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ethercat
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Smaller fixes on RTAI example.

This commit is contained in:
Florian Pose 2006-05-12 10:13:01 +00:00
parent 89d76149eb
commit 79fe0482b7
1 changed files with 2 additions and 10 deletions
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12
examples/rtai/rtai_sample.c
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@ -23,17 +23,14 @@
* *
*****************************************************************************/ *****************************************************************************/
// Linux
#include <linux/module.h> #include <linux/module.h>
#include <linux/delay.h>
#include <linux/timer.h>
#include <linux/interrupt.h>
// RTAI // RTAI
#include "rtai.h"
#include "rtai_sched.h" #include "rtai_sched.h"
#include "rtai_sem.h" #include "rtai_sem.h"
// EtherCAT realtime interface // EtherCAT
#include "../../include/ecrt.h" #include "../../include/ecrt.h"
/*****************************************************************************/ /*****************************************************************************/
@ -63,7 +60,6 @@ void *r_ssi_input;
// channels // channels
uint32_t k_pos; uint32_t k_pos;
uint8_t k_stat;
ec_field_init_t domain1_fields[] = { ec_field_init_t domain1_fields[] = {
{&r_ssi_input, "3", "Beckhoff", "EL5001", "InputValue", 0}, {&r_ssi_input, "3", "Beckhoff", "EL5001", "InputValue", 0},
@ -207,12 +203,10 @@ int __init init_mod(void)
ecrt_master_prepare_async_io(master); ecrt_master_prepare_async_io(master);
#endif #endif
#if 1
if (ecrt_master_start_eoe(master)) { if (ecrt_master_start_eoe(master)) {
printk(KERN_ERR "Failed to start EoE processing!\n"); printk(KERN_ERR "Failed to start EoE processing!\n");
goto out_deactivate; goto out_deactivate;
} }
#endif
printk("Starting cyclic sample thread...\n"); printk("Starting cyclic sample thread...\n");
requested_ticks = nano2count(TIMERTICKS); requested_ticks = nano2count(TIMERTICKS);
@ -253,10 +247,8 @@ void __exit cleanup_mod(void)
{ {
printk(KERN_INFO "=== Stopping EtherCAT RTAI sample module... ===\n"); printk(KERN_INFO "=== Stopping EtherCAT RTAI sample module... ===\n");
printk(KERN_INFO "Stopping RT task...\n");
rt_task_delete(&task); rt_task_delete(&task);
stop_rt_timer(); stop_rt_timer();
printk(KERN_INFO "Deactivating EtherCAT master...\n");
ecrt_master_deactivate(master); ecrt_master_deactivate(master);
ecrt_release_master(master); ecrt_release_master(master);
rt_sem_delete(&master_sem); rt_sem_delete(&master_sem);