From 2dd527641fb43a7e1572d18c26c9dee433184bc2 Mon Sep 17 00:00:00 2001
From: Florian Pose <fp@igh-essen.com>
Date: Fri, 12 May 2006 10:13:01 +0000
Subject: [PATCH] Smaller fixes on RTAI example.
---
examples/rtai/rtai_sample.c | 12 ++----------
1 file changed, 2 insertions(+), 10 deletions(-)
diff --git a/examples/rtai/rtai_sample.c b/examples/rtai/rtai_sample.c
index 3b385915..073572c9 100644
--- a/examples/rtai/rtai_sample.c
+++ b/examples/rtai/rtai_sample.c
@@ -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 @@ void *r_ssi_input;
// 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 @@ int __init init_mod(void)
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 @@ void __exit cleanup_mod(void)
{
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);
--
GitLab