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ethercat
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Beispiel-Echtzeitcode angepasst.

This commit is contained in:
Florian Pose 2006-02-24 14:09:51 +00:00
parent cbcf404f96
commit 7ada0a9527
2 changed files with 14 additions and 13 deletions
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21
mini/mini.c
View File

@ -27,17 +27,16 @@ struct timer_list timer;
ec_master_t *master = NULL;
ec_domain_t *domain1 = NULL;
// Prozessdaten
uint8_t *dig_out1;
uint16_t *ssi_value;
uint16_t *inc_value;
// Datenfelder
void *r_ssi;
void *r_inc;
uint32_t angle0;
// Kanäle
uint32_t k_angle, k_pos;
ec_field_init_t domain1_fields[] = {
{(void **) &dig_out1, "2", "Beckhoff", "EL2004", ec_opvalue, 0, 1},
{(void **) &ssi_value, "3", "Beckhoff", "EL5001", ec_ipvalue, 0, 1},
{(void **) &inc_value, "0:4", "Beckhoff", "EL5101", ec_ipvalue, 0, 1},
{&r_ssi, "1", "Beckhoff", "EL5001", ec_ipvalue, 0, 1},
{&r_inc, "0:3", "Beckhoff", "EL5101", ec_ipvalue, 0, 1},
{}
};
@ -50,14 +49,16 @@ void run(unsigned long data)
// Prozessdaten lesen und schreiben
EtherCAT_rt_domain_xio(domain1);
angle0 = (uint32_t) *inc_value;
k_angle = EC_READ_U16(r_inc);
k_pos = EC_READ_U32(r_ssi);
if (counter) {
counter--;
}
else {
counter = ABTASTFREQUENZ;
printk(KERN_INFO "angle0 = %i\n", angle0);
printk(KERN_INFO "k_angle = %i\n", k_angle);
printk(KERN_INFO "k_pos = %i\n", k_pos);
}
// Timer neu starten

6
rt/msr_module.c
View File

@ -59,8 +59,8 @@ uint32_t k_angle;
uint32_t k_pos;
ec_field_init_t domain1_fields[] = {
{(void **) &r_ssi, "1", "Beckhoff", "EL5001", ec_ipvalue, 0, 1},
{(void **) &r_inc, "0:3", "Beckhoff", "EL5101", ec_ipvalue, 0, 1},
{&r_ssi, "1", "Beckhoff", "EL5001", ec_ipvalue, 0, 1},
{&r_inc, "0:3", "Beckhoff", "EL5101", ec_ipvalue, 0, 1},
{}
};
@ -172,7 +172,7 @@ int __init init_rt_module(void)
printk(KERN_ERR "Could not read SSI version!\n");
goto out_release_master;
}
printk(KERN_INFO "Klemme 3 Software-version: %u\n", version);
printk(KERN_INFO "Software-version: %u\n", version);
#endif
ipipe_init_attr(&attr);