feat(motor): 自适应 PDO 窗口与通道活动指示，新增原生 SOEM 时序诊断
后端 PDO 循环改为按在线槽收缩状态窗口，稀疏总线下单槽每周期都能刷新， 并补上尾部槽的发现扫描游标；新增自旋节拍源（阈值/显式覆盖）、P 核识别 与线程级钉核，自旋期间释放 GIL 以免 HTTP 线程被饿死；启动时先关停旧实例， 避免两个进程争用 Npcap 适配器。 记录每拍完整时间线、GC stop-the-world 事件与网格跳拍数，经 /api/motor/dbg 导出用于归因固定频率的超时；配
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@@ -0,0 +1,362 @@
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/*****************************************************************************
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*
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* FILE NAME: ec_master.c
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*
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* DESCRIPTION: This is the main program module.
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*
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\*****************************************************************************/
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#include <stdio.h>
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/*****************************************************************************
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*
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* FUNCTION: main
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*
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* DESCRIPTION:
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* This is the main program module.
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*
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\*****************************************************************************/
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/** \file
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* \brief Example code for Simple Open EtherCAT master
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*
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* Usage : slaveinfo [ifname] [-sdo] [-map]
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* Ifname is NIC interface, f.e. eth0.
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* Optional -sdo to display CoE object dictionary.
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* Optional -map to display slave PDO mapping
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*
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* This shows the configured slave data.
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*
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* (c)Arthur Ketels 2010 - 2011
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*/
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#include <stdio.h>
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#include <string.h>
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#include <rt.h>
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#include <traceapi.h>
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#include "ethercat.h"
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char IOmap[4096];
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char IOmap2[4096];
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/** Main slave data array.
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* Each slave found on the network gets its own record.
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* ec_slave[0] is reserved for the master. Structure gets filled
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* in by the configuration function ec_config().
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*/
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ec_slavet ec_slave[EC_MAXSLAVE];
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ec_slavet ec_slave2[EC_MAXSLAVE];
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/** number of slaves found on the network */
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int ec_slavecount;
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int ec_slavecount2;
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/** slave group structure */
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ec_groupt ec_groups[EC_MAXGROUP];
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ec_groupt ec_groups2[EC_MAXGROUP];
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/** cache for EEPROM read functions */
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static uint8 esibuf[EC_MAXEEPBUF];
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static uint8 esibuf2[EC_MAXEEPBUF];
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/** bitmap for filled cache buffer bytes */
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static uint32 esimap[EC_MAXEEPBITMAP];
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static uint32 esimap2[EC_MAXEEPBITMAP];
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/** current slave for EEPROM cache buffer */
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static ec_eringt ec_elist;
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static ec_eringt ec_elist2;
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static ec_idxstackT ec_idxstack;
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static ec_idxstackT ec_idxstack2;
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/** SyncManager Communication Type struct to store data of one slave */
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static ec_SMcommtypet ec_SMcommtype;
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static ec_SMcommtypet ec_SMcommtype2;
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/** PDO assign struct to store data of one slave */
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static ec_PDOassignt ec_PDOassign;
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static ec_PDOassignt ec_PDOassign2;
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/** PDO description struct to store data of one slave */
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static ec_PDOdesct ec_PDOdesc;
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static ec_PDOdesct ec_PDOdesc2;
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/** buffer for EEPROM SM data */
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static ec_eepromSMt ec_SM;
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static ec_eepromSMt ec_SM2;
