--- a/examples/mini/mini.c Mon May 29 09:54:18 2006 +0000
+++ b/examples/mini/mini.c Mon Jun 26 15:04:06 2006 +0000
@@ -57,14 +57,15 @@
// data fields
//void *r_ssi_input, *r_ssi_status, *r_4102[3];
+void *r_kbus_in, *r_kbus_out;
// channels
uint32_t k_pos;
uint8_t k_stat;
ec_field_init_t domain1_fields[] = {
- {NULL, "3", "Beckhoff", "EL5001", "InputValue", 0},
- {NULL, "2", "Beckhoff", "EL4132", "OutputValue", 0},
+ //{&r_kbus_out, "0", "Beckhoff", "BK1120", "Outputs", 0},
+ //{&r_kbus_in, "0", "Beckhoff", "BK1120", "Inputs", 0},
{}
};
@@ -73,6 +74,7 @@
void run(unsigned long data)
{
static unsigned int counter = 0;
+ unsigned int i;
spin_lock(&master_lock);
@@ -105,8 +107,9 @@
}
else {
counter = FREQUENCY;
- //printk(KERN_INFO "k_pos = %i\n", k_pos);
- //printk(KERN_INFO "k_stat = 0x%02X\n", k_stat);
+ printk(KERN_INFO "input = ");
+ for (i = 0; i < 22; i++) printk("%02X ", *((uint8_t *) r_kbus_in + i));
+ printk("\n");
}
// restart timer
@@ -133,6 +136,8 @@
int __init init_mini_module(void)
{
+ ec_slave_t *slave;
+
printk(KERN_INFO "=== Starting Minimal EtherCAT environment... ===\n");
if ((master = ecrt_request_master(0)) == NULL) {
@@ -155,13 +160,23 @@
goto out_release_master;
}
+#if 1
+ printk(KERN_INFO "Setting variable data field sizes...\n");
+ if (!(slave = ecrt_master_get_slave(master, "0"))) {
+ printk(KERN_ERR "Failed to get slave!\n");
+ goto out_deactivate;
+ }
+ ecrt_slave_field_size(slave, "Outputs", 0, 0x16);
+ ecrt_slave_field_size(slave, "Inputs", 0, 0x16);
+#endif
+
printk(KERN_INFO "Activating master...\n");
if (ecrt_master_activate(master)) {
printk(KERN_ERR "Failed to activate master!\n");
goto out_release_master;
}
-#if 0
+#if 1
if (ecrt_master_fetch_sdo_lists(master)) {
printk(KERN_ERR "Failed to fetch SDO lists!\n");
goto out_deactivate;
@@ -191,14 +206,6 @@
}
#endif
-#if 0
- printk(KERN_INFO "Writing alias...\n");
- if (ecrt_slave_sdo_write_exp16(slave, 0xBEEF)) {
- printk(KERN_ERR "Failed to write alias!\n");
- goto out_deactivate;
- }
-#endif
-
#ifdef ASYNC
// send once and wait...
ecrt_master_prepare_async_io(master);