types.c: BK1120 outputs and EL1004.
--- a/examples/mini/mini.c Wed Jun 21 10:09:36 2006 +0000
+++ b/examples/mini/mini.c Mon Jun 26 11:28:24 2006 +0000
@@ -57,14 +57,15 @@
// data fields
//void *r_ssi_input, *r_ssi_status, *r_4102[3];
-void *r_kbus_in;
+void *r_kbus_in, *r_kbus_out;
// channels
uint32_t k_pos;
uint8_t k_stat;
ec_field_init_t domain1_fields[] = {
- {&r_kbus_in, "0", "Beckhoff", "BK1120", "Inputs", 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
@@ -163,7 +166,8 @@
printk(KERN_ERR "Failed to get slave!\n");
goto out_deactivate;
}
- ecrt_slave_field_size(slave, "Inputs", 0, 1);
+ ecrt_slave_field_size(slave, "Outputs", 0, 0x16);
+ ecrt_slave_field_size(slave, "Inputs", 0, 0x16);
#endif
printk(KERN_INFO "Activating master...\n");
@@ -172,7 +176,7 @@
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;
--- a/master/types.c Wed Jun 21 10:09:36 2006 +0000
+++ b/master/types.c Mon Jun 26 11:28:24 2006 +0000
@@ -67,6 +67,7 @@
/*****************************************************************************/
+const ec_field_t bk1120_out = {"Outputs", 0}; // variable size
const ec_field_t bk1120_in = {"Inputs", 0}; // variable size
const ec_sync_t bk1120_sm0 = {0x1C00, 264, 0x26, {NULL}};
@@ -74,7 +75,7 @@
const ec_sync_t bk1120_sm2 = { // outputs
0x1000, 0, 0x24, // variable size
- {NULL}
+ {&bk1120_out, NULL}
};
const ec_sync_t bk1120_sm3 = { // inputs
@@ -89,6 +90,20 @@
/*****************************************************************************/
+const ec_field_t el1004_in = {"InputValue", 1};
+
+const ec_sync_t el1004_sm0 = { // inputs
+ 0x1000, 1, 0x00,
+ {&el1004_in, NULL}
+};
+
+const ec_slave_type_t Beckhoff_EL1004 = {
+ "Beckhoff", "EL1004", "4x Digital Input, 3ms", EC_TYPE_NORMAL,
+ {&el1004_sm0, NULL}
+};
+
+/*****************************************************************************/
+
const ec_field_t el1014_in = {"InputValue", 1};
const ec_sync_t el1014_sm0 = { // inputs
@@ -97,7 +112,7 @@
};
const ec_slave_type_t Beckhoff_EL1014 = {
- "Beckhoff", "EL1014", "4x Digital Input", EC_TYPE_NORMAL,
+ "Beckhoff", "EL1014", "4x Digital Input, 10us", EC_TYPE_NORMAL,
{&el1014_sm0, NULL}
};
@@ -244,6 +259,7 @@
*/
ec_slave_ident_t slave_idents[] = {
+ {0x00000002, 0x03EC3052, &Beckhoff_EL1004},
{0x00000002, 0x03F63052, &Beckhoff_EL1014},
{0x00000002, 0x044C2C52, &Beckhoff_EK1100},
{0x00000002, 0x04562C52, &Beckhoff_EK1110},