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rt/msr_module.c
changeset 138 7e743a61a991
parent 137 3fb18812871a
child 139 998215ab9b92
equal deleted inserted replaced
137:3fb18812871a 138:7e743a61a991 
   184 int __init init_rt_module(void)
 
   184 int __init init_rt_module(void)
 
   185 {
 
   185 {
 
   186     struct ipipe_domain_attr attr; //ipipe
 
   186     struct ipipe_domain_attr attr; //ipipe
 
   187     uint8_t string[10];
 
   187     uint8_t string[10];
 
   188     size_t size;
 
   188     size_t size;
 
       
   189     ec_slave_t *slave;
 
   189 
   190 
   190     // Als allererstes die RT-Lib initialisieren
 
   191     // Als allererstes die RT-Lib initialisieren
 
   191     if (msr_rtlib_init(1, MSR_ABTASTFREQUENZ, 10, &msr_globals_register) < 0) {
 
   192     if (msr_rtlib_init(1, MSR_ABTASTFREQUENZ, 10, &msr_globals_register) < 0) {
 
   192         msr_print_warn("msr_modul: can't initialize rtlib!");
 
   193         msr_print_warn("msr_modul: can't initialize rtlib!");
 
   193         goto out_return;
 
   194         goto out_return;
 
   229     //ecrt_master_debug(master, 0);
 
   230     //ecrt_master_debug(master, 0);
 
   230 
   231 
   231     ecrt_master_print(master);
 
   232     ecrt_master_print(master);
 
   232 
   233 
   233 #ifdef BLOCK1
 
   234 #ifdef BLOCK1
 
       
   235     if (!(slave = ecrt_master_get_slave(master, "1"))) {
 
       
   236         printk(KERN_ERR "Failed to get slave 1!\n");
 
       
   237         goto out_deactivate;
 
       
   238     }
 
       
   239 
   234     size = 10;
 
   240     size = 10;
 
   235     if (ecrt_master_sdo_read(master, "1", 0x100A, 0, string, &size)) {
 
   241     if (ecrt_slave_sdo_read(slave, 0x100A, 0, string, &size)) {
 
   236         printk(KERN_ERR "Could not read SSI version!\n");
 
   242         printk(KERN_ERR "Could not read SSI version!\n");
 
   237         goto out_deactivate;
 
   243         goto out_deactivate;
 
   238     }
 
   244     }
 
   239     string[size] = 0;
 
   245     string[size] = 0;
 
   240     printk(KERN_INFO "Software-version 1: %s\n", string);
 
   246     printk(KERN_INFO "Software-version 1: %s\n", string);
 
   241 
   247 
       
   248     if (!(slave = ecrt_master_get_slave(master, "5"))) {
 
       
   249         printk(KERN_ERR "Failed to get slave 5!\n");
 
       
   250         goto out_deactivate;
 
       
   251     }
 
       
   252 
   242     size = 10;
 
   253     size = 10;
 
   243     if (ecrt_master_sdo_read(master, "5", 0x100A, 0, string, &size)) {
 
   254     if (ecrt_slave_sdo_read(slave, 0x100A, 0, string, &size)) {
 
   244         printk(KERN_ERR "Could not read SSI version!\n");
 
   255         printk(KERN_ERR "Could not read SSI version!\n");
 
   245         goto out_deactivate;
 
   256         goto out_deactivate;
 
   246     }
 
   257     }
 
   247     string[size] = 0;
 
   258     string[size] = 0;
 
   248     printk(KERN_INFO "Software-version 5: %s\n", string);
 
   259     printk(KERN_INFO "Software-version 5: %s\n", string);
 
   249 
   260 
   250     if (ecrt_master_sdo_exp_write(master, "5", 0x4061, 1,  0, 1) ||
 
   261     if (ecrt_slave_sdo_write_exp8(slave, 0x4061, 1,  0) ||
 
   251         ecrt_master_sdo_exp_write(master, "5", 0x4061, 2,  1, 1) ||
 
   262         ecrt_slave_sdo_write_exp8(slave, 0x4061, 2,  1) ||
 
   252         ecrt_master_sdo_exp_write(master, "5", 0x4061, 3,  1, 1) ||
 
   263         ecrt_slave_sdo_write_exp8(slave, 0x4061, 3,  1) ||
 
   253         ecrt_master_sdo_exp_write(master, "5", 0x4066, 0,  0, 1) ||
 
   264         ecrt_slave_sdo_write_exp8(slave, 0x4066, 0,  0) ||
 
   254         ecrt_master_sdo_exp_write(master, "5", 0x4067, 0,  4, 1) ||
 
   265         ecrt_slave_sdo_write_exp8(slave, 0x4067, 0,  4) ||
 
   255         ecrt_master_sdo_exp_write(master, "5", 0x4068, 0,  0, 1) ||
 
   266         ecrt_slave_sdo_write_exp8(slave, 0x4068, 0,  0) ||
 
   256         ecrt_master_sdo_exp_write(master, "5", 0x4069, 0, 25, 1) ||
 
   267         ecrt_slave_sdo_write_exp8(slave, 0x4069, 0, 25) ||
 
   257         ecrt_master_sdo_exp_write(master, "5", 0x406A, 0, 25, 1) ||
 
   268         ecrt_slave_sdo_write_exp8(slave, 0x406A, 0, 25) ||
 
   258         ecrt_master_sdo_exp_write(master, "5", 0x406B, 0, 50, 1)) {
 
   269         ecrt_slave_sdo_write_exp8(slave, 0x406B, 0, 50)) {
 
   259         printk(KERN_ERR "Failed to configure SSI slave!\n");
 
   270         printk(KERN_ERR "Failed to configure SSI slave!\n");
 
   260         goto out_deactivate;
 
   271         goto out_deactivate;
 
   261     }
 
   272     }
 
   262 #endif
 
   273 #endif
 
   263 
   274
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