Can I change the index and subindex when using ec_sdowrite?

[theo1853]

I implemented EtherCAT communication by linking LAN9252 and STM32.
The EEPROM of LAN9252 was created using EEPROM Generator.
https://kubabuda.github.io/EEPROM_generator/
However, in the EtherCAT master program created with SOEM, Index conversion does not work when using ec_SDOwrite().
I also tried changing the accessibility permission of all variables to 'RW', but it still didn't work.
Do you know how?

[nakarlsson]

Provide a Wireshark when doing the SDO write from SOEM.

You can use slaveinfo and modifiy it to do a SDO write in the end.

[theo1853]

Thank you for your response.

My current goal is to have the master issue a PDO mapping command (ec_SDOwrite()) to the slave in the pre-op phase.

In my slave stm32 source.
I currently do ecat_slv(); inside the while loop after ecat_slav_init(&config);

And for testing, I stopped the operation when it was in pre-op state.

At this stage, PDO mapping does not occur when ec_SDOwrite() is sent from the master program.
Even if you remove that condition, it won't work.
The phenomenon is the same even if you change the accessibility of RW in the ESI file.

Is there a problem with the ESI file created there?

Due to limitations, dynamic PDO mapping is said to be impossible.

How do I do dynamic PDO mapping???
Where do I create ESI files???
Please help me.

[nakarlsson]

You’re looking at the wrong function. SDOs are handled by the MBX handlar. To test you can add the pre/post hooks defined in the cfg struct. There you can se calls to SDO read/write and se to what index/subindex.

[theo1853]

The function name ec_SDOwrite() is SDO, but isn't it actually a function that can dynamically map PDO?

For example,
Information mapped to the ESI file.
0x1600 : 0
0x1600 : 1 -> Control word
0x1600 : 2 -> Target position

Change this Subindex using the ec_SDOwrite() command.

0x1600 : 0
0x1600 : 1 -> Target position
0x1600 : 2 -> Control word

Do I need to do dynamic PDO mapping to achieve this functionality?
Right now I'm having trouble with that.
Even if ec_SDOwrite() is used, the subindex of pdo does not change.
My guess is that the ESI file is the problem.

demoxml.txt

Am I going in the wrong direction?
I'm not sure if dynamic pdo mapping can be done from soes source just by modifying the .xml file.

[nakarlsson]

Post a Wireshark.

You can check this for as sample. hefloryd/SOEM@22d8f5d