97     }

    97     }

    98 

    98 

    99     k_preio = (uint32_t) (get_cycles() - offset) * 1e6 / cpu_khz;

    99     k_preio = (uint32_t) (get_cycles() - offset) * 1e6 / cpu_khz;

   100 

   100 

   101 #ifdef ASYNC

   101 #ifdef ASYNC

   102     // Empfangen

   103     // Empfangen

   103     ecrt_master_async_receive(master);

   104     ecrt_master_async_receive(master);

   104     ecrt_domain_process(domain1);

   105     ecrt_domain_process(domain1);

   105 

   106 

   106     // Prozessdaten verarbeiten

   107     // Prozessdaten verarbeiten

   111     k_angle = EC_READ_U16(r_inc);

   112     k_angle = EC_READ_U16(r_inc);

   112 #endif

   113 #endif

   113 

   114 

   114     // Senden

   115     // Senden

   115     ecrt_domain_queue(domain1);

   116     ecrt_domain_queue(domain1);

   116     ecrt_master_async_send(master);

   118     ecrt_master_async_send(master);

   118     // Senden und empfangen

   122     // Senden und empfangen

   119     ecrt_domain_queue(domain1);

   123     ecrt_domain_queue(domain1);

   120     ecrt_master_sync_io(master);

   125     ecrt_master_sync_io(master);

   121     ecrt_domain_process(domain1);

   126     ecrt_domain_process(domain1);

   122 

   127 

   123     // Prozessdaten verarbeiten

   128     // Prozessdaten verarbeiten

   124 #ifdef BLOCK1

   129 #ifdef BLOCK1

   182 /*****************************************************************************/

   187 /*****************************************************************************/

   183 

   188 

   184 int __init init_rt_module(void)

   189 int __init init_rt_module(void)

   185 {

   190 {

   186     struct ipipe_domain_attr attr; //ipipe

   191     struct ipipe_domain_attr attr; //ipipe

   187     uint8_t string[20];

   193     uint8_t string[20];

   188     size_t size;

   194     size_t size;

   189     ec_slave_t *slave;

   195     ec_slave_t *slave;

   190 

   197 

   191     // Als allererstes die RT-Lib initialisieren

   198     // Als allererstes die RT-Lib initialisieren

   192     if (msr_rtlib_init(1, MSR_ABTASTFREQUENZ, 10, &msr_globals_register) < 0) {

   199     if (msr_rtlib_init(1, MSR_ABTASTFREQUENZ, 10, &msr_globals_register) < 0) {

   193         msr_print_warn("msr_modul: can't initialize rtlib!");

   200         msr_print_warn("msr_modul: can't initialize rtlib!");

   194         goto out_return;

   201         goto out_return;

   284     attr.priority = IPIPE_ROOT_PRIO + 1;

   291     attr.priority = IPIPE_ROOT_PRIO + 1;

   285     attr.entry = &domain_entry;

   292     attr.entry = &domain_entry;

   286     ipipe_register_domain(&this_domain, &attr);

   293     ipipe_register_domain(&this_domain, &attr);

   287     return 0;

   294     return 0;

   288 

   295 

   289  out_deactivate:

   297  out_deactivate:

   290     ecrt_master_deactivate(master);

   298     ecrt_master_deactivate(master);

   291  out_release_master:

   300  out_release_master:

   292     ecrt_release_master(master);

   301     ecrt_release_master(master);

   293  out_msr_cleanup:

   302  out_msr_cleanup:

   294     msr_rtlib_cleanup();

   303     msr_rtlib_cleanup();

   295  out_return:

   304  out_return: