[Etherlab-users] Configuring EL7047 stepper driver

[Gavin Lambert]

Why are you calling ecrt_slave_config_pdos *OR* ecrt_slave_config_reg_pdo_entry?  You need to do both things.  (Although you can replace the latter with ecrt_domain_reg_pdo_entry_list to avoid a loop in your own code.)


Gavin Lambert
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-----Original Message-----
From: Fontana Nicola
Sent: Sunday, 1 August 2021 8:38 am
To: Graeme Foot <Graeme.Foot at touchcut.com>; etherlab-users at etherlab.org
Subject: Re: [Etherlab-users] Configuring EL7047 stepper driver

Il giorno lun, 26/07/2021 alle 07.00 +0200, Fontana Nicola ha scritto:
> ...
> I will do my homeworks and report back for future reference.
> ...

I can confirm that, by moving the PDO handling into the application, things started working as expected. Here is the updated snippet:

    https://eur02.safelinks.protection.outlook.com/?url=https%3A%2F%2Fgitlab.com%2F-%2Fsnippets%2F2155802&data=04%7C01%7Cgavin.lambert%40tomra.com%7C020593bd03294f1d6ccf08d954631658%7C4308d118edd143008a37cfeba8ad5898%7C0%7C1%7C637633606834855034%7CUnknown%7CTWFpbGZsb3d8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7C3000&sdata=nLGnNTU%2F52J5y71UJ%2FPsKMsrAv8ASYVFE5HQos8cBxE%3D&reserved=0

The shell script is now used only for bootstrapping the EL7047. All 0x8nnn:nn entries in the object dictionary seem to be stored in some non-volatile memory (no idea this is customary or mandated by some standard), so that script should be called only on new devices.

The manual handling of PDOs on the C side is really tedious and error-prone, so I can understand Gavin's suggestion of trying to configure as much as possible before `ethercat cstruct`, but I'm confident some kind of abstraction is possible (see e.g. the `SlaveLayout` struct in `el7047.c` for details).

Thank you again for your help.

Ciao.
--
Nicola


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