Smaller fixes on RTAI example.
--- a/examples/rtai/rtai_sample.c Fri May 12 10:12:14 2006 +0000
+++ b/examples/rtai/rtai_sample.c Fri May 12 10:13:01 2006 +0000
@@ -23,17 +23,14 @@
*
*****************************************************************************/
+// Linux
#include <linux/module.h>
-#include <linux/delay.h>
-#include <linux/timer.h>
-#include <linux/interrupt.h>
// RTAI
-#include "rtai.h"
#include "rtai_sched.h"
#include "rtai_sem.h"
-// EtherCAT realtime interface
+// EtherCAT
#include "../../include/ecrt.h"
/*****************************************************************************/
@@ -63,7 +60,6 @@
// channels
uint32_t k_pos;
-uint8_t k_stat;
ec_field_init_t domain1_fields[] = {
{&r_ssi_input, "3", "Beckhoff", "EL5001", "InputValue", 0},
@@ -207,12 +203,10 @@
ecrt_master_prepare_async_io(master);
#endif
-#if 1
if (ecrt_master_start_eoe(master)) {
printk(KERN_ERR "Failed to start EoE processing!\n");
goto out_deactivate;
}
-#endif
printk("Starting cyclic sample thread...\n");
requested_ticks = nano2count(TIMERTICKS);
@@ -253,10 +247,8 @@
{
printk(KERN_INFO "=== Stopping EtherCAT RTAI sample module... ===\n");
- printk(KERN_INFO "Stopping RT task...\n");
rt_task_delete(&task);
stop_rt_timer();
- printk(KERN_INFO "Deactivating EtherCAT master...\n");
ecrt_master_deactivate(master);
ecrt_release_master(master);
rt_sem_delete(&master_sem);