[etherlab-users] EL6751 CAN-Mode Configuration

[Matze Thias]

Hello,

I'm currently trying to configure the EL6751(CANOpen-Master) to switch into
"Raw-CAN-Mode", so that I am able to send CAN-Messages via the
EtherCAT-master. According to the documentation at

http://infosys.beckhoff.com/english.php?content=../content/1033/el6751/html/el6751_layer2_statemachine.htm&id=10383

one has to do two SDO downloads to configure and activate the CAN
controller of the EL6751: Download 0xF800 and 0x8000.
As I have just little experience with the etherlab EtherCAT master and
EtherCAT in general I have some questions concerning the actual procedure:

One of the objects, which must be downloaded, contains a gap of five bit in
between the configuration data:([
http://infosys.beckhoff.com/content/1033/el6751/html/Bt_EL6751_ObjectDescription.htm#Index_F800]
index F800, subindex 09)
Assume I have a buffer of uint8_t which represents the sdo object:

uint8_t sdo_data[] = { 0x11, 0x7F, ..., /* 5-BitGap-Here */, ...};

When downloading the object via complete
access(ecrt_master_sdo_download_complete), how do I model the 5 bit gap?
Can I just use a value of uint8_t instead?  Or is the gap ignored at all
and I can just omit the value?
Does the same apply then writing the value individually via
ecrt_master_sdo_download to 0xF800:09?

Futhermore the documentation says "The PDO mapping of the EtherCAT PDOs is
automatically calculated by the EL6751 after the download of the object
0x8000 and can be read".
I am not quite sure where to read it from. The mapping objects 0x1600 and
0x1700? Can I just sdo-upload the mappings from there and then configure
the pdos? Or do I have to configure the mappings beforehand? How do I know
which objects are actually getting mapped?


Thanks,

Matze
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