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</o:shapelayout></xml><![endif]--></head><body lang=EN-NZ link=blue vlink=purple><div class=WordSection1><p class=MsoNormal><span style='font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D'>Hi,<o:p></o:p></span></p><p class=MsoNormal><span style='font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D'><o:p> </o:p></span></p><p class=MsoNormal><span style='font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D'>You should probably start by setting the master to debug level 1, either via “ethercat debug 1” on the command line or setting MASTER_ARGS=”debug_level=1” in the service configuration file. This should tell you more of what’s going on behind the scenes at the time the failures occur.<o:p></o:p></span></p><p class=MsoNormal><span style='font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D'><o:p> </o:p></span></p><p class=MsoNormal><span style='font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D'>There’s been some discussions recently about CoE failures caused by trying to do certain things too close together, or while the master is doing certain background operations. There are some patches floating around for some of the issues but they haven’t been integrated into mainstream yet, and it’s hard to say which of them might help you with this issue without seeing the more detailed logs.<o:p></o:p></span></p><p class=MsoNormal><span style='font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D'><o:p> </o:p></span></p><p class=MsoNormal><span style='font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D'>Regards,<o:p></o:p></span></p><p class=MsoNormal><span style='font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D'>Gavin Lambert<o:p></o:p></span></p><p class=MsoNormal><span style='font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D'><o:p> </o:p></span></p><div style='border:none;border-left:solid blue 1.5pt;padding:0cm 0cm 0cm 4.0pt'><div><div style='border:none;border-top:solid #B5C4DF 1.0pt;padding:3.0pt 0cm 0cm 0cm'><p class=MsoNormal><b><span lang=EN-US style='font-size:10.0pt;font-family:"Tahoma","sans-serif"'>From:</span></b><span lang=EN-US style='font-size:10.0pt;font-family:"Tahoma","sans-serif"'> etherlab-users-bounces@etherlab.org [mailto:etherlab-users-bounces@etherlab.org] <b>On Behalf Of </b>Steve Hartmann<br><b>Sent:</b> Thursday, 14 August 2014 08:27<br><b>To:</b> etherlab-users@etherlab.org<br><b>Subject:</b> [etherlab-users] Copley CoE issues<o:p></o:p></span></p></div></div><p class=MsoNormal><o:p> </o:p></p><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>Hi All,<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'><o:p> </o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>I am having some issues with CoE on my Copley Accelnet controllers. CoE reads seem to be working fine, but CoE writes work sometimes, but most of the time they do not. So, first the setup.<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'><o:p> </o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>Linux imcs-ecat-450 3.2.21-xenomai-2.6.2.1 #1 SMP PREEMPT Fri Oct 18 14:13:46 CDT 2013 x86_64 GNU/Linux<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>Realtek NIC<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>Etherlab is latest in 1.5 stable branch<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>Running in user land<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>78 ethercat slaves, 24 of which are single axis copley controllers. The rest are Beckhoff I/O.<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'><o:p> </o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>The operations to the Copley I am testing are get/set acceleration and velocity. The get operations work reliably. The last message in the dmseg dump below is displayed when the write fails, which is most of the time. What's weird is once the write operations start working, they keep working. <o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'><o:p> </o:p></span></p></div><div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>[14785.862445] EtherCAT: Requesting master 0...<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>[14785.862453] EtherCAT: Successfully requested master 0.<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>[14786.023965] EtherCAT 0: Domain0: Logical address 0x00000000, 163 byte, expected working counter 24.<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>[14786.023969] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 163 byte, type LRW.<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>[14786.023973] EtherCAT 0: Domain1: Logical address 0x000000a3, 19 byte, expected working counter 11.<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>[14786.023976] EtherCAT 0: Datagram domain1-163-main: Logical offset 0x000000a3, 19 byte, type LRW.<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>[14786.023980] EtherCAT 0: Domain2: Logical address 0x000000b6, 13 byte, expected working counter 9.<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>[14786.023982] EtherCAT 0: Datagram domain2-182-main: Logical offset 0x000000b6, 13 byte, type LRW.<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>[14786.023986] EtherCAT 0: Domain3: Logical address 0x000000c3, 49 byte, expected working counter 11.<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>[14786.023988] EtherCAT 0: Datagram domain3-195-main: Logical offset 0x000000c3, 49 byte, type LRW.<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>[14786.023991] EtherCAT 0: Domain4: Logical address 0x000000f4, 60 byte, expected working counter 8.<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>[14786.023994] EtherCAT 0: Datagram domain4-244-main: Logical offset 0x000000f4, 60 byte, type LRW.<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>[14786.023997] EtherCAT 0: Domain5: Logical address 0x00000130, 84 byte, expected working counter 12.<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>[14786.024000] EtherCAT 0: Datagram domain5-304-main: Logical offset 0x00000130, 84 byte, type LWR.<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>[14786.024003] EtherCAT 0: Domain6: Logical address 0x00000184, 84 byte, expected working counter 12.<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>[14786.024006] EtherCAT 0: Datagram domain6-388-main: Logical offset 0x00000184, 84 byte, type LRD.<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>[14786.024009] EtherCAT 0: Domain7: Logical address 0x000001d8, 84 byte, expected working counter 12.<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>[14786.024012] EtherCAT 0: Datagram domain7-472-main: Logical offset 0x000001d8, 84 byte, type LWR.<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>[14786.024015] EtherCAT 0: Domain8: Logical address 0x0000022c, 84 byte, expected working counter 12.<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>[14786.024018] EtherCAT 0: Datagram domain8-556-main: Logical offset 0x0000022c, 84 byte, type LRD.<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>[14786.024021] EtherCAT 0: Domain9: Logical address 0x00000280, 49 byte, expected working counter 7.