# HG changeset patch
# User Laurent Bessard
# Date 1365669178 -7200
# Node ID 8e6e6364087e500d729b56cafec0f354b0ccd6fe
# Parent  5460eba6c5e0bb733290acbe4d9b77042d4f4bd3# Parent  accc4cbca8d306c2eaf330e06169a0121a67e37b
Merged

diff -r accc4cbca8d3 -r 8e6e6364087e ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/config.xml
--- a/ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/config.xml	Fri Apr 05 21:47:37 2013 +0900
+++ b/ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/config.xml	Thu Apr 11 10:32:58 2013 +0200
@@ -19,6 +19,19 @@
         <RevisionNo>65536</RevisionNo>
         <SerialNo>0</SerialNo>
       </Info>
+      <Mailbox>
+        <Send>
+          <Start>0</Start>
+          <Length>0</Length>
+        </Send>
+        <Recv>
+          <Start>0</Start>
+          <Length>0</Length>
+        </Recv>
+        <CoE>
+          <InitCmds/>
+        </CoE>
+      </Mailbox>
     </Slave>
     <Slave>
       <Info>
@@ -31,6 +44,19 @@
         <RevisionNo>1048576</RevisionNo>
         <SerialNo>0</SerialNo>
       </Info>
+      <Mailbox>
+        <Send>
+          <Start>0</Start>
+          <Length>0</Length>
+        </Send>
+        <Recv>
+          <Start>0</Start>
+          <Length>0</Length>
+        </Recv>
+        <CoE>
+          <InitCmds/>
+        </CoE>
+      </Mailbox>
     </Slave>
     <Slave>
       <Info>
@@ -55,6 +81,47 @@
         <RevisionNo>2</RevisionNo>
         <SerialNo>0</SerialNo>
       </Info>
+      <Mailbox>
+        <Send>
+          <Start>0</Start>
+          <Length>0</Length>
+        </Send>
+        <Recv>
+          <Start>0</Start>
+          <Length>0</Length>
+        </Recv>
+        <CoE>
+          <InitCmds>
+            <InitCmd>
+              <Transition>II</Transition>
+              <Comment>Configure limit switches signal</Comment>
+              <Timeout>0</Timeout>
+              <Ccs>0</Ccs>
+              <Index>8229</Index>
+              <SubIndex>0</SubIndex>
+              <Data>07</Data>
+            </InitCmd>
+            <InitCmd>
+              <Transition>II</Transition>
+              <Comment></Comment>
+              <Timeout>0</Timeout>
+              <Ccs>0</Ccs>
+              <Index>24800</Index>
+              <SubIndex>0</SubIndex>
+              <Data>05DC</Data>
+            </InitCmd>
+            <InitCmd>
+              <Transition>II</Transition>
+              <Comment></Comment>
+              <Timeout>0</Timeout>
+              <Ccs>0</Ccs>
+              <Index>24801</Index>
+              <SubIndex>0</SubIndex>
+              <Data>05DC</Data>
+            </InitCmd>
+          </InitCmds>
+        </CoE>
+      </Mailbox>
     </Slave>
   </Config>
 </EtherCATConfig>
diff -r accc4cbca8d3 -r 8e6e6364087e ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/process_variables.xml
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/process_variables.xml	Thu Apr 11 10:32:58 2013 +0200
@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<ProcessVariables xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <variable Name="Digital_IO" Comment="Transfering inputs to outputs">
+    <ReadFrom Position="3" Index="24829" SubIndex="0"/>
+    <WriteTo Position="3" Index="24830" SubIndex="1"/>
+  </variable>
+</ProcessVariables>
diff -r accc4cbca8d3 -r 8e6e6364087e ethercat_tests/wago_higen/ethercat@etherlab/modules/Higen_EDA7000_CoE_ver16_with_variablePDO_modif.xml
--- a/ethercat_tests/wago_higen/ethercat@etherlab/modules/Higen_EDA7000_CoE_ver16_with_variablePDO_modif.xml	Fri Apr 05 21:47:37 2013 +0900
+++ b/ethercat_tests/wago_higen/ethercat@etherlab/modules/Higen_EDA7000_CoE_ver16_with_variablePDO_modif.xml	Thu Apr 11 10:32:58 2013 +0200
@@ -3061,15 +3061,7 @@
           </Entry>
         </TxPdo>
         <Mailbox>
-          <CoE DS402Channels="1" CompleteAccess="false" PdoUpload="false" PdoConfig="true" PdoAssign="true" SdoInfo="false">
-            <InitCmd>
-              <Transition>PS</Transition>
-              <Index>#x2025</Index>
-              <SubIndex>0</SubIndex>
-              <Data>0004</Data>
-              <Comment>Digital Inputs Reverse Setting ([2]ESTOP, [1]CW, [0]CCW)</Comment>
-            </InitCmd>
-          </CoE>
+          <CoE DS402Channels="1" CompleteAccess="false" PdoUpload="false" PdoConfig="true" PdoAssign="true" SdoInfo="false"/>
         </Mailbox>
         <Dc>
           <OpMode>
diff -r accc4cbca8d3 -r 8e6e6364087e etherlab/EthercatCIA402Slave.py
--- a/etherlab/EthercatCIA402Slave.py	Fri Apr 05 21:47:37 2013 +0900
+++ b/etherlab/EthercatCIA402Slave.py	Thu Apr 11 10:32:58 2013 +0200
@@ -51,8 +51,7 @@
 }
 """
 
