Added EpoCAT FR4000

src/Kbuild

@@ -41,5 +41,5 @@ lcec-objs := \
     lcec_deasda.o \
 	lcec_dems300.o \
     lcec_omrg5.o \
-    lcec_ph3lm2rm.o
-
+    lcec_ph3lm2rm.o \
+    lcec_epocat.o

src/lcec.h

@@ -62,6 +62,7 @@ do {                        \
 #define LCEC_DELTA_VID    0x000001dd
 #define LCEC_MODUSOFT_VID 0x00000907
 #define LCEC_OMRON_VID    0x00000083
+#define LCEC_ABET_VID     0x0000079A
 
 // State update period (ns)
 #define LCEC_STATE_UPDATE_PERIOD 1000000000LL

src/lcec_conf.c

@@ -341,6 +341,9 @@ static const LCEC_CONF_TYPELIST_T slaveTypes[] = {
   // modusoft PH3LM2RM converter
   { "Ph3LM2RM", lcecSlaveTypePh3LM2RM, NULL },
 
+  // AB&T EpoCAT FR4000
+  { "EpoCAT", lcecSlaveTypeEpoCAT, NULL },
+
   { NULL }
 };
 

src/lcec_conf.h

@@ -195,7 +195,8 @@ typedef enum {
   lcecSlaveTypeOmrG5_KN50F,
   lcecSlaveTypeOmrG5_KN75F,
   lcecSlaveTypeOmrG5_KN150F,
-  lcecSlaveTypePh3LM2RM
+  lcecSlaveTypePh3LM2RM,
+  lcecSlaveTypeEpoCAT
 } LCEC_SLAVE_TYPE_T;
 
 typedef struct {

src/lcec_epocat.h

@@ -0,0 +1,30 @@
+//
+//    Copyright (C) 2014 Sascha Ittner <sascha.ittner@modusoft.de>
+//
+//    This program is free software; you can redistribute it and/or modify
+//    it under the terms of the GNU General Public License as published by
+//    the Free Software Foundation; either version 2 of the License, or
+//    (at your option) any later version.
+//
+//    This program is distributed in the hope that it will be useful,
+//    but WITHOUT ANY WARRANTY; without even the implied warranty of
+//    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+//    GNU General Public License for more details.
+//
+//    You should have received a copy of the GNU General Public License
+//    along with this program; if not, write to the Free Software
+//    Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301 USA
+//
+#ifndef _LCEC_EPOCAT_H_
+#define _LCEC_EPOCAT_H_
+
+#include "lcec.h"
+
+#define LCEC_EPOCAT_PID 0x00decade
+
+#define LCEC_EPOCAT_PDOS 15
+
+int lcec_epocat_init(int comp_id, struct lcec_slave *slave, ec_pdo_entry_reg_t *pdo_entry_regs);
+
+#endif
+

src/lcec_main.c

@@ -57,6 +57,7 @@
 #include "lcec_dems300.h"
 #include "lcec_omrg5.h"
 #include "lcec_ph3lm2rm.h"
+#include "lcec_epocat.h"
 
 #include "rtapi_app.h"
 
@@ -264,6 +265,9 @@ static const lcec_typelist_t types[] = {
   // modusoft PH3LM2RM converter
   { lcecSlaveTypePh3LM2RM, LCEC_PH3LM2RM_VID, LCEC_PH3LM2RM_PID, LCEC_PH3LM2RM_PDOS, 0, NULL, lcec_ph3lm2rm_init},
 
+  // AB&T EpoCAT FR4000
+  { lcecSlaveTypeEpoCAT, LCEC_ABET_VID, LCEC_EPOCAT_PID, LCEC_EPOCAT_PDOS, 0, NULL, lcec_epocat_init },
+
   { lcecSlaveTypeInvalid }
 };
 

src/realtime.mk

@@ -1,24 +1,48 @@
 include ../config.mk
 include Kbuild
 
-include $(MODINC)
+cc-option = $(shell if $(CC) $(CFLAGS) $(1) -S -o /dev/null -xc /dev/null \
+             > /dev/null 2>&1; then echo "$(1)"; else echo "$(2)"; fi ;)
+
+.PHONY: all clean install
 
 ifeq ($(BUILDSYS),kbuild)
 
-# dirty workaround to get the RTAI directory
-RTAIINCDIR = $(subst /rtai.h,,$(firstword $(wildcard $(foreach i,$(subst -I,,$(filter -I%,$(RTFLAGS))), $(i)/rtai.h))))
-ifneq ($(RTAIINCDIR),)
-  RTAIDIR = $(realpath $(RTAIINCDIR)/..)
+module = $(patsubst %.o,%.ko,$(obj-m))
+
+ifeq (,$(findstring -Wframe-larger-than=,$(EXTRA_CFLAGS)))
+  EXTRA_CFLAGS += $(call cc-option,-Wframe-larger-than=2560)
 endif
 
-all:
+$(module):
 	$(MAKE) EXTRA_CFLAGS="$(EXTRA_CFLAGS)" KBUILD_EXTRA_SYMBOLS="$(RTLIBDIR)/Module.symvers $(RTAIDIR)/modules/ethercat/Module.symvers" -C $(KERNELDIR) SUBDIRS=`pwd` CC=$(CC) V=0 modules
 
+clean::
+	rm -f $(obj-m)
+	rm -f *.mod.c .*.cmd
+	rm -f modules.order Module.symvers
+	rm -rf .tmp_versions
+
 else
 
-LDFLAGS += -Wl,-rpath,$(LIBDIR) -L$(LIBDIR) -llinuxcnchal -lethercat
+module = $(patsubst %.o,%.so,$(obj-m))
+
+EXTRA_CFLAGS := $(filter-out -Wframe-larger-than=%,$(EXTRA_CFLAGS))
 
-all: modules
+$(module): $(lcec-objs)
+	$(CC) -shared -o $@ $(lcec-objs) -Wl,-rpath,$(LIBDIR) -L$(LIBDIR) -llinuxcnchal -lethercat -lrt
+
+%.o: %.c
+	$(CC) -o $@ $(EXTRA_CFLAGS) -Os -c $<
 
 endif
 
+all: $(module)
+
+clean::
+	rm -f $(module)
+	rm -f $(lcec-objs)
+
+install: $(module)
+	mkdir -p $(DESTDIR)$(RTLIBDIR)
+	cp $(module) $(DESTDIR)$(RTLIBDIR)/