55 ec_domain_t *domain1 = NULL; |
55 ec_domain_t *domain1 = NULL; |
56 spinlock_t master_lock = SPIN_LOCK_UNLOCKED; |
56 spinlock_t master_lock = SPIN_LOCK_UNLOCKED; |
57 |
57 |
58 // data fields |
58 // data fields |
59 //void *r_ssi_input, *r_ssi_status, *r_4102[3]; |
59 //void *r_ssi_input, *r_ssi_status, *r_4102[3]; |
60 void *r_kbus_in; |
60 void *r_kbus_in, *r_kbus_out; |
61 |
61 |
62 // channels |
62 // channels |
63 uint32_t k_pos; |
63 uint32_t k_pos; |
64 uint8_t k_stat; |
64 uint8_t k_stat; |
65 |
65 |
66 ec_field_init_t domain1_fields[] = { |
66 ec_field_init_t domain1_fields[] = { |
67 {&r_kbus_in, "0", "Beckhoff", "BK1120", "Inputs", 0}, |
67 //{&r_kbus_out, "0", "Beckhoff", "BK1120", "Outputs", 0}, |
|
68 //{&r_kbus_in, "0", "Beckhoff", "BK1120", "Inputs", 0}, |
68 {} |
69 {} |
69 }; |
70 }; |
70 |
71 |
71 /*****************************************************************************/ |
72 /*****************************************************************************/ |
72 |
73 |
73 void run(unsigned long data) |
74 void run(unsigned long data) |
74 { |
75 { |
75 static unsigned int counter = 0; |
76 static unsigned int counter = 0; |
|
77 unsigned int i; |
76 |
78 |
77 spin_lock(&master_lock); |
79 spin_lock(&master_lock); |
78 |
80 |
79 #ifdef ASYNC |
81 #ifdef ASYNC |
80 // receive |
82 // receive |
161 printk(KERN_INFO "Setting variable data field sizes...\n"); |
164 printk(KERN_INFO "Setting variable data field sizes...\n"); |
162 if (!(slave = ecrt_master_get_slave(master, "0"))) { |
165 if (!(slave = ecrt_master_get_slave(master, "0"))) { |
163 printk(KERN_ERR "Failed to get slave!\n"); |
166 printk(KERN_ERR "Failed to get slave!\n"); |
164 goto out_deactivate; |
167 goto out_deactivate; |
165 } |
168 } |
166 ecrt_slave_field_size(slave, "Inputs", 0, 1); |
169 ecrt_slave_field_size(slave, "Outputs", 0, 0x16); |
|
170 ecrt_slave_field_size(slave, "Inputs", 0, 0x16); |
167 #endif |
171 #endif |
168 |
172 |
169 printk(KERN_INFO "Activating master...\n"); |
173 printk(KERN_INFO "Activating master...\n"); |
170 if (ecrt_master_activate(master)) { |
174 if (ecrt_master_activate(master)) { |
171 printk(KERN_ERR "Failed to activate master!\n"); |
175 printk(KERN_ERR "Failed to activate master!\n"); |
172 goto out_release_master; |
176 goto out_release_master; |
173 } |
177 } |
174 |
178 |
175 #if 0 |
179 #if 1 |
176 if (ecrt_master_fetch_sdo_lists(master)) { |
180 if (ecrt_master_fetch_sdo_lists(master)) { |
177 printk(KERN_ERR "Failed to fetch SDO lists!\n"); |
181 printk(KERN_ERR "Failed to fetch SDO lists!\n"); |
178 goto out_deactivate; |
182 goto out_deactivate; |
179 } |
183 } |
180 ecrt_master_print(master, 2); |
184 ecrt_master_print(master, 2); |