54 ec_master_t *master = NULL; |
54 ec_master_t *master = NULL; |
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 #if 0 |
59 void *r_inputs; |
60 void *r_inputs; |
60 void *r_outputs; |
61 void *r_outputs; |
61 |
62 #endif |
62 #if 0 |
63 |
|
64 void *r_ana_in; |
|
65 |
|
66 #if 1 |
63 ec_pdo_reg_t domain1_pdos[] = { |
67 ec_pdo_reg_t domain1_pdos[] = { |
64 {"2", Beckhoff_EL4132_Output1, &r_ana_out}, |
68 {"2", Beckhoff_EL3102_Input1, &r_ana_in}, |
65 {"3", Beckhoff_EL5001_Value, NULL}, |
|
66 {} |
69 {} |
67 }; |
70 }; |
68 #endif |
71 #endif |
69 |
72 |
70 /*****************************************************************************/ |
73 /*****************************************************************************/ |
80 ecrt_master_receive(master); |
83 ecrt_master_receive(master); |
81 ecrt_domain_process(domain1); |
84 ecrt_domain_process(domain1); |
82 |
85 |
83 // process data |
86 // process data |
84 //k_pos = EC_READ_U32(r_ssi); |
87 //k_pos = EC_READ_U32(r_ssi); |
85 EC_WRITE_U8(r_outputs + 2, einaus ? 0xFF : 0x00); |
88 //EC_WRITE_U8(r_outputs + 2, einaus ? 0xFF : 0x00); |
86 |
|
87 |
89 |
88 // send |
90 // send |
89 ecrt_master_run(master); |
91 ecrt_master_run(master); |
90 ecrt_master_send(master); |
92 ecrt_master_send(master); |
91 |
93 |
140 printk(KERN_ERR "Domain creation failed!\n"); |
142 printk(KERN_ERR "Domain creation failed!\n"); |
141 goto out_release_master; |
143 goto out_release_master; |
142 } |
144 } |
143 |
145 |
144 printk(KERN_INFO "Registering PDOs...\n"); |
146 printk(KERN_INFO "Registering PDOs...\n"); |
145 #if 0 |
147 #if 1 |
146 if (ecrt_domain_register_pdo_list(domain1, domain1_pdos)) { |
148 if (ecrt_domain_register_pdo_list(domain1, domain1_pdos)) { |
147 printk(KERN_ERR "PDO registration failed!\n"); |
149 printk(KERN_ERR "PDO registration failed!\n"); |
148 goto out_release_master; |
150 goto out_release_master; |
149 } |
151 } |
150 #endif |
152 #endif |
|
153 |
|
154 #if 0 |
151 if (!ecrt_domain_register_pdo_range(domain1, "0", Beckhoff_BK1120, |
155 if (!ecrt_domain_register_pdo_range(domain1, "0", Beckhoff_BK1120, |
152 EC_DIR_OUTPUT, 0, 4, &r_outputs)) { |
156 EC_DIR_OUTPUT, 0, 4, &r_outputs)) { |
153 printk(KERN_ERR "PDO registration failed!\n"); |
157 printk(KERN_ERR "PDO registration failed!\n"); |
154 goto out_release_master; |
158 goto out_release_master; |
155 } |
159 } |
156 if (!ecrt_domain_register_pdo_range(domain1, "0", Beckhoff_BK1120, |
160 if (!ecrt_domain_register_pdo_range(domain1, "0", Beckhoff_BK1120, |
157 EC_DIR_INPUT, 0, 4, &r_inputs)) { |
161 EC_DIR_INPUT, 0, 4, &r_inputs)) { |
158 printk(KERN_ERR "PDO registration failed!\n"); |
162 printk(KERN_ERR "PDO registration failed!\n"); |
159 goto out_release_master; |
163 goto out_release_master; |
160 } |
164 } |
|
165 #endif |
161 |
166 |
162 #if 0 |
167 #if 0 |
163 if (!(slave = ecrt_master_get_slave(master, "3"))) |
168 if (!(slave = ecrt_master_get_slave(master, "3"))) |
164 goto out_release_master; |
169 goto out_release_master; |
165 |
170 |