...
The same like in ECS SimpleConfig Example exercise. Follow the steps 1 till 3 and use here now netX 90 - EtherCAT Slave - dynamicPDO V3.0.0.0
2. Create a new PDO
(like in the
...
training ECS CustomOD Example exercise)
go to the file: AppECS_DemoObjectDictionary.h
...
Here go to the function AppECS_Write_ObjectInd(...)
Here is a can be found new source code :to recive the syncmanager objects 0x1C12 and 0x1c13.
| Code Block | ||
|---|---|---|
| ||
uint32_t AppECS_Write_ObjectInd(APP_DATA_T *ptAppData, CIFX_PACKET* ptPkt)
{
...
switch ( ptInd->tData.usIndex )
{
...
case 0x1C12:
lRet = OD_WriteInd_PDOAssignmentParameter(&tAppECSData, ptAppData, ptReq);
break;
case 0x1C13:
lRet = OD_WriteInd_PDOAssignmentParameter(&tAppECSData, ptAppData, ptReq);
break;
default:
lRet = CIFX_INVALID_PARAMETER;
break;
}
...
}
|
Inside of the fuction OD_WriteInd_PDOAssignmentParameter is the fuction OD_CalculatePdoOffsets() where the application uses the Ecat_SetIoSizeReq.
That means, if the EtherCAT master writes a sync manger, the application needs to check wtich PDO the EhterCAT master wants and caclulate the new size PDO size.
Because of the new 1 Byte 0x1602, add now some code for 0x1602:
| Code Block | ||
|---|---|---|
| ||
static uint32_t OD_CalculatePdoOffsets(APP_ECS_DATA_T *ptAppEcsData, APP_DATA_T *ptAppData, ODV3_WRITE_OBJECT_REQ_T* ptPck)
{
...
switch (ptPck->tData.usIndex)
{
case 0x1C12:
{
for (j = 0; j < ECS_NUMBER_OF_RX_SUBINDX_INCL_SUB0; j++)
{
/* add offset of PDO to list and calculate next offset,
* usTotalInpuSize was set to 0 before 1st function call*/
ptAppEcsData->tAssignment.tAssign1C12Temp.OffsetInProcessData[j] = ptAppEcsData->usTotalOutputSize;
if (ptAppEcsData->tAssignment.tAssign1C12Temp.SubindexEntry[j] == 0x1600)
{
/* calculate next offset */
ptAppEcsData->usTotalOutputSize += 6;
}
else if (ptAppEcsData->tAssignment.tAssign1C12Temp.SubindexEntry[j] == 0x1601)
{
/* calculate next offset */
ptAppEcsData->usTotalOutputSize += 4;
}
else if (ptAppEcsData->tAssignment.tAssign1C12Temp.SubindexEntry[j] == 0x1602)
{
/* calculate next offset */
ptAppEcsData->usTotalOutputSize += 1;
}
}
...
}
break;
...
}
return lRet;
}
|
After OD_CalculatePdoOffsets() the application calls Ecat_SetIoSizeReq()