Let me ask this ... master/slave_config.c has the following function.
void ec_slave_config_load_default_mapping(
const ec_slave_config_t *sc,
ec_pdo_t *pdo
)
{
And just a few lines down there's this comment.
// find PDO in any sync manager (it could be reassigned later)
for (i = 0; i < sc->slave->sii_image->sii.sync_count; i++) {
sync = &sc->slave->sii_image->sii.syncs[i];
Can anyone comment as to why/how a PDO could possibly be reassigned at a
later time?
I ask because with only one device online (master debug output below),
notice that the 2nd subindex (after a proper "Entry") has changed and
therefore not being found. I'd expect to see 0x60FE instead of 0x562A
and 0x01 as the subindex.
---
[177023.668497] EtherCAT: Requesting master 0...
[177023.668503] EtherCAT DEBUG 0: IDLE -> OPERATION.
[177023.668506] EtherCAT: Successfully requested master 0.
[177023.668516] EtherCAT DEBUG 0: ecrt_master_create_domain(master =
0x00000000c7ddebfa)
[177023.668519] EtherCAT DEBUG 0: Created domain 0.
[177023.668534] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
0x00000000c7ddebfa, alias = 0, position = 0, vendor_id = 0x0000009a,
product_code = 0x00030924)
[177023.668537] EtherCAT DEBUG 0: Creating slave configuration for 0:0,
0x0000009A/0x00030924.
[177023.668542] EtherCAT DEBUG 0 0:0: Attached slave main-0.
[177023.670926] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc
= 0x00000000d8f76f5b, sync_index = 0, dir = 1, watchdog_mode = 2)
[177023.670938] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_assign_clear(sc = 0x00000000d8f76f5b, sync_index = 0)
[177023.670945] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc
= 0x00000000d8f76f5b, sync_index = 1, dir = 2, watchdog_mode = 2)
[177023.670952] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_assign_clear(sc = 0x00000000d8f76f5b, sync_index = 1)
[177023.670959] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc
= 0x00000000d8f76f5b, sync_index = 2, dir = 1, watchdog_mode = 1)
[177023.670971] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_assign_clear(sc = 0x00000000d8f76f5b, sync_index = 2)
[177023.670981] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_assign_add(sc = 0x00000000d8f76f5b, sync_index =
2, pdo_index = 0x1600)
[177023.670984] EtherCAT DEBUG 0 0:0: Loading default mapping for PDO
0x1600.
[177023.670988] EtherCAT DEBUG 0 0:0: Entry 0x607A:00.
[177023.670990] EtherCAT DEBUG 0 0:0: Entry 0x60FE:01.
[177023.670993] EtherCAT DEBUG 0 0:0: Entry 0x6040:00.
[177023.671001] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_clear(sc = 0x00000000d8f76f5b, pdo_index =
0x1600)
[177023.671013] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x00000000d8f76f5b, pdo_index =
0x1600, entry_index = 0x607A, entry_subindex = 0x00, entry_bit_length = 32)
[177023.671023] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x00000000d8f76f5b, pdo_index =
0x1600, entry_index = 0x562A, entry_subindex = 0x00, entry_bit_length = 0)
[177023.671098] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x00000000d8f76f5b, pdo_index =
0x1600, entry_index = 0x0021, entry_subindex = 0x00, entry_bit_length = 0)
On 9/9/19 6:55 PM, Gavin Lambert wrote:
You will receive that error if you specify a PDO index/subindex that does not
exist in the slave, according to the configuration that Etherlab is aware of at
the time.
This either requires a slave to already be present in the network and scanned
with that PDO already included in its default PDO set, or it requires you to
have previously called ecrt_slave_config_pdos() with the slave's
current/desired SM layout.
It's recommended to do the latter, as it also works when the slaves are not yet
online -- and it gives you the ability to select PDOs which are not in the
slave's default set. Although of course some slaves have restrictions on which
PDOs you can select together, and others do not let you change the default PDO
set -- but you can still explicitly specify it via ecrt_slave_config_pdos() so
that you can create a configuration without needing the slaves to be online.
See the example apps. Also see the code generated by "ethercat cstruct".
Gavin Lambert
Senior Software Developer
COMPAC SORTING EQUIPMENT LTD | 4 Henderson Pl | Onehunga | Auckland 1061 | New
Zealand
Switchboard: +49 2630 96520 | https://www.tomra.com
The information contained in this communication and any attachment is
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-----Original Message-----
From: Gary Grobe
Sent: Tuesday, 10 September 2019 11:24
To: etherlab-users@etherlab.org
Subject: [etherlab-users] ecrt_slave_config_reg_pdo_entry() returns "No such file or
directory"
I'm working a new userspace app with etherlab and have managed to discover
slaves and configure PDO's and am now at the point of doing mass registrations
of PDO's.
In domain.c is the ecrt_domain_reg_pdo_entry_list() function which iterates
through an array of ec_pdo_entry_reg_t's. As it iterates through the array, the
call stack is roughly ...
ecrt_domain_reg_pdo_entry_list()
ecrt_master_slave_config()
ec_master_add_slave_config()
ecrt_slave_config_reg_pdo_entry()
ioctl()
The first of seven ec_pdo_entry_reg_t objects in the array was successful.
However, on the second iteration of the input array, the result (errno) from
the call to ioctl() in
ecrt_slave_config_reg_pdo_entry() of slave_config.c is failing with "No such file or
directory".
I've triple checked the inputs which appear to be correct, but recall reading
somewhere's that there may be checks to the capabilities of
ioctl() calls handling a device which I'm not clear on. I was hoping someone
might be able to comment or explain if this is the case or have other ideas as
to what might be going on?
The exact message is:
"Failed to register PDO entry: No such file or directory"
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