--- a/examples/msr/msr_sample.c Wed Aug 02 23:16:10 2006 +0000
+++ b/examples/msr/msr_sample.c Thu Aug 03 12:51:17 2006 +0000
@@ -48,8 +48,7 @@
// EtherCAT
#include "../../include/ecrt.h"
-
-#define ASYNC
+#include "../../include/ecdb.h"
#define HZREDUCTION (MSR_ABTASTFREQUENZ / HZ)
#define TIMERTICKS (1000000000 / MSR_ABTASTFREQUENZ)
@@ -66,16 +65,13 @@
ec_domain_t *domain1 = NULL;
// raw process data
-void *r_ssi;
-void *r_ssi_st;
+void *r_ana_out;
// Channels
-uint32_t k_ssi;
-uint32_t k_ssi_st;
-
-ec_field_init_t domain1_fields[] = {
- {&r_ssi, "0:3", "Beckhoff", "EL5001", "InputValue", 0},
- {&r_ssi_st, "0:3", "Beckhoff", "EL5001", "Status", 0},
+double k_ana_out;
+
+ec_pdo_reg_t domain1_pdos[] = {
+ {"3", Beckhoff_EL4132_Output1, &r_ana_out},
{}
};
@@ -85,28 +81,16 @@
{
rt_sem_wait(&master_sem);
-#ifdef ASYNC
- // Empfangen
- ecrt_master_async_receive(master);
+ // receive
+ ecrt_master_receive(master);
ecrt_domain_process(domain1);
-#else
- // Senden und empfangen
- ecrt_domain_queue(domain1);
+
+ // Process data
+ EC_WRITE_S16(r_ana_out, k_ana_out / 10.0 * 0x7FFF);
+
+ // Send
ecrt_master_run(master);
- ecrt_master_sync_io(master);
- ecrt_domain_process(domain1);
-#endif
-
- // Prozessdaten verarbeiten
- k_ssi = EC_READ_U32(r_ssi);
- k_ssi_st = EC_READ_U8 (r_ssi_st);
-
-#ifdef ASYNC
- // Senden
- ecrt_domain_queue(domain1);
- ecrt_master_run(master);
- ecrt_master_async_send(master);
-#endif
+ ecrt_master_send(master);
rt_sem_signal(&master_sem);
@@ -128,8 +112,7 @@
int msr_reg(void)
{
- msr_reg_kanal("/ssi_position", "", &k_ssi, TUINT);
- msr_reg_kanal("/ssi_status", "", &k_ssi_st, TUINT);
+ msr_reg_kanal("/ana_out", "", &k_ana_out, TDBL);
return 0;
}
@@ -157,9 +140,6 @@
int __init init_mod(void)
{
RTIME ticks;
-#if 0
- ec_slave_t *slave;
-#endif
printk(KERN_INFO "=== Starting EtherCAT RTAI MSR sample module... ===\n");
@@ -171,7 +151,7 @@
goto out_return;
}
- if ((master = ecrt_request_master(0)) == NULL) {
+ if (!(master = ecrt_request_master(0))) {
printk(KERN_ERR "Failed to request master 0!\n");
goto out_msr_cleanup;
}
@@ -184,9 +164,9 @@
goto out_release_master;
}
- printk(KERN_INFO "Registering domain fields...\n");
- if (ecrt_domain_register_field_list(domain1, domain1_fields)) {
- printk(KERN_ERR "Failed to register domain fields.\n");
+ printk(KERN_INFO "Registering PDOs...\n");
+ if (ecrt_domain_register_pdo_list(domain1, domain1_pdos)) {
+ printk(KERN_ERR "Failed to register PDOs.\n");
goto out_release_master;
}
@@ -196,59 +176,7 @@
goto out_release_master;
}
-#if 0
- if (ecrt_master_fetch_sdo_lists(master)) {
- printk(KERN_ERR "Failed to fetch SDO lists!\n");
- goto out_deactivate;
- }
- ecrt_master_print(master, 2);
-#else
- ecrt_master_print(master, 0);
-#endif
-
-#if 0
- if (!(slave = ecrt_master_get_slave(master, "0:3"))) {
- printk(KERN_ERR "Failed to get slave!\n");
- goto out_deactivate;
- }
-
- if (
- ecrt_slave_sdo_write_exp8(slave, 0x4061, 1, 1) || // disable frame error bit
- ecrt_slave_sdo_write_exp8(slave, 0x4061, 2, 0) || // power failure bit
- ecrt_slave_sdo_write_exp8(slave, 0x4061, 3, 1) || // inhibit time
- ecrt_slave_sdo_write_exp8(slave, 0x4061, 4, 0) || // test mode
- ecrt_slave_sdo_write_exp8(slave, 0x4066, 0, 0) || // graycode
- ecrt_slave_sdo_write_exp8(slave, 0x4067, 0, 5) || // 125kbaud
- ecrt_slave_sdo_write_exp8(slave, 0x4068, 0, 0) || // single-turn
- ecrt_slave_sdo_write_exp8(slave, 0x4069, 0, 25) || // frame size
- ecrt_slave_sdo_write_exp8(slave, 0x406A, 0, 25) || // data length
- ecrt_slave_sdo_write_exp16(slave, 0x406B, 0, 50) // inhibit time in us
- ) {
- printk(KERN_ERR "Failed to configure SSI slave!\n");
- goto out_deactivate;
- }
-#endif
-
-#if 0
- if (!(slave = ecrt_master_get_slave(master, "1:0"))) {
- printk(KERN_ERR "Failed to get slave!\n");
- goto out_deactivate;
- }
- if (ecrt_slave_write_alias(slave, 0x5678)) {
- printk(KERN_ERR "Failed to write alias!\n");
- goto out_deactivate;
- }
-#endif
-
-#ifdef ASYNC
- // Einmal senden und warten...
- ecrt_master_prepare_async_io(master);
-#endif
-
- if (ecrt_master_start_eoe(master)) {
- printk(KERN_ERR "Failed to start EoE processing!\n");
- goto out_deactivate;
- }
+ ecrt_master_prepare(master);
printk("Starting cyclic sample thread...\n");
ticks = start_rt_timer(nano2count(TIMERTICKS));
@@ -268,7 +196,6 @@
rt_task_delete(&task);
out_stop_timer:
stop_rt_timer();
- out_deactivate:
ecrt_master_deactivate(master);
out_release_master:
ecrt_release_master(master);