Ethercat HAL driver

chimeno wrote:

Hello,
someone can help me, I have a doubt with this part of the file code, I think this serves for the home function, I do not understand its operation, I can not find any concrete example of how to connect it to the .hal file.

thanks
Chimeno

// update raw position counter
pos_cnt = EC_READ_S32(&pd[hal_data->pos_mot_pdo_os]);
pos_cnt_rel = pos_cnt - hal_data->home_raw;
*(hal_data->enc_raw) = pos_cnt;
*(hal_data->enc_raw_rel) = pos_cnt_rel;
*(hal_data->on_home_neg) = (pos_cnt_rel <= 0);
*(hal_data->on_home_pos) = (pos_cnt_rel >= 0);

pos_cnt <<= 8;
pos_cnt_diff = pos_cnt - hal_data->last_pos_cnt;
hal_data->last_pos_cnt = pos_cnt;
hal_data->pos_cnt += pos_cnt_diff;

rel_count = ((long long) pos_cnt_rel) << 8;

// check for index edge
if (*(hal_data->index_ena)) {
index_tmp = (hal_data->pos_cnt >> 32) & 0xffffffff;
if (hal_data->do_init || !hal_data->last_index_ena) {
hal_data->index_ref = index_tmp;
} else if (index_tmp > hal_data->index_ref) {
hal_data->index_cnt = (long long)index_tmp << 32;
*(hal_data->index_ena) = 0;
} else if (index_tmp < hal_data->index_ref) {
hal_data->index_cnt = (long long)hal_data->index_ref << 32;
*(hal_data->index_ena) = 0;
}
}
hal_data->last_index_ena = *(hal_data->index_ena);

// handle initialization
if (hal_data->do_init || *(hal_data->pos_reset)) {
hal_data->do_init = 0;
hal_data->index_cnt = hal_data->pos_cnt;
}

// compute net counts
net_count = hal_data->pos_cnt - hal_data->index_cnt;

// update raw counter pins
*(hal_data->pos_raw_hi) = (net_count >> 32) & 0xffffffff;
*(hal_data->pos_raw_lo) = net_count & 0xffffffff;

// scale count to make floating point position
*(hal_data->pos_fb) = ((double) net_count) * hal_data->pos_scale_cnt;
*(hal_data->pos_fb_rel) = ((double) rel_count) * hal_data->pos_scale_cnt;

ChrisB wrote:

Hi
i use Patchcables.


When i start linuxcnc my kollmorgen S300 has an errror. F29 invalid ECAT actual-value mapping length
So it seems to be a problem with my xml config.
I attach my config and the output of the cmd tool and my hal and ini file. And the pdos output

<pdoEntry idx="6040" subIdx="0" bitLen="16" halPin="Control_word" halType="bit"/>

<pdoEntry idx="6041" subIdx="0" bitLen="16" halPin="Status word" halType="bit"/>

use halType="complex" as in github.com/sittner/linuxcnc-ethercat/blo...ercat-conf_X.xml#L98 .