diff --git a/master/canopen.c b/master/canopen.c
index 6e70ec72b4d49777835199bba0ba7d69df3fe084..0a7d250b16bfbecdf158ea825c739e66058b4bd0 100644
--- a/master/canopen.c
+++ b/master/canopen.c
@@ -18,6 +18,7 @@
void ec_canopen_abort_msg(uint32_t);
int ec_slave_fetch_sdo_descriptions(ec_slave_t *);
+int ec_slave_fetch_sdo_entries(ec_slave_t *, ec_sdo_t *, uint8_t);
/*****************************************************************************/
@@ -37,112 +38,116 @@ const ec_sdo_abort_message_t sdo_abort_messages[];
/*****************************************************************************/
/**
- Beschreibt ein CANopen-SDO eines Slaves im Expedited-Modus.
+ Liest 32 Bit eines CANopen-SDOs im Expedited-Modus aus einem Slave.
\return 0 wenn alles ok, < 0 bei Fehler
*/
-int ec_slave_sdo_write_exp(ec_slave_t *slave, /**< EtherCAT-Slave */
- uint16_t sdo_index, /**< SDO-Index */
- uint8_t sdo_subindex, /**< SDO-Subindex */
- const uint8_t *sdo_data, /**< Neuer Wert */
- size_t size
- )
+int ec_slave_sdo_read_exp(ec_slave_t *slave, /**< EtherCAT-Slave */
+ uint16_t sdo_index, /**< SDO-Index */
+ uint8_t sdo_subindex, /**< SDO-Subindex */
+ uint8_t *target /**< Speicher für 4 Bytes */
+ )
{
- uint8_t data[0x0A];
+ uint8_t data[0x20];
size_t rec_size;
- if (size == 0 || size > 4) {
- EC_ERR("Invalid data size!\n");
- return -1;
- }
-
- EC_WRITE_U16(data, 0x2000); // SDO request
- EC_WRITE_U8 (data + 2, 0x23 | (4 - size) << 2); // expedited, size specif.
+ EC_WRITE_U16(data, 0x2 << 12); // SDO request
+ EC_WRITE_U8 (data + 2, (0x1 << 1 // expedited transfer
+ | 0x2 << 5)); // initiate upload request
EC_WRITE_U16(data + 3, sdo_index);
EC_WRITE_U8 (data + 5, sdo_subindex);
- memcpy(data + 6, sdo_data, size);
- if (size < 4) memset(data + 6 + size, 0x00, 4 - size);
-
- // Mailox senden und empfangen
- if (ec_slave_mailbox_send(slave, 0x03, data, 0x0A)) return -1;
+ if (ec_slave_mailbox_send(slave, 0x03, data, 6)) return -1;
- rec_size = 0x0A;
+ 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 transfer request
- EC_ERR("SDO download of 0x%04X:%X (%i bytes) aborted on!"
- " slave %i.\n", sdo_index, sdo_subindex, size,
- slave->ring_position);
+ if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
+ EC_READ_U8 (data + 2) >> 5 == 0x4) { // 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));
return -1;
}
- if (EC_READ_U16(data) >> 12 != 0x03 || // SDO response
- EC_READ_U8 (data + 2) >> 5 != 0x03 || // Download response
+ if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
+ EC_READ_U8 (data + 2) >> 5 != 0x2 || // Upload response
EC_READ_U16(data + 3) != sdo_index || // Index
- EC_READ_U8 (data + 5) != sdo_subindex) // Subindex
- {
- EC_ERR("Invalid SDO download response at slave %i!\n",
+ EC_READ_U8 (data + 5) != sdo_subindex) { // Subindex
+ EC_ERR("Invalid SDO upload response at slave %i!\n",
slave->ring_position);
return -1;
}
+ memcpy(target, data + 6, 4);
return 0;
}
/*****************************************************************************/
/**
- Liest 32-Bit eines CANopen-SDOs im Expedited-Modus aus einem Slave.
+ Beschreibt ein CANopen-SDO eines Slaves im Expedited-Modus.
