From 92c5ab66422fb86c48be8cc7ec3b83a929a2029e Mon Sep 17 00:00:00 2001
From: Florian Pose <fp@igh-essen.com>
Date: Tue, 2 Jan 2007 13:25:26 +0000
Subject: [PATCH] Adjusted examples to 1.2.0 interface changes.
---
examples/mini/mini.c | 9 +++------
examples/msr/msr_sample.c | 4 +---
examples/rtai/rtai_sample.c | 5 +----
3 files changed, 5 insertions(+), 13 deletions(-)
diff --git a/examples/mini/mini.c b/examples/mini/mini.c
index ad726d42..7fb49434 100644
--- a/examples/mini/mini.c
+++ b/examples/mini/mini.c
@@ -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);
/*****************************************************************************/
-
diff --git a/examples/msr/msr_sample.c b/examples/msr/msr_sample.c
index a5b1e759..44b0c0bb 100644
--- a/examples/msr/msr_sample.c
+++ b/examples/msr/msr_sample.c
@@ -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:
diff --git a/examples/rtai/rtai_sample.c b/examples/rtai/rtai_sample.c
index 79889a35..76e8ac4f 100644
--- a/examples/rtai/rtai_sample.c
+++ b/examples/rtai/rtai_sample.c
@@ -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:
--
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