68 uint32_t k_postio; |
68 uint32_t k_postio; |
69 uint32_t k_finished; |
69 uint32_t k_finished; |
70 |
70 |
71 #ifdef BLOCK1 |
71 #ifdef BLOCK1 |
72 ec_field_init_t domain1_fields[] = { |
72 ec_field_init_t domain1_fields[] = { |
73 {&r_ssi, "1", "Beckhoff", "EL5001", "InputValue", 0}, |
73 {&r_ssi, "5", "Beckhoff", "EL5001", "InputValue", 0}, |
74 {&r_ssi_st, "1", "Beckhoff", "EL5001", "Status", 0}, |
74 {&r_ssi_st, "5", "Beckhoff", "EL5001", "Status", 0}, |
75 {} |
75 {} |
76 }; |
76 }; |
77 #else |
77 #else |
78 ec_field_init_t domain1_fields[] = { |
78 ec_field_init_t domain1_fields[] = { |
79 {&r_inc, "4", "Beckhoff", "EL5101", "InputValue", 0}, |
79 {&r_inc, "4", "Beckhoff", "EL5101", "InputValue", 0}, |
228 //ecrt_master_debug(master, 0); |
229 //ecrt_master_debug(master, 0); |
229 |
230 |
230 ecrt_master_print(master); |
231 ecrt_master_print(master); |
231 |
232 |
232 #ifdef BLOCK1 |
233 #ifdef BLOCK1 |
233 if (ecrt_master_sdo_read(master, "1", 0x100A, 1, &version)) { |
234 size = 10; |
|
235 if (ecrt_master_sdo_read(master, "1", 0x100A, 0, string, &size)) { |
234 printk(KERN_ERR "Could not read SSI version!\n"); |
236 printk(KERN_ERR "Could not read SSI version!\n"); |
235 goto out_deactivate; |
237 goto out_deactivate; |
236 } |
238 } |
237 printk(KERN_INFO "Software-version: %u\n", version); |
239 string[size] = 0; |
238 |
240 printk(KERN_INFO "Software-version 1: %s\n", string); |
239 if (ecrt_master_sdo_write(master, "1", 0x4061, 1, 0, 1) || |
241 |
240 ecrt_master_sdo_write(master, "1", 0x4061, 2, 1, 1) || |
242 size = 10; |
241 ecrt_master_sdo_write(master, "1", 0x4061, 3, 1, 1) || |
243 if (ecrt_master_sdo_read(master, "5", 0x100A, 0, string, &size)) { |
242 ecrt_master_sdo_write(master, "1", 0x4066, 0, 0, 1) || |
244 printk(KERN_ERR "Could not read SSI version!\n"); |
243 ecrt_master_sdo_write(master, "1", 0x4067, 0, 4, 1) || |
245 goto out_deactivate; |
244 ecrt_master_sdo_write(master, "1", 0x4068, 0, 0, 1) || |
246 } |
245 ecrt_master_sdo_write(master, "1", 0x4069, 0, 25, 1) || |
247 string[size] = 0; |
246 ecrt_master_sdo_write(master, "1", 0x406A, 0, 25, 1) || |
248 printk(KERN_INFO "Software-version 5: %s\n", string); |
247 ecrt_master_sdo_write(master, "1", 0x406B, 0, 50, 1)) { |
249 |
|
250 if (ecrt_master_sdo_exp_write(master, "5", 0x4061, 1, 0, 1) || |
|
251 ecrt_master_sdo_exp_write(master, "5", 0x4061, 2, 1, 1) || |
|
252 ecrt_master_sdo_exp_write(master, "5", 0x4061, 3, 1, 1) || |
|
253 ecrt_master_sdo_exp_write(master, "5", 0x4066, 0, 0, 1) || |
|
254 ecrt_master_sdo_exp_write(master, "5", 0x4067, 0, 4, 1) || |
|
255 ecrt_master_sdo_exp_write(master, "5", 0x4068, 0, 0, 1) || |
|
256 ecrt_master_sdo_exp_write(master, "5", 0x4069, 0, 25, 1) || |
|
257 ecrt_master_sdo_exp_write(master, "5", 0x406A, 0, 25, 1) || |
|
258 ecrt_master_sdo_exp_write(master, "5", 0x406B, 0, 50, 1)) { |
248 printk(KERN_ERR "Failed to configure SSI slave!\n"); |
259 printk(KERN_ERR "Failed to configure SSI slave!\n"); |
249 goto out_deactivate; |
260 goto out_deactivate; |
250 } |
261 } |
251 #endif |
262 #endif |
252 |
263 |