<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>[14786.024032] EtherCAT 0: Datagram domain9-640-main: Logical offset 0x00000280, 49 byte, type LWR.<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>[14786.024036] EtherCAT 0: Domain10: Logical address 0x000002b1, 49 byte, expected working counter 7.<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>[14786.024038] EtherCAT 0: Datagram domain10-689-main: Logical offset 0x000002b1, 49 byte, type LRD.<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>[14786.024041] EtherCAT 0: Domain11: Logical address 0x000002e2, 7 byte, expected working counter 1.<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>[14786.024044] EtherCAT 0: Datagram domain11-738-main: Logical offset 0x000002e2, 7 byte, type LWR.<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>[14786.024047] EtherCAT 0: Domain12: Logical address 0x000002e9, 7 byte, expected working counter 1.<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>[14786.024049] EtherCAT 0: Datagram domain12-745-main: Logical offset 0x000002e9, 7 byte, type LRD.<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>[14786.024063] EtherCAT 0: Master thread exited.<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>[14786.024066] EtherCAT 0: Starting EtherCAT-OP thread.<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>[14786.025804] EtherCAT WARNING 0: No app_time received up to now, but master already active.<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>[14786.033014] EtherCAT 0: Domain 0: Working counter changed to 1/24.<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>[14786.388934] EtherCAT 0: Domain 5: Working counter changed to 1/12.<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>[14786.388938] EtherCAT 0: Domain 6: Working counter changed to 1/12.<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>[14786.834689] EtherCAT 0: Domain 1: Working counter changed to 1/11.<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>[14786.960483] EtherCAT 0: Domain 7: Working counter changed to 1/12.<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>[14786.960982] EtherCAT 0: Domain 8: Working counter changed to 1/12.<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>[14787.032363] EtherCAT 0: Domain 0: 18 working counter changes - now 24/24.<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>[14787.387777] EtherCAT 0: Domain 5: 11 working counter changes - now 12/12.<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>[14787.387781] EtherCAT 0: Domain 6: 11 working counter changes - now 12/12.<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>[14787.440695] EtherCAT 0: Domain 9: Working counter changed to 1/7.<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>[14787.440698] EtherCAT 0: Domain 10: Working counter changed to 1/7.<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>[14787.685284] EtherCAT 0: Domain 2: Working counter changed to 1/9.<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>[14787.779137] EtherCAT 0: Domain 11: Working counter changed to 1/1.<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>[14787.779140] EtherCAT 0: Domain 12: Working counter changed to 1/1.<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>[14787.786119] EtherCAT 0: Domain 3: Working counter changed to 1/11.<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>[14787.834040] EtherCAT 0: Domain 1: 5 working counter changes - now 11/11.<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>[14787.880966] EtherCAT 0: Domain 4: Working counter changed to 1/8.<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>[14787.959831] EtherCAT 0: Domain 7: 11 working counter changes - now 12/12.<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>[14787.959834] EtherCAT 0: Domain 8: 11 working counter changes - now 12/12.<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>[14787.970600] EtherCAT 0: Slave states on main device: OP.<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>[14788.440065] EtherCAT 0: Domain 9: 6 working counter changes - now 7/7.<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>[14788.440068] EtherCAT 0: Domain 10: 6 working counter changes - now 7/7.<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>[14788.684660] EtherCAT 0: Domain 2: 6 working counter changes - now 9/9.<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>[14788.785493] EtherCAT 0: Domain 3: 7 working counter changes - now 11/11.<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>[14788.880334] EtherCAT 0: Domain 4: 5 working counter changes - now 8/8.<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>[14816.612788] EtherCAT ERROR 0-25: Timeout after 1000 ms while waiting for SDO 0x6083:0 download response.<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'><o:p> </o:p></span></p></div></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>Below is the function which does the CoE processing. <o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'><o:p> </o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>struct SDORecord {<o:p></o:p></span></p></div><div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> ec_sdo_request_t* sdo;<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> ec_direction_t direction;<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> bool inProgress;<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> bool ioError;<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> bool persistent; // Never removed from execution list<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> void* data;<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> EtherCATMaster::TECDataType<span class=apple-tab-span><o:p></o:p></span></span></p><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> dataType;<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> RT_SEM<span class=apple-tab-span> </span>completeSignal;<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> SDORecord* nextExec;<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> };<o:p></o:p></span></p></div></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'><o:p> </o:p></span></p></div><div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>void CopleyEcatDrive::processCoE()<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>{<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> SDORecord* p = SDOExecutionList;<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> SDORecord* next;<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> ec_request_state_t reqState;<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> while (p != NULL) {<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> next = p->nextExec;<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> reqState = ecrt_sdo_request_state(p->sdo);<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> if (p->inProgress == false && reqState != EC_REQUEST_BUSY) {<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> p->inProgress = true;<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> if (p->direction == EC_DIR_INPUT) {<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> rt_printf("Read SDO received: