From 81cbe23ab653bb96f58651f211753fda2c5c94aa Mon Sep 17 00:00:00 2001
From: Florian Pose <fp@igh-essen.com>
Date: Mon, 8 Jan 2007 15:02:05 +0000
Subject: [PATCH] Adjusted examples to EtherLab starter kit hardware.
---
examples/mini/mini.c | 19 ++++++++++++-------
examples/rtai/rtai_sample.c | 22 +++++++++++++++-------
2 files changed, 27 insertions(+), 14 deletions(-)
diff --git a/examples/mini/mini.c b/examples/mini/mini.c
index 59bd9c09..26ca8acf 100644
--- a/examples/mini/mini.c
+++ b/examples/mini/mini.c
@@ -41,7 +41,7 @@
#define FREQUENCY 100
-#define KBUS
+//#define KBUS
/*****************************************************************************/
@@ -58,11 +58,11 @@ void *r_inputs;
void *r_outputs;
#endif
-void *r_ana_in;
+void *r_dig_out;
#if 1
ec_pdo_reg_t domain1_pdos[] = {
- {"2", Beckhoff_EL3102_Input1, &r_ana_in},
+ {"2", Beckhoff_EL2004_Outputs, &r_dig_out},
{}
};
#endif
@@ -82,6 +82,7 @@ void run(unsigned long data)
// process data
// k_pos = EC_READ_U32(r_ssi);
+ EC_WRITE_U8(r_dig_out, blink ? 0x0F : 0x00);
if (counter) {
counter--;
@@ -98,7 +99,11 @@ void run(unsigned long data)
// send
spin_lock(&master_lock);
ecrt_domain_queue(domain1);
+ spin_unlock(&master_lock);
+
ecrt_master_run(master);
+
+ spin_lock(&master_lock);
ecrt_master_send(master);
spin_unlock(&master_lock);
@@ -111,7 +116,7 @@ void run(unsigned long data)
int request_lock(void *data)
{
- spin_lock_bh(&master_lock);
+ spin_lock(&master_lock);
return 0; // access allowed
}
@@ -119,14 +124,14 @@ int request_lock(void *data)
void release_lock(void *data)
{
- spin_unlock_bh(&master_lock);
+ spin_unlock(&master_lock);
}
/*****************************************************************************/
int __init init_mini_module(void)
{
-#if 1
+#if 0
ec_slave_t *slave;
#endif
@@ -166,7 +171,7 @@ int __init init_mini_module(void)
}
#endif
-#if 1
+#if 0
if (!(slave = ecrt_master_get_slave(master, "2")))
goto out_release_master;
diff --git a/examples/rtai/rtai_sample.c b/examples/rtai/rtai_sample.c
index f6b95f13..9c68f7ae 100644
--- a/examples/rtai/rtai_sample.c
+++ b/examples/rtai/rtai_sample.c
@@ -47,7 +47,7 @@
/*****************************************************************************/
// RTAI task frequency in Hz
-#define FREQUENCY 10000
+#define FREQUENCY 4000
#define INHIBIT_TIME 20
#define TIMERTICKS (1000000000 / FREQUENCY)
@@ -64,13 +64,10 @@ ec_master_t *master = NULL;
ec_domain_t *domain1 = NULL;
// data fields
-void *r_ana_out;
-
-// channels
-uint32_t k_pos;
+void *r_dig_out;
ec_pdo_reg_t domain1_pdos[] = {
- {"2", Beckhoff_EL4132_Output1, &r_ana_out},
+ {"2", Beckhoff_EL2004_Outputs, &r_dig_out},
{}
};
@@ -78,6 +75,9 @@ ec_pdo_reg_t domain1_pdos[] = {
void run(long data)
{
+ static unsigned int blink = 0;
+ static unsigned int counter = 0;
+
while (1) {
t_last_cycle = get_cycles();
@@ -87,13 +87,21 @@ void run(long data)
rt_sem_signal(&master_sem);
// process data
- //k_pos = EC_READ_U32(r_ssi_input);
+ EC_WRITE_U8(r_dig_out, blink ? 0x0F : 0x00);
rt_sem_wait(&master_sem);
ecrt_domain_queue(domain1);
ecrt_master_run(master);
ecrt_master_send(master);
rt_sem_signal(&master_sem);
+
+ if (counter) {
+ counter--;
+ }
+ else {
+ counter = FREQUENCY;
+ blink = !blink;
+ }
rt_task_wait_period();
}
--
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