I think like this is good for configuration of periodically transmitted PDOs 
both on ordinary CAN network and CANopen over Ethercat and possible others.

Pins available for component in hal file come from mapping entries. From 0x1600 
to 0x17FF for RPDO mapping parameters. From 0x1A00 to 0x1BFF for TPDO mapping 
parameters.

Default is most probably assume device is properly configured and for Linuxcnc 
to put it in operational state. In other case is most probably missing 
parameters assumed properly configured although it will possible to set 
(mapping parameters, communication parameters, communication cycle, etc) with 
parameters.

I started to put an array of structures for the pins and it seems quite simple 
to implement. Idea is to populate this array automatically during startup by 
reading the mapping parameters and then configured will be available for use in 
hal file.

Nicklas Karlsson


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