--- a/examples/mini/mini.c Fri Aug 01 07:23:09 2008 +0000
+++ b/examples/mini/mini.c Fri Aug 01 08:11:23 2008 +0000
@@ -45,7 +45,7 @@
// Optional features
#define CONFIGURE_PDOS 1
-#define EL3162_ALT_PDOS 0
+#define EL3152_ALT_PDOS 0
#define EXTERNAL_MEMORY 1
#define SDO_ACCESS 0
@@ -73,20 +73,25 @@
static uint8_t *domain1_pd; // process data memory
#define AnaInSlavePos 0, 1
+#define AnaOutSlavePos 0, 2
#define DigOutSlavePos 0, 3
#define Beckhoff_EL2004 0x00000002, 0x07D43052
-#define Beckhoff_EL3162 0x00000002, 0x0C5A3052
-
-static unsigned int off_ana_in; // offsets for Pdo entries
+#define Beckhoff_EL3152 0x00000002, 0x0c503052
+#define Beckhoff_EL4102 0x00000002, 0x10063052
+
+// offsets for Pdo entries
+static unsigned int off_ana_in;
+static unsigned int off_ana_out;
static unsigned int off_dig_out;
const static ec_pdo_entry_reg_t domain1_regs[] = {
-#if EL3162_ALT_PDOS
- {AnaInSlavePos, Beckhoff_EL3162, 0x6401, 2, &off_ana_in},
+#if EL3152_ALT_PDOS
+ {AnaInSlavePos, Beckhoff_EL3152, 0x6401, 1, &off_ana_in},
#else
- {AnaInSlavePos, Beckhoff_EL3162, 0x3101, 2, &off_ana_in},
-#endif
+ {AnaInSlavePos, Beckhoff_EL3152, 0x3101, 2, &off_ana_in},
+#endif
+ {AnaOutSlavePos, Beckhoff_EL4102, 0x3001, 1, &off_ana_out},
{DigOutSlavePos, Beckhoff_EL2004, 0x3001, 1, &off_dig_out},
{}
};
@@ -98,7 +103,9 @@
#if CONFIGURE_PDOS
-static ec_pdo_entry_info_t el3162_pdo_entries[] = {
+// Analog in --------------------------
+
+static ec_pdo_entry_info_t el3152_pdo_entries[] = {
{0x3101, 1, 8}, // channel 1 status
{0x3101, 2, 16}, // channel 1 value
{0x3102, 1, 8}, // channel 2 status
@@ -107,29 +114,49 @@
{0x6401, 2, 16} // channel 2 value (alt.)
};
-#if EL3162_ALT_PDOS
-static ec_pdo_info_t el3162_pdos[] = {
- {0x1A10, 2, el3162_pdo_entries + 4},
-};
-
-static ec_sync_info_t el3162_syncs[] = {
+#if EL3152_ALT_PDOS
+static ec_pdo_info_t el3152_pdos[] = {
+ {0x1A10, 2, el3152_pdo_entries + 4},
+};
+
+static ec_sync_info_t el3152_syncs[] = {
{2, EC_DIR_OUTPUT},
- {3, EC_DIR_INPUT, 1, el3162_pdos},
+ {3, EC_DIR_INPUT, 1, el3152_pdos},
{0xff}
};
#else
-static ec_pdo_info_t el3162_pdos[] = {
- {0x1A00, 2, el3162_pdo_entries},
- {0x1A01, 2, el3162_pdo_entries + 2}
-};
-
-static ec_sync_info_t el3162_syncs[] = {
+static ec_pdo_info_t el3152_pdos[] = {
+ {0x1A00, 2, el3152_pdo_entries},
+ {0x1A01, 2, el3152_pdo_entries + 2}
+};
+
+static ec_sync_info_t el3152_syncs[] = {
{2, EC_DIR_OUTPUT},
- {3, EC_DIR_INPUT, 2, el3162_pdos},
+ {3, EC_DIR_INPUT, 1, el3152_pdos},
{0xff}
};
#endif
+// Analog out -------------------------
+
+static ec_pdo_entry_info_t el4102_pdo_entries[] = {
+ {0x3001, 1, 16}, // channel 1 value
+ {0x3002, 1, 16}, // channel 2 value
+};
+
+static ec_pdo_info_t el4102_pdos[] = {
+ {0x1600, 1, el4102_pdo_entries},
+ {0x1601, 1, el4102_pdo_entries + 1}
+};
+
+static ec_sync_info_t el4102_syncs[] = {
+ {2, EC_DIR_OUTPUT, 2, el4102_pdos},
+ {3, EC_DIR_INPUT},
+ {0xff}
+};
+
+// Digital out ------------------------
+
static ec_pdo_entry_info_t el2004_channels[] = {
{0x3001, 1, 1}, // Value 1
{0x3001, 2, 1}, // Value 2
@@ -330,14 +357,25 @@
}
if (!(sc_ana_in = ecrt_master_slave_config(
- master, AnaInSlavePos, Beckhoff_EL3162))) {
+ master, AnaInSlavePos, Beckhoff_EL3152))) {
printk(KERN_ERR PFX "Failed to get slave configuration.\n");
goto out_release_master;
}
#if CONFIGURE_PDOS
printk(KERN_INFO PFX "Configuring Pdos...\n");
- if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3162_syncs)) {
+ if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3152_syncs)) {
+ printk(KERN_ERR PFX "Failed to configure Pdos.\n");
+ goto out_release_master;
+ }
+
+ if (!(sc = ecrt_master_slave_config(
+ master, AnaOutSlavePos, Beckhoff_EL4102))) {
+ printk(KERN_ERR PFX "Failed to get slave configuration.\n");
+ goto out_release_master;
+ }
+
+ if (ecrt_slave_config_pdos(sc, EC_END, el4102_syncs)) {
printk(KERN_ERR PFX "Failed to configure Pdos.\n");
goto out_release_master;
}