TMS320F28388D: How to change the PDO from the EtherCAT example

Thank you Ranjith

Hi,

You may also leverage developer forum at the ETG member area for any SSC related questions.

Thanks,

Hi Ranjith,

I created a new application using TI F2838x CPU1 Sample without Sample Application:
 

and fill the Excel as below:

It's basically just one input and one output. I generated the Slave file and import it in CCS. I would like to implement APPL_InputMapping() and APPL_OutputMapping() as below:

void APPL_InputMapping(UINT16* pData)
{
    uint16_t j = 0;
    uint16_t *pTmpData = (uint16_t *)pData;
    uint16_t data;


   for (j = 0; j < sTxPDOassign.u16SubIndex0; j++)
   {
      switch (sTxPDOassign.aEntries[j])
      {
      /* TxPDO  */
      case 0x1A00: // 8 bits
          data = Result0x6000;

          * (volatile uint16_t *)pTmpData = data;

         break;
      }
   }
}


void APPL_OutputMapping(UINT16* pData)
{
    uint16_t j = 0;
    uint16_t *pTmpData = (uint16_t *)pData;// allow byte processing
    uint16_t data = 0;
    for (j = 0; j < sRxPDOassign.u16SubIndex0; j++)
    {
        switch (sRxPDOassign.aEntries[j])
        {
        /* RxPDO */
        case 0x1600: //byte (8 bits)
            data = (*(volatile uint16_t *)pTmpData);
            Value0x7000 = data;
            break;
        }
    }
}

But Result0x6000 and Value0x7000 are not defined.

If I check F2838x_CPU1_EtherCAT_Slave_1in1out1Objects.h I don't see my variables declaration:

/*
* This source file is part of the EtherCAT Slave Stack Code licensed by Beckhoff Automation GmbH & Co KG, 33415 Verl, Germany.
* The corresponding license agreement applies. This hint shall not be removed.
*/

/**
* \addtogroup F2838x_CPU1_EtherCAT_Slave_1in1out1 F2838x_CPU1_EtherCAT_Slave_1in1out1
* @{
*/

/**
\file F2838x_CPU1_EtherCAT_Slave_1in1out1Objects
\author ET9300Utilities.ApplicationHandler (Version 1.5.0.0) | EthercatSSC@beckhoff.com

\brief F2838x_CPU1_EtherCAT_Slave_1in1out1 specific objects<br>
\brief NOTE : This file will be overwritten if a new object dictionary is generated!<br>
*/

#if defined(_F2838X__CPU1__ETHER_CAT__SLAVE_1IN1OUT1_) && (_F2838X__CPU1__ETHER_CAT__SLAVE_1IN1OUT1_ == 1)
#define PROTO
#else
#define PROTO extern
#endif
/******************************************************************************
*                    Object 0x1C12 : SyncManager 2 assignment
******************************************************************************/
/**
* \addtogroup 0x1C12 0x1C12 | SyncManager 2 assignment
* @{
* \brief Object 0x1C12 (SyncManager 2 assignment) definition
*/
#ifdef _OBJD_
/**
* \brief Entry descriptions<br>
* 
* Subindex 0<br>
*/
OBJCONST TSDOINFOENTRYDESC    OBJMEM asEntryDesc0x1C12[] = {
{ DEFTYPE_UNSIGNED8 , 0x8 , ACCESS_READ }};

/**
* \brief Object name definition<br>
* For Subindex 1 to n the syntax 'Subindex XXX' is used
*/
OBJCONST UCHAR OBJMEM aName0x1C12[] = "SyncManager 2 assignment\000\377";
#endif //#ifdef _OBJD_

#ifndef _F2838X__CPU1__ETHER_CAT__SLAVE_1IN1OUT1_OBJECTS_H_
/**
* \brief Object structure
*/
typedef struct OBJ_STRUCT_PACKED_START {
UINT16   u16SubIndex0;  /**< \brief Subindex 0 */
} OBJ_STRUCT_PACKED_END
TOBJ1C12;
#endif //#ifndef _F2838X__CPU1__ETHER_CAT__SLAVE_1IN1OUT1_OBJECTS_H_

/**
* \brief Object variable
*/
PROTO TOBJ1C12 sRxPDOassign
#if defined(_F2838X__CPU1__ETHER_CAT__SLAVE_1IN1OUT1_) && (_F2838X__CPU1__ETHER_CAT__SLAVE_1IN1OUT1_ == 1)
={0}
#endif
;
/** @}*/



/******************************************************************************
*                    Object 0x1C13 : SyncManager 3 assignment
******************************************************************************/
/**
* \addtogroup 0x1C13 0x1C13 | SyncManager 3 assignment
* @{
* \brief Object 0x1C13 (SyncManager 3 assignment) definition
*/
#ifdef _OBJD_
/**
* \brief Entry descriptions<br>
* 
* Subindex 0<br>
*/
OBJCONST TSDOINFOENTRYDESC    OBJMEM asEntryDesc0x1C13[] = {
{ DEFTYPE_UNSIGNED8 , 0x8 , ACCESS_READ }};

/**
* \brief Object name definition<br>
* For Subindex 1 to n the syntax 'Subindex XXX' is used
*/
OBJCONST UCHAR OBJMEM aName0x1C13[] = "SyncManager 3 assignment\000\377";
#endif //#ifdef _OBJD_

