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Basic reading realtime Sdo access working.

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This commit is contained in:
Florian Pose
2008-03-04 09:57:36 +00:00
parent 421d1cf381
commit e90dab2a4e
14 changed files with 292 additions and 51 deletions
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examples/mini/mini.c
+56 -2
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@@ -41,10 +41,13 @@
/*****************************************************************************/
// module parameters
// Module parameters
#define FREQUENCY 100
// Optional features
#define CONFIGURE_MAPPING
#define EXTERNAL_MEMORY
#define SDO_ACCESS
#define PFX "ec_mini: "
@@ -112,6 +115,13 @@ static ec_pdo_info_t el2004_mapping[] = {
/*****************************************************************************/
#ifdef SDO_ACCESS
static ec_sdo_request_t *sdo;
static int not_first_time = 0;
#endif
/*****************************************************************************/
void check_domain1_state(void)
{
ec_domain_state_t ds;
@@ -155,6 +165,32 @@ void check_master_state(void)
/*****************************************************************************/
#ifdef SDO_ACCESS
void read_sdo(void)
{
switch (ecrt_sdo_request_state(sdo)) {
case EC_REQUEST_COMPLETE:
if (not_first_time) {
printk(KERN_INFO PFX "Sdo value: 0x%04X\n",
EC_READ_U16(ecrt_sdo_request_data(sdo)));
} else {
not_first_time = 1;
}
ecrt_sdo_request_read(sdo);
break;
case EC_REQUEST_FAILURE:
printk(KERN_INFO PFX "Failed to read Sdo!\n");
ecrt_sdo_request_read(sdo);
break;
default:
printk(KERN_INFO PFX "Still busy...\n");
break;
}
}
#endif
/*****************************************************************************/
void cyclic_task(unsigned long data)
{
// receive process data
@@ -168,7 +204,7 @@ void cyclic_task(unsigned long data)
if (counter) {
counter--;
} else { // do this at FREQUENCY
} else { // do this at 1 Hz
counter = FREQUENCY;
// calculate new process data
@@ -176,6 +212,11 @@ void cyclic_task(unsigned long data)
// check for master state (optional)
check_master_state();
#ifdef SDO_ACCESS
// read process data Sdo
read_sdo();
#endif
}
// write process data
@@ -256,6 +297,19 @@ int __init init_mini_module(void)
}
#endif
#ifdef SDO_ACCESS
printk(KERN_INFO PFX "Creating Sdo requests...\n");
if (!(sc = ecrt_master_slave_config(master, 0, 1, Beckhoff_EL3162))) {
printk(KERN_ERR PFX "Failed to get slave configuration.\n");
goto out_release_master;
}
if (!(sdo = ecrt_slave_config_create_sdo_request(sc, 0x3102, 2, 2))) {
printk(KERN_ERR PFX "Failed to create Sdo request.\n");
goto out_release_master;
}
#endif
printk(KERN_INFO PFX "Registering Pdo entries...\n");
if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
printk(KERN_ERR PFX "Pdo entry registration failed!\n");