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

[Jordi Blanch]

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, they are 
simply GAPs in the data array.
The problem comes when I try to set the PDO's, master does not 
correctly calculate offsets because in the function
ecrt_domain_reg_pdo_entry_list, the loop exit condition while going 
through the ec_pdo_entry_reg_t list is "reg-> index", so it stops the 
loop when it finds the first one of these GAPs, so NOT 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 finish 
condition correct? How do you deal with these GAPs in the list?

Thank you very much.

--
Jordi Blanch Carles
Unidad de Ensayo y Control

ENCOPIM S.L.
Carretera 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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