\return 0 wenn alles ok, < 0 bei Fehler
*/
-int ec_slave_sdo_read_exp(ec_slave_t *slave, /**< EtherCAT-Slave */
- uint16_t sdo_index, /**< SDO-Index */
- uint8_t sdo_subindex, /**< SDO-Subindex */
- uint8_t *target /**< Speicher für 4 Bytes */
- )
+int ec_slave_sdo_write_exp(ec_slave_t *slave, /**< EtherCAT-Slave */
+ uint16_t sdo_index, /**< SDO-Index */
+ uint8_t sdo_subindex, /**< SDO-Subindex */
+ const uint8_t *sdo_data, /**< Neuer Wert */
+ size_t size
+ )
{
- uint8_t data[0x20];
+ uint8_t data[0x0A];
size_t rec_size;
- EC_WRITE_U16(data, 0x2000); // SDO request
- EC_WRITE_U8 (data + 2, 0x42); // Upload request, expedited
+ if (size == 0 || size > 4) {
+ EC_ERR("Invalid data size!\n");
+ return -1;
+ }
+
+ EC_WRITE_U16(data, 0x2 << 12); // SDO request
+ EC_WRITE_U8 (data + 2, (0x1 // size specified
+ | 0x1 << 1 // expedited transfer
+ | (4 - size) << 2 // data set size
+ | 0x1 << 5)); // initiate download 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;
+ memcpy(data + 6, sdo_data, size);
+ if (size < 4) memset(data + 6 + size, 0x00, 4 - size);
- rec_size = 0x20;
+ // Mailox senden und empfangen
+ if (ec_slave_mailbox_send(slave, 0x03, data, 0x0A)) return -1;
+
+ rec_size = 0x0A;
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 transfer request
- EC_ERR("SDO upload of 0x%04X:%X aborted on slave %i.\n",
- sdo_index, sdo_subindex, slave->ring_position);
+ if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
+ EC_READ_U8 (data + 2) >> 5 == 0x4) { // Abort SDO transfer request
+ EC_ERR("SDO download of 0x%04X:%X (%i bytes) aborted on!"
+ " slave %i.\n", sdo_index, sdo_subindex, size,
+ slave->ring_position);
ec_canopen_abort_msg(EC_READ_U32(data + 6));
return -1;
}
- if (EC_READ_U16(data) >> 12 != 0x03 || // SDO response
- EC_READ_U8 (data + 2) >> 5 != 0x02 || // Upload response
+ if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
+ EC_READ_U8 (data + 2) >> 5 != 0x3 || // Download response
EC_READ_U16(data + 3) != sdo_index || // Index
- EC_READ_U8 (data + 5) != sdo_subindex) { // Subindex
- EC_ERR("Invalid SDO upload response at slave %i!\n",
+ EC_READ_U8 (data + 5) != sdo_subindex) // Subindex
+ {
+ EC_ERR("Invalid SDO download response at slave %i!\n",
slave->ring_position);
return -1;
}
- memcpy(target, data + 6, 4);
return 0;
}
/*****************************************************************************/
/**
- Liest ein CANopen-SDO aus einem Slave.
+ Liest ein CANopen-SDO im "Normal-Modus" aus einem Slave.
\return 0 wenn alles ok, < 0 bei Fehler
*/
@@ -157,8 +162,8 @@ int ecrt_slave_sdo_read(ec_slave_t *slave, /**< EtherCAT-Slave */
size_t rec_size, data_size;
uint32_t complete_size;
- EC_WRITE_U16(data, 0x2000); // SDO request
- EC_WRITE_U8 (data + 2, 0x2 << 5); // Initiate upload request
+ EC_WRITE_U16(data, 0x2 << 12); // SDO request
+ EC_WRITE_U8 (data + 2, 0x2 << 5); // initiate upload request
EC_WRITE_U16(data + 3, sdo_index);
EC_WRITE_U8 (data + 5, sdo_subindex);
@@ -167,16 +172,16 @@ int ecrt_slave_sdo_read(ec_slave_t *slave, /**< EtherCAT-Slave */
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 transfer request
+ if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
+ EC_READ_U8 (data + 2) >> 5 == 0x4) { // 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));
return -1;
}
- if (EC_READ_U16(data) >> 12 != 0x03 || // SDO response
- EC_READ_U8 (data + 2) >> 5 != 0x02 || // Initiate upload response
+ if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
+ EC_READ_U8 (data + 2) >> 5 != 0x2 || // Initiate upload response
EC_READ_U16(data + 3) != sdo_index || // Index
EC_READ_U8 (data + 5) != sdo_subindex) { // Subindex
EC_ERR("Invalid SDO upload response at slave %i!\n",
@@ -211,7 +216,7 @@ int ecrt_slave_sdo_read(ec_slave_t *slave, /**< EtherCAT-Slave */
/*****************************************************************************/
/**
- Holt das Object-Dictionary aus dem Slave.
