equal
deleted
inserted
replaced
45 int __init_%(location)s(int argc,char **argv) |
45 int __init_%(location)s(int argc,char **argv) |
46 { |
46 { |
47 uint32_t abort_code; |
47 uint32_t abort_code; |
48 size_t result_size; |
48 size_t result_size; |
49 |
49 |
50 master = ecrt_request_master(%(master_number)d); |
50 master = ecrt_request_master(%(master_number)d); |
51 if (!master) { |
51 if (!master) { |
52 SLOGF(LOG_CRITICAL, "EtherCAT master request failed!"); |
52 SLOGF(LOG_CRITICAL, "EtherCAT master request failed!"); |
53 return -1; |
53 return -1; |
54 } |
54 } |
55 |
55 |
56 if(!(domain1 = ecrt_master_create_domain(master))){ |
56 if(!(domain1 = ecrt_master_create_domain(master))){ |
57 SLOGF(LOG_CRITICAL, "EtherCAT Domain Creation failed!"); |
57 SLOGF(LOG_CRITICAL, "EtherCAT Domain Creation failed!"); |
58 goto ecat_failed; |
58 goto ecat_failed; |
59 } |
59 } |
60 |
60 |
61 // slaves PDO configuration |
61 // slaves PDO configuration |
64 if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) { |
64 if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) { |
65 SLOGF(LOG_CRITICAL, "EtherCAT PDO registration failed!"); |
65 SLOGF(LOG_CRITICAL, "EtherCAT PDO registration failed!"); |
66 goto ecat_failed; |
66 goto ecat_failed; |
67 } |
67 } |
68 |
68 |
69 ecrt_master_set_send_interval(master, common_ticktime__); |
69 ecrt_master_set_send_interval(master, common_ticktime__); |
70 |
70 |
71 // slaves initialization |
71 // slaves initialization |
72 %(slaves_initialization)s |
72 %(slaves_initialization)s |
73 |
73 |
74 // extracting default value for not mapped entry in output PDOs |
74 // extracting default value for not mapped entry in output PDOs |
89 first_sent = 0; |
89 first_sent = 0; |
90 |
90 |
91 return 0; |
91 return 0; |
92 |
92 |
93 ecat_failed: |
93 ecat_failed: |
94 ecrt_release_master(master); |
94 ecrt_release_master(master); |
95 return -1; |
95 return -1; |
96 |
96 |
97 } |
97 } |
98 |
98 |
99 void __cleanup_%(location)s(void) |
99 void __cleanup_%(location)s(void) |
100 { |
100 { |
101 //release master |
101 //release master |
102 ecrt_release_master(master); |
102 ecrt_release_master(master); |
103 first_sent = 0; |
103 first_sent = 0; |
104 } |
104 } |
105 |
105 |
106 void __retrieve_%(location)s(void) |
106 void __retrieve_%(location)s(void) |
107 { |
107 { |