equal
deleted
inserted
replaced
93 ecrt_domain_process(domain1); |
93 ecrt_domain_process(domain1); |
94 |
94 |
95 // process data |
95 // process data |
96 //k_pos = EC_READ_U32(r_ssi_input); |
96 //k_pos = EC_READ_U32(r_ssi_input); |
97 |
97 |
|
98 ecrt_domain_queue(domain1); |
98 ecrt_master_run(master); |
99 ecrt_master_run(master); |
99 ecrt_master_send(master); |
100 ecrt_master_send(master); |
100 |
101 |
101 rt_sem_signal(&master_sem); |
102 rt_sem_signal(&master_sem); |
102 rt_task_wait_period(); |
103 rt_task_wait_period(); |
136 |
137 |
137 if (!(master = ecrt_request_master(0))) { |
138 if (!(master = ecrt_request_master(0))) { |
138 printk(KERN_ERR "Requesting master 0 failed!\n"); |
139 printk(KERN_ERR "Requesting master 0 failed!\n"); |
139 goto out_return; |
140 goto out_return; |
140 } |
141 } |
141 |
|
142 |
142 |
143 ecrt_master_callbacks(master, request_lock, release_lock, NULL); |
143 ecrt_master_callbacks(master, request_lock, release_lock, NULL); |
144 |
144 |
145 printk(KERN_INFO "Registering domain...\n"); |
145 printk(KERN_INFO "Registering domain...\n"); |
146 if (!(domain1 = ecrt_master_create_domain(master))) { |
146 if (!(domain1 = ecrt_master_create_domain(master))) { |
157 printk(KERN_INFO "Activating master...\n"); |
157 printk(KERN_INFO "Activating master...\n"); |
158 if (ecrt_master_activate(master)) { |
158 if (ecrt_master_activate(master)) { |
159 printk(KERN_ERR "Failed to activate master!\n"); |
159 printk(KERN_ERR "Failed to activate master!\n"); |
160 goto out_release_master; |
160 goto out_release_master; |
161 } |
161 } |
162 |
|
163 ecrt_master_prepare(master); |
|
164 |
162 |
165 printk("Starting cyclic sample thread...\n"); |
163 printk("Starting cyclic sample thread...\n"); |
166 requested_ticks = nano2count(TIMERTICKS); |
164 requested_ticks = nano2count(TIMERTICKS); |
167 tick_period = start_rt_timer(requested_ticks); |
165 tick_period = start_rt_timer(requested_ticks); |
168 printk(KERN_INFO "RT timer started with %i/%i ticks.\n", |
166 printk(KERN_INFO "RT timer started with %i/%i ticks.\n", |
184 |
182 |
185 out_stop_task: |
183 out_stop_task: |
186 rt_task_delete(&task); |
184 rt_task_delete(&task); |
187 out_stop_timer: |
185 out_stop_timer: |
188 stop_rt_timer(); |
186 stop_rt_timer(); |
189 ecrt_master_deactivate(master); |
|
190 out_release_master: |
187 out_release_master: |
191 ecrt_release_master(master); |
188 ecrt_release_master(master); |
192 out_return: |
189 out_return: |
193 rt_sem_delete(&master_sem); |
190 rt_sem_delete(&master_sem); |
194 return -1; |
191 return -1; |