beremiz

Fixed bug when using real axis and simulated axis at the same time (got the same index)

2013-04-05, Laurent Bessard
c317b1aaf920
Parents fc1bc441cf71
Children 5460eba6c5e0
Fixed bug when using real axis and simulated axis at the same time (got the same index)
2 files changed, 6 insertions(+), 7 deletions(-)
  • +1 -2
    etherlab/EthercatCIA402Slave.py
  • +5 -5
    etherlab/plc_cia402node.c
    • --- a/etherlab/EthercatCIA402Slave.py Thu Apr 04 17:50:43 2013 +0900
    +++ b/etherlab/EthercatCIA402Slave.py Fri Apr 05 00:09:54 2013 +0200
    @@ -51,8 +51,7 @@
    }
    """
    -BLOCK_FUNTION_DEFINITION_TEMPLATE = """ if (!__CIA402Node_%(location)s.axis->__mcl_func_MC_%(blocktype)s)
    -__CIA402Node_%(location)s.axis->__mcl_func_MC_%(blocktype)s = __%(blocktype)s_%(location)s;"""
    +BLOCK_FUNTION_DEFINITION_TEMPLATE = " __CIA402Node_%(location)s.axis->__mcl_func_MC_%(blocktype)s = __%(blocktype)s_%(location)s;"
    GLOBAL_INSTANCES = [
    {"blocktype": "GetTorqueLimit",
    --- a/etherlab/plc_cia402node.c Thu Apr 04 17:50:43 2013 +0900
    +++ b/etherlab/plc_cia402node.c Fri Apr 05 00:09:54 2013 +0200
    @@ -55,10 +55,8 @@
    int __init_%(location)s()
    {
    + __FirstTick = 1;
    %(init_entry_variables)s
    - *__IW%(location)s_0 = __MK_Alloc_AXIS_REF();
    - __CIA402Node_%(location)s.axis = __MK_GetPublic_AXIS_REF(*__IW%(location)s_0);
    - __CIA402Node_%(location)s.axis->NetworkPosition = %(slave_pos)d;
    *(__CIA402Node_%(location)s.ModesOfOperation) = 0x08;
    return 0;
    }
    @@ -69,13 +67,15 @@
    void __retrieve_%(location)s()
    {
    -%(fieldbus_interface_definition)s
    -
    IEC_UINT statusword_inactive = *(__CIA402Node_%(location)s.StatusWord) & __InactiveMask;
    IEC_UINT statusword_active = *(__CIA402Node_%(location)s.StatusWord) & __ActiveMask;
    if (__FirstTick) {
    + *__IW%(location)s_0 = __MK_Alloc_AXIS_REF();
    + __CIA402Node_%(location)s.axis = __MK_GetPublic_AXIS_REF(*__IW%(location)s_0);
    + __CIA402Node_%(location)s.axis->NetworkPosition = %(slave_pos)d;
    %(init_axis_params)s
    +%(fieldbus_interface_definition)s
    __FirstTick = 0;
    }