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<p class="MsoNormal">Hi all,<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal"><span lang="EN-US">I am trying to write a simplified ethercat communication module on top of Igh master for some of my colleagues who do not want to know the details of how the master works.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">Based on the sdo_read() function in the examples provided with the master, I have written the following write_sdo() function:<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial Narrow","sans-serif"">int write_sdo( ec_sdo_request_t *sdo, uint8_t *data)<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial Narrow","sans-serif"">{<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial Narrow","sans-serif""> int sdo_write_ret = 0;<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial Narrow","sans-serif""> size_t size = ecrt_sdo_request_data_size(sdo);<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial Narrow","sans-serif""><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial Narrow","sans-serif""> switch (ecrt_sdo_request_state(sdo)) {<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial Narrow","sans-serif""> case EC_REQUEST_UNUSED:<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial Narrow","sans-serif""> ecrt_sdo_request_write(sdo); // trigger first read<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial Narrow","sans-serif""> break;<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial Narrow","sans-serif""> case EC_REQUEST_BUSY:<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial Narrow","sans-serif""> fprintf(stderr, "Still busy...\n");<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial Narrow","sans-serif""> break;<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial Narrow","sans-serif""> case EC_REQUEST_SUCCESS:<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial Narrow","sans-serif""> if(!(sdo_write_ret = ec_sdo_request_copy_data(sdo_server, data, size))) {<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial Narrow","sans-serif""> printf("Failed to write to SDO channel.\n");<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial Narrow","sans-serif""> }<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial Narrow","sans-serif""> ecrt_sdo_request_write(sdo); // trigger next read<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial Narrow","sans-serif""> break;<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial Narrow","sans-serif""> case EC_REQUEST_ERROR:<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial Narrow","sans-serif""> fprintf(stderr, "Failed to write to SDO channel!\n");<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial Narrow","sans-serif""> ecrt_sdo_request_write(sdo); // retry reading<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial Narrow","sans-serif""> break;<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial Narrow","sans-serif""> }<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial Narrow","sans-serif""><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial Narrow","sans-serif""> return sdo_write_ret;<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial Narrow","sans-serif"">}<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial Narrow","sans-serif""><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Courier New""><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">When compiling I get an </span><span lang="EN-US" style="font-size:10.0pt;font-family:Monospace;color:black;background:red;mso-highlight:red">undefined reference to `ec_sdo_request_copy_data'</span><span lang="EN-US" style="font-size:10.0pt;font-family:Monospace;color:black">
error. I tried adding<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-size:10.0pt;font-family:Monospace;color:black">EXPORT_SYMBOL(ec_sdo_request_copy_data);<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-size:10.0pt;font-family:Monospace;color:black">at the end of /master/sdo_request.c and rebuild the master, but it didn’t help.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">It would be great if someone could help with this issue.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">Best Regards,<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">Ali<o:p></o:p></span></p>
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