86 

    86 

    87     // Process data

    87     // Process data

    88     EC_WRITE_S16(r_ana_out, k_ana_out / 10.0 * 0x7FFF);

    88     EC_WRITE_S16(r_ana_out, k_ana_out / 10.0 * 0x7FFF);

    89 

    89 

    90     // Send

    90     // Send

    91     ecrt_master_run(master);

    92     ecrt_master_run(master);

    92     ecrt_master_send(master);

    93     ecrt_master_send(master);

    93 

    94 

    94     rt_sem_signal(&master_sem);

    95     rt_sem_signal(&master_sem);

    95 

    96 

   172     printk(KERN_INFO "Activating master...\n");

   173     printk(KERN_INFO "Activating master...\n");

   173     if (ecrt_master_activate(master)) {

   174     if (ecrt_master_activate(master)) {

   174         printk(KERN_ERR "Could not activate master!\n");

   175         printk(KERN_ERR "Could not activate master!\n");

   175         goto out_release_master;

   176         goto out_release_master;

   176     }

   177     }

   179 

   178 

   180     printk("Starting cyclic sample thread...\n");

   179     printk("Starting cyclic sample thread...\n");

   181     ticks = start_rt_timer(nano2count(TIMERTICKS));

   180     ticks = start_rt_timer(nano2count(TIMERTICKS));

   182     if (rt_task_init(&task, msr_run, 0, 2000, 0, 1, NULL)) {

   181     if (rt_task_init(&task, msr_run, 0, 2000, 0, 1, NULL)) {

   183         printk(KERN_ERR "Failed to init RTAI task!\n");

   182         printk(KERN_ERR "Failed to init RTAI task!\n");

   193 

   192 

   194  out_stop_task:

   193  out_stop_task:

   195     rt_task_delete(&task);

   194     rt_task_delete(&task);

   196  out_stop_timer:

   195  out_stop_timer:

   197     stop_rt_timer();

   196     stop_rt_timer();

   199  out_release_master:

   197  out_release_master:

   200     ecrt_release_master(master);

   198     ecrt_release_master(master);

   201  out_msr_cleanup:

   199  out_msr_cleanup:

   202     msr_rtlib_cleanup();

   200     msr_rtlib_cleanup();

   203  out_return:

   201  out_return: