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ethercat
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Adjusted examples to 1.2.0 interface changes.

This commit is contained in:
Florian Pose 2007-01-02 13:25:26 +00:00
parent 029fab972d
commit f9d1ca97e0
3 changed files with 5 additions and 13 deletions
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9
examples/mini/mini.c
View File

@ -88,6 +88,7 @@ void run(unsigned long data)
#endif
// send
ecrt_domain_queue(domain1);
ecrt_master_run(master);
ecrt_master_send(master);
@ -131,7 +132,7 @@ int __init init_mini_module(void)
printk(KERN_INFO "=== Starting Minimal EtherCAT environment... ===\n");
if ((master = ecrt_request_master(0)) == NULL) {
if (!(master = ecrt_request_master(0))) {
printk(KERN_ERR "Requesting master 0 failed!\n");
goto out_return;
}
@ -139,8 +140,7 @@ int __init init_mini_module(void)
ecrt_master_callbacks(master, request_lock, release_lock, NULL);
printk(KERN_INFO "Registering domain...\n");
if (!(domain1 = ecrt_master_create_domain(master)))
{
if (!(domain1 = ecrt_master_create_domain(master))) {
printk(KERN_ERR "Domain creation failed!\n");
goto out_release_master;
}
@ -180,8 +180,6 @@ int __init init_mini_module(void)
goto out_release_master;
}
ecrt_master_prepare(master);
printk("Starting cyclic sample thread.\n");
init_timer(&timer);
timer.function = run;
@ -220,4 +218,3 @@ module_init(init_mini_module);
module_exit(cleanup_mini_module);
/*****************************************************************************/

4
examples/msr/msr_sample.c
View File

@ -88,6 +88,7 @@ void msr_controller_run(void)
EC_WRITE_S16(r_ana_out, k_ana_out / 10.0 * 0x7FFF);
// Send
ecrt_domain_queue(domain1);
ecrt_master_run(master);
ecrt_master_send(master);
@ -175,8 +176,6 @@ int __init init_mod(void)
goto out_release_master;
}
ecrt_master_prepare(master);
printk("Starting cyclic sample thread...\n");
ticks = start_rt_timer(nano2count(TIMERTICKS));
if (rt_task_init(&task, msr_run, 0, 2000, 0, 1, NULL)) {
@ -195,7 +194,6 @@ int __init init_mod(void)
rt_task_delete(&task);
out_stop_timer:
stop_rt_timer();
ecrt_master_deactivate(master);
out_release_master:
ecrt_release_master(master);
out_msr_cleanup:

5
examples/rtai/rtai_sample.c
View File

@ -95,6 +95,7 @@ void run(long data)
// process data
//k_pos = EC_READ_U32(r_ssi_input);
ecrt_domain_queue(domain1);
ecrt_master_run(master);
ecrt_master_send(master);
@ -139,7 +140,6 @@ int __init init_mod(void)
goto out_return;
}
ecrt_master_callbacks(master, request_lock, release_lock, NULL);
printk(KERN_INFO "Registering domain...\n");
@ -160,8 +160,6 @@ int __init init_mod(void)
goto out_release_master;
}
ecrt_master_prepare(master);
printk("Starting cyclic sample thread...\n");
requested_ticks = nano2count(TIMERTICKS);
tick_period = start_rt_timer(requested_ticks);
@ -186,7 +184,6 @@ int __init init_mod(void)
rt_task_delete(&task);
out_stop_timer:
stop_rt_timer();
ecrt_master_deactivate(master);
out_release_master:
ecrt_release_master(master);
out_return: