equal
deleted
inserted
replaced
57 |
57 |
58 uint32_t k_angle; |
58 uint32_t k_angle; |
59 uint32_t k_pos; |
59 uint32_t k_pos; |
60 |
60 |
61 ec_field_init_t domain1_fields[] = { |
61 ec_field_init_t domain1_fields[] = { |
62 {(void **) &r_ssi, "1", "Beckhoff", "EL5001", ec_ipvalue, 0, 1}, |
62 {&r_ssi, "1", "Beckhoff", "EL5001", ec_ipvalue, 0, 1}, |
63 {(void **) &r_inc, "0:3", "Beckhoff", "EL5101", ec_ipvalue, 0, 1}, |
63 {&r_inc, "0:3", "Beckhoff", "EL5101", ec_ipvalue, 0, 1}, |
64 {} |
64 {} |
65 }; |
65 }; |
66 |
66 |
67 /*****************************************************************************/ |
67 /*****************************************************************************/ |
68 |
68 |
170 if (EtherCAT_rt_canopen_sdo_addr_read(master, "1", 0x100A, 1, |
170 if (EtherCAT_rt_canopen_sdo_addr_read(master, "1", 0x100A, 1, |
171 &version)) { |
171 &version)) { |
172 printk(KERN_ERR "Could not read SSI version!\n"); |
172 printk(KERN_ERR "Could not read SSI version!\n"); |
173 goto out_release_master; |
173 goto out_release_master; |
174 } |
174 } |
175 printk(KERN_INFO "Klemme 3 Software-version: %u\n", version); |
175 printk(KERN_INFO "Software-version: %u\n", version); |
176 #endif |
176 #endif |
177 |
177 |
178 ipipe_init_attr(&attr); |
178 ipipe_init_attr(&attr); |
179 attr.name = "IPIPE-MSR-MODULE"; |
179 attr.name = "IPIPE-MSR-MODULE"; |
180 attr.priority = IPIPE_ROOT_PRIO + 1; |
180 attr.priority = IPIPE_ROOT_PRIO + 1; |