65 static void *r_ana_out; |
65 static void *r_ana_out; |
66 static void *r_count; |
66 static void *r_count; |
67 static void *r_freq; |
67 static void *r_freq; |
68 |
68 |
69 #if 1 |
69 #if 1 |
70 ec_pdo_reg_t domain1_pdos[] = { |
70 ec_pdo_reg_t domain1_pdo_regs[] = { |
71 {"2", Beckhoff_EL2004_Outputs, &r_dig_out}, |
71 {"2", Beckhoff_EL2004_Outputs, &r_dig_out}, |
72 {"3", Beckhoff_EL4132_Output1, &r_ana_out}, |
72 {"3", Beckhoff_EL4132_Output1, &r_ana_out}, |
73 {"4", Beckhoff_EL5101_Value, &r_count}, |
73 {"4", Beckhoff_EL5101_Value, &r_count}, |
74 {"4", Beckhoff_EL5101_Frequency, &r_freq}, |
74 {"4", Beckhoff_EL5101_Frequency, &r_freq}, |
75 {} |
75 {} |
177 goto out_release_master; |
177 goto out_release_master; |
178 } |
178 } |
179 |
179 |
180 #if 1 |
180 #if 1 |
181 printk(KERN_INFO PFX "Configuring alternative PDO mapping...\n"); |
181 printk(KERN_INFO PFX "Configuring alternative PDO mapping...\n"); |
182 if (!(slave = ecrt_master_get_slave(master, "4"))) |
182 if (!(slave = ecrt_master_get_slave(master, "4", Beckhoff_EL5101))) |
183 goto out_release_master; |
183 goto out_release_master; |
184 |
184 |
185 if (ecrt_slave_pdo_mapping(slave, EC_DIR_INPUT, 2, 0x1A00, 0x1A02)) |
185 if (ecrt_slave_pdo_mapping(slave, EC_DIR_INPUT, 2, 0x1A00, 0x1A02)) |
186 goto out_release_master; |
186 goto out_release_master; |
187 #endif |
187 #endif |
188 |
188 |
189 printk(KERN_INFO PFX "Registering PDOs...\n"); |
189 printk(KERN_INFO PFX "Registering PDOs...\n"); |
190 #if 1 |
190 #if 1 |
191 if (ecrt_domain_register_pdo_list(domain1, domain1_pdos)) { |
191 if (ecrt_domain_register_pdo_list(domain1, domain1_pdo_regs)) { |
192 printk(KERN_ERR PFX "PDO registration failed!\n"); |
192 printk(KERN_ERR PFX "PDO registration failed!\n"); |
193 goto out_release_master; |
193 goto out_release_master; |
194 } |
194 } |
195 #endif |
195 #endif |
196 |
196 |
197 #ifdef KBUS |
197 #ifdef KBUS |
198 if (!ecrt_domain_register_pdo_range(domain1, "0", Beckhoff_BK1120, |
198 if (!(slave = ecrt_master_get_slave(master, "0", Beckhoff_BK1120))) |
199 EC_DIR_OUTPUT, 0, 4, &r_outputs)) { |
199 goto out_release_master; |
|
200 |
|
201 if (!ecrt_domain_register_pdo_range( |
|
202 domain1, slave, EC_DIR_OUTPUT, 0, 4, &r_outputs)) { |
200 printk(KERN_ERR PFX "PDO registration failed!\n"); |
203 printk(KERN_ERR PFX "PDO registration failed!\n"); |
201 goto out_release_master; |
204 goto out_release_master; |
202 } |
205 } |
203 if (!ecrt_domain_register_pdo_range(domain1, "0", Beckhoff_BK1120, |
206 |
204 EC_DIR_INPUT, 0, 4, &r_inputs)) { |
207 if (!ecrt_domain_register_pdo_range( |
|
208 domain1, slave, EC_DIR_INPUT, 0, 4, &r_inputs)) { |
205 printk(KERN_ERR PFX "PDO registration failed!\n"); |
209 printk(KERN_ERR PFX "PDO registration failed!\n"); |
206 goto out_release_master; |
210 goto out_release_master; |
207 } |
211 } |
208 #endif |
212 #endif |
209 |
213 |
210 #if 0 |
214 #if 0 |
211 if (!(slave = ecrt_master_get_slave(master, "4"))) |
215 if (!(slave = ecrt_master_get_slave(master, "4", Beckhoff_EL5001))) |
212 goto out_release_master; |
216 goto out_release_master; |
213 |
217 |
214 if (ecrt_slave_conf_sdo8(slave, 0x4061, 1, 0)) |
218 if (ecrt_slave_conf_sdo8(slave, 0x4061, 1, 0)) |
215 goto out_release_master; |
219 goto out_release_master; |
216 #endif |
220 #endif |