diff --git a/drivers/ec_master.c b/drivers/ec_master.c
index 79887713121a55b4b7d2ef267d1f5cc5b42f0202..8f5ff3536114cc84c85bb62339f8be0a85950710 100644
--- a/drivers/ec_master.c
+++ b/drivers/ec_master.c
@@ -706,17 +706,16 @@ int EtherCAT_state_change(EtherCAT_master_t *master,
0x0120, 2, data);
if (unlikely(EtherCAT_simple_send_receive(master, &cmd) != 0)) {
- printk(KERN_ERR "EtherCAT: Could not set state %02X -"
- " Unable to send!\n", state_and_ack);
- return -2;
+ printk(KERN_ERR "EtherCAT: Could not set state %02X - Unable to send!\n",
+ state_and_ack);
+ return -1;
}
if (unlikely(cmd.working_counter != 1)) {
- printk(KERN_ERR "EtherCAT: Could not set state %02X -"
- " Device \"%s %s\" (%d) did not respond!\n",
- state_and_ack, slave->desc->vendor_name,
- slave->desc->product_name, slave->ring_position*(-1));
- return -3;
+ printk(KERN_ERR "EtherCAT: Could not set state %02X - Device \"%s %s\""
+ " (%d) did not respond!\n", state_and_ack, slave->desc->vendor_name,
+ slave->desc->product_name, slave->ring_position * (-1));
+ return -1;
}
slave->requested_state = state_and_ack & 0x0F;
@@ -729,23 +728,21 @@ int EtherCAT_state_change(EtherCAT_master_t *master,
EtherCAT_command_read(&cmd, slave->station_address, 0x0130, 2);
if (unlikely(EtherCAT_simple_send_receive(master, &cmd) != 0)) {
- printk(KERN_ERR "EtherCAT: Could not check"
- " state %02X - Unable to send!\n", state_and_ack);
- return -2;
+ printk(KERN_ERR "EtherCAT: Could not check state %02X - Unable to"
+ " send!\n", state_and_ack);
+ return -1;
}
if (unlikely(cmd.working_counter != 1)) {
- printk(KERN_ERR "EtherCAT: Could not check"
- " state %02X - Device did not respond!\n",
- state_and_ack);
- return -3;
+ printk(KERN_ERR "EtherCAT: Could not check state %02X - Device did not"
+ " respond!\n", state_and_ack);
+ return -1;
}
if (unlikely(cmd.data[0] & 0x10)) { // State change error
- printk(KERN_ERR "EtherCAT: Could not set state %02X -"
- " Device refused state change (code %02X)!\n",
- state_and_ack, cmd.data[0]);
- return -4;
+ printk(KERN_ERR "EtherCAT: Could not set state %02X - Device refused"
+ " state change (code %02X)!\n", state_and_ack, cmd.data[0]);
+ return -1;
}
if (likely(cmd.data[0] == (state_and_ack & 0x0F))) {
@@ -757,9 +754,9 @@ int EtherCAT_state_change(EtherCAT_master_t *master,
}
if (unlikely(!tries_left)) {
- printk(KERN_ERR "EtherCAT: Could not check state %02X -"
- " Timeout while checking!\n", state_and_ack);
- return -5;
+ printk(KERN_ERR "EtherCAT: Could not check state %02X - Timeout while"
+ " checking!\n", state_and_ack);
+ return -1;
}
slave->current_state = state_and_ack & 0x0F;
@@ -792,24 +789,21 @@ int EtherCAT_activate_slave(EtherCAT_master_t *master,
desc = slave->desc;
- if (unlikely(EtherCAT_state_change(master, slave,
- ECAT_STATE_INIT) != 0))
+ if (unlikely(EtherCAT_state_change(master, slave, ECAT_STATE_INIT) != 0))
return -1;
// Resetting FMMU's
memset(data, 0x00, 256);
- EtherCAT_command_write(&cmd, slave->station_address,
- 0x0600, 256, data);
+ EtherCAT_command_write(&cmd, slave->station_address, 0x0600, 256, data);
if (unlikely(EtherCAT_simple_send_receive(master, &cmd) < 0))
return -1;
if (unlikely(cmd.working_counter != 1)) {
- printk(KERN_ERR "EtherCAT: Resetting FMMUs -"
- " Slave %04X did not respond!\n",
- slave->station_address);
+ printk(KERN_ERR "EtherCAT: Resetting FMMUs - Slave %04X did not"
+ " respond!\n", slave->station_address);
return -1;
}
@@ -819,16 +813,14 @@ int EtherCAT_activate_slave(EtherCAT_master_t *master,
{
memset(data, 0x00, 256);
