[etherlab-users] How to "upload/download" SDOs in application(*.c file)?

[jerry itnet]

 I do the following, but still got error of "Bad address":
------------------------------------------------------------
----------------------------------
typedef struct {
    // inputs
    uint16_t slave_position;
    uint16_t sdo_index;
    uint8_t sdo_entry_subindex;
    size_t target_size;
    uint8_t *target;

    // outputs
    size_t data_size;
    uint32_t abort_code;
} ec_ioctl_slave_sdo_upload_t;

ec_ioctl_slave_sdo_upload_t data;

data.slave_position = 5;
data.sdo_index = 0xf880;
data.sdo_entry_subindex = 1;
data.target_size = 4;

ecrt_master_sdo_upload(master, data.slave_position, data.sdo_index,
                     data.sdo_entry_subindex, data.target,
data.target_size,
                     &data.data_size, &data.abort_code);
------------------------------------------------------------
----------------------------------------

Thanks!




On Wed, Jun 20, 2018 at 8:02 PM, Gavin Lambert <gavin.lambert at tomra.com>
wrote:

> You are passing a garbage pointer as the abort_code.  This should be a
> pointer to a local variable that will receive the output value.  See the
> examples.
>
>
>
> *From:* jerry itnet [mailto:jerry.itnet at gmail.com]
> *Sent:* Thursday, 21 June 2018 04:08
> *Subject:* Re: [etherlab-users] How to "upload/download" SDOs in
> application(*.c file)?
>
>
>
> Hi, Gavin:
>
>
>
> Thanks for your guide, now it can upload  SDO packet (seen with Wireshark).
>
> But I got an error message on console:
>
>                *  "Failed to execute SDO upload: Bad Address"*
>
>
>
> ------------------------------- my code ------------------------------
> ---------------------------------------
>
> ...
>
>         size_t *result_size;    uint8_t *target;
>
>         const uint8_t *data;    uint32_t *abort_code;
>   ecrt_master_sdo_upload(master, 5, 0xf880, 1, target, 4, result_size,
> abort_code );
>
>
>
> ...
>
>   if (ecrt_master_activate(master))         return -1;
>
>   cycle_task();
>
> ...
>
> ------------------------------------------------------------
> ---------------------------------------------------------
>
>
>
>
>
> What could be wrong?
>
> Thanks again!
>
>
>
> Jerry
>
>
>
>
>
>
>
>
>
> On Mon, Jun 18, 2018 at 7:25 PM, Gavin Lambert <gavin.lambert at tomra.com>
> wrote:
>
> There are a few different kinds of API to do SDO transfers, depending on
> how and when you want to do them.  (But in short: no, that code is probably
> not correct.)
>
>
>
> ecrt_master_sdo_download/upload are blocking APIs; they are intended to
> be called before activating the master.  It is still possible to call them *on
> a separate thread* while the master is active (though be aware that this
> will cause lock contention so is not recommended if you have a fast cycle
> time).  You *must not* call it from your realtime thread.  These are
> intended for network discovery or other one-off or infrequent actions.
>
>
>
> ecrt_slave_config_create_sdo_request and the companion ecrt_sdo_request_*
> methods are intended for the case where you want to do transfers (either
> one-off or periodically) from the realtime thread while the master is
> active.  You create the request first (before activating the master) and
> then use the other methods to kick off a specific action and then poll it
> for completion from inside your realtime loop.  These are non-blocking.
>
>
>
> ecrt_slave_config_sdo* is for slave configuration settings that need to be
> written to the slave each time it reboots.  You call these once before
> activating the master and then the master itself takes care of sending
> these on first configuration and also if the slave needs to be reconfigured
> for any reason (eg. network disruption, rebooting).
>
>
>
> It's all explained in the documentation, the examples, and the header
> files themselves.
>
>
>
> *From:* jerry itnet
> *Sent:* Tuesday, 19 June 2018 04:15
> *Subject:* [etherlab-users] How to "upload/download" SDOs in
> application(*.c file)?
>
>
>
> I am confused on how to "upload/download" SDOs in an application.
>
> For example, am I correct by writing codes like:
>
>
>
> ------------- application.c ------------------------------
> ---------------------------------------------------------------------
>
> ....
>
>   uint16_t sdo_index = 0xf880;        uint8_t sdo_subindex = 1;
> uint32_t value = 0;
>   ecrt_slave_config_sdo32( sc, sdo_index, sdo_subindex, value);
>
>
>
>   if (ecrt_master_activate(master))         return -1;
>
>   size_t *result_size;    uint8_t *target;    const uint8_t *data;
> uint32_t *abort_code;
>   ecrt_master_sdo_upload(master, 5, 0xf880, 1, target, 4, result_size,
> abort_code );
>
> ...
>
>   cycle_task();
>
> ...
>
> ------------------------------------------------------------
> ----------------------------------------------------------------------
>
>
>
> Thank in advance for any hint!
>
> Jerry
>
>
>
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