- Reworked the connection object and the IO system

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

multicounter.c

@@ -59,9 +59,11 @@ static int MMCCHalt(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(pCount->pCountInt);
   return retVal;
 }
 /*-------------------------------------------------------------------------*/
@@ -77,9 +79,14 @@ static int MMCCStart(void *pData, SConnection *pCon)
   }
   assert(self);
   
+  if(!GetCountLock(pCount->pCountInt, pCon)){
+	  return HWFault;
+  }
+  
   for(i = 0; i < self->nSlaves; i++){
     self->slaves[i]->SetCountParameters(self->slaveData[i],
         pCount->pDriv->fPreset, pCount->pDriv->eMode);
+    ReleaseCountLock(self->slaves[i]);
     status = self->slaves[i]->StartCount(self->slaveData[i],pCon);
     if(status != OKOK){
       MMCCHalt(pData);