bkinnightskytw
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ethercat
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Removed more tabulators.

This commit is contained in:
Florian Pose 2009-07-27 10:44:16 +00:00
parent 735f1efbc1
commit 911bf6dbdc
5 changed files with 53 additions and 53 deletions
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60
examples/dc_rtai/dc_rtai_sample.c
View File

@ -161,7 +161,7 @@ void check_master_state(void)
void run(long data)
{
int i;
struct timeval tv;
struct timeval tv;
unsigned int sync_ref_counter = 0;
count2timeval(nano2count(rt_get_real_time_ns()), &tv);
@ -181,18 +181,18 @@ void run(long data)
if (counter) {
counter--;
} else {
u32 c;
u32 c;
counter = FREQUENCY;
// check for master state (optional)
check_master_state();
c = EC_READ_U32(domain1_pd + off_counter_in);
if (counter_value != c) {
counter_value = c;
printk(KERN_INFO PFX "counter=%u\n", counter_value);
}
c = EC_READ_U32(domain1_pd + off_counter_in);
if (counter_value != c) {
counter_value = c;
printk(KERN_INFO PFX "counter=%u\n", counter_value);
}
}
@ -210,10 +210,10 @@ void run(long data)
EC_WRITE_U8(domain1_pd + off_dig_out[i], blink ? 0x66 : 0x99);
}
EC_WRITE_U8(domain1_pd + off_counter_out, blink ? 0x00 : 0x02);
EC_WRITE_U8(domain1_pd + off_counter_out, blink ? 0x00 : 0x02);
rt_sem_wait(&master_sem);
tv.tv_usec += 1000;
if (tv.tv_usec >= 1000000) {
tv.tv_usec -= 1000000;
@ -227,11 +227,11 @@ void run(long data)
sync_ref_counter = 9;
ecrt_master_sync_reference_clock(master);
}
ecrt_master_sync_slave_clocks(master);
ecrt_master_sync_slave_clocks(master);
ecrt_domain_queue(domain1);
ecrt_master_send(master);
rt_sem_signal(&master_sem);
rt_task_wait_period();
}
}
@ -292,10 +292,10 @@ int __init init_mod(void)
printk(KERN_INFO PFX "Configuring PDOs...\n");
// create configuration for reference clock FIXME
if (!(sc = ecrt_master_slave_config(master, 0, 0, Beckhoff_EK1100))) {
printk(KERN_ERR PFX "Failed to get slave configuration.\n");
goto out_release_master;
}
if (!(sc = ecrt_master_slave_config(master, 0, 0, Beckhoff_EK1100))) {
printk(KERN_ERR PFX "Failed to get slave configuration.\n");
goto out_release_master;
}
for (i = 0; i < NUM_DIG_OUT; i++) {
if (!(sc = ecrt_master_slave_config(master,
@ -316,22 +316,22 @@ int __init init_mod(void)
goto out_release_master;
}
if (!(sc = ecrt_master_slave_config(master,
CounterSlavePos, IDS_Counter))) {
printk(KERN_ERR PFX "Failed to get slave configuration.\n");
goto out_release_master;
}
off_counter_in = ecrt_slave_config_reg_pdo_entry(sc,
0x6020, 0x11, domain1, NULL);
if (off_counter_in < 0)
goto out_release_master;
off_counter_out = ecrt_slave_config_reg_pdo_entry(sc,
0x7020, 1, domain1, NULL);
if (off_counter_out < 0)
goto out_release_master;
if (!(sc = ecrt_master_slave_config(master,
CounterSlavePos, IDS_Counter))) {
printk(KERN_ERR PFX "Failed to get slave configuration.\n");
goto out_release_master;
}
off_counter_in = ecrt_slave_config_reg_pdo_entry(sc,
0x6020, 0x11, domain1, NULL);
if (off_counter_in < 0)
goto out_release_master;
off_counter_out = ecrt_slave_config_reg_pdo_entry(sc,
0x7020, 1, domain1, NULL);
if (off_counter_out < 0)
goto out_release_master;
// configure SYNC signals for this slave
ecrt_slave_config_dc(sc, 0x0700, 1000000, 440000, 0, 0);
ecrt_slave_config_dc(sc, 0x0700, 1000000, 440000, 0, 0);
printk(KERN_INFO PFX "Activating master...\n");
if (ecrt_master_activate(master)) {