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/** buffer for EEPROM FMMU data */
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static ec_eepromFMMUt ec_FMMU;
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static ec_eepromFMMUt ec_FMMU2;
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/** Global variable TRUE if error available in error stack */
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static boolean EcatError = FALSE;
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static boolean EcatError2 = FALSE;
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int64 ec_DCtime;
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int64 ec_DCtime2;
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static ecx_portt ecx_port;
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static ecx_portt ecx_port2;
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static ecx_contextt ctx [] = {
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{
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&ecx_port,
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&ec_slave[0],
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&ec_slavecount,
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EC_MAXSLAVE,
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&ec_groups[0],
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EC_MAXGROUP,
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&esibuf[0],
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&esimap[0],
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0,
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&ec_elist,
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&ec_idxstack,
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&EcatError,
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0,
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0,
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&ec_DCtime,
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&ec_SMcommtype,
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&ec_PDOassign,
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&ec_PDOdesc,
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&ec_SM,
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&ec_FMMU
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},
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{
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&ecx_port2,
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&ec_slave2[0],
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&ec_slavecount2,
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EC_MAXSLAVE,
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&ec_groups2[0],
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EC_MAXGROUP,
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&esibuf2[0],
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&esimap2[0],
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0,
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&ec_elist2,
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&ec_idxstack2,
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&EcatError2,
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0,
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0,
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&ec_DCtime2,
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&ec_SMcommtype2,
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&ec_PDOassign2,
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&ec_PDOdesc2,
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&ec_SM2,
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&ec_FMMU2
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}
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};
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void slaveinfo(char *ifname)
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{
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int cnt, i, j, nSM;
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int ctx_count;
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uint16 ssigen;
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int expectedWKC[2];
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int wkc_count;
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int chk;
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volatile int wkc[2];
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boolean inOP;
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printf("Starting slaveinfo\n");
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/* initialise SOEM, bind socket to ifname */
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if (ecx_init(&ctx[0],"ie1g1") && ecx_init(&ctx[1],"ie1g0"))
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{
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printf("ec_init on %s succeeded.\n",ifname);
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/* find and auto-config slaves */
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if ( ecx_config_init(&ctx[0],FALSE) > 0 && ecx_config_init(&ctx[1],FALSE) > 0 )
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{
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for (ctx_count = 0; ctx_count < 2; ctx_count++)
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{
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ecx_config_map_group(&ctx[ctx_count], IOmap, 0);
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ecx_configdc(&ctx[ctx_count]);
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while(*(ctx[ctx_count].ecaterror)) printf("%s", ecx_elist2string(&ctx[ctx_count]));
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printf("%d slaves found and configured.\n",*(ctx[ctx_count].slavecount));
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expectedWKC[ctx_count] = ( ctx[ctx_count].grouplist[0].outputsWKC * 2) + ctx[ctx_count].grouplist[0].inputsWKC;
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printf("Calculated workcounter %d\n", expectedWKC[ctx_count]);
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/* wait for all slaves to reach SAFE_OP state */
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ecx_statecheck(&ctx[ctx_count],0, EC_STATE_SAFE_OP, EC_TIMEOUTSTATE * 3);
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if (ctx[ctx_count].slavelist[ctx_count].state != EC_STATE_SAFE_OP )
