equal
deleted
inserted
replaced
57 EtherCAT_write_value(&ecat_slaves[klemme], kanal, up_down); |
57 EtherCAT_write_value(&ecat_slaves[klemme], kanal, up_down); |
58 #endif |
58 #endif |
59 |
59 |
60 // Prozessdaten lesen und schreiben |
60 // Prozessdaten lesen und schreiben |
61 rdtscl(k); |
61 rdtscl(k); |
62 EtherCAT_rt_exchange_io(master, 1, 100); |
62 EtherCAT_rt_domain_xio(master, 1, 100); |
63 firstrun = 0; |
63 firstrun = 0; |
64 |
64 |
65 timer.expires += HZ / 1000; |
65 timer.expires += HZ / 1000; |
66 add_timer(&timer); |
66 add_timer(&timer); |
67 } |
67 } |