equal
deleted
inserted
replaced
60 static void *r_inputs; |
60 static void *r_inputs; |
61 static void *r_outputs; |
61 static void *r_outputs; |
62 #endif |
62 #endif |
63 |
63 |
64 static void *r_dig_out; |
64 static void *r_dig_out; |
|
65 static void *r_ana_out; |
|
66 static void *r_count; |
|
67 static void *r_freq; |
65 |
68 |
66 #if 1 |
69 #if 1 |
67 ec_pdo_reg_t domain1_pdos[] = { |
70 ec_pdo_reg_t domain1_pdos[] = { |
68 {"4", Beckhoff_EL2004_Outputs, &r_dig_out}, |
71 {"2", Beckhoff_EL2004_Outputs, &r_dig_out}, |
|
72 {"3", Beckhoff_EL4132_Output1, &r_ana_out}, |
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73 {"4", Beckhoff_EL5101_Value, &r_count}, |
|
74 {"4", Beckhoff_EL5101_Frequency, &r_freq}, |
69 {} |
75 {} |
70 }; |
76 }; |
71 #endif |
77 #endif |
72 |
78 |
73 /*****************************************************************************/ |
79 /*****************************************************************************/ |
152 |
158 |
153 /*****************************************************************************/ |
159 /*****************************************************************************/ |
154 |
160 |
155 int __init init_mini_module(void) |
161 int __init init_mini_module(void) |
156 { |
162 { |
157 #if 0 |
163 #if 1 |
158 ec_slave_t *slave; |
164 ec_slave_t *slave; |
159 #endif |
165 #endif |
160 |
166 |
161 printk(KERN_INFO PFX "Starting...\n"); |
167 printk(KERN_INFO PFX "Starting...\n"); |
162 |
168 |
170 printk(KERN_INFO PFX "Registering domain...\n"); |
176 printk(KERN_INFO PFX "Registering domain...\n"); |
171 if (!(domain1 = ecrt_master_create_domain(master))) { |
177 if (!(domain1 = ecrt_master_create_domain(master))) { |
172 printk(KERN_ERR PFX "Domain creation failed!\n"); |
178 printk(KERN_ERR PFX "Domain creation failed!\n"); |
173 goto out_release_master; |
179 goto out_release_master; |
174 } |
180 } |
|
181 |
|
182 #if 1 |
|
183 printk(KERN_INFO PFX "Configuring alternative PDO mapping...\n"); |
|
184 if (!(slave = ecrt_master_get_slave(master, "4"))) |
|
185 goto out_release_master; |
|
186 |
|
187 if (ecrt_slave_pdo_mapping(slave, EC_DIR_INPUT, 2, 0x1A00, 0x1A02)) |
|
188 goto out_release_master; |
|
189 #endif |
175 |
190 |
176 printk(KERN_INFO PFX "Registering PDOs...\n"); |
191 printk(KERN_INFO PFX "Registering PDOs...\n"); |
177 #if 1 |
192 #if 1 |
178 if (ecrt_domain_register_pdo_list(domain1, domain1_pdos)) { |
193 if (ecrt_domain_register_pdo_list(domain1, domain1_pdos)) { |
179 printk(KERN_ERR PFX "PDO registration failed!\n"); |
194 printk(KERN_ERR PFX "PDO registration failed!\n"); |
193 goto out_release_master; |
208 goto out_release_master; |
194 } |
209 } |
195 #endif |
210 #endif |
196 |
211 |
197 #if 0 |
212 #if 0 |
198 if (!(slave = ecrt_master_get_slave(master, "2"))) |
213 if (!(slave = ecrt_master_get_slave(master, "4"))) |
199 goto out_release_master; |
214 goto out_release_master; |
200 |
215 |
201 if (ecrt_slave_conf_sdo8(slave, 0x4061, 1, 0)) |
216 if (ecrt_slave_conf_sdo8(slave, 0x4061, 1, 0)) |
202 goto out_release_master; |
217 goto out_release_master; |
|
218 #endif |
|
219 |
|
220 #if 1 |
203 #endif |
221 #endif |
204 |
222 |
205 printk(KERN_INFO PFX "Activating master...\n"); |
223 printk(KERN_INFO PFX "Activating master...\n"); |
206 if (ecrt_master_activate(master)) { |
224 if (ecrt_master_activate(master)) { |
207 printk(KERN_ERR PFX "Failed to activate master!\n"); |
225 printk(KERN_ERR PFX "Failed to activate master!\n"); |