Hello,
I'm currently trying to free map a Kollmorgen AKD servo drive and having
difficulties with the ecrt_domain_reg_pdo_entry_list call. Using your
RTAI example code as a baseline...with etherlab1.5
static ec_master_t *master = NULL;
static ec_master_state_t master_state = {};
spinlock_t master_lock = SPIN_LOCK_UNLOCKED;
// process data
static uint8_t *domain1_pd; // process data memory
static ec_domain_t *domain1 = NULL;
static ec_domain_state_t domain1_state = {};
#define AKD_ID 0x0000006A, 0x00414B44
static unsigned int akd_in , in_nada; // offsets for PDO entries
static unsigned int akd_out, out_nada;
ec_slave_config_state_t ss;
const static ec_pdo_entry_reg_t domain1_regs[] = {
{0, 0, AKD_ID, 0x1600, 0, &akd_out , &out_nada }, //0x1600
{0, 0, AKD_ID, 0x1A00, 0, &akd_in , &in_nada }, //0x1A00
{}
};
static ec_pdo_entry_info_t akd_outputs[] = {
{0x6040, 0, 16}, // Control Word
{0x6074, 0, 16}, // Torque Demand 6074,
{0x60FE, 1, 32} // Aux DO's
};
static ec_pdo_info_t akd_out_pdos[] = {
{0x1600, 3, akd_outputs}
};
static ec_pdo_entry_info_t akd_inputs[] = {
{0x6064, 0, 32}, // position actual //6064
{0x6041, 0, 16}, // status
{0x3470, 0, 16} // Aux Ai
};
static ec_pdo_info_t akd_in_pdos[] = {
{0x1A00, 3, akd_inputs}
};
static ec_sync_info_t akd_syncs[] = {
{0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
{1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
{2, EC_DIR_OUTPUT, 1, akd_out_pdos, EC_WD_DISABLE},
{3, EC_DIR_INPUT , 1, akd_in_pdos, EC_WD_DISABLE },
{0xff}
int init_module(void)
//------------------------------------------------------------------------------
{
RTIME tick_period;
ec_slave_config_t *sc;
/*.... Open the shared memory partition ...*/
if ((dp = rt_shm_alloc(nam2num("SHM"),sizeof(struct datapool),USE_VMALLOC))
== 0)
{
printk("jumplist.c-init_module - Could not start JUMPLIST, error opening
shared memory.\n");
rt_task_delete(&rt_task);
return 1;
}
rt_sem_init(&master_sem, 1);
if (!(master = ecrt_request_master(0))) {
printk("Requesting master 0 failed!\n");
goto out_return;
}
ecrt_master_callbacks(master, send_callback, receive_callback, master);
printk("Registering domain...\n");
if (!(domain1 = ecrt_master_create_domain(master))) {
printk("Domain creation failed!\n");
goto out_release_master;
}
printk("Configure get slave configuration 0 0 .\n");
if (!(sc = ecrt_master_slave_config(master, 0, 0, AKD_ID) ) )
{
printk("Failed to get slave configuration.\n");
goto out_release_master;
}
printk("Configuring PDOs...\n");
if ( ecrt_slave_config_pdos(sc, EC_END, akd_syncs) )
{
printk("Failed to configure PDOs.\n");
goto out_release_master;
}
#if 1
printk("Registering PDO entries...\n");
if ( ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs) )
{
printk("PDO entry registration failed!\n");
goto out_release_master;
}
#endif
printk("Activating master...\n");
if ( ecrt_master_activate(master) )
{
printk("Failed to activate master!\n");
goto out_release_master;
}
// Get internal process data for domain
domain1_pd = ecrt_domain_data(domain1);
// Setup tasks
rt_set_periodic_mode();
rt_task_init(&rt_task, jumplist, 1, STACK_SIZE, TASK_PRIORITY, 1, 0);
tick_period = start_rt_timer(nano2count(TICK_PERIOD));
rt_task_make_periodic(&sct_rt_task, rt_get_time() + tick_period*10,
tick_period);
return 0;
out_release_master:
printk("Releasing master...\n");
ecrt_release_master(master);
out_return:
rt_sem_delete(&master_sem);
printk("Failed to load. Aborting.\n");
return 99;
}
PDO entry 0x1600:00 is not mapped while attempting to run the code above. Any
help would be much appreciated. I have seen threads from users with
similar problems with Yaskawa and Parker drives
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