+ Lädt das gesamte SDO-Dictionary aus einem Slave.
\return 0, wenn alles ok, sonst < 0
*/
@@ -223,9 +228,9 @@ int ec_slave_fetch_sdo_list(ec_slave_t *slave /**< EtherCAT-Slave */)
ec_sdo_t *sdo;
uint16_t sdo_index;
- EC_WRITE_U16(data, 0x8000); // SDO information
- EC_WRITE_U8 (data + 2, 0x01); // Get OD List Request
- EC_WRITE_U8 (data + 3, 0x00);
+ EC_WRITE_U16(data, 0x8 << 12); // SDO information
+ EC_WRITE_U8 (data + 2, 0x01); // Get OD List Request
+ EC_WRITE_U8 (data + 3, 0x00);
EC_WRITE_U16(data + 4, 0x0000);
EC_WRITE_U16(data + 6, 0x0001); // Deliver all SDOs!
@@ -235,7 +240,7 @@ int ec_slave_fetch_sdo_list(ec_slave_t *slave /**< EtherCAT-Slave */)
rec_size = 0xF0;
if (ec_slave_mailbox_receive(slave, 0x03, data, &rec_size)) return -1;
- if (EC_READ_U16(data) >> 12 == 0x08 && // SDO information
+ if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
(EC_READ_U8(data + 2) & 0x7F) == 0x07) { // Error response
EC_ERR("SDO information error response at slave %i!\n",
slave->ring_position);
@@ -243,7 +248,7 @@ int ec_slave_fetch_sdo_list(ec_slave_t *slave /**< EtherCAT-Slave */)
return -1;
}
- if (EC_READ_U16(data) >> 12 != 0x08 || // SDO information
+ if (EC_READ_U16(data) >> 12 != 0x8 || // SDO information
(EC_READ_U8 (data + 2) & 0x7F) != 0x02) { // Get OD List response
EC_ERR("Invalid SDO list response at slave %i!\n",
slave->ring_position);
@@ -270,7 +275,7 @@ int ec_slave_fetch_sdo_list(ec_slave_t *slave /**< EtherCAT-Slave */)
}
} while (EC_READ_U8(data + 2) & 0x80);
- // Jetzt alle Beschreibungen holen
+ // Alle Beschreibungen laden
if (ec_slave_fetch_sdo_descriptions(slave)) return -1;
return 0;
@@ -280,7 +285,6 @@ int ec_slave_fetch_sdo_list(ec_slave_t *slave /**< EtherCAT-Slave */)
/**
Holt die Beschreibungen zu allen bereits bekannten SDOs.
