Add serial number check

controller/dt_ctrl_az.ctrl

 blocks {
 	{ "ec",		"ethercat", 	"eth0", 3, 0  }
 
-	{ "stoeber",	"dt_az", 2,  10, 100, 60 }
+	{ "stoeber",	"dt_az", 2, 0, 10.0, 100.0, 60.0 }
 }

controller/dt_ctrl_el.ctrl

 blocks {
 	{ "ec",		"ethercat", 	"eth0", 3, 0  }
 
-	{ "stoeber",	"dt_el_r", 0, 1, 200, 40 }
-	{ "stoeber",	"dt_el_l", 1, 1, 200, 40 }
+	{ "stoeber",	"dt_el_r", 0, 0, 1.0, 200.0, 40.0 }
+	{ "stoeber",	"dt_el_l", 1, 0, 1.0, 200.0, 40.0 }
 }

controller/ec/block_stoeber.c

@@ -205,9 +205,11 @@ struct controller_block *block_stoeber_create(char *name, va_list ap)
 	struct controller_block_private *private;
 	int ec_pos;
 	int i;
+	int serial_number;
 	double max_torque, brake_resistor, brake_power;
 	
 	ec_pos = va_arg(ap, int);
+	serial_number = va_arg(ap, int);
 	max_torque = va_arg(ap, double);
 	brake_resistor = va_arg(ap, double);
 	brake_power = va_arg(ap, double);
@@ -261,6 +263,13 @@ struct controller_block *block_stoeber_create(char *name, va_list ap)
 	if (ec_stoeber_init(&private->stbr))
 		goto err_stoeber_init;
 
+	printf("Drive serial number: %d\n", private->stbr.serial_number);
+	if (serial_number && serial_number != private->stbr.serial_number) {
+		printf("Serial number of drive (%d) does not match requested number (%d)\n",
+		    private->stbr.serial_number, serial_number);
+		goto err_stoeber_init;
+	}	
+
 	private->stbr_init = true;
 
 	ec_rx_pdo_enable_hook_attach(block_stoeber_rx_enable, stoeber);

controller/ec/ec_stoeber.c

 /*
-	Copyright Jeroen Vreeken (pe1rxq@amsat.org), 2008, 2009
-	Copyright Stichting C.A. Muller Radioastronomiestation, 2008, 2009
+	Copyright Jeroen Vreeken (pe1rxq@amsat.org), 2008, 2009, 2013
+	Copyright Stichting C.A. Muller Radioastronomiestation, 2008, 2009, 2013
 
 	This program is free software: you can redistribute it and/or modify
 	it under the terms of the GNU General Public License as published by
@@ -101,6 +101,9 @@ int ec_stoeber_init(struct ec_stoeber *stbr)
 	val8 = 0x00;
 	canopen_write_param(canopen_dev, STOEBER_PARAM2INDEX('A', 180), 0x0, &val8, 1);
 
+	canopen_read_param(canopen_dev, STOEBER_PARAM2INDEX('E', 52), 0x0, &leval32, 4);
+	stbr->serial_number = le32toh(leval32);
+
 	/* A21 brake resistor */
 	leval16 = htole16(stbr->brake_resistor * 10.0);
 	canopen_write_param(canopen_dev, STOEBER_PARAM2INDEX('A', 21), 0x0, &leval16, 2);

controller/ec/ec_stoeber.h

@@ -51,6 +51,8 @@ struct ec_stoeber {
 	float standstill_torque;
 	float brake_resistor;
 	float brake_power;
+
+	uint32_t serial_number;
 	
 	/* rx pdo */
 	unsigned char *rx_buffer; /* 14 */