-BLOCK_FUNTION_DEFINITION_TEMPLATE = """    if (!__CIA402Node_%(location)s.axis->__mcl_func_MC_%(blocktype)s)
-__CIA402Node_%(location)s.axis->__mcl_func_MC_%(blocktype)s = __%(blocktype)s_%(location)s;"""
+BLOCK_FUNTION_DEFINITION_TEMPLATE = "        __CIA402Node_%(location)s.axis->__mcl_func_MC_%(blocktype)s = __%(blocktype)s_%(location)s;"
 
 GLOBAL_INSTANCES = [
     {"blocktype": "GetTorqueLimit", 
diff -r accc4cbca8d3 -r 8e6e6364087e etherlab/plc_cia402node.c
--- a/etherlab/plc_cia402node.c	Fri Apr 05 21:47:37 2013 +0900
+++ b/etherlab/plc_cia402node.c	Thu Apr 11 10:32:58 2013 +0200
@@ -55,10 +55,8 @@
 
 int __init_%(location)s()
 {
+    __FirstTick = 1;
 %(init_entry_variables)s
-	*__IW%(location)s_0 = __MK_Alloc_AXIS_REF();
-	__CIA402Node_%(location)s.axis = __MK_GetPublic_AXIS_REF(*__IW%(location)s_0);
-	__CIA402Node_%(location)s.axis->NetworkPosition = %(slave_pos)d;
 	*(__CIA402Node_%(location)s.ModesOfOperation) = 0x08;
     return 0;
 }
@@ -69,13 +67,15 @@
 
 void __retrieve_%(location)s()
 {
-%(fieldbus_interface_definition)s
-
 	IEC_UINT statusword_inactive = *(__CIA402Node_%(location)s.StatusWord) & __InactiveMask;
 	IEC_UINT statusword_active = *(__CIA402Node_%(location)s.StatusWord) & __ActiveMask;
 
 	if (__FirstTick) {
+		*__IW%(location)s_0 = __MK_Alloc_AXIS_REF();
+		__CIA402Node_%(location)s.axis = __MK_GetPublic_AXIS_REF(*__IW%(location)s_0);
+		__CIA402Node_%(location)s.axis->NetworkPosition = %(slave_pos)d;
 %(init_axis_params)s
+%(fieldbus_interface_definition)s
 		__FirstTick = 0;
 	}