-
\return 0, wenn alles ok, sonst < 0
*/
@@ -291,9 +295,9 @@ int ec_slave_fetch_sdo_descriptions(ec_slave_t *slave /**< EtherCAT-Slave */)
ec_sdo_t *sdo;
list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
- EC_WRITE_U16(data, 0x8000); // SDO information
- EC_WRITE_U8 (data + 2, 0x03); // Get object description request
- EC_WRITE_U8 (data + 3, 0x00);
+ EC_WRITE_U16(data, 0x8 << 12); // SDO information
+ EC_WRITE_U8 (data + 2, 0x03); // Get object description request
+ EC_WRITE_U8 (data + 3, 0x00);
EC_WRITE_U16(data + 4, 0x0000);
EC_WRITE_U16(data + 6, sdo->index); // SDO index
@@ -303,7 +307,7 @@ int ec_slave_fetch_sdo_descriptions(ec_slave_t *slave /**< EtherCAT-Slave */)
if (ec_slave_mailbox_receive(slave, 0x03, data, &rec_size))
return -1;
- if (EC_READ_U16(data) >> 12 == 0x08 && // SDO information
+ if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
(EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // Error response
EC_ERR("SDO information error response at slave %i while"
" fetching SDO 0x%04X!\n", slave->ring_position,
@@ -312,8 +316,8 @@ int ec_slave_fetch_sdo_descriptions(ec_slave_t *slave /**< EtherCAT-Slave */)
return -1;
}
- if (EC_READ_U16(data) >> 12 != 0x08 || // SDO information
- (EC_READ_U8 (data + 2) & 0x7F) != 0x04 || // Obj. desc. resp.
+ if (EC_READ_U16(data) >> 12 != 0x8 || // SDO information
+ (EC_READ_U8 (data + 2) & 0x7F) != 0x04 || // Object desc. response
EC_READ_U16(data + 6) != sdo->index) { // SDO index
EC_ERR("Invalid object description response at slave %i while"
" fetching SDO 0x%04X!\n", slave->ring_position,
@@ -327,25 +331,113 @@ int ec_slave_fetch_sdo_descriptions(ec_slave_t *slave /**< EtherCAT-Slave */)
}
sdo->type = EC_READ_U16(data + 8);
- sdo->max_subindex = EC_READ_U8(data + 10);
sdo->features = EC_READ_U8(data + 11);
+ INIT_LIST_HEAD(&sdo->entries);
name_size = rec_size - 12;
- if (!name_size) {
- EC_WARN("Object 0x%04X name size is 0...", sdo->index);
- continue;
+ if (name_size) {
+ if (!(sdo->name = kmalloc(name_size + 1, GFP_KERNEL))) {
+ EC_ERR("Failed to allocate SDO name!\n");
+ return -1;
+ }
+
+ memcpy(sdo->name, data + 12, name_size);
+ sdo->name[name_size] = 0;
}
- if (!(sdo->name = kmalloc(name_size + 1, GFP_KERNEL))) {
- EC_ERR("Failed to allocate SDO name!\n");
+ if (EC_READ_U8(data + 2) & 0x80) {
+ EC_ERR("Fragment follows (not implemented)!\n");
return -1;
}
- memcpy(sdo->name, data + 12, name_size);
- sdo->name[name_size] = 0;
+ // Alle Entries (Subindizes) laden
+ if (ec_slave_fetch_sdo_entries(slave, sdo, EC_READ_U8(data + 10)))
+ return -1;
+ }
+
+ return 0;
+}
+
+/*****************************************************************************/
+
+/**
+ Lädt alle Entries (Subindizes) zu einem SDO.
