--- el2595-1.c 2014-03-12 10:51:39.571795690 +0000 +++ el2595-2.c 2014-03-12 12:07:06.167043476 +0000 @@ -37,8 +37,7 @@ static unsigned int counter = 0; // EL2595 - -static ec_pdo_entry_info_t slave_1_pdo_entries[] = { +static ec_pdo_entry_info_t slave_1_rxpdo1[] = { /* 7 entries */ {0x0000, 0x00, 1}, /* Gap */ {0x7000, 0x02, 1}, /* Output */ @@ -47,10 +46,12 @@ {0x0000, 0x00, 3}, /* Gap */ {0x7000, 0x08, 1}, /* Reset */ {0x0000, 0x00, 8}, /* Gap */ - /* 3 entries */ +}; +static ec_pdo_entry_info_t slave_1_rxpdo2[] = { + /* 1 entry */ {0x7000, 0x11, 16}, - {0x7000, 0x12, 32}, - {0x7000, 0x13, 32}, +}; +static ec_pdo_entry_info_t slave_1_txpdo1[] = { /* 9 entries */ {0x6000, 0x01, 1}, /* Ready to activate */ {0x6000, 0x02, 1}, /* Output active */ @@ -61,24 +62,25 @@ {0x6000, 0x0c, 1}, /* Digital input */ {0x0000, 0x00, 3}, /* Gap */ {0x6000, 0x10, 1}, /* TxPDO Toggle */ +}; +ec_pdo_info_t slave_1_txpdos[] = { + {0x1a00, 9, slave_1_txpdo1}, /* DOX TxPDO-Map Status */ }; -ec_pdo_info_t slave_1_pdos[] = { - {0x1600, 7, slave_1_pdo_entries + 0}, /* DOX RxPDO-Map Control */ - {0x1601, 3, slave_1_pdo_entries + 7}, /* DOX RxPDO-Map Control */ - {0x1a00, 9, slave_1_pdo_entries + 10}, /* DOX TxPDO-Map Status */ +ec_pdo_info_t slave_1_rxpdos[] = { + {0x1600, 7, slave_1_rxpdo1}, /* DOX RxPDO-Map Control */ + {0x1601, 1, slave_1_rxpdo2}, /* DOX RxPDO-Map Control */ }; ec_sync_info_t slave_1_syncs[] = { {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, - {2, EC_DIR_OUTPUT, 2, slave_1_pdos + 0, EC_WD_DISABLE}, - {3, EC_DIR_INPUT, 1, slave_1_pdos + 2, EC_WD_DISABLE}, + {2, EC_DIR_OUTPUT, 2, slave_1_rxpdos, EC_WD_DISABLE}, + {3, EC_DIR_INPUT, 1, slave_1_txpdos, EC_WD_DISABLE}, {0xff} }; - void check_domain1_state(void) { ec_domain_state_t ds;