for_completion(&on_exit);
|
||||
EtherCAT_clear_process_data(ecat_master);
|
||||
#endif
|
||||
|
||||
#ifdef ECAT_SLAVES
|
||||
EC_DBG(KERN_INFO "Deactivating slaves.\n");
|
||||
EtherCAT_deactivate_all_slaves(ecat_master);
|
||||
#endif
|
||||
|
|
|
|||
|
|
@ -1,47 +1,22 @@
|
|||
#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
|
||||
MSRDIR = /vol/projekte/msr_messen_steuern_regeln
|
||||
ECATDIR = $(MSRDIR)/ethercat
|
||||
|
||||
#patra
|
||||
#KERNELDIR = /usr/src/linux-2.4.20.CX1100-rthal5
|
||||
#RTAIDIR = /usr/src/rtai-24.1.13
|
||||
KERNELDIR = $(ECATDIR)/linux-2.4.20.CX1100-rthal5-kdb
|
||||
RTAIDIR = $(MSRDIR)/linux/kernel/2.4.20/include/rtai-24.1.13
|
||||
|
||||
RTLIBDIR=rt_lib
|
||||
|
||||
#include $(KERNELDIR)/.config
|
||||
|
||||
#CFLAGS = -DRTAI -D__KERNEL__ -DMODULE -I$(KERNELDIR)/include -I$(RTAIDIR)/include -I$(RTLIBDIR)/msr-include \
|
||||
# -Wall -Wstrict-prototypes -Wno-trigraphs -O2 -fno-strict-aliasing -fno-common -fomit-frame-pointer \
|
||||
# -pipe -mpreferred-stack-boundary=2 -march=i686 -nostdinc -iwithprefix include
|
||||
|
||||
CFLAGS = -O2 -Wall -Wuninitialized -D__KERNEL__ -DMODULE -I$(KERNELDIR)/include -D_RTAI -I$(RTAIDIR)/include -I$(RTLIBDIR)/msr-include
|
||||
|
||||
#CFLAGS += -DSIMULATION
|
||||
#LDFLAGS =
|
||||
|
||||
#VPATH = $(RTLIBDIR)/
|
||||
CFLAGS = -O2 -Wall -Wuninitialized -D__KERNEL__ -DMODULE \
|
||||
-I$(KERNELDIR)/include -D_RTAI -I$(RTAIDIR)/include -I$(RTLIBDIR)/msr-include
|
||||
|
||||
TARGET = sdbg
|
||||
MODULE = $(TARGET).o
|
||||
|
||||
SRC = rs232dbg.c aip_com.c
|
||||
|
||||
#Suchpfad für die Dateien aus dem RT-Lib-Verzeichnis
|
||||
VPATH = $(RTLIBDIR)/msr-core:$(RTLIBDIR)/msr-control:$(RTLIBDIR)/msr-math:$(RTLIBDIR)/msr-misc:$(RTLIBDIR)/msr-utils
|
||||
|
||||
#Datei aus dem RT-Libverzeichnis für dies Projekt
|
||||
RTSRC =
|
||||
|
||||
ALLSRC = $(SRC) $(RTSRC)
|
||||
ALLSRC = $(SRC)
|
||||
|
||||
OBJS = $(ALLSRC:.c=.o)
|
||||
|
||||
|
||||
all: .depend $(TARGET).o Makefile
|
||||
|
||||
$(TARGET).o: $(SRC:.c=.o) $(RTSRC:.c=.o)
|
||||
|
|
@ -57,26 +32,6 @@ clean:
|
|||
depend .depend dep:
|
||||
$(CC) $(CFLAGS) -M *.c > $@
|
||||
|
||||
|
||||
|
||||
|
||||
ifeq (.depend,$(wildcard .depend))
|
||||
include .depend
|
||||
endif
|
||||
|
||||
|
||||
#all: msr_module.o
|
||||
#
|
||||
#msr_io.o: msr_io.c msr_io.h
|
||||
# $(CC) $(CFLAGS) -c -o $@ $<
|
||||
#
|
||||
#msr_module.o: msr_io.o
|
||||
# $(LD) -r -o $@ $^
|
||||
#
|
||||
|
||||
# $(CC) -c $(CFLAGS) $(CPPFLAGS) -o $@ $<
|
||||
|
||||
|
||||
#clean:
|
||||
# rm -f *.o *~ core
|
||||
|
||||
|
|
|
|||
|
|
@ -810,7 +810,7 @@ int init_aip_com(void)
|
|||
//void cleanup_module(void) Hm, IgH
|
||||
void cleanup_aip_com(void)
|
||||
{
|
||||
int i;
|
||||
unsigned int i;
|
||||
for (i = 0; i < RT_COM_CNT; i++) {
|
||||
struct rt_com_struct *p = &(rt_com_table[i]);
|
||||
if (0 < p->used) {
|
||||
|
|
|
|||
Loading…
Reference in New Issue