--- a/examples/mini/mini.c Mon Jan 08 15:01:18 2007 +0000
+++ b/examples/mini/mini.c Mon Jan 08 15:02:05 2007 +0000
@@ -41,7 +41,7 @@
#define FREQUENCY 100
-#define KBUS
+//#define KBUS
/*****************************************************************************/
@@ -58,11 +58,11 @@
void *r_outputs;
#endif
-void *r_ana_in;
+void *r_dig_out;
#if 1
ec_pdo_reg_t domain1_pdos[] = {
- {"2", Beckhoff_EL3102_Input1, &r_ana_in},
+ {"2", Beckhoff_EL2004_Outputs, &r_dig_out},
{}
};
#endif
@@ -82,6 +82,7 @@
// process data
// k_pos = EC_READ_U32(r_ssi);
+ EC_WRITE_U8(r_dig_out, blink ? 0x0F : 0x00);
if (counter) {
counter--;
@@ -98,7 +99,11 @@
// send
spin_lock(&master_lock);
ecrt_domain_queue(domain1);
+ spin_unlock(&master_lock);
+
ecrt_master_run(master);
+
+ spin_lock(&master_lock);
ecrt_master_send(master);
spin_unlock(&master_lock);
@@ -111,7 +116,7 @@
int request_lock(void *data)
{
- spin_lock_bh(&master_lock);
+ spin_lock(&master_lock);
return 0; // access allowed
}
@@ -119,14 +124,14 @@
void release_lock(void *data)
{
- spin_unlock_bh(&master_lock);
+ spin_unlock(&master_lock);
}
/*****************************************************************************/
int __init init_mini_module(void)
{
-#if 1
+#if 0
ec_slave_t *slave;
#endif
@@ -166,7 +171,7 @@
}
#endif
-#if 1
+#if 0
if (!(slave = ecrt_master_get_slave(master, "2")))
goto out_release_master;