equal
deleted
inserted
replaced
58 |
58 |
59 // Kanˇäle |
59 // Kanˇäle |
60 uint32_t k_pos; |
60 uint32_t k_pos; |
61 |
61 |
62 ec_field_init_t domain1_fields[] = { |
62 ec_field_init_t domain1_fields[] = { |
63 {&r_ssi, "1", "Beckhoff", "EL5001", "InputValue", 0}, |
63 {&r_ssi, "5", "Beckhoff", "EL5001", "InputValue", 0}, |
64 {} |
64 {} |
65 }; |
65 }; |
66 |
66 |
67 /*****************************************************************************/ |
67 /*****************************************************************************/ |
68 |
68 |
141 msr_print_warn("msr_modul: can't initialize rtlib!"); |
141 msr_print_warn("msr_modul: can't initialize rtlib!"); |
142 goto out_return; |
142 goto out_return; |
143 } |
143 } |
144 |
144 |
145 if ((master = ecrt_request_master(0)) == NULL) { |
145 if ((master = ecrt_request_master(0)) == NULL) { |
146 printk(KERN_ERR "Error requesting master 0!\n"); |
146 printk(KERN_ERR "Failed to request master 0!\n"); |
147 goto out_msr_cleanup; |
147 goto out_msr_cleanup; |
148 } |
148 } |
149 |
149 |
150 //ecrt_master_print(master, 2); |
150 //ecrt_master_print(master, 2); |
151 |
151 |
152 printk(KERN_INFO "Registering domains...\n"); |
152 printk(KERN_INFO "Creating domains...\n"); |
153 if (!(domain1 = ecrt_master_create_domain(master))) { |
153 if (!(domain1 = ecrt_master_create_domain(master))) { |
154 printk(KERN_ERR "Could not register domain!\n"); |
154 printk(KERN_ERR "Failed to create domains!\n"); |
155 goto out_release_master; |
155 goto out_release_master; |
156 } |
156 } |
157 |
157 |
158 printk(KERN_INFO "Registering domain fields...\n"); |
158 printk(KERN_INFO "Registering domain fields...\n"); |
159 if (ecrt_domain_register_field_list(domain1, domain1_fields)) { |
159 if (ecrt_domain_register_field_list(domain1, domain1_fields)) { |
165 if (ecrt_master_activate(master)) { |
165 if (ecrt_master_activate(master)) { |
166 printk(KERN_ERR "Could not activate master!\n"); |
166 printk(KERN_ERR "Could not activate master!\n"); |
167 goto out_release_master; |
167 goto out_release_master; |
168 } |
168 } |
169 |
169 |
170 #if 1 |
170 #if 0 |
171 if (ecrt_master_fetch_sdo_lists(master)) { |
171 if (ecrt_master_fetch_sdo_lists(master)) { |
172 printk(KERN_ERR "Failed to fetch SDO lists!\n"); |
172 printk(KERN_ERR "Failed to fetch SDO lists!\n"); |
173 goto out_deactivate; |
173 goto out_deactivate; |
174 } |
174 } |
175 ecrt_master_print(master, 2); |
175 ecrt_master_print(master, 2); |
207 attr.priority = IPIPE_ROOT_PRIO + 1; |
207 attr.priority = IPIPE_ROOT_PRIO + 1; |
208 attr.entry = &domain_entry; |
208 attr.entry = &domain_entry; |
209 ipipe_register_domain(&this_domain, &attr); |
209 ipipe_register_domain(&this_domain, &attr); |
210 return 0; |
210 return 0; |
211 |
211 |
212 #if 1 |
212 #if 0 |
213 out_deactivate: |
213 out_deactivate: |
214 ecrt_master_deactivate(master); |
214 ecrt_master_deactivate(master); |
215 #endif |
215 #endif |
216 out_release_master: |
216 out_release_master: |
217 ecrt_release_master(master); |
217 ecrt_release_master(master); |