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ethercat
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Nicht registrierte Slaves in PREOP schalten.

This commit is contained in:
Florian Pose 2006-02-24 13:34:31 +00:00
parent 61c05edf56
commit 52aaf39561
2 changed files with 16 additions and 7 deletions
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12
master/master.c
View File

@ -483,8 +483,8 @@ int EtherCAT_rt_master_activate(ec_master_t *master /**< EtherCAT-Master */)
return -1;
// Check if slave was registered...
if (!slave->type || !slave->registered) {
printk(KERN_INFO "EtherCAT: Slave %i was not registered.\n", i);
if (!slave->type) {
printk(KERN_INFO "EtherCAT: Slave %i has unknown type!\n", i);
continue;
}
@ -541,6 +541,14 @@ int EtherCAT_rt_master_activate(ec_master_t *master /**< EtherCAT-Master */)
if (unlikely(ec_slave_state_change(slave, EC_SLAVE_STATE_PREOP)))
return -1;
// Slaves that are not registered are only brought into PREOP
// state -> nice blinking and mailbox comm. possible
if (!slave->registered) {
printk(KERN_WARNING "EtherCAT: Slave %i was not registered!\n",
slave->ring_position);
continue;
}
// Set FMMUs
for (j = 0; j < slave->fmmu_count; j++)
{

11
rt/msr_module.c
View File

@ -59,8 +59,9 @@ uint16_t *inc_value;
uint32_t angle0;
ec_field_init_t domain1_fields[] = {
{},
{(void **) &ssi_value, "1", "Beckhoff", "EL5001", ec_ipvalue, 0, 1},
{(void **) &dig_out1, "2", "Beckhoff", "EL2004", ec_opvalue, 0, 1},
{(void **) &ssi_value, "3", "Beckhoff", "EL5001", ec_ipvalue, 0, 1},
{(void **) &inc_value, "0:4", "Beckhoff", "EL5101", ec_ipvalue, 0, 1},
{}
};
@ -72,7 +73,7 @@ static void msr_controller_run(void)
// Prozessdaten lesen und schreiben
EtherCAT_rt_domain_xio(domain1);
angle0 = (uint32_t) *inc_value;
//angle0 = (uint32_t) *inc_value;
}
/*****************************************************************************/
@ -165,14 +166,14 @@ int __init init_rt_module(void)
goto out_release_master;
}
EtherCAT_rt_master_debug(master, 2);
if (EtherCAT_rt_canopen_sdo_addr_read(master, "0:3", 0x100A, 1,
#if 1
if (EtherCAT_rt_canopen_sdo_addr_read(master, "1", 0x100A, 1,
&version)) {
printk(KERN_ERR "Could not read SSI version!\n");
goto out_release_master;
}
printk(KERN_INFO "Klemme 3 Software-version: %u\n", version);
EtherCAT_rt_master_debug(master, 0);
#endif
ipipe_init_attr(&attr);
attr.name = "IPIPE-MSR-MODULE";