<commit_before>#include <rtapi_pci.h>
#include <rtapi_io.h>

#include "rtapi.h"		// RTAPI realtime OS API
#include "rtapi_app.h"		// RTAPI realtime module decls
#include "hal.h"		// HAL public API decls
#include "gm.h"			// Hardware dependent defines
#include "rtapi_math.h"

// Module information.
MODULE_AUTHOR("<NAME>");
MODULE_DESCRIPTION("Driver for General Mechatronics 6-Axis Motion Control Card for EMC HAL");
MODULE_LICENSE("GPL2");

typedef struct { //encoder_t
    // Pins
	hal_bit_t			*reset;
	hal_s32_t			*counts;
	hal_float_t			*position;
	hal_float_t			*velocity;
	hal_s32_t			*rawcounts;
	hal_bit_t			*index_enable;
    
    // Parameters
	hal_bit_t			counter_mode;
	hal_bit_t			index_mode;
	hal_bit_t			index_invert;
	hal_u32_t			counts_per_rev;
	hal_float_t			position_scale;
	hal_float_t			min_speed_estimate;

    // Private data
	hal_s32_t			raw_offset;
	hal_s32_t			index_offset;
	hal_s32_t			last_index_latch;
	hal_bit_t			first_index;<commit_msg>License changed, because some function required it under Ubuntu Signed-off-by: <NAME> <<EMAIL>> (cherry picked from commit feb06add20762c73e4a101bf6b4dfa8b8aeffe75)<commit_after>#include <rtapi_pci.h>
#include <rtapi_io.h>

#include "rtapi.h"		// RTAPI realtime OS API
#include "rtapi_app.h"		// RTAPI realtime module decls
#include "hal.h"		// HAL public API decls
#include "gm.h"			// Hardware dependent defines
#include "rtapi_math.h"

// Module information.
MODULE_AUTHOR("<NAME>");
MODULE_DESCRIPTION("Driver for General Mechatronics 6-Axis Motion Control Card for EMC HAL");
MODULE_LICENSE("GPL");

typedef struct { //encoder_t
    // Pins
	hal_bit_t			*reset;
	hal_s32_t			*counts;
	hal_float_t			*position;
	hal_float_t			*velocity;
	hal_s32_t			*rawcounts;
	hal_bit_t			*index_enable;
    
    // Parameters
	hal_bit_t			counter_mode;
	hal_bit_t			index_mode;
	hal_bit_t			index_invert;
	hal_u32_t			counts_per_rev;
	hal_float_t			position_scale;
	hal_float_t			min_speed_estimate;

    // Private data
	hal_s32_t			raw_offset;
	hal_s32_t			index_offset;
	hal_s32_t			last_index_latch;
	hal_bit_t			first_index;
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