--- a/examples/msr/msr_sample.c	Thu Jul 13 13:10:57 2006 +0000
+++ b/examples/msr/msr_sample.c	Thu Aug 03 12:59:01 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);