diff --git a/mini/mini.c b/mini/mini.c index 8a0165a688ba450d3ef98ab368d32cffc384faf7..1bcb03ddb8000628e4a23c41913c01a59ba73230 100644 --- a/mini/mini.c +++ b/mini/mini.c @@ -20,11 +20,7 @@ ec_master_t *master = NULL; ec_slave_t *s_in, *s_out; -int value; -int dig1; - struct timer_list timer; -unsigned long last_start_jiffies; ec_slave_init_t slaves[] = { // Zeiger, Index, Herstellername, Produktname, Domäne @@ -38,20 +34,13 @@ ec_slave_init_t slaves[] = { void run(unsigned long data) { - static int ms = 0; - static unsigned long int k = 0; - static int firstrun = 1; - - ms++; - ms %= 1000; - + // Klemmen-IO EC_WRITE_EL20XX(s_out, 3, EC_READ_EL31XX(s_in, 0) < 0); // Prozessdaten lesen und schreiben - rdtscl(k); EtherCAT_rt_domain_xio(master, 1, 100); - firstrun = 0; + // Timer neu starten timer.expires += HZ / 1000; add_timer(&timer); } @@ -67,8 +56,6 @@ int __init init_mini_module(void) goto out_return; } - //EtherCAT_rt_debug_level(master, 2); - if (EtherCAT_rt_register_slave_list(master, slaves, SLAVE_COUNT)) { printk(KERN_ERR "Could not register slaves!\n"); goto out_release_master; @@ -86,13 +73,9 @@ int __init init_mini_module(void) init_timer(&timer); timer.function = run; - timer.data = 0; timer.expires = jiffies + 10; // Das erste Mal sofort feuern - last_start_jiffies = timer.expires; add_timer(&timer); - printk("Initialised sample thread.\n"); - printk(KERN_INFO "=== Minimal EtherCAT environment started. ===\n"); return 0; diff --git a/rt/msr_module.c b/rt/msr_module.c index e31e62d3dee068852c747fb2359d5153821ca909..ec3737dca9c2ba9306a8d123c8b8c94f46edd21d 100644 --- a/rt/msr_module.c +++ b/rt/msr_module.c @@ -58,9 +58,9 @@ double value; int dig1; ec_slave_init_t slaves[] = { - {&s_in1, 1, "Beckhoff", "EL3102", 0}, - {&s_out1, 8, "Beckhoff", "EL2004", 0}, - {&s_out2, 9, "Beckhoff", "EL2004", 0}, + {&s_in1, 1, "Beckhoff", "EL3102", 0}, + {&s_out1, 8, "Beckhoff", "EL2004", 0}, + {&s_out2, 9, "Beckhoff", "EL2004", 0}, {&s_out3, 10, "Beckhoff", "EL2004", 0} };