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35 #include "msr_param.h" |
35 #include "msr_param.h" |
36 |
36 |
37 // EtherCAT |
37 // EtherCAT |
38 #include "../include/ecrt.h" |
38 #include "../include/ecrt.h" |
39 |
39 |
40 //#define ASYNC |
40 #define ASYNC |
41 |
41 |
42 // Defines/Makros |
42 // Defines/Makros |
43 #define HZREDUCTION (MSR_ABTASTFREQUENZ / HZ) |
43 #define HZREDUCTION (MSR_ABTASTFREQUENZ / HZ) |
44 |
44 |
45 /*****************************************************************************/ |
45 /*****************************************************************************/ |
227 } |
227 } |
228 printk(KERN_INFO "Software-version: %u\n", version); |
228 printk(KERN_INFO "Software-version: %u\n", version); |
229 #endif |
229 #endif |
230 |
230 |
231 #ifdef ASYNC |
231 #ifdef ASYNC |
232 ecrt_domain_queue(domain1); |
232 // Einmal senden und warten... |
233 ecrt_domain_queue(domain2); |
233 ecrt_master_prepare_async_io(master); |
234 ecrt_master_async_send(master); |
|
235 udelay(100); |
|
236 #endif |
234 #endif |
237 |
235 |
238 ipipe_init_attr(&attr); |
236 ipipe_init_attr(&attr); |
239 attr.name = "IPIPE-MSR-MODULE"; |
237 attr.name = "IPIPE-MSR-MODULE"; |
240 attr.priority = IPIPE_ROOT_PRIO + 1; |
238 attr.priority = IPIPE_ROOT_PRIO + 1; |