IGH主站在配置PDO的时候，PDO entry 0x7010:02 does not byte-align in config 0:0错误

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原文链接：https://blog.youkuaiyun.com/u011123091/article/details/86369445

本文讨论了在配置EtherCAT从站时遇到的PDO入口注册失败的问题，特别是关于字节对齐错误。提出了使用ecrt_slave_config_reg_pdo_entry()函数替代ecrt_slave_config_pdos()来单独注册每个PDO的解决方案，该函数可获取位位置参数，避免字节对齐问题。

下边是IGH的 mail list。大意就是使用ecrt_slave_config_reg_pdo_entry()来代替ecrt_slave_config_pdos()来进行注册。

Hi Christian!
 
Instead of passing the structs to ecrt_slave_config_pdos(), you can use 
ecrt_slave_config_reg_pdo_entry() to register each PDO individually. This 
function has an optional parameter to get the bit position. With this provided 
it won't complain about byte alignment.
It also seems to work to only register the first PDO entry, and you get access 
to the other entries that share the same byte. I think this is the way it is 
done in the digital IO examples.
Best regards,
Fabian Herb
Am Dienstag 23 März 2010 11:43:26 schrieb Richter, Christian:
> Hi,
>  
> I try configure an AnalogIO-Slave like in the User-example, but have
>  problems with the Input-configuration. When running application error
>  message "PDO entry 0x6000:02 does not byte-align in config 0:7.  PDO entry
>  registration failed!" occurs.
>  
> The mapping looks like this:
>  
>  const static ec_pdo_entry_reg_t domain1_regs[] = {
>              {AnaIO, Alex_1, 0x7010, 1, &off_ana_out1},
>              {AnaIO, Alex_1, 0x7010, 2, &off_ana_out2},
>              {AnaIO, Alex_1, 0x6000, 1, &off_ana_in1},
>              {AnaIO, Alex_1, 0x6000, 2, &off_ana_in2},
>              {AnaIO, Alex_1, 0x6000, 3, &off_ana_in3},
>              {AnaIO, Alex_1, 0x6000, 4, &off_ana_in4},
>              {AnaIO, Alex_1, 0x6000, 5, &off_ana_in5},
>              {AnaIO, Alex_1, 0x6000, 7, &off_ana_in7},
>              {AnaIO, Alex_1, 0x0000, 0, &off_ana_in0},
>              {AnaIO, Alex_1, 0x6000, 11, &off_ana_in11},
>              {AnaIO, Alex_1, 0x6000, 12, &off_ana_in12},
>              {AnaIO, Alex_1, 0x6000, 15, &off_ana_in15},
>              {AnaIO, Alex_1, 0x6000, 16, &off_ana_in16},
>              {AnaIO, Alex_1, 0x6000, 19, &off_ana_in19},
>              {AnaIO, Alex_1, 0x6000, 13, &off_ana_in13},
>              {AnaIO, Alex_1, 0x6000, 14, &off_ana_in14},
>              {}
>       };
>  
> static ec_pdo_entry_info_t alex_1_channels[] = {
>             {0x7010, 1, 16},
>             {0x7010, 2, 16}
>      };
> static ec_pdo_entry_info_t alex_in_channels[] = {
>              {0x6000, 1, 1},
>              {0x6000, 2, 1},
>              {0x6000, 3, 1},
>              {0x6000, 4, 1},
>              {0x6000, 5, 2},
>              {0x6000, 7, 2},
>              {0x0000, 0, 8},
>              {0x6000, 11, 32},
>              {0x6000, 12, 32},
>              {0x6000, 15, 16},
>              {0x6000, 16, 16},
>              {0x6000, 19, 16},
>              {0x6000, 13, 16},
>              {0x6000, 14, 16}
>      };
>  
> static ec_pdo_info_t alex_1_pdos[] = {
>             {0x1601, 2, alex_1_channels}
>    };
>     
> static ec_pdo_info_t alex_in_pdos[] = {
>             {0x1a00, 14, alex_in_channels}
>      };
>    
> static ec_sync_info_t alex_1_syncs[] = {
>             {2, EC_DIR_OUTPUT, 1, alex_1_pdos},
>             {3, EC_DIR_INPUT, 1, alex_in_pdos},
>             {0xff}
>      };
> 
> hope some one can help me to solve the "byte-align"-problem
>  
> best regards
> Christian Richter
> Christian Richter
> Forschung/Entwicklung

那么如何利用ecrt_slave_config_reg_pdo_entry来一个一个注册呢？

可以看到这个函数是如何使用的。

然后给出我程序中的一部分:

/*Register a PDO entry for process data exchange in a domain*/
if(ecrt_slave_config)reg_pdo_entry(sc_xmc4800, 0x7000,1,domain1,&off_leds_out0) < 0){
   fprintf(stderr, "PDO entry registration failed!\n";
   return -1;
} 

if(ecrt_slave_config)reg_pdo_entry(sc_xmc4800, 0x6000,1,domain1,&off_buttons_in0) < 0){
   fprintf(stderr, "PDO entry registration failed!\n";
   return -1;
}

这样多次调用多次注册就好了。大概明白了吗?