--- a/examples/mini/mini.c Tue Jul 29 09:30:33 2008 +0000
+++ b/examples/mini/mini.c Tue Jul 29 11:37:29 2008 +0000
@@ -43,10 +43,11 @@
// Module parameters
#define FREQUENCY 100
-// Optional features (comment to disable)
-#define CONFIGURE_PDOS
-#define EXTERNAL_MEMORY
-#define SDO_ACCESS
+// Optional features
+#define CONFIGURE_PDOS 1
+#define EL3162_ALT_PDOS 0
+#define EXTERNAL_MEMORY 1
+#define SDO_ACCESS 0
#define PFX "ec_mini: "
@@ -81,7 +82,11 @@
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},
+#else
{AnaInSlavePos, Beckhoff_EL3162, 0x3101, 2, &off_ana_in},
+#endif
{DigOutSlavePos, Beckhoff_EL2004, 0x3001, 1, &off_dig_out},
{}
};
@@ -91,20 +96,31 @@
/*****************************************************************************/
-#ifdef CONFIGURE_PDOS
-static ec_pdo_entry_info_t el3162_channel1[] = {
- {0x3101, 1, 8}, // status
- {0x3101, 2, 16} // value
-};
-
-static ec_pdo_entry_info_t el3162_channel2[] = {
- {0x3102, 1, 8}, // status
- {0x3102, 2, 16} // value
-};
-
+#if CONFIGURE_PDOS
+
+static ec_pdo_entry_info_t el3162_pdo_entries[] = {
+ {0x3101, 1, 8}, // channel 1 status
+ {0x3101, 2, 16}, // channel 1 value
+ {0x3102, 1, 8}, // channel 2 status
+ {0x3102, 2, 16}, // channel 2 value
+ {0x6401, 1, 16}, // channel 1 value (alt.)
+ {0x6401, 2, 16} // channel 2 value (alt.)
+};
+
+#if EL3162_ALT_PDOS
static ec_pdo_info_t el3162_pdos[] = {
- {0x1A00, 2, el3162_channel1},
- {0x1A01, 2, el3162_channel2}
+ {0x1A10, 2, el3162_pdo_entries + 4},
+};
+
+static ec_sync_info_t el3162_syncs[] = {
+ {2, EC_DIR_OUTPUT},
+ {3, EC_DIR_INPUT, 1, el3162_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[] = {
@@ -112,6 +128,7 @@
{3, EC_DIR_INPUT, 2, el3162_pdos},
{0xff}
};
+#endif
static ec_pdo_entry_info_t el2004_channels[] = {
{0x3001, 1, 1}, // Value 1
@@ -136,7 +153,7 @@
/*****************************************************************************/
-#ifdef SDO_ACCESS
+#if SDO_ACCESS
static ec_sdo_request_t *sdo;
#endif
@@ -201,7 +218,7 @@
/*****************************************************************************/
-#ifdef SDO_ACCESS
+#if SDO_ACCESS
void read_sdo(void)
{
switch (ecrt_sdo_request_state(sdo)) {
@@ -251,7 +268,7 @@
// check for islave configuration state(s) (optional)
check_slave_config_states();
-#ifdef SDO_ACCESS
+#if SDO_ACCESS
// read process data Sdo
read_sdo();
#endif
@@ -290,10 +307,10 @@
int __init init_mini_module(void)
{
-#ifdef CONFIGURE_PDOS
+#if CONFIGURE_PDOS
ec_slave_config_t *sc;
#endif
-#ifdef EXTERNAL_MEMORY
+#if EXTERNAL_MEMORY
unsigned int size;
#endif
@@ -318,7 +335,7 @@
goto out_release_master;
}
-#ifdef CONFIGURE_PDOS
+#if CONFIGURE_PDOS
printk(KERN_INFO PFX "Configuring Pdos...\n");
if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3162_syncs)) {
printk(KERN_ERR PFX "Failed to configure Pdos.\n");
@@ -337,7 +354,7 @@
}
#endif
-#ifdef SDO_ACCESS
+#if SDO_ACCESS
printk(KERN_INFO PFX "Creating Sdo requests...\n");
if (!(sdo = ecrt_slave_config_create_sdo_request(sc_ana_in, 0x3102, 2, 2))) {
printk(KERN_ERR PFX "Failed to create Sdo request.\n");
@@ -352,7 +369,7 @@
goto out_release_master;
}
-#ifdef EXTERNAL_MEMORY
+#if EXTERNAL_MEMORY
if ((size = ecrt_domain_size(domain1))) {
if (!(domain1_pd = (uint8_t *) kmalloc(size, GFP_KERNEL))) {
printk(KERN_ERR PFX "Failed to allocate %u bytes of process data"
@@ -366,14 +383,14 @@
printk(KERN_INFO PFX "Activating master...\n");
if (ecrt_master_activate(master)) {
printk(KERN_ERR PFX "Failed to activate master!\n");
-#ifdef EXTERNAL_MEMORY
+#if EXTERNAL_MEMORY
goto out_free_process_data;
#else
goto out_release_master;
#endif
}
-#ifndef EXTERNAL_MEMORY
+#if !EXTERNAL_MEMORY
// Get internal process data for domain
domain1_pd = ecrt_domain_data(domain1);
#endif
@@ -387,7 +404,7 @@
printk(KERN_INFO PFX "Started.\n");
return 0;
-#ifdef EXTERNAL_MEMORY
+#if EXTERNAL_MEMORY
out_free_process_data:
kfree(domain1_pd);
#endif
@@ -407,7 +424,7 @@
del_timer_sync(&timer);
-#ifdef EXTERNAL_MEMORY
+#if EXTERNAL_MEMORY
kfree(domain1_pd);
#endif