+ \return 0, wenn alles ok, sonst < 0
+*/
+
+int ec_slave_fetch_sdo_entries(ec_slave_t *slave, /**< EtherCAT-Slave */
+ ec_sdo_t *sdo, /**< SDO */
+ uint8_t subindices /**< Anzahl Subindizes */
+ )
+{
+ uint8_t data[0xF0];
+ size_t rec_size, data_size;
+ uint8_t i;
+ ec_sdo_entry_t *entry;
+
+ for (i = 1; i <= subindices; i++) {
+ EC_WRITE_U16(data, 0x8 << 12); // SDO information
+ EC_WRITE_U8 (data + 2, 0x05); // Get entry description request
+ EC_WRITE_U8 (data + 3, 0x00);
+ EC_WRITE_U16(data + 4, 0x0000);
+ EC_WRITE_U16(data + 6, sdo->index); // SDO index
+ EC_WRITE_U8 (data + 8, i); // SDO subindex
+ EC_WRITE_U8 (data + 9, 0x00); // value info (no values)
+
+ if (ec_slave_mailbox_send(slave, 0x03, data, 10)) return -1;
+
+ rec_size = 0xF0;
+ if (ec_slave_mailbox_receive(slave, 0x03, data, &rec_size))
+ return -1;
+
+ if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
+ (EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // Error response
+ EC_ERR("SDO information error response at slave %i while"
+ " fetching SDO entry 0x%04X:%i!\n", slave->ring_position,
+ sdo->index, i);
+ ec_canopen_abort_msg(EC_READ_U32(data + 6));
+ return -1;
+ }
+
+ if (EC_READ_U16(data) >> 12 != 0x8 || // SDO information
+ (EC_READ_U8(data + 2) & 0x7F) != 0x06 || // entry descr. response
+ EC_READ_U16(data + 6) != sdo->index || // SDO index
+ EC_READ_U8(data + 8) != i) { // SDO subindex
+ EC_ERR("Invalid entry description response at slave %i while"
+ " fetching SDO 0x%04X:%i!\n", slave->ring_position,
+ sdo->index, i);
+ return -1;
+ }
+
+ if (rec_size < 16) {
+ EC_ERR("Invalid data size!\n");
+ return -1;
+ }
+
+ if (!EC_READ_U16(data + 12)) // bit length = 0
+ continue;
+
+ data_size = rec_size - 16;
+
+ if (!(entry = (ec_sdo_entry_t *)
+ kmalloc(sizeof(ec_sdo_entry_t) + data_size + 1, GFP_KERNEL))) {
+ EC_ERR("Failed to allocate entry memory!\n");
+ return -1;
+ }
+
+ entry->subindex = i;
+ entry->data_type = EC_READ_U16(data + 10);
+ entry->bit_length = EC_READ_U16(data + 12);
+ if (!data_size) {
+ entry->name = NULL;
+ }
+ else {
+ entry->name = (uint8_t *) entry + sizeof(ec_sdo_entry_t);
+ memcpy(entry->name, data + 16, data_size);
+ entry->name[data_size] = 0;
+ }
- if (EC_READ_U8(data + 2) & 0x80)
- EC_WARN("Fragment follows in object description!\n");
+ list_add_tail(&entry->list, &sdo->entries);
}
return 0;
diff --git a/master/slave.c b/master/slave.c
index 19ec77b7c231848eacd128fb47b89c09eac7f0c5..2c626be3fda271f7f03f4ed32e7b4a4cf2549e0e 100644
--- a/master/slave.c
+++ b/master/slave.c
@@ -78,6 +78,7 @@ void ec_slave_clear(ec_slave_t *slave /**< EtherCAT-Slave */)
ec_eeprom_pdo_t *pdo, *next_pdo;
ec_eeprom_pdo_entry_t *entry, *next_ent;
ec_sdo_t *sdo, *next_sdo;
+ ec_sdo_entry_t *en, *next_en;
// Alle Strings freigeben
list_for_each_entry_safe(string, next_str, &slave->eeprom_strings, list) {
@@ -114,6 +115,11 @@ void ec_slave_clear(ec_slave_t *slave /**< EtherCAT-Slave */)
list_for_each_entry_safe(sdo, next_sdo, &slave->sdo_dictionary, list) {
list_del(&sdo->list);
if (sdo->name) kfree(sdo->name);
+ // Alle Entries freigeben
+ list_for_each_entry_safe(en, next_en, &sdo->entries, list) {
+ list_del(&en->list);
+ kfree(en);
+ }
kfree(sdo);
}
}
@@ -853,8 +859,9 @@ void ec_slave_print(const ec_slave_t *slave /**< EtherCAT-Slave */)
{
ec_eeprom_sync_t *sync;
