[etherlab-users] Problem with EL4112 and Etherlab Master 1.3.2

[Hammer, Günter]

Hello,

I found out, that my EL4112-Slave is a new version of this module.
I also tested with an older version, an everything does right.
In the new version, Beckhoff changed the PDO mapping, but i think this is ok and should not be a problem.

Here is the ../info content of the NEW and the OLD EL4112-Slave:


###################################
NEW EL4112-Slave:

Ring position: 1
State: PREOP (PREOP)
Flags: online, ok

Data link status:
  Port 0: Phy 0 (EBUS), Link up, Loop open, Signal detected
  Port 1: Phy 3 (unknown), Link down, Loop closed, No signal
  Port 2: Phy 0 (EBUS), Link down, Loop closed, No signal
  Port 3: Phy 0 (EBUS), Link down, Loop closed, No signal

Identity:
  Vendor ID: 0x00000002 (2)
  Product code: 0x10103052 (269496402)
  Revision number: 0x03F80000 (66584576)
  Serial number: 0x00000000 (0)

Mailboxes:
  RX: 0x1800/246, TX: 0x18F6/246
  Supported protocols: CoE, FoE

Current consumption: 190 mA

General:
  Group: AnaOut
  Order number: EL4112
  Name: EL4112 2K. Ana. Ausgang 0-20mA, 16bit

Sync managers / PDO mapping:
  SM0: addr 0x1800, size 246, control 0x26, enable
    No PDOs mapped.
  SM1: addr 0x18F6, size 246, control 0x22, enable
    No PDOs mapped.
  SM2: addr 0x1000, size 2, control 0x24, enable
    PDO mapping information from SII.
    RxPdo 0x1600 "Channel 1"
      0x3001:1 "Output", 16 bit
    RxPdo 0x1601 "Channel 2"
      0x3002:1 "Output", 16 bit
  SM3: addr 0x1100, size 0, control 0x20, disable
    No PDOs mapped.

Available PDOs from SII:
  RxPdo 0x1600 "Channel 1", default mapping: SM2.
    0x3001:1 "Output", 16 bit
  RxPdo 0x1601 "Channel 2", default mapping: SM2.
    0x3002:1 "Output", 16 bit

###################################

and here is the ../info content of the OLD EL4112-Slave:


Ring position: 2
State: PREOP (PREOP)
Flags: online, ok

Data link status:
  Port 0: Phy 0 (EBUS), Link down, Loop open, Signal detected
  Port 1: Phy 3 (unknown), Link down, Loop open, Signal detected
  Port 2: Phy 0 (EBUS), Link down, Loop closed, No signal
  Port 3: Phy 0 (EBUS), Link down, Loop closed, No signal

Identity:
  Vendor ID: 0x00000002 (2)
  Product code: 0x10103052 (269496402)
  Revision number: 0x00000000 (0)
  Serial number: 0x00000000 (0)

Mailboxes:
  RX: 0x1800/246, TX: 0x18F6/246
  Supported protocols: CoE, FoE

Current consumption: 180 mA

General:
  Group: AnaOut
  Image: TERM_AO
  Order number: EL4112
  Name: EL4112 2K. Ana. Ausgang 0-20mA

Sync managers / PDO mapping:
  SM0: addr 0x1800, size 246, control 0x26, enable
    No PDOs mapped.
  SM1: addr 0x18F6, size 246, control 0x22, enable
    No PDOs mapped.
  SM2: addr 0x1000, size 4, control 0x24, enable
    PDO mapping information from SII.
    RxPdo 0x1600 "Channel 1"
      0x6411:1 "Output", 16 bit
    RxPdo 0x1601 "Channel 2"
      0x6411:2 "Output", 16 bit
  SM3: addr 0x1100, size 0, control 0x20, enable
    No PDOs mapped.

Available PDOs from SII:
  RxPdo 0x1600 "Channel 1", default mapping: SM2.
    0x6411:1 "Output", 16 bit
  RxPdo 0x1601 "Channel 2", default mapping: SM2.
    0x6411:2 "Output", 16 bit

##################################################

I used the mini-code-example to start.
My initialization code:


#define Beckhoff_EL4112_new   0x00000002, 0x10103052
#define Beckhoff_EL4112_new_PDO_Output1 0x3001, 1
#define Beckhoff_EL4112_new_PDO_Output2 0x3002, 1
#define Beckhoff_EL4112_new_Output1 Beckhoff_EL4112_new, Beckhoff_EL4112_new_PDO_Output1
#define Beckhoff_EL4112_new_Output2 Beckhoff_EL4112_new, Beckhoff_EL4112_new_PDO_Output2

#define Beckhoff_EL4112_old   0x00000002, 0x10103052
#define Beckhoff_EL4112_old_PDO_Output1 0x6411, 1
#define Beckhoff_EL4112_old_PDO_Output2 0x6411, 2
#define Beckhoff_EL4112_old_Output1 Beckhoff_EL4112_old, Beckhoff_EL4112_old_PDO_Output1
#define Beckhoff_EL4112_old_Output2 Beckhoff_EL4112_old, Beckhoff_EL4112_old_PDO_Output2


static void *r_ana_out_new;
static void *r_ana_out_old;

const static ec_pdo_reg_t domain1_pdo_regs[] = {
    {"1",      Beckhoff_EL4112_new_Output1,   &r_ana_out_new},
    {"2",      Beckhoff_EL4112_old_Output1,   &r_ana_out_old},
    {}
};


int __init init_mini_module
(
  void
)
{
  while (!(EcKAppMainInfo.master = ecrt_request_master(0)))
  {
    printk(KERN_ERR PFX "Requesting master 0 failed!\n");
    ssleep(10);
  }

  ecrt_master_callbacks( EcKAppMainInfo.master, request_lock, release_lock, NULL);

  if (!(EcKAppMainInfo.pEcDomain->pDomain = ecrt_master_create_domain( EcKAppMainInfo.master ))) {
    printk(KERN_ERR "-> Domain creation failed!\n");
    goto out_release_master;
  }

  if (ecrt_domain_register_pdo_list(EcKAppMainInfo.pEcDomain->pDomain, domain1_pdo_regs)) {
    printk(KERN_ERR PFX "PDO registration failed!\n");
    goto out_release_master;
  }

  if (ecrt_master_activate(EcKAppMainInfo.master)) {
    printk(KERN_ERR PFX "Failed to activate master!\n");
    goto out_release_master;
  }

  init_timer(&EcKAppMainInfo.timer);
  EcKAppMainInfo.timer.function = run;
  EcKAppMainInfo.timer.expires  = jiffies + 10;
  add_timer(&EcKAppMainInfo.timer);
  return 0;

out_release_master:
  ecrt_release_master( EcKAppMainInfo.master );
  return -1;
}


Best regards
Günter Hammer