equal
deleted
inserted
replaced
305 } |
305 } |
306 #endif |
306 #endif |
307 |
307 |
308 /*****************************************************************************/ |
308 /*****************************************************************************/ |
309 |
309 |
|
310 #if LINUX_VERSION_CODE >= KERNEL_VERSION(4, 15, 0) |
|
311 void cyclic_task(struct timer_list *t) |
|
312 #else |
310 void cyclic_task(unsigned long data) |
313 void cyclic_task(unsigned long data) |
|
314 #endif |
311 { |
315 { |
312 // receive process data |
316 // receive process data |
313 down(&master_sem); |
317 down(&master_sem); |
314 ecrt_master_receive(master); |
318 ecrt_master_receive(master); |
315 ecrt_domain_process(domain1); |
319 ecrt_domain_process(domain1); |
490 // Get internal process data for domain |
494 // Get internal process data for domain |
491 domain1_pd = ecrt_domain_data(domain1); |
495 domain1_pd = ecrt_domain_data(domain1); |
492 #endif |
496 #endif |
493 |
497 |
494 printk(KERN_INFO PFX "Starting cyclic sample thread.\n"); |
498 printk(KERN_INFO PFX "Starting cyclic sample thread.\n"); |
|
499 #if LINUX_VERSION_CODE >= KERNEL_VERSION(4, 15, 0) |
|
500 timer_setup(&timer, cyclic_task, 0); |
|
501 #else |
495 init_timer(&timer); |
502 init_timer(&timer); |
496 timer.function = cyclic_task; |
503 timer.function = cyclic_task; |
|
504 #endif |
497 timer.expires = jiffies + 10; |
505 timer.expires = jiffies + 10; |
498 add_timer(&timer); |
506 add_timer(&timer); |
499 |
507 |
500 printk(KERN_INFO PFX "Started.\n"); |
508 printk(KERN_INFO PFX "Started.\n"); |
501 return 0; |
509 return 0; |