Kleinere Korrekturen an rt und mini.
--- a/mini/mini.c Thu Jan 26 13:41:47 2006 +0000
+++ b/mini/mini.c Thu Jan 26 15:52:01 2006 +0000
@@ -20,11 +20,7 @@
ec_master_t *master = NULL;
ec_slave_t *s_in, *s_out;
-int value;
-int dig1;
-
struct timer_list timer;
-unsigned long last_start_jiffies;
ec_slave_init_t slaves[] = {
// Zeiger, Index, Herstellername, Produktname, Domäne
@@ -38,20 +34,13 @@
void run(unsigned long data)
{
- static int ms = 0;
- static unsigned long int k = 0;
- static int firstrun = 1;
-
- ms++;
- ms %= 1000;
-
+ // Klemmen-IO
EC_WRITE_EL20XX(s_out, 3, EC_READ_EL31XX(s_in, 0) < 0);
// Prozessdaten lesen und schreiben
- rdtscl(k);
EtherCAT_rt_domain_xio(master, 1, 100);
- firstrun = 0;
+ // Timer neu starten
timer.expires += HZ / 1000;
add_timer(&timer);
}
@@ -67,8 +56,6 @@
goto out_return;
}
- //EtherCAT_rt_debug_level(master, 2);
-
if (EtherCAT_rt_register_slave_list(master, slaves, SLAVE_COUNT)) {
printk(KERN_ERR "Could not register slaves!\n");
goto out_release_master;
@@ -86,13 +73,9 @@
init_timer(&timer);
timer.function = run;
- timer.data = 0;
timer.expires = jiffies + 10; // Das erste Mal sofort feuern
- last_start_jiffies = timer.expires;
add_timer(&timer);
- printk("Initialised sample thread.\n");
-
printk(KERN_INFO "=== Minimal EtherCAT environment started. ===\n");
return 0;
--- a/rt/msr_module.c Thu Jan 26 13:41:47 2006 +0000
+++ b/rt/msr_module.c Thu Jan 26 15:52:01 2006 +0000
@@ -58,9 +58,9 @@
int dig1;
ec_slave_init_t slaves[] = {
- {&s_in1, 1, "Beckhoff", "EL3102", 0},
- {&s_out1, 8, "Beckhoff", "EL2004", 0},
- {&s_out2, 9, "Beckhoff", "EL2004", 0},
+ {&s_in1, 1, "Beckhoff", "EL3102", 0},
+ {&s_out1, 8, "Beckhoff", "EL2004", 0},
+ {&s_out2, 9, "Beckhoff", "EL2004", 0},
{&s_out3, 10, "Beckhoff", "EL2004", 0}
};