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, *r_kbus_out; |
60 |
61 |
61 // channels |
62 // channels |
62 uint32_t k_pos; |
63 uint32_t k_pos; |
63 uint8_t k_stat; |
64 uint8_t k_stat; |
64 |
65 |
65 ec_field_init_t domain1_fields[] = { |
66 ec_field_init_t domain1_fields[] = { |
66 {NULL, "3", "Beckhoff", "EL5001", "InputValue", 0}, |
67 //{&r_kbus_out, "0", "Beckhoff", "BK1120", "Outputs", 0}, |
67 {NULL, "2", "Beckhoff", "EL4132", "OutputValue", 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 |
131 |
134 |
132 /*****************************************************************************/ |
135 /*****************************************************************************/ |
133 |
136 |
134 int __init init_mini_module(void) |
137 int __init init_mini_module(void) |
135 { |
138 { |
|
139 ec_slave_t *slave; |
|
140 |
136 printk(KERN_INFO "=== Starting Minimal EtherCAT environment... ===\n"); |
141 printk(KERN_INFO "=== Starting Minimal EtherCAT environment... ===\n"); |
137 |
142 |
138 if ((master = ecrt_request_master(0)) == NULL) { |
143 if ((master = ecrt_request_master(0)) == NULL) { |
139 printk(KERN_ERR "Requesting master 0 failed!\n"); |
144 printk(KERN_ERR "Requesting master 0 failed!\n"); |
140 goto out_return; |
145 goto out_return; |
153 if (ecrt_domain_register_field_list(domain1, domain1_fields)) { |
158 if (ecrt_domain_register_field_list(domain1, domain1_fields)) { |
154 printk(KERN_ERR "Field registration failed!\n"); |
159 printk(KERN_ERR "Field registration failed!\n"); |
155 goto out_release_master; |
160 goto out_release_master; |
156 } |
161 } |
157 |
162 |
|
163 #if 1 |
|
164 printk(KERN_INFO "Setting variable data field sizes...\n"); |
|
165 if (!(slave = ecrt_master_get_slave(master, "0"))) { |
|
166 printk(KERN_ERR "Failed to get slave!\n"); |
|
167 goto out_deactivate; |
|
168 } |
|
169 ecrt_slave_field_size(slave, "Outputs", 0, 0x16); |
|
170 ecrt_slave_field_size(slave, "Inputs", 0, 0x16); |
|
171 #endif |
|
172 |
158 printk(KERN_INFO "Activating master...\n"); |
173 printk(KERN_INFO "Activating master...\n"); |
159 if (ecrt_master_activate(master)) { |
174 if (ecrt_master_activate(master)) { |
160 printk(KERN_ERR "Failed to activate master!\n"); |
175 printk(KERN_ERR "Failed to activate master!\n"); |
161 goto out_release_master; |
176 goto out_release_master; |
162 } |
177 } |
163 |
178 |
164 #if 0 |
179 #if 1 |
165 if (ecrt_master_fetch_sdo_lists(master)) { |
180 if (ecrt_master_fetch_sdo_lists(master)) { |
166 printk(KERN_ERR "Failed to fetch SDO lists!\n"); |
181 printk(KERN_ERR "Failed to fetch SDO lists!\n"); |
167 goto out_deactivate; |
182 goto out_deactivate; |
168 } |
183 } |
169 ecrt_master_print(master, 2); |
184 ecrt_master_print(master, 2); |