From 12143ba375a0696ca408686e1ec75c1722ea7cfe Mon Sep 17 00:00:00 2001
From: Florian Pose <fp@igh-essen.com>
Date: Tue, 28 Mar 2006 12:38:05 +0000
Subject: [PATCH] =?UTF-8?q?Bugfix:=20Gr=C3=B6=C3=9Ferer=20Puffer=20f=C3=BC?=
=?UTF-8?q?r=20CoE-Daten=20beim=20SDO=20upload.?=
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---
master/canopen.c | 12 ++++++------
rt/msr_module.c | 4 ++--
2 files changed, 8 insertions(+), 8 deletions(-)
diff --git a/master/canopen.c b/master/canopen.c
index 1f720282..20845ebf 100644
--- a/master/canopen.c
+++ b/master/canopen.c
@@ -103,21 +103,21 @@ int ecrt_slave_sdo_read(ec_slave_t *slave, /**< EtherCAT-Slave */
uint32_t *value /**< Speicher für gel. Wert */
)
{
- uint8_t data[0x0A];
+ uint8_t data[0x20];
size_t rec_size;
- EC_WRITE_U16(data, 0x2000); // Number (0), Service (SDO request)
- EC_WRITE_U8 (data + 2, 0x1 << 1 | 0x2 << 5); // Exp., Upload request
+ EC_WRITE_U16(data, 0x2000); // Number (0), Service = SDO request
+ EC_WRITE_U8 (data + 2, 0x1 << 1 | 0x2 << 5); // Expedited upload request
EC_WRITE_U16(data + 3, sdo_index);
EC_WRITE_U8 (data + 5, sdo_subindex);
if (ec_slave_mailbox_send(slave, 0x03, data, 6)) return -1;
- rec_size = 6;
+ rec_size = 0x20;
if (ec_slave_mailbox_receive(slave, 0x03, data, &rec_size)) return -1;
- if (EC_READ_U16(data ) >> 12 == 0x02 && // SDO request
- EC_READ_U8 (data + 2) >> 5 == 0x04) { // Abort SDO transf. req.
+ if (EC_READ_U16(data) >> 12 == 0x02 && // SDO request
+ EC_READ_U8 (data + 2) >> 5 == 0x04) { // Abort SDO transfer request
EC_ERR("SDO upload of 0x%04X:%X aborted on slave %i.\n",
sdo_index, sdo_subindex, slave->ring_position);
ec_canopen_abort_msg(EC_READ_U32(data + 6));
diff --git a/rt/msr_module.c b/rt/msr_module.c
index e952a579..2e1f4d87 100644
--- a/rt/msr_module.c
+++ b/rt/msr_module.c
@@ -225,7 +225,7 @@ int __init init_rt_module(void)
//ecrt_master_debug(master, 0);
-#if 0
+#if 1
if (ecrt_master_sdo_read(master, "1", 0x100A, 1, &version)) {
printk(KERN_ERR "Could not read SSI version!\n");
goto out_deactivate;
@@ -233,7 +233,7 @@ int __init init_rt_module(void)
printk(KERN_INFO "Software-version: %u\n", version);
#endif
-#if 0
+#if 1
if (ecrt_master_sdo_write(master, "1", 0x4061, 1, 0, 1) ||
ecrt_master_sdo_write(master, "1", 0x4061, 2, 1, 1) ||
ecrt_master_sdo_write(master, "1", 0x4061, 3, 1, 1) ||
--
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