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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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17
src/lcec_stmds5k.c
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@@ -87,10 +87,6 @@ typedef struct {
unsigned int speed_sp_rel_pdo_os;
unsigned int torque_max_pdo_os;
ec_sdo_request_t *sdo_torque_reference;
ec_sdo_request_t *sdo_speed_max_rpm;
ec_sdo_request_t *sdo_speed_max_rpm_sp;
} lcec_stmds5k_data_t;
void lcec_stmds5k_check_scales(lcec_stmds5k_data_t *hal_data);
@@ -102,6 +98,7 @@ int lcec_stmds5k_init(int comp_id, struct lcec_slave *slave, ec_pdo_entry_reg_t
lcec_master_t *master = slave->master;
lcec_stmds5k_data_t *hal_data;
int err;
uint8_t sdo_buf[4];
// initialize callbacks
slave->proc_read = lcec_stmds5k_read;
@@ -117,20 +114,20 @@ int lcec_stmds5k_init(int comp_id, struct lcec_slave *slave, ec_pdo_entry_reg_t
// read sdos
// B18 : torque reference
if ((hal_data->sdo_torque_reference = lcec_read_sdo(slave, 0x2212, 0x00, 4)) == NULL) {
if (lcec_read_sdo(slave, 0x2212, 0x00, sdo_buf, 4)) {
return -EIO;
}
hal_data->torque_reference = (double)EC_READ_S32(ecrt_sdo_request_data(hal_data->sdo_torque_reference)) * STMDS5K_TORQUE_REF_DIV;
hal_data->torque_reference = (double) EC_READ_S32(sdo_buf) * STMDS5K_TORQUE_REF_DIV;
// C01 : max rpm
if ((hal_data->sdo_speed_max_rpm = lcec_read_sdo(slave, 0x2401, 0x00, 4)) == NULL) {
if (lcec_read_sdo(slave, 0x2401, 0x00, sdo_buf, 4)) {
return -EIO;
}
hal_data->speed_max_rpm = (double)EC_READ_S32(ecrt_sdo_request_data(hal_data->sdo_speed_max_rpm));
hal_data->speed_max_rpm = (double) EC_READ_S32(sdo_buf);
// D02 : setpoint max rpm
if ((hal_data->sdo_speed_max_rpm_sp = lcec_read_sdo(slave, 0x2602, 0x00, 4)) == NULL) {
if (lcec_read_sdo(slave, 0x2602, 0x00, sdo_buf, 4)) {
return -EIO;
}
hal_data->speed_max_rpm_sp = (double)EC_READ_S32(ecrt_sdo_request_data(hal_data->sdo_speed_max_rpm_sp));
hal_data->speed_max_rpm_sp = (double) EC_READ_S32(sdo_buf);
if (hal_data->speed_max_rpm_sp > 1e-20 || hal_data->speed_max_rpm_sp < -1e-20) {
hal_data->speed_max_rpm_sp_rcpt = 1.0 / hal_data->speed_max_rpm_sp;
} else {