nakarlsson
commented
11 months ago Hi,
You can find further guidance here : https://rt-labs.com/docs/ethercat-sdk/tutorials/soes-ethercat-slave-stack/
I'll close the issue hoping you'll find the aswers needed. Reopen or create a new issue if needed. Thanks for understanding.
I'm currently trying to enable the dc sync system on the soes implementation for the raspberry pi lan9252 example. After looking through the source code, I figured out I needed to set up the hw_interrupt function pointer in the config, as well as enable the use_interrupts option, but from there it feels like a bit of a black box in terms of what to do. Am I supposed to hook the sync0 and sync1 pins up to interrupt functions that call the slv_worker() in ecat_slave.c ? Do we need to set any of the sync activation registers to enable the sync0 and sync1 pins on the 9252 itself? I see in the esc.c file that in startInputs we call the checkDC function which makes a call to the user provided check_dc_handler in the config. But it only checks those if it first passes the sync_activation test, which is only ever read, and not set in the code. I'm just a little confused where to proceed from here, and any help would be greatly appreciated