[etherlab-users] Problems with Pdo entry with index 0x0000

[Carlos Jiménez Leal]

Hello,

I was trying to configure a Beckhoff module (EL3356-0010) for load 
cell, and part of the configuration XML I get is this:

           <RxPdo Sm="2" Fixed="1" Mandatory="1">
             <Index>#x1600</Index>
             <Name>RMB RxPDO-Map Control</Name>
	....
             <Entry>
               <Index>#x7000</Index>
               <SubIndex>5</SubIndex>
               <BitLen>1</BitLen>
               <Name></Name>
               <DataType>BOOL</DataType>
             </Entry>
             <Entry>
               <Index>#x0000</Index>
               <BitLen>11</BitLen>
             </Entry>
           </RxPdo>
           <TxPdo Sm="3" Fixed="1" Mandatory="1">
             <Index>#x1a00</Index>
             <Name>RMB TxPDO-Map Status</Name>
             <Entry>
               <Index>#x0000</Index>
               <BitLen>1</BitLen>
             </Entry>
             <Entry>
               <Index>#x6000</Index>
               <SubIndex>2</SubIndex>
               <BitLen>1</BitLen>
               <Name></Name>
               <DataType>BOOL</DataType>
             </Entry>
             <Entry>
               <Index>#x0000</Index>
               <BitLen>1</BitLen>
             </Entry>
             <Entry>
               <Index>#x6000</Index>
               <SubIndex>4</SubIndex>
               <BitLen>1</BitLen>
               <Name></Name>
               <DataType>BOOL</DataType>
             </Entry>
             <Entry>
               <Index>#x0000</Index>
               <BitLen>2</BitLen>
             </Entry>
             <Entry>
               <Index>#x6000</Index>
               <SubIndex>7</SubIndex>
               <BitLen>1</BitLen>
               <Name></Name>
               <DataType>BOOL</DataType>
             </Entry>
	...

As you can see there are several PDO-Entry with 0x0 index, there are 
simply GAPs in the data array.
The problem comes when I try to set the PDO's, does not correctly 
calculate offsets because in the function
ecrt_domain_reg_pdo_entry_list, to scroll the list of 
ec_pdo_entry_reg_t has the loop exit condition
the reg-> index, so to be 0 just without having gone through all the 
records.

  int ecrt_domain_reg_pdo_entry_list(ec_domain_t *domain,
          const ec_pdo_entry_reg_t *regs)
  {
...
      EC_MASTER_DBG(domain->master, 1, "ecrt_domain_reg_pdo_entry_list("
              "domain = 0x%p, regs = 0x%p)\n", domain, regs);

      for (reg = regs; reg->index; reg++) {
          sc = ecrt_master_slave_config_err(domain->master, reg->alias,
                  reg->position, reg->vendor_id, reg->product_code);
...

      return 0;
  }

In my case, changing the GAP index to 0x1 works, but is this output 
condition correct?

-- 

Carlos Jiménez

ENCOPIM S.L.
Ctra. de Ripollet a Santiga 104, P.I. Els Pinetons
E-08291 RIPOLLET (Barcelona)
Tel: (+34) 935 94 23 47
Fax: (+34) 935 94 64 15

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