equal
deleted
inserted
replaced
62 uint32_t k_pos; |
62 uint32_t k_pos; |
63 uint8_t k_stat; |
63 uint8_t k_stat; |
64 |
64 |
65 ec_pdo_reg_t domain1_pdos[] = { |
65 ec_pdo_reg_t domain1_pdos[] = { |
66 {"1", Beckhoff_EL4132_Output1, &r_ana_out}, |
66 {"1", Beckhoff_EL4132_Output1, &r_ana_out}, |
|
67 {"8", Beckhoff_EL5001_Value, NULL}, |
67 {} |
68 {} |
68 }; |
69 }; |
69 |
70 |
70 /*****************************************************************************/ |
71 /*****************************************************************************/ |
71 |
72 |
121 |
122 |
122 /*****************************************************************************/ |
123 /*****************************************************************************/ |
123 |
124 |
124 int __init init_mini_module(void) |
125 int __init init_mini_module(void) |
125 { |
126 { |
|
127 ec_slave_t *slave; |
|
128 |
126 printk(KERN_INFO "=== Starting Minimal EtherCAT environment... ===\n"); |
129 printk(KERN_INFO "=== Starting Minimal EtherCAT environment... ===\n"); |
127 |
130 |
128 if ((master = ecrt_request_master(0)) == NULL) { |
131 if ((master = ecrt_request_master(0)) == NULL) { |
129 printk(KERN_ERR "Requesting master 0 failed!\n"); |
132 printk(KERN_ERR "Requesting master 0 failed!\n"); |
130 goto out_return; |
133 goto out_return; |
142 printk(KERN_INFO "Registering PDOs...\n"); |
145 printk(KERN_INFO "Registering PDOs...\n"); |
143 if (ecrt_domain_register_pdo_list(domain1, domain1_pdos)) { |
146 if (ecrt_domain_register_pdo_list(domain1, domain1_pdos)) { |
144 printk(KERN_ERR "PDO registration failed!\n"); |
147 printk(KERN_ERR "PDO registration failed!\n"); |
145 goto out_release_master; |
148 goto out_release_master; |
146 } |
149 } |
|
150 |
|
151 if (!(slave = ecrt_master_get_slave(master, "8"))) |
|
152 goto out_release_master; |
|
153 |
|
154 if (ecrt_slave_conf_sdo8(slave, 0x4061, 1, 0)) |
|
155 goto out_release_master; |
147 |
156 |
148 printk(KERN_INFO "Activating master...\n"); |
157 printk(KERN_INFO "Activating master...\n"); |
149 if (ecrt_master_activate(master)) { |
158 if (ecrt_master_activate(master)) { |
150 printk(KERN_ERR "Failed to activate master!\n"); |
159 printk(KERN_ERR "Failed to activate master!\n"); |
151 goto out_release_master; |
160 goto out_release_master; |