- EtherCAT_command_write(&cmd, slave->station_address,
- 0x0800, 256, data);
+ EtherCAT_command_write(&cmd, slave->station_address, 0x0800, 256, data);
if (unlikely(EtherCAT_simple_send_receive(master, &cmd) < 0))
return -1;
if (unlikely(cmd.working_counter != 1)) {
- printk(KERN_ERR "EtherCAT: Resetting SMs -"
- " Slave %04X did not respond!\n",
- slave->station_address);
+ printk(KERN_ERR "EtherCAT: Resetting SMs - Slave %04X did not"
+ " respond!\n", slave->station_address);
return -1;
}
}
@@ -839,24 +831,23 @@ int EtherCAT_activate_slave(EtherCAT_master_t *master,
{
if (desc->sm0)
{
- EtherCAT_command_write(&cmd, slave->station_address,
- 0x0800, 8, desc->sm0);
+ EtherCAT_command_write(&cmd, slave->station_address, 0x0800, 8,
+ desc->sm0);
if (unlikely(EtherCAT_simple_send_receive(master, &cmd) < 0))
return -1;
if (unlikely(cmd.working_counter != 1)) {
- printk(KERN_ERR "EtherCAT: Setting SM0 -"
- " Slave %04X did not respond!\n",
- slave->station_address);
+ printk(KERN_ERR "EtherCAT: Setting SM0 - Slave %04X did not"
+ " respond!\n", slave->station_address);
return -1;
}
}
if (desc->sm1)
{
- EtherCAT_command_write(&cmd, slave->station_address,
- 0x0808, 8, desc->sm1);
+ EtherCAT_command_write(&cmd, slave->station_address, 0x0808, 8,
+ desc->sm1);
if (unlikely(EtherCAT_simple_send_receive(master, &cmd) < 0))
return -1;
@@ -872,8 +863,7 @@ int EtherCAT_activate_slave(EtherCAT_master_t *master,
// Change state to PREOP
- if (unlikely(EtherCAT_state_change(master, slave,
- ECAT_STATE_PREOP) != 0))
+ if (unlikely(EtherCAT_state_change(master, slave, ECAT_STATE_PREOP) != 0))
return -1;
// Set FMMU's
@@ -893,16 +883,14 @@ int EtherCAT_activate_slave(EtherCAT_master_t *master,
fmmu[2] = (slave->logical_address & 0x00FF0000) >> 16;
fmmu[3] = (slave->logical_address & 0xFF000000) >> 24;
- EtherCAT_command_write(&cmd, slave->station_address,
- 0x0600, 16, fmmu);
+ EtherCAT_command_write(&cmd, slave->station_address, 0x0600, 16, fmmu);
if (unlikely(EtherCAT_simple_send_receive(master, &cmd) < 0))
return -1;
if (unlikely(cmd.working_counter != 1)) {
- printk(KERN_ERR "EtherCAT: Setting FMMU0 -"
- " Slave %04X did not respond!\n",
- slave->station_address);
+ printk(KERN_ERR "EtherCAT: Setting FMMU0 - Slave %04X did not"
+ " respond!\n", slave->station_address);
return -1;
}
}
@@ -913,32 +901,30 @@ int EtherCAT_activate_slave(EtherCAT_master_t *master,
{
if (desc->sm0)
{
- EtherCAT_command_write(&cmd, slave->station_address,
- 0x0800, 8, desc->sm0);
+ EtherCAT_command_write(&cmd, slave->station_address, 0x0800, 8,
+ desc->sm0);
if (unlikely(EtherCAT_simple_send_receive(master, &cmd) < 0))
return -1;
if (unlikely(cmd.working_counter != 1)) {
- printk(KERN_ERR "EtherCAT: Setting SM0 -"
- " Slave %04X did not respond!\n",
- slave->station_address);
+ printk(KERN_ERR "EtherCAT: Setting SM0 - Slave %04X did not"
+ " respond!\n", slave->station_address);
return -1;
}
}
if (desc->sm1)
{
- EtherCAT_command_write(&cmd, slave->station_address,
- 0x0808, 8, desc->sm1);
+ EtherCAT_command_write(&cmd, slave->station_address, 0x0808, 8,
+ desc->sm1);
if (unlikely(EtherCAT_simple_send_receive(master, &cmd) < 0))
return -1;
if (unlikely(cmd.working_counter != 1)) {
- printk(KERN_ERR "EtherCAT: Setting SM1 -"
- " Slave %04X did not respond!\n",
- slave->station_address);
+ printk(KERN_ERR "EtherCAT: Setting SM1 - Slave %04X did not"
+ " respond!\n", slave->station_address);
return -1;
}
}
@@ -946,15 +932,13 @@ int EtherCAT_activate_slave(EtherCAT_master_t *master,
if (desc->sm2)
{
- EtherCAT_command_write(&cmd, slave->station_address,
