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ethercat
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Adjusted minimal example to interface changes.

This commit is contained in:
Florian Pose 2007-03-09 10:32:25 +00:00
parent 70482be0ac
commit a44bb45ea0
1 changed files with 12 additions and 8 deletions
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20
examples/mini/mini.c
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@ -67,7 +67,7 @@ static void *r_count;
static void *r_freq;
#if 1
ec_pdo_reg_t domain1_pdos[] = {
ec_pdo_reg_t domain1_pdo_regs[] = {
{"2", Beckhoff_EL2004_Outputs, &r_dig_out},
{"3", Beckhoff_EL4132_Output1, &r_ana_out},
{"4", Beckhoff_EL5101_Value, &r_count},
@ -179,7 +179,7 @@ int __init init_mini_module(void)
#if 1
printk(KERN_INFO PFX "Configuring alternative PDO mapping...\n");
if (!(slave = ecrt_master_get_slave(master, "4")))
if (!(slave = ecrt_master_get_slave(master, "4", Beckhoff_EL5101)))
goto out_release_master;
if (ecrt_slave_pdo_mapping(slave, EC_DIR_INPUT, 2, 0x1A00, 0x1A02))
@ -188,27 +188,31 @@ int __init init_mini_module(void)
printk(KERN_INFO PFX "Registering PDOs...\n");
#if 1
if (ecrt_domain_register_pdo_list(domain1, domain1_pdos)) {
if (ecrt_domain_register_pdo_list(domain1, domain1_pdo_regs)) {
printk(KERN_ERR PFX "PDO registration failed!\n");
goto out_release_master;
}
#endif
#ifdef KBUS
if (!ecrt_domain_register_pdo_range(domain1, "0", Beckhoff_BK1120,
EC_DIR_OUTPUT, 0, 4, &r_outputs)) {
if (!(slave = ecrt_master_get_slave(master, "0", Beckhoff_BK1120)))
goto out_release_master;
if (!ecrt_domain_register_pdo_range(
domain1, slave, EC_DIR_OUTPUT, 0, 4, &r_outputs)) {
printk(KERN_ERR PFX "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)) {
if (!ecrt_domain_register_pdo_range(
domain1, slave, EC_DIR_INPUT, 0, 4, &r_inputs)) {
printk(KERN_ERR PFX "PDO registration failed!\n");
goto out_release_master;
}
#endif
#if 0
if (!(slave = ecrt_master_get_slave(master, "4")))
if (!(slave = ecrt_master_get_slave(master, "4", Beckhoff_EL5001)))
goto out_release_master;
if (ecrt_slave_conf_sdo8(slave, 0x4061, 1, 0))