SSI-Klemmen-Interface und kleinere ?nderungen.
--- a/include/EtherCAT_si.h Fri Feb 03 16:38:43 2006 +0000
+++ b/include/EtherCAT_si.h Mon Feb 13 14:11:33 2006 +0000
@@ -39,6 +39,17 @@
/*****************************************************************************/
+#define EC_READ_EL5001(SLAVE) \
+ ((unsigned int) (EC_PROC_DATA(SLAVE)[1] | \
+ (EC_PROC_DATA(SLAVE)[2] << 8) | \
+ (EC_PROC_DATA(SLAVE)[3] << 16) | \
+ (EC_PROC_DATA(SLAVE)[4] << 24)))
+
+#define EC_READ_EL5001_STATE(SLAVE) \
+ ((unsigned char) EC_PROC_DATA(SLAVE)[0])
+
+/*****************************************************************************/
+
/* Emacs-Konfiguration
;;; Local Variables: ***
;;; c-basic-offset:4 ***
--- a/master/canopen.c Fri Feb 03 16:38:43 2006 +0000
+++ b/master/canopen.c Mon Feb 13 14:11:33 2006 +0000
@@ -19,9 +19,9 @@
/*****************************************************************************/
int EtherCAT_rt_canopen_sdo_write(ec_master_t *master, ec_slave_t *slave,
- unsigned int sdo_index,
- unsigned char sdo_subindex,
- unsigned int value, unsigned int size)
+ unsigned int sdo_index,
+ unsigned char sdo_subindex,
+ unsigned int value, unsigned int size)
{
unsigned char data[0xF6];
ec_command_t cmd;
--- a/master/master.c Fri Feb 03 16:38:43 2006 +0000
+++ b/master/master.c Mon Feb 13 14:11:33 2006 +0000
@@ -233,7 +233,7 @@
master->command_index = (master->command_index + 1) % 0x0100;
if (unlikely(master->debug_level > 0)) {
- printk(KERN_DEBUG "EtherCAT: Sending command index %i\n", cmd->index);
+ printk(KERN_DEBUG "EtherCAT: Sending command index 0x%X\n", cmd->index);
}
cmd->state = EC_COMMAND_STATE_SENT;
--- a/master/types.c Fri Feb 03 16:38:43 2006 +0000
+++ b/master/types.c Mon Feb 13 14:11:33 2006 +0000
@@ -37,7 +37,7 @@
unsigned char sm2_41xx[] = {0x00, 0x10, 0x04, 0x00, 0x24, 0x00, 0x01, 0x00};
-unsigned char sm2_5001[] = {0x00, 0x10, 0x04, 0x00, 0x24, 0x00, 0x00, 0x00};
+unsigned char sm2_5001[] = {0x00, 0x10, 0x04, 0x00, 0x24, 0x00, 0x01, 0x00};
unsigned char sm3_5001[] = {0x00, 0x11, 0x05, 0x00, 0x20, 0x00, 0x01, 0x00};
/*