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The situation is as follows: There is an option to set SDO values at the start of the EtherCAT module. Is it possible to monitor SDO registers for reading? For example, there is a C2000 drive and an EtherCAT manual. Let's say you need to monitor register 3026:01, which is the input status, or DC voltage 3021:06. Ideally, these registers should be in the PDO by the manufacturer, but for some reason, they are not. Therefore, simply writing them into the XML in the PDO section doesn't work (it just doesn't work). In TwinCAT, it is possible to track these states (and accordingly, they are not PDOs) (this happens not as fast as with PDO variables, but this possibility exists). It would also be nice to change these as well, for example, changing the value of register 3026:41, which is for output. For now, I can simply set it in the EtherCAT terminal with the commandbut this is still a workaround. Perhaps it is necessary to work more with the pure EtherCAT library and refine this function.
Does anyone know how to solve this?
filecenter.deltaww.com/Products/download...1_OM_EN_20230221.pdf

frogandspanner wrote:

but I want it to apply only after the bit has been set.

Potential rewrite/custom solution required. See 'old/new states' for inspiration.
shadowcode.io/quadrature-decoder-verilog/ 

Better yet, use flags!!

I can share mine, but you won't find them to be particularly useful, and I ended up writing drivers for everything, so the configs are tiny:

github.com/linuxcnc-ethercat/linuxcnc-et...test1/cia402-all.xml

Other than the very first <master> line, the lcec_configgen output is probably fine. There's a high chance that it turns on too many features and your device will run out of usable PDO entries and reject it, but that's easy enough to fix by deleting unneeded "enable" lines. I should probably update the tool to make most of them optional rather than on by default if they're autodetected.

Give it a quick try and see what LinuxCNC says?

Nah mate it’s midnight where I am, was just making a bit of a joke in reference to some code I submitted last year.

Typically the scaling would be done by setting the jog increments.

But does that apply to the counts, or the counts since a certain condition/time/bit being set?

If it applies to *all* counts then it doesn't do what I want as if I am rotating my MPG, then set the bit that changes scale it would apply to the accumulated, but I want it to apply only after the bit has been set.

Cant do this anymore bye all wrote:

Maybe some sed magic might fix it ?

You've tried the new state machine driver and confirming it still doesn't perform as it should? I'm overflowing a 1Mb/s fifo uart module with it here, no pkts drama... what's the magical fix for?  

You can scale the individual counts
take a look at

scaled_s32_sums.comp

(this may only be in master)

Yes, you would need a common ground between the MPG ground
and the field power ground for the MPG to work with the 7I84.

If you did not want to make that connection, you could
use the 7I96S MPG inputs. (inputs 0..7 support up to 4 MPGs)

That's what I currently do, but I wish to extend this to apply different scales at different time to the combined streams of pulses to produce the count.

For example, I wish to have a switch that reduces the MPG count:pulse ratio, then revert to the original ratio. I also wish to combine that count with another count (which may have a similar scaling switch).

In any case LinuxCNC uses a count for jogging

You could combine MPGs by adding counts in hal

Maybe some sed magic might fix it ?

meister wrote:

if we get rid of the errors in the w5500, i would of course always prefer this interface to the esp, as it is faster, reduces the parts and you don't have to program the esp as well.
Of course, the (r)mii interface would be even better, but the w5500 will do for now

That's the whole idea to have something as low-cost, easy to implement, small footprint/real-estate. That wizzy 5500 part win on all championships... I can count the required passives on one hand almost. Winner stuff. 

You said it better, anything to prevent having to impose an utterly complex implementation let alone adding a MCU + extra firmwares. Messyland guaranteed. Less is more!

Anything you need me to test with please do shoutout. I'm not far. 

to be clear, i have no idea about rtai/rt_preempt either, the hal component is also just a derivative of the remora project.
i'm not a good python programmer either, but when i set my mind to something i try until it somehow fits

Cant do this anymore bye all wrote:

Should RTAI be used with Ethernet ?
I thought RT_PREEMPT was the go, at least with the hostmot2 Ethernet driver.
 

Don't think for a split second that was a typo, I hardly make any difference between both rtai and rt_preempt. No kidd... so much to catch up, not even to the ankle level of guys like meister or yourself when it comes to lcnc devs. My bad btw... I should have been specific /RT/RTAI/PREEMPT/USPACE/WHO/WHAT... ... ...