addr:0x%x\n", p);<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> ecrt_sdo_request_read(p->sdo);<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> } else if (p->direction == EC_DIR_OUTPUT) {<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> rt_printf("Write SDO received: addr:0x%x\n", p);<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> switch (p->dataType) {<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> case EtherCATMaster::EC_DATATYPE_SHORT:<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> EC_WRITE_S8(ecrt_sdo_request_data(p->sdo), *reinterpret_cast<int8_t*>(p->data));<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> break;<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> case EtherCATMaster::EC_DATATYPE_USHORT:<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> EC_WRITE_U8(ecrt_sdo_request_data(p->sdo), *reinterpret_cast<uint8_t*>(p->data));<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> break;<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> case EtherCATMaster::EC_DATATYPE_INT:<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> EC_WRITE_S16(ecrt_sdo_request_data(p->sdo), *reinterpret_cast<int16_t*>(p->data));<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> break;<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> case EtherCATMaster::EC_DATATYPE_UINT:<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> EC_WRITE_U16(ecrt_sdo_request_data(p->sdo), *reinterpret_cast<uint16_t*>(p->data));<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> break;<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> case EtherCATMaster::EC_DATATYPE_LONG:<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> EC_WRITE_S32(ecrt_sdo_request_data(p->sdo), *reinterpret_cast<int32_t*>(p->data));<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> break;<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> case EtherCATMaster::EC_DATATYPE_ULONG:<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> EC_WRITE_U32(ecrt_sdo_request_data(p->sdo), *reinterpret_cast<uint32_t*>(p->data));<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> break;<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>default:<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> break;<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> }<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> ecrt_sdo_request_write(p->sdo);<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> } else {<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> rt_printf("Invalid SDO direction.\n");<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> p->inProgress = false;<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> rt_sem_v(&(p->completeSignal));<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> removeFromSDOExecutionList(p);<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> }<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> } else if (p->inProgress == true && reqState == EC_REQUEST_SUCCESS) {<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> p->inProgress = false;<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> p->ioError = false;<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> if (p->direction == EC_DIR_INPUT) {<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> rt_printf("Read SDO Completed: addr:0x%x\n", p);<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> switch (p->dataType) {<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> case EtherCATMaster::EC_DATATYPE_SHORT:<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> *reinterpret_cast<int8_t*>(p->data) = EC_READ_S8(ecrt_sdo_request_data(p->sdo));<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> break;<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> case EtherCATMaster::EC_DATATYPE_USHORT:<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> *reinterpret_cast<uint8_t*>(p->data) = EC_READ_U8(ecrt_sdo_request_data(p->sdo));<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> break;<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> case EtherCATMaster::EC_DATATYPE_INT:<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> *reinterpret_cast<int16_t*>(p->data) = EC_READ_S16(ecrt_sdo_request_data(p->sdo));<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> break;<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> case EtherCATMaster::EC_DATATYPE_UINT:<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> *reinterpret_cast<uint16_t*>(p->data) = EC_READ_U16(ecrt_sdo_request_data(p->sdo));<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> break;<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> case EtherCATMaster::EC_DATATYPE_LONG:<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> *reinterpret_cast<int32_t*>(p->data) = EC_READ_S32(ecrt_sdo_request_data(p->sdo));<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> break;<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> case EtherCATMaster::EC_DATATYPE_ULONG:<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> *reinterpret_cast<uint32_t*>(p->data) = EC_READ_U32(ecrt_sdo_request_data(p->sdo));<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> break;<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>default:<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> break;<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> }<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> } else if (p->direction == EC_DIR_OUTPUT) {<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> rt_printf("Write SDO Completed: addr:0x%x\n", p);<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> }<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> rt_sem_v(&(p->completeSignal));<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> if (p->persistent == false) {<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> removeFromSDOExecutionList(p);<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> }<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> } else if (p->inProgress == true && reqState == EC_REQUEST_ERROR) {<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>// **** This is the failure path that I see on CoE writes<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> rt_printf("SDO Had error: addr:0x%x, direction: %d\n", p, p->direction);<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> p->inProgress = false;<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> p->ioError = true;<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> rt_sem_v(&(p->completeSignal));<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> if (p->persistent == false) {<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> removeFromSDOExecutionList(p);<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> }<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> }<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> p = next;<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'> }<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'>}<o:p></o:p></span></p></div></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri","sans-serif";color:black'><o:p> </o:p></span></p></div></div></div></body></html>