[etherlab-users] Slave register access

[William Montgomery]

Florian Pose wrote:

> Hi,
>
> On Thu, Oct 30, 2008 at 09:12:54PM -0400, William Montgomery wrote:
>   
>> The slave module I am using has the Beckhoff ET1100 ethercat slave 
>> controller ASIC which contains 8 K RAM.  The first block of that RAM 
>> [0x0000-0x0FFF] maps to the controller registers. 
>>
>> 1) Does anyone know how to set up a PDO and SyncMgr to provide write 
>> access from the master?
>>     
>
> yes, these are basic master features. Please read the documentation of
> the application interface and/or have a look at the application
> examples.
>
>   
I have been using the mini example for a couple of weeks and recently 
changed to the RTAI example since this is the target environment.  I now 
have the rtai example running and am able to read and write process data 
with a slave.  I have looked through the application interface 
documentation and am not able to see how to access the slave controller 
registers.  Do you have an example of this?

I should be able to write to the registers with an APWR or FPWR datagram 
but I dont see any API functions for those lower levels.

Regards,
William