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ethercat
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Minor changes to minimal example.

This commit is contained in:
Florian Pose 2008-06-18 11:21:32 +00:00
parent ba99d87e54
commit dae25376a5
1 changed files with 11 additions and 12 deletions
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23
examples/mini/mini.c
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@ -50,6 +50,9 @@
#define PFX "ec_mini: "
#define AnaInPos 0, 5
#define DigOutPos 0, 3
/*****************************************************************************/
// EtherCAT
@ -80,8 +83,8 @@ static unsigned int blink = 0;
#define Beckhoff_EL3162 0x00000002, 0x0C5A3052
const static ec_pdo_entry_reg_t domain1_regs[] = {
{0, 1, Beckhoff_EL3162, 0x3101, 2, &off_ana_in},
{0, 3, Beckhoff_EL2004, 0x3001, 1, &off_dig_out},
{AnaInPos, Beckhoff_EL3162, 0x3101, 2, &off_ana_in},
{DigOutPos, Beckhoff_EL2004, 0x3001, 1, &off_dig_out},
{}
};
@ -116,6 +119,7 @@ static ec_pdo_info_t el2004_pdos[] = {
{EC_DIR_OUTPUT, 0x1601, 1, &el2004_channels[1]},
{EC_DIR_OUTPUT, 0x1602, 1, &el2004_channels[2]},
{EC_DIR_OUTPUT, 0x1603, 1, &el2004_channels[3]},
{EC_END}
};
#endif
@ -191,7 +195,6 @@ void read_sdo(void)
{
switch (ecrt_sdo_request_state(sdo)) {
case EC_SDO_REQUEST_UNUSED: // request was not used yet
ecrt_sdo_request_timeout(sdo, 500); // ms
ecrt_sdo_request_read(sdo); // trigger first read
break;
case EC_SDO_REQUEST_BUSY:
@ -299,7 +302,7 @@ int __init init_mini_module(void)
}
if (!(sc_ana_in = ecrt_master_slave_config(
master, 0, 1, Beckhoff_EL3162))) {
master, AnaInPos, Beckhoff_EL3162))) {
printk(KERN_ERR PFX "Failed to get slave configuration.\n");
goto out_release_master;
}
@ -311,12 +314,12 @@ int __init init_mini_module(void)
goto out_release_master;
}
if (!(sc = ecrt_master_slave_config(master, 0, 3, Beckhoff_EL2004))) {
if (!(sc = ecrt_master_slave_config(master, DigOutPos, Beckhoff_EL2004))) {
printk(KERN_ERR PFX "Failed to get slave configuration.\n");
goto out_release_master;
}
if (ecrt_slave_config_pdos(sc, 4, el2004_pdos)) {
if (ecrt_slave_config_pdos(sc, EC_END, el2004_pdos)) {
printk(KERN_ERR PFX "Failed to configure Pdos.\n");
goto out_release_master;
}
@ -324,15 +327,11 @@ int __init init_mini_module(void)
#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))) {
if (!(sdo = ecrt_slave_config_create_sdo_request(sc_ana_in, 0x3102, 2, 2))) {
printk(KERN_ERR PFX "Failed to create Sdo request.\n");
goto out_release_master;
}
ecrt_sdo_request_timeout(sdo, 500); // ms
#endif
printk(KERN_INFO PFX "Registering Pdo entries...\n");