Some more trinamic stuff in the block

controller/ec/block_trinamic_tmc8460eval.c

@@ -23,6 +23,7 @@
 
 #include <ec/ec.h>
 #include <ec/esc.h>
+#include <ec/esc_coe.h>
 #include <ec/esc_esi.h>
 #include <ec/esc_id.h>
 #include <log/log.h>
@@ -30,8 +31,10 @@
 struct controller_block_private {
 	
 	unsigned char *rx_buffer;
+	unsigned char *tx_buffer;
 	
 	struct esc_device *dev;
+	struct canopen_dev	*candev;
 };
 
 
@@ -40,6 +43,10 @@ static void callback_rx(struct controller_block *block, void *data)
 	block->private->rx_buffer = data;
 }
 
+static void callback_tx(struct controller_block *block, void *data)
+{
+	block->private->tx_buffer = data;
+}
 
 struct trinamic_type {
 	char *name;
@@ -51,6 +58,16 @@ static struct trinamic_type devlist[] = {
 	{ "TMC8460EVAL", ESC_ESI_PRODUCTCODE_TRINAMIC_TMC8460_EVAL },
 };
 
+static int pre_operational_hook(struct esc_device *esc)
+{
+	struct controller_block *block = esc->block;
+
+	if (!block->private->candev)
+		block->private->candev = esc_coe_create(esc);
+
+	return 0;
+}
+
 static struct controller_block * block_trinamic_tmc8460eval_create(char *name, int argc, va_list ap)
 {
 	struct controller_block *block;
@@ -94,8 +111,12 @@ static struct controller_block * block_trinamic_tmc8460eval_create(char *name, i
 	block->private->dev = esc;
 	esc->block = block;
 	esc->block_rx = block;
+	esc->block_tx = block;
 	esc_esi_device_fill(esc);
 	esc->callback_rx = callback_rx;
+	esc->callback_tx = callback_tx;
+	esc->pre_operational_hook = pre_operational_hook;
+
 	esc_device_initialize_operational(esc);
 	
 	if (controller_block_add(block))

controller/ec/trinamic.ctrl

+
+# simple set of inputs and outputs to test ethercat stack
+
+trigger {
+	{ "default" }
+}
+
+blocks (1000.0, 0.0) {
+	{ "ec",              "ethercat",   "eth0", 1, 1 }
+
+	{ "trinamic_tmc8460eval", "eval", "ethercat", 0, "TMC8460EVAL" }
+
+}
+
+blocks (2.0, 0.0) {
+	{ "not", 	"osc" }
+}
+
+links {
+	{ "osc", "output",           "osc", "input",              false }
+}