root.c

SERCOSII卡在 linux下的驱动。数控系统开发人员可以在此基础上

#include "Functions.h"
#include "rtl.h"

unsigned long root(void *arg)
{
	strncpy( SCS_Task[ROOT].Name, "ROOT", 5 );
	SCS_Task[ROOT].Status = STARTED;
	p.sched_priority =MAX_PRI; 
	pthread_setschedparam(pthread_self(),SCHED_FIFO,&p);
	if(SercansInit())
	{
		return 1;
		rtl_printf("SERCANS II Started failed.\n");
	}
	rtl_printf("SERCANS II Started.\n");

	sem_wait(&ipc_handles.TERMINATE_FLAG );
	return 0;
}
int init_module(void)
{
	Init_SHM();
	pthread_create (&root_thread, NULL, root, NULL);
	create_parameter_handler_tasks();
	start_parameter_handler_tasks();
}
void cleanup_module(void)
{
	Free_SHM();
	if(bhard_enable_irq){
		rtl_free_irq( ipc_handles.hInterrupt );		
		rtl_hard_disable_irq(ipc_handles.hInterrupt);
	}	
	pthread_delete_np (acph_thread);
	pthread_delete_np (syst_thread);
	pthread_delete_np (root_thread);
}