- Reworked the connection object and the IO system

- Reworked the support for TRICS
- Added a second generation motor

hmcontrol.c

@@ -45,9 +45,11 @@ static int HMCHalt(void *pData)
   for(i = 0; i < self->nSlaves; i++)
   {
     status = self->slaves[i]->Halt(self->slaveData[i]);
+    ReleaseCountLock(self->slaves[i]);
     if(status != OKOK)
       retVal = status;
   }
+  ReleaseCountLock(self->pCount);
   return retVal;
 }
 /*-----------------------------------------------------------------------*/
@@ -59,8 +61,13 @@ static int HMCStart(void *pData, SConnection *pCon)
   self = (pHMcontrol)pData;
   assert(self);
   
+  if(!GetCountLock(self->pCount, pCon)){
+	  return HWFault;
+  }
+  
   for(i = 0; i < self->nSlaves; i++)
   {
+	ReleaseCountLock(self->slaves[i]);
     status = self->slaves[i]->StartCount(self->slaveData[i],pCon);
     if(status != OKOK)
     {