- 0x0810, 8, desc->sm2);
+ EtherCAT_command_write(&cmd, slave->station_address, 0x0810, 8, desc->sm2);
if (unlikely(EtherCAT_simple_send_receive(master, &cmd) < 0))
return -1;
if (unlikely(cmd.working_counter != 1)) {
- printk(KERN_ERR "EtherCAT: Setting SM2 -"
- " Slave %04X did not respond!\n",
+ printk(KERN_ERR "EtherCAT: Setting SM2 - Slave %04X did not respond!\n",
slave->station_address);
return -1;
}
@@ -962,28 +946,24 @@ int EtherCAT_activate_slave(EtherCAT_master_t *master,
if (desc->sm3)
{
- EtherCAT_command_write(&cmd, slave->station_address,
- 0x0818, 8, desc->sm3);
+ EtherCAT_command_write(&cmd, slave->station_address, 0x0818, 8, desc->sm3);
if (unlikely(EtherCAT_simple_send_receive(master, &cmd) < 0))
return -1;
if (unlikely(cmd.working_counter != 1)) {
- printk(KERN_ERR "EtherCAT: Setting SM3 -"
- " Slave %04X did not respond!\n",
+ printk(KERN_ERR "EtherCAT: Setting SM3 - Slave %04X did not respond!\n",
slave->station_address);
return -1;
}
}
// Change state to SAVEOP
- if (unlikely(EtherCAT_state_change(master, slave,
- ECAT_STATE_SAVEOP) != 0))
+ if (unlikely(EtherCAT_state_change(master, slave, ECAT_STATE_SAVEOP) != 0))
return -1;
// Change state to OP
- if (unlikely(EtherCAT_state_change(master, slave,
- ECAT_STATE_OP) != 0))
+ if (unlikely(EtherCAT_state_change(master, slave, ECAT_STATE_OP) != 0))
return -1;
return 0;
diff --git a/rt/msr_jitter.c b/rt/msr_jitter.c
index 1928958c36a5c125bceef1da27196325ed9639fd..8fa13006f6a4a72c17a2196955791a18922bb0c6 100644
--- a/rt/msr_jitter.c
+++ b/rt/msr_jitter.c
@@ -1,58 +1,20 @@
-/**************************************************************************************************
-*
-* msr_jitter.c
-*
-*
-* Autor: Wilhelm Hagemeister
-*
-* (C) Copyright IgH 2002
-* Ingenieurgemeinschaft IgH
-* Heinz-Bäcker Str. 34
-* D-45356 Essen
-* Tel.: +49 201/61 99 31
-* Fax.: +49 201/61 98 36
-* E-mail: hm@igh-essen.com
-*
-*
-* $RCSfile: msr_adeos_latency.c,v $
-* $Revision: 1.3 $
-* $Author: hm $
-* $Date: 2005/12/07 20:13:53 $
-* $State: Exp $
-*
-*
-* $Log: msr_adeos_latency.c,v $
-* Revision 1.3 2005/12/07 20:13:53 hm
-* *** empty log message ***
-*
-* Revision 1.2 2005/12/07 15:56:13 hm
-* *** empty log message ***
-*
-* Revision 1.1 2005/12/07 08:43:40 hm
-* Initial revision
-*
-* Revision 1.5 2005/11/14 20:28:09 hm
-* *** empty log message ***
-*
-* Revision 1.4 2005/11/13 10:34:07 hm
-* *** empty log message ***
-*
-* Revision 1.3 2005/11/12 20:52:46 hm
-* *** empty log message ***
-*
-* Revision 1.2 2005/11/12 20:51:27 hm
-* *** empty log message ***
-*
-* Revision 1.1 2005/11/12 19:16:02 hm
-* Initial revision
-*
-* Revision 1.13 2005/06/17 11:35:13 hm
-* *** empty log message ***
-*
-*
-*
-*
-**************************************************************************************************/
+/******************************************************************************
+ *
+ * msr_jitter.c
+ *
+ * Autor: Wilhelm Hagemeister
+ *
+ * (C) Copyright IgH 2002
+ * Ingenieurgemeinschaft IgH
+ * Heinz-Bäcker Str. 34
+ * D-45356 Essen
+ * Tel.: +49 201/61 99 31
+ * Fax.: +49 201/61 98 36
+ * E-mail: hm@igh-essen.com
+ *
+ * $Id$
+ *
+ *****************************************************************************/
#ifndef __KERNEL__
# define __KERNEL__
@@ -71,27 +33,24 @@
#include <msr_reg.h>
#include "msr_jitter.h"
-/*--includes-------------------------------------------------------------------------------------*/
-
+/*--includes-----------------------------------------------------------------*/
