equal
deleted
inserted
replaced
171 if (klemme >= 0) |
171 if (klemme >= 0) |
172 EtherCAT_write_value(&ecat_slaves[klemme], kanal, up_down); |
172 EtherCAT_write_value(&ecat_slaves[klemme], kanal, up_down); |
173 |
173 |
174 // Prozessdaten lesen und schreiben |
174 // Prozessdaten lesen und schreiben |
175 rdtscl(k); |
175 rdtscl(k); |
176 EtherCAT_process_data_cycle(ecat_master, 1); |
176 EtherCAT_process_data_cycle(ecat_master, 1, 100); |
177 firstrun = 0; |
177 firstrun = 0; |
178 |
178 |
179 timer.expires += HZ / 1000; |
179 timer.expires += HZ / 1000; |
180 add_timer(&timer); |
180 add_timer(&timer); |
181 } |
181 } |