186 if ((master = ecrt_request_master(0)) == NULL) { |
186 if ((master = ecrt_request_master(0)) == NULL) { |
187 printk(KERN_ERR "Error requesting master 0!\n"); |
187 printk(KERN_ERR "Error requesting master 0!\n"); |
188 goto out_msr_cleanup; |
188 goto out_msr_cleanup; |
189 } |
189 } |
190 |
190 |
191 ecrt_master_print(master); |
|
192 |
|
193 printk(KERN_INFO "Registering domains...\n"); |
191 printk(KERN_INFO "Registering domains...\n"); |
194 |
192 |
195 if (!(domain1 = ecrt_master_create_domain(master))) { |
193 if (!(domain1 = ecrt_master_create_domain(master))) { |
196 printk(KERN_ERR "Could not register domain!\n"); |
194 printk(KERN_ERR "Could not register domain!\n"); |
197 goto out_release_master; |
195 goto out_release_master; |
214 goto out_release_master; |
212 goto out_release_master; |
215 } |
213 } |
216 |
214 |
217 printk(KERN_INFO "Activating master...\n"); |
215 printk(KERN_INFO "Activating master...\n"); |
218 |
216 |
219 //ecrt_master_debug(master, 2); |
|
220 |
|
221 if (ecrt_master_activate(master)) { |
217 if (ecrt_master_activate(master)) { |
222 printk(KERN_ERR "Could not activate master!\n"); |
218 printk(KERN_ERR "Could not activate master!\n"); |
223 goto out_release_master; |
219 goto out_release_master; |
224 } |
220 } |
225 |
221 |
|
222 //ecrt_master_debug(master, 2); |
|
223 if (ecrt_master_fetch_sdo_lists(master)) { |
|
224 printk(KERN_ERR "Failed to fetch SDO lists!\n"); |
|
225 goto out_deactivate; |
|
226 } |
226 //ecrt_master_debug(master, 0); |
227 //ecrt_master_debug(master, 0); |
|
228 |
|
229 ecrt_master_print(master); |
227 |
230 |
228 #if 1 |
231 #if 1 |
229 if (ecrt_master_sdo_read(master, "1", 0x100A, 1, &version)) { |
232 if (ecrt_master_sdo_read(master, "1", 0x100A, 1, &version)) { |
230 printk(KERN_ERR "Could not read SSI version!\n"); |
233 printk(KERN_ERR "Could not read SSI version!\n"); |
231 goto out_deactivate; |
234 goto out_deactivate; |
232 } |
235 } |
233 printk(KERN_INFO "Software-version: %u\n", version); |
236 printk(KERN_INFO "Software-version: %u\n", version); |
234 #endif |
237 |
235 |
|
236 #if 1 |
|
237 if (ecrt_master_sdo_write(master, "1", 0x4061, 1, 0, 1) || |
238 if (ecrt_master_sdo_write(master, "1", 0x4061, 1, 0, 1) || |
238 ecrt_master_sdo_write(master, "1", 0x4061, 2, 1, 1) || |
239 ecrt_master_sdo_write(master, "1", 0x4061, 2, 1, 1) || |
239 ecrt_master_sdo_write(master, "1", 0x4061, 3, 1, 1) || |
240 ecrt_master_sdo_write(master, "1", 0x4061, 3, 1, 1) || |
240 ecrt_master_sdo_write(master, "1", 0x4066, 0, 0, 1) || |
241 ecrt_master_sdo_write(master, "1", 0x4066, 0, 0, 1) || |
241 ecrt_master_sdo_write(master, "1", 0x4067, 0, 4, 1) || |
242 ecrt_master_sdo_write(master, "1", 0x4067, 0, 4, 1) || |