-/*--external functions---------------------------------------------------------------------------*/
+/*--external functions-------------------------------------------------------*/
-/*--external data--------------------------------------------------------------------------------*/
+/*--external data------------------------------------------------------------*/
-/*--public data----------------------------------------------------------------------------------*/
+/*--public data--------------------------------------------------------------*/
-/*--local data-----------------------------------------------------------------------------------*/
+/*--local data---------------------------------------------------------------*/
#define NUMCLASSES 16
-static int jittime[NUMCLASSES]={0,1,2,5,10,20,50,100,200,500,1000,2000,5000,10000,20000,50000}; //in usec
+static int jittime[NUMCLASSES]={0,1,2,5,10,20,50,100,200,500,
+ 1000,2000,5000,10000,20000,50000}; //in usec
static int jitcount[NUMCLASSES];
static double jitpercent[NUMCLASSES];
-
static unsigned int tcount = 1;
-
-
static void msr_jit_read(void)
{
int i;
@@ -104,27 +63,28 @@ static void msr_jit_read(void)
void msr_jitter_init(void)
{
- msr_reg_int_list("/Taskinfo/Jitter/Classes","usec",&jittime[0],MSR_R,NUMCLASSES,NULL,NULL,NULL);
- msr_reg_int_list("/Taskinfo/Jitter/Count","",&jitcount[0],MSR_R,NUMCLASSES,NULL,NULL,NULL);
- msr_reg_dbl_list("/Taskinfo/Jitter/percent","%",&jitpercent[0],MSR_R,NUMCLASSES,NULL,NULL,&msr_jit_read);
+ msr_reg_int_list("/Taskinfo/Jitter/Classes","usec",
+ &jittime[0],MSR_R,NUMCLASSES,NULL,NULL,NULL);
+ msr_reg_int_list("/Taskinfo/Jitter/Count","",
+ &jitcount[0],MSR_R,NUMCLASSES,NULL,NULL,NULL);
+ msr_reg_dbl_list("/Taskinfo/Jitter/percent","%",
+ &jitpercent[0],MSR_R,NUMCLASSES,NULL,NULL,&msr_jit_read);
}
-/*
-***************************************************************************************************
-*
-* Function: msr_jitter_run
-*
-* Beschreibung:
-*
-*
-* Parameter: Zeiger auf msr_data
-*
-* Rückgabe:
-*
-* Status: exp
-*
-***************************************************************************************************
-*/
+/******************************************************************************
+ *
+ * Function: msr_jitter_run
+ *
+ * Beschreibung:
+ *
+ *
+ * Parameter: Zeiger auf msr_data
+ *
+ * Rückgabe:
+ *
+ * Status: exp
+ *
+ *****************************************************************************/
void msr_jitter_run(unsigned int hz) {
@@ -140,9 +100,11 @@ void msr_jitter_run(unsigned int hz) {
//Zeitabstand zwischen zwei Interrupts in usec
- dt = ((unsigned long)(100000/HZ)*((unsigned long)(k-j)))/(current_cpu_data.loops_per_jiffy/10);
+ dt = ((unsigned long)(100000/HZ)*((unsigned long)(k-j)))
+ /(current_cpu_data.loops_per_jiffy/10);
- jitter = (unsigned int)abs((int)dt-(int)1000000/hz); //jitter errechnet zum Sollabtastrate
+ jitter = (unsigned int)abs((int)dt-(int)1000000/hz);
+ //jitter errechnet zum Sollabtastrate
//in die Klassen einsortieren
if(!firstrun) { //das erste mal nicht einsortieren
@@ -165,20 +127,3 @@ void msr_jitter_run(unsigned int hz) {
}
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
diff --git a/rt/msr_jitter.h b/rt/msr_jitter.h
index 8ce1d46fcaebac8dc4677f54348de1703b0ca80b..2d01bb05515bff9ae2cc7ddcecdb7c4436a127ff 100644
--- a/rt/msr_jitter.h
+++ b/rt/msr_jitter.h
@@ -1,60 +1,22 @@
-/**************************************************************************************************
-*
-* msr_jitter.c
-*
-*
-* Autor: Wilhelm Hagemeister
-*
-* (C) Copyright IgH 2002
