223 goto out_release_master; |
223 goto out_release_master; |
224 } |
224 } |
225 |
225 |
226 //ecrt_master_debug(master, 0); |
226 //ecrt_master_debug(master, 0); |
227 |
227 |
228 #if 0 |
228 #if 1 |
229 if (ecrt_master_sdo_read(master, "1", 0x100A, 1, &version)) { |
229 if (ecrt_master_sdo_read(master, "1", 0x100A, 1, &version)) { |
230 printk(KERN_ERR "Could not read SSI version!\n"); |
230 printk(KERN_ERR "Could not read SSI version!\n"); |
231 goto out_deactivate; |
231 goto out_deactivate; |
232 } |
232 } |
233 printk(KERN_INFO "Software-version: %u\n", version); |
233 printk(KERN_INFO "Software-version: %u\n", version); |
234 #endif |
234 #endif |
235 |
235 |
236 #if 0 |
236 #if 1 |
237 if (ecrt_master_sdo_write(master, "1", 0x4061, 1, 0, 1) || |
237 if (ecrt_master_sdo_write(master, "1", 0x4061, 1, 0, 1) || |
238 ecrt_master_sdo_write(master, "1", 0x4061, 2, 1, 1) || |
238 ecrt_master_sdo_write(master, "1", 0x4061, 2, 1, 1) || |
239 ecrt_master_sdo_write(master, "1", 0x4061, 3, 1, 1) || |
239 ecrt_master_sdo_write(master, "1", 0x4061, 3, 1, 1) || |
240 ecrt_master_sdo_write(master, "1", 0x4066, 0, 0, 1) || |
240 ecrt_master_sdo_write(master, "1", 0x4066, 0, 0, 1) || |
241 ecrt_master_sdo_write(master, "1", 0x4067, 0, 4, 1) || |
241 ecrt_master_sdo_write(master, "1", 0x4067, 0, 4, 1) || |