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Update information {#page_update}

Update to release 2.5 {#sect_v2_5}

Update object dictionary initialization {#sect_v2_5_update_od_init}

In openPOWERLINK 2.5, the object dictionary creation has been moved from the stack library to the application. Therefore, on any application that shall be updated to openPOWERLINK 2.5 or higher the following changes need to be done:

  • Download openPOWERLINK 2.5.x or higher.
  • Copy the files from apps/common/src/obdcreate to your application.
  • Add the file obdcreate.c to your project. It has to be compiled into your application.
  • Include obdcreate.h in your main application.
  • Add a call to obdcreate_initObd() in your main application and pass a pointer to a structure that will be filled with the init parameters.
  • This structure is then handed over to the stack via oplk_create().
  • Move the object dictionary definition for your device to your application. Typically, you therefore move the file objdict.h to an application folder and add this folder to your default include path of the compiler.
  • If objdict.h includes other header files (e.g. sections of the POWERLINK specification included via external headers), those parts have to be copied into your new objdict.h.
  • Recompile the updated stack library and then your application

Example code {#sect_v2_5_update_od_example}

tOplkError          ret;
tOplkApiInitParam   initParam;

// Fill the rest of the initParameters (similar to previous stack versions)

// Initialize object dictionary
ret = obdcreate_initObd(&initParam.obdInitParam);
if (ret != kErrorOk)
{
    fprintf(stderr, "obdcreate_initObd() failed with \"%s\" (0x%04x)\n", debugstr_getRetValStr(ret), ret);
    return ret;
}

Update object dictionary definition {#sect_v2_5_update_od_def}

When updating to the new stack, the object dictionary definition needs to be adapted. First, the generic parts of the object dictionary have been moved into the objdict.h file itself. It is recommended that you just copy the generic section (between OBD_BEGIN_PART_GENERIC() and the according OBD_END_PART()) from the given examples to your own objdict.h file. Depending on the kind of device, you should use either the section from CiA401_CN for a POWERLINK CN or CiA302-4_MN for a POWERLINK MN.

Additionally, please note that the definition of a callback on object access has been replaced by a user event flag. Instead of defining NULL or a callback function, you have to set either FALSE if access to this object shall not be forwarded to the user or TRUE if a user event shall be generated. Object access that is handled inside the stack itself and previously had a definition of a stack-internal callback function (e.g. mapping objects...) does not require the flag to be set to TRUE. These cases are handled internally.