equal
deleted
inserted
replaced
74 /*****************************************************************************/ |
74 /*****************************************************************************/ |
75 |
75 |
76 // process data |
76 // process data |
77 static uint8_t *domain1_pd; // process data memory |
77 static uint8_t *domain1_pd; // process data memory |
78 |
78 |
79 #define AnaInSlavePos 0, 1 |
79 #define AnaInSlavePos 0, 3 |
80 #define DigOutSlavePos 0, 3 |
80 #define DigOutSlavePos 0, 2 |
81 |
81 |
82 #define Beckhoff_EL2004 0x00000002, 0x07D43052 |
82 #define Beckhoff_EL2004 0x00000002, 0x07D43052 |
83 #define Beckhoff_EL3162 0x00000002, 0x0C5A3052 |
83 #define Beckhoff_EL3162 0x00000002, 0x0C5A3052 |
84 |
84 |
85 static unsigned int off_ana_in; // offsets for PDO entries |
85 static unsigned int off_ana_in; // offsets for PDO entries |
284 rt_sem_init(&master_sem, 1); |
284 rt_sem_init(&master_sem, 1); |
285 |
285 |
286 t_critical = cpu_khz * 1000 / FREQUENCY - cpu_khz * INHIBIT_TIME / 1000; |
286 t_critical = cpu_khz * 1000 / FREQUENCY - cpu_khz * INHIBIT_TIME / 1000; |
287 |
287 |
288 master = ecrt_request_master(0); |
288 master = ecrt_request_master(0); |
289 if (IS_ERR(master)) { |
289 if (!master) { |
290 ret = PTR_ERR(master); |
290 ret = -EBUSY; |
291 printk(KERN_ERR PFX "Requesting master 0 failed!\n"); |
291 printk(KERN_ERR PFX "Requesting master 0 failed!\n"); |
292 goto out_return; |
292 goto out_return; |
293 } |
293 } |
294 |
294 |
295 ecrt_master_callbacks(master, send_callback, receive_callback, master); |
295 ecrt_master_callbacks(master, send_callback, receive_callback, master); |