equal
deleted
inserted
replaced
50 ec_master_t *master = NULL; |
50 ec_master_t *master = NULL; |
51 ec_domain_t *domain1 = NULL; |
51 ec_domain_t *domain1 = NULL; |
52 spinlock_t master_lock = SPIN_LOCK_UNLOCKED; |
52 spinlock_t master_lock = SPIN_LOCK_UNLOCKED; |
53 |
53 |
54 // data fields |
54 // data fields |
55 #if 0 |
55 #if 1 |
56 void *r_inputs; |
56 void *r_inputs; |
57 void *r_outputs; |
57 void *r_outputs; |
58 #endif |
58 #endif |
59 |
59 |
60 void *r_ana_in; |
60 void *r_ana_in; |
79 ecrt_master_receive(master); |
79 ecrt_master_receive(master); |
80 ecrt_domain_process(domain1); |
80 ecrt_domain_process(domain1); |
81 |
81 |
82 // process data |
82 // process data |
83 //k_pos = EC_READ_U32(r_ssi); |
83 //k_pos = EC_READ_U32(r_ssi); |
84 //EC_WRITE_U8(r_outputs + 2, einaus ? 0xFF : 0x00); |
84 EC_WRITE_U8(r_outputs + 2, einaus ? 0xFF : 0x00); |
85 |
85 |
86 // send |
86 // send |
87 ecrt_master_run(master); |
87 ecrt_master_run(master); |
88 ecrt_master_send(master); |
88 ecrt_master_send(master); |
89 |
89 |
119 |
119 |
120 /*****************************************************************************/ |
120 /*****************************************************************************/ |
121 |
121 |
122 int __init init_mini_module(void) |
122 int __init init_mini_module(void) |
123 { |
123 { |
124 // ec_slave_t *slave; |
124 #if 0 |
|
125 ec_slave_t *slave; |
|
126 #endif |
125 |
127 |
126 printk(KERN_INFO "=== Starting Minimal EtherCAT environment... ===\n"); |
128 printk(KERN_INFO "=== Starting Minimal EtherCAT environment... ===\n"); |
127 |
129 |
128 if ((master = ecrt_request_master(0)) == NULL) { |
130 if ((master = ecrt_request_master(0)) == NULL) { |
129 printk(KERN_ERR "Requesting master 0 failed!\n"); |
131 printk(KERN_ERR "Requesting master 0 failed!\n"); |
145 printk(KERN_ERR "PDO registration failed!\n"); |
147 printk(KERN_ERR "PDO registration failed!\n"); |
146 goto out_release_master; |
148 goto out_release_master; |
147 } |
149 } |
148 #endif |
150 #endif |
149 |
151 |
150 #if 0 |
152 #if 1 |
151 if (!ecrt_domain_register_pdo_range(domain1, "0", Beckhoff_BK1120, |
153 if (!ecrt_domain_register_pdo_range(domain1, "0", Beckhoff_BK1120, |
152 EC_DIR_OUTPUT, 0, 4, &r_outputs)) { |
154 EC_DIR_OUTPUT, 0, 4, &r_outputs)) { |
153 printk(KERN_ERR "PDO registration failed!\n"); |
155 printk(KERN_ERR "PDO registration failed!\n"); |
154 goto out_release_master; |
156 goto out_release_master; |
155 } |
157 } |