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ecrt_domain_register_pdo_range() implemented.

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This commit is contained in:
Florian Pose
2006-10-18 13:11:48 +00:00
parent 95e186804e
commit 5d90e96f72
6 changed files with 181 additions and 14 deletions
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examples/mini/mini.c
+23 -10
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@@ -56,23 +56,23 @@ ec_domain_t *domain1 = NULL;
spinlock_t master_lock = SPIN_LOCK_UNLOCKED;
// data fields
void *r_ana_out;
// channels
uint32_t k_pos;
uint8_t k_stat;
void *r_inputs;
void *r_outputs;
#if 0
ec_pdo_reg_t domain1_pdos[] = {
{"2", Beckhoff_EL4132_Output1, &r_ana_out},
{"3", Beckhoff_EL5001_Value, NULL},
{}
};
#endif
/*****************************************************************************/
void run(unsigned long data)
{
static unsigned int counter = 0;
static unsigned int einaus = 0;
spin_lock(&master_lock);
@@ -82,6 +82,8 @@ void run(unsigned long data)
// process data
//k_pos = EC_READ_U32(r_ssi);
EC_WRITE_U8(r_outputs + 2, einaus ? 0xFF : 0x00);
// send
ecrt_master_run(master);
@@ -94,10 +96,7 @@ void run(unsigned long data)
}
else {
counter = FREQUENCY;
//printk(KERN_INFO "input = ");
//for (i = 0; i < 22; i++)
// printk("%02X ", *((uint8_t *) r_kbus_in + i));
//printk("\n");
einaus = !einaus;
}
// restart timer
@@ -124,7 +123,7 @@ void release_lock(void *data)
int __init init_mini_module(void)
{
ec_slave_t *slave;
// ec_slave_t *slave;
printk(KERN_INFO "=== Starting Minimal EtherCAT environment... ===\n");
@@ -143,16 +142,30 @@ int __init init_mini_module(void)
}
printk(KERN_INFO "Registering PDOs...\n");
#if 0
if (ecrt_domain_register_pdo_list(domain1, domain1_pdos)) {
printk(KERN_ERR "PDO registration failed!\n");
goto out_release_master;
}
#endif
if (!ecrt_domain_register_pdo_range(domain1, "0", Beckhoff_BK1120,
EC_DIR_OUTPUT, 0, 4, &r_outputs)) {
printk(KERN_ERR "PDO registration failed!\n");
goto out_release_master;
}
if (!ecrt_domain_register_pdo_range(domain1, "0", Beckhoff_BK1120,
EC_DIR_INPUT, 0, 4, &r_inputs)) {
printk(KERN_ERR "PDO registration failed!\n");
goto out_release_master;
}
#if 0
if (!(slave = ecrt_master_get_slave(master, "3")))
goto out_release_master;
if (ecrt_slave_conf_sdo8(slave, 0x4061, 1, 0))
goto out_release_master;
#endif
printk(KERN_INFO "Activating master...\n");
if (ecrt_master_activate(master)) {