--- a/rt/msr_module.c Tue Mar 28 15:45:19 2006 +0000
+++ b/rt/msr_module.c Tue Mar 28 17:40:57 2006 +0000
@@ -38,7 +38,7 @@
#include "../include/ecrt.h"
#define ASYNC
-//#define BLOCK1
+#define BLOCK1
// Defines/Makros
#define HZREDUCTION (MSR_ABTASTFREQUENZ / HZ)
@@ -70,8 +70,8 @@
#ifdef BLOCK1
ec_field_init_t domain1_fields[] = {
- {&r_ssi, "1", "Beckhoff", "EL5001", "InputValue", 0},
- {&r_ssi_st, "1", "Beckhoff", "EL5001", "Status", 0},
+ {&r_ssi, "5", "Beckhoff", "EL5001", "InputValue", 0},
+ {&r_ssi_st, "5", "Beckhoff", "EL5001", "Status", 0},
{}
};
#else
@@ -184,9 +184,10 @@
int __init init_rt_module(void)
{
struct ipipe_domain_attr attr; //ipipe
- uint32_t version;
-
- // Als allererstes die RT-lib initialisieren
+ uint8_t string[10];
+ size_t size;
+
+ // Als allererstes die RT-Lib initialisieren
if (msr_rtlib_init(1, MSR_ABTASTFREQUENZ, 10, &msr_globals_register) < 0) {
msr_print_warn("msr_modul: can't initialize rtlib!");
goto out_return;
@@ -230,21 +231,31 @@
ecrt_master_print(master);
#ifdef BLOCK1
- if (ecrt_master_sdo_read(master, "1", 0x100A, 1, &version)) {
+ size = 10;
+ if (ecrt_master_sdo_read(master, "1", 0x100A, 0, string, &size)) {
printk(KERN_ERR "Could not read SSI version!\n");
goto out_deactivate;
}
- printk(KERN_INFO "Software-version: %u\n", version);
-
- if (ecrt_master_sdo_write(master, "1", 0x4061, 1, 0, 1) ||
- ecrt_master_sdo_write(master, "1", 0x4061, 2, 1, 1) ||
- ecrt_master_sdo_write(master, "1", 0x4061, 3, 1, 1) ||
- ecrt_master_sdo_write(master, "1", 0x4066, 0, 0, 1) ||
- ecrt_master_sdo_write(master, "1", 0x4067, 0, 4, 1) ||
- ecrt_master_sdo_write(master, "1", 0x4068, 0, 0, 1) ||
- ecrt_master_sdo_write(master, "1", 0x4069, 0, 25, 1) ||
- ecrt_master_sdo_write(master, "1", 0x406A, 0, 25, 1) ||
- ecrt_master_sdo_write(master, "1", 0x406B, 0, 50, 1)) {
+ string[size] = 0;
+ printk(KERN_INFO "Software-version 1: %s\n", string);
+
+ size = 10;
+ if (ecrt_master_sdo_read(master, "5", 0x100A, 0, string, &size)) {
+ printk(KERN_ERR "Could not read SSI version!\n");
+ goto out_deactivate;
+ }
+ string[size] = 0;
+ printk(KERN_INFO "Software-version 5: %s\n", string);
+
+ if (ecrt_master_sdo_exp_write(master, "5", 0x4061, 1, 0, 1) ||
+ ecrt_master_sdo_exp_write(master, "5", 0x4061, 2, 1, 1) ||
+ ecrt_master_sdo_exp_write(master, "5", 0x4061, 3, 1, 1) ||
+ ecrt_master_sdo_exp_write(master, "5", 0x4066, 0, 0, 1) ||
+ ecrt_master_sdo_exp_write(master, "5", 0x4067, 0, 4, 1) ||
+ ecrt_master_sdo_exp_write(master, "5", 0x4068, 0, 0, 1) ||
+ ecrt_master_sdo_exp_write(master, "5", 0x4069, 0, 25, 1) ||
+ ecrt_master_sdo_exp_write(master, "5", 0x406A, 0, 25, 1) ||
+ ecrt_master_sdo_exp_write(master, "5", 0x406B, 0, 50, 1)) {
printk(KERN_ERR "Failed to configure SSI slave!\n");
goto out_deactivate;
}