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Testing with SSI sensor

This commit is contained in:
Florian Pose 2006-04-07 14:16:12 +00:00
parent 2c5288fef4
commit 96cb6726a6
1 changed files with 26 additions and 18 deletions
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44
rt/msr_module.c
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@ -55,12 +55,15 @@ ec_domain_t *domain1 = NULL;
// Prozessdaten
void *r_ssi;
void *r_ssi_st;
// KanŽäle
uint32_t k_pos;
uint32_t k_ssi;
uint32_t k_ssi_st;
ec_field_init_t domain1_fields[] = {
{&r_ssi, "5", "Beckhoff", "EL5001", "InputValue", 0},
{&r_ssi, "5", "Beckhoff", "EL5001", "InputValue", 0},
{&r_ssi_st, "5", "Beckhoff", "EL5001", "Status", 0},
{}
};
@ -81,7 +84,8 @@ static void msr_controller_run(void)
#endif
// Prozessdaten verarbeiten
k_pos = EC_READ_U32(r_ssi);
k_ssi = EC_READ_U32(r_ssi);
k_ssi_st = EC_READ_U8 (r_ssi_st);
#ifdef ASYNC
// Senden
@ -95,7 +99,8 @@ static void msr_controller_run(void)
int msr_globals_register(void)
{
msr_reg_kanal("/pos0", "", &k_pos, TUINT);
msr_reg_kanal("/ssi_position", "", &k_ssi, TUINT);
msr_reg_kanal("/ssi_status", "", &k_ssi_st, TUINT);
return 0;
}
@ -132,7 +137,7 @@ void domain_entry(void)
int __init init_rt_module(void)
{
struct ipipe_domain_attr attr; //ipipe
#if 0
#if 1
ec_slave_t *slave;
#endif
@ -177,21 +182,24 @@ int __init init_rt_module(void)
ecrt_master_print(master, 1);
#endif
#if 0
if (!(slave = ecrt_master_get_slave(master, "1"))) {
printk(KERN_ERR "Failed to get slave 1!\n");
#if 1
if (!(slave = ecrt_master_get_slave(master, "5"))) {
printk(KERN_ERR "Failed to get slave!\n");
goto out_deactivate;
}
if (ecrt_slave_sdo_write_exp8(slave, 0x4061, 1, 0) ||
ecrt_slave_sdo_write_exp8(slave, 0x4061, 2, 1) ||
ecrt_slave_sdo_write_exp8(slave, 0x4061, 3, 1) ||
ecrt_slave_sdo_write_exp8(slave, 0x4066, 0, 0) ||
ecrt_slave_sdo_write_exp8(slave, 0x4067, 0, 4) ||
ecrt_slave_sdo_write_exp8(slave, 0x4068, 0, 0) ||
ecrt_slave_sdo_write_exp8(slave, 0x4069, 0, 25) ||
ecrt_slave_sdo_write_exp8(slave, 0x406A, 0, 25) ||
ecrt_slave_sdo_write_exp8(slave, 0x406B, 0, 50)) {
if (
ecrt_slave_sdo_write_exp8(slave, 0x4061, 1, 1) || // disable frame error bit
ecrt_slave_sdo_write_exp8(slave, 0x4061, 2, 0) || // power failure bit
ecrt_slave_sdo_write_exp8(slave, 0x4061, 3, 1) || // inhibit time
ecrt_slave_sdo_write_exp8(slave, 0x4061, 4, 0) || // test mode
ecrt_slave_sdo_write_exp8(slave, 0x4066, 0, 1) || // dualcode
ecrt_slave_sdo_write_exp8(slave, 0x4067, 0, 5) || // 125kbaud
ecrt_slave_sdo_write_exp8(slave, 0x4068, 0, 0) || // single-turn
ecrt_slave_sdo_write_exp8(slave, 0x4069, 0, 25) || // frame size
ecrt_slave_sdo_write_exp8(slave, 0x406A, 0, 25) || // data length
ecrt_slave_sdo_write_exp16(slave, 0x406B, 0, 30000) // inhibit time in us
) {
printk(KERN_ERR "Failed to configure SSI slave!\n");
goto out_deactivate;
}
@ -209,7 +217,7 @@ int __init init_rt_module(void)
ipipe_register_domain(&this_domain, &attr);
return 0;
#if 0
#if 1
out_deactivate:
ecrt_master_deactivate(master);
#endif