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1 /****************************************************************************** |
1 /****************************************************************************** |
2 * |
2 * |
3 * $Id$ |
3 * $Id$ |
4 * |
4 * |
5 * usermdtest.c Copyright (C) 2009-2010 Moehwald GmbH B.Benner |
5 * main.c Copyright (C) 2009-2010 Moehwald GmbH B.Benner |
6 * 2011 IgH Andreas Stewering-Bone |
6 * 2011 IgH Andreas Stewering-Bone |
7 * |
7 * |
8 * This file is part of ethercatrtdm interface to IgH EtherCAT master |
8 * This file is part of ethercatrtdm interface to IgH EtherCAT master |
9 * |
9 * |
10 * The Moehwald ethercatrtdm interface is free software; you can |
10 * The Moehwald ethercatrtdm interface is free software; you can |
57 RT_TASK my_task; |
57 RT_TASK my_task; |
58 |
58 |
59 int rt_fd = -1; |
59 int rt_fd = -1; |
60 int run=0; |
60 int run=0; |
61 |
61 |
62 //struct timeval tv; |
|
63 unsigned int sync_ref_counter = 0; |
62 unsigned int sync_ref_counter = 0; |
64 |
63 |
65 CstructMstrAttach MstrAttach; |
64 CstructMstrAttach MstrAttach; |
66 |
65 |
67 /****************************************************************************/ |
66 /****************************************************************************/ |
68 |
67 |
69 // Application parameters |
68 |
70 //#define FREQUENCY 1000 |
|
71 //#define PRIORITY 1 |
|
72 |
69 |
73 // Optional features |
70 // Optional features |
74 #define CONFIGURE_PDOS 1 |
71 #define CONFIGURE_PDOS 1 |
75 //#define SDO_ACCESS 1 |
72 //#define SDO_ACCESS 1 |
76 |
73 |
575 |
572 |
576 RTIME periodns; |
573 RTIME periodns; |
577 float period; |
574 float period; |
578 |
575 |
579 |
576 |
580 period=1E-4; |
577 period=1E-3; //1kHz |
581 |
578 |
582 |
579 |
583 periodns=(RTIME)(((double)period * 1E9) + 0.4999999); |
580 periodns=(RTIME)(((double)period * 1E9) + 0.4999999); |
584 rt_task_set_periodic(NULL, TM_NOW, periodns); |
581 rt_task_set_periodic(NULL, TM_NOW, periodns); |
585 |
582 |