equal
deleted
inserted
replaced
15 #include "../include/EtherCAT_rt.h" // Echtzeitschnittstelle |
15 #include "../include/EtherCAT_rt.h" // Echtzeitschnittstelle |
16 #include "../include/EtherCAT_si.h" // Slave-Interface-Makros |
16 #include "../include/EtherCAT_si.h" // Slave-Interface-Makros |
17 |
17 |
18 /*****************************************************************************/ |
18 /*****************************************************************************/ |
19 |
19 |
20 #define ABTASTFREQUENZ 1000 |
20 #define ABTASTFREQUENZ 100 |
21 |
21 |
22 struct timer_list timer; |
22 struct timer_list timer; |
23 |
23 |
24 /*****************************************************************************/ |
24 /*****************************************************************************/ |
25 |
25 |
45 void run(unsigned long data) |
45 void run(unsigned long data) |
46 { |
46 { |
47 static unsigned int counter = 0; |
47 static unsigned int counter = 0; |
48 |
48 |
49 // Prozessdaten lesen und schreiben |
49 // Prozessdaten lesen und schreiben |
50 EtherCAT_rt_domain_xio(domain1); |
50 EtherCAT_rt_domain_queue(domain1); |
|
51 EtherCAT_rt_master_xio(master); |
|
52 EtherCAT_rt_domain_process(domain1); |
51 |
53 |
52 k_angle = EC_READ_U16(r_inc); |
54 k_angle = EC_READ_U16(r_inc); |
53 k_pos = EC_READ_U32(r_ssi); |
55 k_pos = EC_READ_U32(r_ssi); |
54 |
56 |
55 if (counter) { |
57 if (counter) { |