@Kworm,
I think the current code is able to setup connections for input's and output's for all kind of ethercat devices.
Not all data type's are integrated yet. 1,8,16,64 bit data type is integrated. But there are more types.
It's just following a digital "ethercat xml" structure. From there it creates pdo's. The actual xml structure in
the core code is a complexer struct :
~/realtime_app/src/vendor/ethercat_master/tool/common.h
Code:
struct ethercat_entry_data {
ec_ioctl_slave_sync_pdo_entry_t entry;
ethercat_data_type data_type;
};
// Pdo entry's of a pdo.
struct ethercat_pdo_data {
ec_ioctl_slave_sync_pdo_t pdo;
ethercat_pdo_type pdoType;
std::vector<ethercat_entry_data> entry_vec;
};
// Pdo's of a sync.
struct ethercat_sync_data {
ec_ioctl_slave_sync_t sync;
std::vector<ethercat_pdo_data> pdo_vec;
};
// Device and sync's
struct ethercat_device_data {
ec_ioctl_slave_t slave;
std::vector<ethercat_sync_data> sync_vec;
unsigned int offset;
unsigned int bit_position;
};
It setup's 1 bit, 8 bit, 16 bit, 64 bit value's and start adress for input and outputs.
There is no typical driver code for a certain servo drive.
If code is expanded, it can match a xml product code to use a certain servo driver setup. This is
like linuxcnc-ethercat
If i had a servo here, i certainly would test it out. image missing /media/kunena/emoticons/smile.png
My goal so far was to be able to interact with ethercat-master using a auto configurator.
This was quite a bit off work to get that done.
In that process i got some insights how automate this process for linuxcnc.
