From 5bdbdbadf3478ecc4a289e087e5e8ec83978b40a Mon Sep 17 00:00:00 2001
From: Martin Teichmann <martin.teichmann@xfel.eu>
Date: Sat, 5 Dec 2020 15:47:55 +0000
Subject: [PATCH] bla
---
ethercat.py | 38 ++++++++++++++++++++++++++++++--------
1 file changed, 30 insertions(+), 8 deletions(-)
diff --git a/ethercat.py b/ethercat.py
index 8fcf9c0..a0b474f 100644
--- a/ethercat.py
+++ b/ethercat.py
@@ -118,8 +118,15 @@ class Terminal:
async def to_operational(self):
"""try to bring the terminal to operational state"""
- order = [0x11, 1, 2, 4, 8]
- ret, = await self.ec.roundtrip(4, self.position, 0x0130, "H")
+ order = [1, 2, 4, 8]
+ ret, error = await self.ec.roundtrip(4, self.position,
+ 0x0130, "H2xH")
+ print(ret, error)
+ if ret & 0x10:
+ await self.ec.roundtrip(5, self.position, 0x0120, "H", 0x11)
+ ret, error = await self.ec.roundtrip(4, self.position,
+ 0x0130, "H2xH")
+ print("B", ret, error)
pos = order.index(ret)
s = 0x11
for state in order[pos:]:
@@ -133,18 +140,33 @@ class Terminal:
async def get_error(self):
return (await self.ec.roundtrip(4, self.position, 0x0134, "H"))[0]
+ async def read(self, start, fmt):
+ return (await self.ec.roundtrip(4, self.position, start, fmt))
+
+ async def write(self, start, fmt, *args):
+ return (await self.ec.roundtrip(5, self.position, start, fmt, *args))
+
async def main():
ec = await EtherCat("eth0")
tin = Terminal(ec)
tout = Terminal(ec)
tdigi = Terminal(ec)
- await tin.initialize(-1, 5)
- await tout.initialize(-2, 6)
- await tdigi.initialize(0, 22)
- await tin.to_operational()
- await tout.to_operational()
- await tdigi.to_operational()
+ await gather(
+ tin.initialize(-1, 5),
+ tout.initialize(-2, 6),
+ tdigi.initialize(0, 22),
+ )
+ print("tin")
+ await tin.to_operational(),
+ print("tout")
+ await tout.to_operational(),
+ print("tdigi")
+ await tdigi.to_operational(),
+
+ print(tout.eeprom[10])
+ print(await tout.write(0x1100, "HHHH", 10000, 20000, 30000, 40000))
+ print(await tin.read(0x1180, "HHHHHHHH"))
if __name__ == "__main__":
loop = get_event_loop()
--
GitLab