There certainly seems to be some more to get. I have also done some tests with
Ethercat and ordinary Ethernet but no ordinary CAN. I also made a small
currently hard coded configuration utility and a partial implementation of CiA
309-3 as a gateway integrated in Linuxcnc.
Implementation of CiA 309-3 integrated in Linuxcnc for configuration feels like
a relatively good solution.
As is now i Hardcoded available variables/signals available in PDO messages
sent periodically. Which variables/signals available in PDO is available need
to come from configuration file as well as mapping (COB-ID, type, position,
length) or probably better expressed as during PDO mapping.
This is the structure I currently say should be available via Ethercat there I
hardcoded message format.
typedef struct{
hal_s32_t* positionCnt;
hal_float_t* positionPos;
hal_s32_t* encoderCnt;
hal_float_t* encoderPos;
hal_float_t scale;
hal_u32_t* control;
hal_bit_t* control_enable;
hal_bit_t* control_out1;
hal_bit_t* status_home;
hal_bit_t* status_switch1;
hal_bit_t* status_switch2;
hal_bit_t* status_switch3;
hal_u32_t* status;
} hal_mem_type;
static hal_mem_type* hal_mem = NULL;
I guess I could fix mapping and hal_malloc(...) is used to allocate memory. Any
good idea howto build a list of available variables from configuration file?
On Sat, 9 Mar 2019 09:03:07 -0300
Daniel Scheeren <[email protected]> wrote:
> Several library options, some tests done by Luminize in Machinekit.
>
>
> https://github.com/machinekit/machinekit/issues/589
>
> https://github.com/luminize/canopen-machinekit
>
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