1 /****************************************************************************** |
1 /****************************************************************************** |
2 * |
2 * |
3 * m i n i . c |
3 * m i n i . c |
4 * |
4 * |
5 * Minimalmodul für EtherCAT |
5 * Minimalmodul für EtherCAT |
6 * |
6 * |
7 * $Id$ |
7 * $Id$ |
8 * |
8 * |
9 *****************************************************************************/ |
9 *****************************************************************************/ |
10 |
10 |
11 #include <linux/module.h> |
11 #include <linux/module.h> |
12 #include <linux/delay.h> |
12 #include <linux/delay.h> |
34 // Kanäle |
34 // Kanäle |
35 uint32_t k_pos; |
35 uint32_t k_pos; |
36 uint8_t k_stat; |
36 uint8_t k_stat; |
37 |
37 |
38 ec_field_init_t domain1_fields[] = { |
38 ec_field_init_t domain1_fields[] = { |
39 {NULL, "1", "Beckhoff", "EL1014", "InputValue", 0}, |
39 {NULL, "1", "Beckhoff", "EL5001", "InputValue", 0}, |
40 {NULL, "2", "Beckhoff", "EL2004", "OutputValue", 0}, |
40 {NULL, "2", "Beckhoff", "EL4132", "OutputValue", 0}, |
41 //{NULL, "3", "Beckhoff", "EL3162", "InputValue", 0}, |
|
42 {NULL, "4", "Beckhoff", "EL4132", "OutputValue", 0}, |
|
43 {NULL, "6", "Beckhoff", "EL5001", "InputValue", 0}, |
|
44 {} |
41 {} |
45 }; |
42 }; |
46 |
43 |
47 /*****************************************************************************/ |
44 /*****************************************************************************/ |
48 |
45 |
59 //k_pos = EC_READ_U32(r_ssi_input); |
56 //k_pos = EC_READ_U32(r_ssi_input); |
60 //k_stat = EC_READ_U8(r_ssi_status); |
57 //k_stat = EC_READ_U8(r_ssi_status); |
61 |
58 |
62 // Prozessdaten senden |
59 // Prozessdaten senden |
63 ecrt_domain_queue(domain1); |
60 ecrt_domain_queue(domain1); |
|
61 ecrt_master_run(master); |
64 ecrt_master_async_send(master); |
62 ecrt_master_async_send(master); |
65 #else |
63 #else |
66 // Prozessdaten senden und empfangen |
64 // Prozessdaten senden und empfangen |
67 ecrt_domain_queue(domain1); |
65 ecrt_domain_queue(domain1); |
|
66 ecrt_master_run(master); |
68 ecrt_master_sync_io(master); |
67 ecrt_master_sync_io(master); |
69 ecrt_domain_process(domain1); |
68 ecrt_domain_process(domain1); |
70 |
69 |
71 // Prozessdaten verarbeiten |
70 // Prozessdaten verarbeiten |
72 //k_pos = EC_READ_U32(r_ssi_input); |
71 //k_pos = EC_READ_U32(r_ssi_input); |