2
examples/rtai/rtai_sample.c
View File

@ -236,7 +236,7 @@ void run(long data)
ecrt_domain_queue(domain1);
ecrt_master_send(master);
rt_sem_signal(&master_sem);
rt_task_wait_period();
}
}

20
examples/user/main.c
View File

@ -92,9 +92,9 @@ static unsigned int off_dig_out;
const static ec_pdo_entry_reg_t domain1_regs[] = {
{AnaInSlavePos, Beckhoff_EL3102, 0x3101, 1, &off_ana_in_status},
{AnaInSlavePos, Beckhoff_EL3102, 0x3101, 2, &off_ana_in_value},
{AnaOutSlavePos, Beckhoff_EL4102, 0x3001, 1, &off_ana_out},
{DigOutSlavePos, Beckhoff_EL2032, 0x3001, 1, &off_dig_out},
{}
{AnaOutSlavePos, Beckhoff_EL4102, 0x3001, 1, &off_ana_out},
{DigOutSlavePos, Beckhoff_EL2032, 0x3001, 1, &off_dig_out},
{}
};
static unsigned int counter = 0;
@ -316,13 +316,13 @@ void signal_handler(int signum) {
int main(int argc, char **argv)
{
ec_slave_config_t *sc;
ec_slave_config_t *sc;
struct sigaction sa;
struct itimerval tv;
master = ecrt_request_master(0);
if (!master)
return -1;
if (!master)
return -1;
domain1 = ecrt_master_create_domain(master);
if (!domain1)
@ -380,7 +380,7 @@ int main(int argc, char **argv)
if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
fprintf(stderr, "PDO entry registration failed!\n");
return -1;
return -1;
}
printf("Activating master...\n");
@ -417,7 +417,7 @@ int main(int argc, char **argv)
}
printf("Started.\n");
while (1) {
while (1) {
pause();
#if 0
@ -430,9 +430,9 @@ int main(int argc, char **argv)
cyclic_task();
user_alarms++;
}
}
}
return 0;
return 0;
}
/****************************************************************************/

16
lib/master.c
View File

@ -116,17 +116,17 @@ ec_slave_config_t *ecrt_master_slave_config(ec_master_t *master,
int ecrt_master(ec_master_t* master, ec_master_info_t *master_info)
{
ec_ioctl_master_t data;
ec_ioctl_master_t data;
if (ioctl(master->fd, EC_IOCTL_MASTER, &data) < 0) {
if (ioctl(master->fd, EC_IOCTL_MASTER, &data) < 0) {
fprintf(stderr, "Failed to get master info: %s\n", strerror(errno));
return -1;
}
return -1;
}
master_info->slave_count = data.slave_count;
master_info->link_up = data.devices[0].link_state;
master_info->app_time = data.app_time;
return 0;
master_info->slave_count = data.slave_count;
master_info->link_up = data.devices[0].link_state;
master_info->app_time = data.app_time;
return 0;
}
/*****************************************************************************/

8
lib/slave_config.c
View File

@ -252,10 +252,10 @@ void ecrt_slave_config_dc(ec_slave_config_t *sc, uint16_t assign_activate,
data.config_index = sc->index;
data.dc_assign_activate = assign_activate;
data.dc_sync[0].cycle_time = sync0_cycle_time;
data.dc_sync[0].shift_time = sync0_shift_time;
data.dc_sync[1].cycle_time = sync1_cycle_time;
data.dc_sync[1].shift_time = sync1_shift_time;
data.dc_sync[0].cycle_time = sync0_cycle_time;
data.dc_sync[0].shift_time = sync0_shift_time;
data.dc_sync[1].cycle_time = sync1_cycle_time;
data.dc_sync[1].shift_time = sync1_shift_time;
if (ioctl(sc->master->fd, EC_IOCTL_SC_DC, &data) == -1) {
fprintf(stderr, "Failed to set assign_activate word.\n");