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Use master's synchronous ecrt_master_sdo_upload to read SDOs on initialization.

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This commit is contained in:
Sascha Ittner
2018-01-20 13:35:40 +01:00
parent d79ccbd9b9
commit 63bc88cd11
5 changed files with 34 additions and 59 deletions
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9
src/lcec_el7342.c
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@@ -152,9 +152,6 @@ typedef struct {
double dcm_old_scale;
double dcm_scale_recip;
ec_sdo_request_t *sdo_info1_select;
ec_sdo_request_t *sdo_info2_select;
} lcec_el7342_chan_t;
typedef struct {
@@ -353,15 +350,13 @@ int lcec_el7342_init(int comp_id, struct lcec_slave *slave, ec_pdo_entry_reg_t *
// read sdos
// Info1 selector
if ((chan->sdo_info1_select = lcec_read_sdo(slave, 0x8022 + (i << 4), 0x11, 1)) == NULL) {
if (lcec_read_sdo(slave, 0x8022 + (i << 4), 0x11, &info1_select, 1)) {
return -EIO;
}
info1_select = EC_READ_U8(ecrt_sdo_request_data(chan->sdo_info1_select));
// Info2 selector
if ((chan->sdo_info2_select = lcec_read_sdo(slave, 0x8022 + (i << 4), 0x19, 1)) == NULL) {
if (lcec_read_sdo(slave, 0x8022 + (i << 4), 0x19, &info2_select, 1)) {
return -EIO;
}
info2_select = EC_READ_U8(ecrt_sdo_request_data(chan->sdo_info2_select));
// initialize POD entries
LCEC_PDO_INIT(pdo_entry_regs, slave->index, slave->vid, slave->pid, 0x6000 + (i << 4), 0x02, &chan->latch_ext_valid_pdo_os, &chan->latch_ext_valid_pdo_bp);