ec_eeprom_pdo_t *pdo;
- ec_eeprom_pdo_entry_t *entry;
+ ec_eeprom_pdo_entry_t *pdo_entry;
ec_sdo_t *sdo;
+ ec_sdo_entry_t *sdo_entry;
int first;
EC_INFO("x-- EtherCAT slave information ---------------\n");
@@ -950,20 +957,27 @@ void ec_slave_print(const ec_slave_t *slave /**< EtherCAT-Slave */)
pdo->name ? pdo->name : "???",
pdo->index, pdo->sync_manager);
- list_for_each_entry(entry, &pdo->entries, list) {
+ list_for_each_entry(pdo_entry, &pdo->entries, list) {
EC_INFO("| \"%s\" 0x%04X:%X, %i Bit\n",
- entry->name ? entry->name : "???",
- entry->index, entry->subindex, entry->bit_length);
+ pdo_entry->name ? pdo_entry->name : "???",
+ pdo_entry->index, pdo_entry->subindex,
+ pdo_entry->bit_length);
}
}
if (!list_empty(&slave->sdo_dictionary)) {
EC_INFO("| SDO-Dictionary:\n");
list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
- EC_INFO("| 0x%04X: \"%s\"\n", sdo->index,
+ EC_INFO("| 0x%04X \"%s\"\n", sdo->index,
sdo->name ? sdo->name : "");
- EC_INFO("| Type 0x%04X, subindices: %i, features: 0x%02X\n",
- sdo->type, sdo->max_subindex, sdo->features);
+ EC_INFO("| Type 0x%04X, features: 0x%02X\n",
+ sdo->type, sdo->features);
+ list_for_each_entry(sdo_entry, &sdo->entries, list) {
+ EC_INFO("| 0x%04X:%i \"%s\", type 0x%04X, %i bits\n",
+ sdo->index, sdo_entry->subindex,
+ sdo_entry->name ? sdo_entry->name : "",
+ sdo_entry->data_type, sdo_entry->bit_length);
+ }
}
}
diff --git a/master/slave.h b/master/slave.h
index 12e45428bd93dd69a6d241b915eb0b5d41c4820b..bd99ef7e591b3ff0dbfac056b21eda5c7d2f1aeb 100644
--- a/master/slave.h
+++ b/master/slave.h
@@ -154,14 +154,30 @@ typedef struct
struct list_head list;
uint16_t index;
uint16_t type;
- uint8_t max_subindex;
uint8_t features;
char *name;
+ struct list_head entries;
}
ec_sdo_t;
/*****************************************************************************/
+/**
+ CANopen-SDO-Entry.
+*/
+
+typedef struct
+{
+ struct list_head list;
+ uint8_t subindex;
+ uint16_t data_type;
+ uint16_t bit_length;
+ char *name;
+}
+ec_sdo_entry_t;
+
+/*****************************************************************************/
+
/**
EtherCAT-Slave
*/
diff --git a/rt/msr_module.c b/rt/msr_module.c
index 77906f55fde1e47b64507dcbffe44c6310c94358..32d555a350dd8fd61338b08f888e0258c9394251 100644
--- a/rt/msr_module.c
+++ b/rt/msr_module.c
@@ -184,7 +184,7 @@ void domain_entry(void)
int __init init_rt_module(void)
{
struct ipipe_domain_attr attr; //ipipe
- uint8_t string[10];
+ uint8_t string[20];
size_t size;
ec_slave_t *slave;
@@ -242,7 +242,6 @@ int __init init_rt_module(void)
printk(KERN_ERR "Could not read SSI version!\n");
goto out_deactivate;
}
- string[size] = 0;
printk(KERN_INFO "Software-version 1: %s\n", string);
if (!(slave = ecrt_master_get_slave(master, "5"))) {
@@ -255,9 +254,15 @@ int __init init_rt_module(void)
printk(KERN_ERR "Could not read SSI version!\n");
goto out_deactivate;
}
- string[size] = 0;
printk(KERN_INFO "Software-version 5: %s\n", string);
+ size = 20;
+ if (ecrt_slave_sdo_read(slave, 0x1008, 0, string, &size)) {
+ printk(KERN_ERR "Could not read string!\n");
+ goto out_deactivate;
+ }
+ printk(KERN_INFO "String: %s\n", string);
+
if (ecrt_slave_sdo_write_exp8(slave, 0x4061, 1, 0) ||
ecrt_slave_sdo_write_exp8(slave, 0x4061, 2, 1) ||
ecrt_slave_sdo_write_exp8(slave, 0x4061, 3, 1) ||