-* Ingenieurgemeinschaft IgH
-* Heinz-Bäcker Str. 34
-* D-45356 Essen
-* Tel.: +49 201/61 99 31
-* Fax.: +49 201/61 98 36
-* E-mail: hm@igh-essen.com
-*
-*
-* $RCSfile: msr_adeos_latency.c,v $
-* $Revision: 1.3 $
-* $Author: hm $
-* $Date: 2005/12/07 20:13:53 $
-* $State: Exp $
-*
-*
-* $Log: msr_adeos_latency.c,v $
-* Revision 1.3 2005/12/07 20:13:53 hm
-* *** empty log message ***
-*
-* Revision 1.2 2005/12/07 15:56:13 hm
-* *** empty log message ***
-*
-* Revision 1.1 2005/12/07 08:43:40 hm
-* Initial revision
-*
-* Revision 1.5 2005/11/14 20:28:09 hm
-* *** empty log message ***
-*
-* Revision 1.4 2005/11/13 10:34:07 hm
-* *** empty log message ***
-*
-* Revision 1.3 2005/11/12 20:52:46 hm
-* *** empty log message ***
-*
-* Revision 1.2 2005/11/12 20:51:27 hm
-* *** empty log message ***
-*
-* Revision 1.1 2005/11/12 19:16:02 hm
-* Initial revision
-*
-* Revision 1.13 2005/06/17 11:35:13 hm
-* *** empty log message ***
-*
-*
-*
-*
-**************************************************************************************************/
+/******************************************************************************
+ *
+ * msr_jitter.c
+ *
+ * Autor: Wilhelm Hagemeister
+ *
+ * (C) Copyright IgH 2002
+ * Ingenieurgemeinschaft IgH
+ * Heinz-Bäcker Str. 34
+ * D-45356 Essen
+ * Tel.: +49 201/61 99 31
+ * Fax.: +49 201/61 98 36
+ * E-mail: hm@igh-essen.com
+ *
+ * $Id$
+ *
+ *****************************************************************************/
-/*--Schutz vor mehrfachem includieren------------------------------------------------------------*/
+/*--Schutz vor mehrfachem includieren----------------------------------------*/
#ifndef _MSR_JITTER_H_
#define _MSR_JITTER_H_
diff --git a/rt/msr_module.c b/rt/msr_module.c
old mode 100755
new mode 100644
index 8a09414a47a8bc841379c719cd6c99d0bd79ab87..b934f011d1f5781a0ef8273e3bd7706a728a0c59
--- a/rt/msr_module.c
+++ b/rt/msr_module.c
@@ -399,6 +399,7 @@ int __init init_module()
for (i = 0; i < ECAT_SLAVES_COUNT; i++) {
if (EtherCAT_activate_slave(ecat_master, ecat_slaves + i) < 0) {
+ printk(KERN_ERR "EtherCAT: Could not activate slave %i!\n", i);
goto out_release_master;
}
}
@@ -436,10 +437,10 @@ void __exit cleanup_module()
ipipe_tune_timer(1000000000UL/HZ,0); //alten Timertakt wieder herstellen
ipipe_unregister_domain(&this_domain);
- printk(KERN_INFO "=== Stopping EtherCAT environment... ===\n");
-
if (ecat_master)
{
+ printk(KERN_INFO "=== Stopping EtherCAT environment... ===\n");
+
printk(KERN_INFO "Deactivating slaves.\n");
for (i = 0; i < ECAT_SLAVES_COUNT; i++) {
@@ -449,9 +450,9 @@ void __exit cleanup_module()
}
EtherCAT_release(ecat_master);
- }
- printk(KERN_INFO "=== EtherCAT environment stopped. ===\n");
+ printk(KERN_INFO "=== EtherCAT environment stopped. ===\n");
+ }
#ifdef USE_MSR_LIB
msr_rtlib_cleanup();
diff --git a/rt/msr_param.h b/rt/msr_param.h
old mode 100755
new mode 100644
index 501b58d06fac2213f5c8963939836871aa36b758..c08e41bdf5f10307bf9d8ffb3cf14b6814f4d9ec
--- a/rt/msr_param.h
+++ b/rt/msr_param.h
@@ -1,7 +1,14 @@
+/******************************************************************************
+ *
+ * $Id$
+ *
+ *****************************************************************************/
+
#ifndef _MSR_PARAM_H_
#define _MSR_PARAM_H_
-#define MSR_ABTASTFREQUENZ 10000 //FIXME nur für den Simulator, der virtuelle 10 Mal schneller läuft ....HZ /* Abtastrate der Kan%/1€Œiso8859-15äle in [HZ]*/
-#endif
+#define MSR_ABTASTFREQUENZ 10000
+#endif
+/*****************************************************************************/