[etherlab-users] CIFX50RE PDO

[Wilfried Holzke]

Hi,

I trying to transfer process data to and from a CIFX50RE pci card from
Hilscher. With Twincat software it works. I am able to read and write
data to the CIFX50RE card.

If I use the IgH EtherCAT Master, I am only able to write data to the
outputs. For my tests I use the rtai example of the ethercat master.

If I only add the entry for data out to domain1_reg then it works.
The working counter changes to 1/1. And a can read for example 06 on the
slave.

But if I add the entry for data input, I get working counter 0/3
(ethercat domain -v) and no change.

If I only add the entry for data input, I get working counter 0/1
and no change.

I made the following modifications to the example code:

----------------------------------------------------------------------
// process data
static uint8_t *domain1_pd; // process data memory

#define DataIoSlavePos 0, 0

#define CIFX_RE_ECS	0xE0000044, 0x00000001

static unsigned int off_data_out; // offsets for PDO entries
static unsigned int off_data_in; // offsets for PDO entries

const static ec_pdo_entry_reg_t domain1_regs[] = {
//	{ DataIoSlavePos , CIFX_RE_ECS, 0x3000 , 1 , &off_data_in },
	{ DataIoSlavePos , CIFX_RE_ECS, 0x2000 , 1 , &off_data_out },
	{}
};

static unsigned int counter = 0;
static unsigned int blink = 0;

/*****************************************************************************/

/* Master 0, Slave 0, "CIFX RE/ECS"
 * Vendor ID:       0xE0000044
 * Product code:    0x00000001
 * Revision number: 0x00000002
 */

ec_pdo_entry_info_t slave_0_pdo_entries[] = {
    {0x2000, 0x01, 8}, /* 1 Byte Out (0) */
    ...	
    {0x2000, 0xc8, 8}, /* 1 Byte Out (199) */
    {0x3000, 0x01, 8}, /* 1 Byte In (0) */
    ... 
    {0x3000, 0xc8, 8}, /* 1 Byte In (199) */
};

ec_pdo_info_t slave_0_pdos[] = {
    {0x1600, 200, slave_0_pdo_entries + 0}, /* 1. RxPDO */
    {0x1A00, 200, slave_0_pdo_entries + 200}, /* 1. TxPDO */
};

ec_sync_info_t slave_0_syncs[] = {
    {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
    {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
    {2, EC_DIR_OUTPUT, 1, slave_0_pdos + 0, EC_WD_ENABLE},
    {3, EC_DIR_INPUT, 1, slave_0_pdos + 1, EC_WD_DEFAULT},
    {0xff}
};
----------------------------------------------------------------------

Further on I removed the configuration for the second slave (sc).

I tried "etherlab upload 0x3000 1" and I get the value which I have
written from the slave.

Do I miss something in my configuration?
Thanks for hints.

regards

  W. Holzke