#ifndef _F2838X__CPU1__ETHER_CAT__SLAVE_1IN1OUT1_OBJECTS_H_
/**
* \brief Object structure
*/
typedef struct OBJ_STRUCT_PACKED_START {
UINT16   u16SubIndex0;  /**< \brief Subindex 0 */
} OBJ_STRUCT_PACKED_END
TOBJ1C13;
#endif //#ifndef _F2838X__CPU1__ETHER_CAT__SLAVE_1IN1OUT1_OBJECTS_H_

/**
* \brief Object variable
*/
PROTO TOBJ1C13 sTxPDOassign
#if defined(_F2838X__CPU1__ETHER_CAT__SLAVE_1IN1OUT1_) && (_F2838X__CPU1__ETHER_CAT__SLAVE_1IN1OUT1_ == 1)
={0}
#endif
;
/** @}*/



/******************************************************************************
*                    Object 0xF000 : Modular Device Profile
******************************************************************************/
/**
* \addtogroup 0xF000 0xF000 | Modular Device Profile
* @{
* \brief Object 0xF000 (Modular Device Profile) definition
*/
#ifdef _OBJD_
/**
* \brief Object entry descriptions<br>
* <br>
* SubIndex 0<br>
* SubIndex 1 - Index distance <br>
* SubIndex 2 - Maximum number of modules <br>
*/
OBJCONST TSDOINFOENTRYDESC    OBJMEM asEntryDesc0xF000[] = {
{ DEFTYPE_UNSIGNED8 , 0x8 , ACCESS_READ },
{ DEFTYPE_UNSIGNED16 , 0x10 , ACCESS_READ }, /* Subindex1 - Index distance  */
{ DEFTYPE_UNSIGNED16 , 0x10 , ACCESS_READ }}; /* Subindex2 - Maximum number of modules  */

/**
* \brief Object/Entry names
*/
OBJCONST UCHAR OBJMEM aName0xF000[] = "Modular Device Profile\000"
"Index distance \000"
"Maximum number of modules \000\377";
#endif //#ifdef _OBJD_

#ifndef _F2838X__CPU1__ETHER_CAT__SLAVE_1IN1OUT1_OBJECTS_H_
/**
* \brief Object structure
*/
typedef struct OBJ_STRUCT_PACKED_START {
UINT16 u16SubIndex0;
UINT16 IndexDistance; /* Subindex1 - Index distance  */
UINT16 MaximumNumberOfModules; /* Subindex2 - Maximum number of modules  */
} OBJ_STRUCT_PACKED_END
TOBJF000;
#endif //#ifndef _F2838X__CPU1__ETHER_CAT__SLAVE_1IN1OUT1_OBJECTS_H_

/**
* \brief Object variable
*/
PROTO TOBJF000 ModularDeviceProfile0xF000
#if defined(_F2838X__CPU1__ETHER_CAT__SLAVE_1IN1OUT1_) && (_F2838X__CPU1__ETHER_CAT__SLAVE_1IN1OUT1_ == 1)
={2,0x0010,0}
#endif
;
/** @}*/







#ifdef _OBJD_
TOBJECT    OBJMEM ApplicationObjDic[] = {
/* Object 0x1C12 */
{NULL , NULL ,  0x1C12 , {DEFTYPE_UNSIGNED16 , 0 | (OBJCODE_ARR << 8)} , asEntryDesc0x1C12 , aName0x1C12 , &sRxPDOassign , NULL , NULL , 0x0000 },
/* Object 0x1C13 */
{NULL , NULL ,  0x1C13 , {DEFTYPE_UNSIGNED16 , 0 | (OBJCODE_ARR << 8)} , asEntryDesc0x1C13 , aName0x1C13 , &sTxPDOassign , NULL , NULL , 0x0000 },
/* Object 0xF000 */
{NULL , NULL ,  0xF000 , {DEFTYPE_RECORD , 2 | (OBJCODE_REC << 8)} , asEntryDesc0xF000 , aName0xF000 , &ModularDeviceProfile0xF000 , NULL , NULL , 0x0000 },
{NULL,NULL, 0xFFFF, {0, 0}, NULL, NULL, NULL, NULL}};
#endif    //#ifdef _OBJD_
#undef PROTO

/** @}*/
#define _F2838X__CPU1__ETHER_CAT__SLAVE_1IN1OUT1_OBJECTS_H_

Normally it should be directly generated by SSC right?

As Dawid Balcerzak ask 3 years ago, it would be nice if you had a manual on how to create an application for C2000.

Hi,

The tool should generate the header file. In this case it is not clear why it is not happening. Are you seeing any errors while importing the excel? One question I have is on why the input and output data is of type RECORD if you have only one variable. Shouldn't these be a VARIABLE type?

Thanks,

I used RECORD so I can add more variables in the future.

I tried several times, it looks like when I am creating a new application, SSC open the Excel and directly parse the file and create the PDO of the empty Excel. It does not wait till I filled the Excel sheet... so that is why none of my variables were declared in the Object.h .

Now that I fixed that, I can see my variables declared in the Object.h but if I try to compile and get several errors :

Hi,

Good to know that the SSC tool issue is fixed and you are seeing the generated objects.

Thanks,