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{
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printf("Not all slaves reached safe operational state.\n");
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ecx_readstate(&ctx[ctx_count]);
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for(i = 1; i <= *(ctx[ctx_count].slavecount) ; i++)
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{
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if(ctx[ctx_count].slavelist[i].state != EC_STATE_SAFE_OP)
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{
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printf("Slave %d State=%2x StatusCode=%4x : %s\n",
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i, ctx[ctx_count].slavelist[i].state, ctx[ctx_count].slavelist[i].ALstatuscode, ec_ALstatuscode2string(ctx[ctx_count].slavelist[i].ALstatuscode));
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}
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}
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}
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ecx_readstate(&ctx[ctx_count]);
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for( cnt = 1 ; cnt <= *(ctx[ctx_count].slavecount) ; cnt++)
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{
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printf("\nSlave:%d\n Name:%s\n Output size: %dbits\n Input size: %dbits\n State: %d\n Delay: %d[ns]\n Has DC: %d\n",
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cnt, ctx[ctx_count].slavelist[cnt].name, ctx[ctx_count].slavelist[cnt].Obits, ctx[ctx_count].slavelist[cnt].Ibits,
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ctx[ctx_count].slavelist[cnt].state, ctx[ctx_count].slavelist[cnt].pdelay, ctx[ctx_count].slavelist[cnt].hasdc);
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if (ctx[ctx_count].slavelist[cnt].hasdc)
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{
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printf(" DCParentport:%d\n", ctx[ctx_count].slavelist[cnt].parentport);
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}
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printf(" Activeports:%d.%d.%d.%d\n", (ctx[ctx_count].slavelist[cnt].activeports & 0x01) > 0 ,
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(ctx[ctx_count].slavelist[cnt].activeports & 0x02) > 0 ,
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(ctx[ctx_count].slavelist[cnt].activeports & 0x04) > 0 ,
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(ctx[ctx_count].slavelist[cnt].activeports & 0x08) > 0 );
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printf(" Configured address: %4.4x\n", ctx[ctx_count].slavelist[cnt].configadr);
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printf(" Man: %8.8x ID: %8.8x Rev: %8.8x\n", (int)ctx[ctx_count].slavelist[cnt].eep_man,
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(int)ctx[ctx_count].slavelist[cnt].eep_id, (int)ctx[ctx_count].slavelist[cnt].eep_rev);
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for(nSM = 0 ; nSM < EC_MAXSM ; nSM++)
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{
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if(ctx[ctx_count].slavelist[cnt].SM[nSM].StartAddr > 0)
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printf(" SM%1d A:%4.4x L:%4d F:%8.8x Type:%d\n",nSM, ctx[ctx_count].slavelist[cnt].SM[nSM].StartAddr,
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ctx[ctx_count].slavelist[cnt].SM[nSM].SMlength,(int)ctx[ctx_count].slavelist[cnt].SM[nSM].SMflags,
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ctx[ctx_count].slavelist[cnt].SMtype[nSM]);
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}
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for(j = 0 ; j < ctx[ctx_count].slavelist[cnt].FMMUunused ; j++)
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{
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printf(" FMMU%1d Ls:%8.8x Ll:%4d Lsb:%d Leb:%d Ps:%4.4x Psb:%d Ty:%2.2x Act:%2.2x\n", j,
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(int)ctx[ctx_count].slavelist[cnt].FMMU[j].LogStart, ctx[ctx_count].slavelist[cnt].FMMU[j].LogLength,
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ctx[ctx_count].slavelist[cnt].FMMU[j].LogStartbit, ctx[ctx_count].slavelist[cnt].FMMU[j].LogEndbit,
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ctx[ctx_count].slavelist[cnt].FMMU[j].PhysStart, ctx[ctx_count].slavelist[cnt].FMMU[j].PhysStartBit,
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ctx[ctx_count].slavelist[cnt].FMMU[j].FMMUtype, ctx[ctx_count].slavelist[cnt].FMMU[j].FMMUactive);
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}
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printf(" FMMUfunc 0:%d 1:%d 2:%d 3:%d\n",
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ctx[ctx_count].slavelist[cnt].FMMU0func, ctx[ctx_count].slavelist[cnt].FMMU1func, ctx[ctx_count].slavelist[cnt].FMMU2func,
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ctx[ctx_count].slavelist[cnt].FMMU3func);
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printf(" MBX length wr: %d rd: %d MBX protocols : %2.2x\n", ctx[ctx_count].slavelist[cnt].mbx_l,
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ctx[ctx_count].slavelist[cnt].mbx_rl, ctx[ctx_count].slavelist[cnt].mbx_proto);
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ssigen = ecx_siifind(&ctx[ctx_count], cnt, ECT_SII_GENERAL);
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/* SII general section */
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if (ssigen)
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{
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ctx[ctx_count].slavelist[cnt].CoEdetails = ecx_siigetbyte(&ctx[ctx_count], cnt, ssigen + 0x07);
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ctx[ctx_count].slavelist[cnt].FoEdetails = ecx_siigetbyte(&ctx[ctx_count], cnt, ssigen + 0x08);
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ctx[ctx_count].slavelist[cnt].EoEdetails = ecx_siigetbyte(&ctx[ctx_count], cnt, ssigen + 0x09);
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ctx[ctx_count].slavelist[cnt].SoEdetails = ecx_siigetbyte(&ctx[ctx_count], cnt, ssigen + 0x0a);
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if((ecx_siigetbyte(&ctx[ctx_count], cnt, ssigen + 0x0d) & 0x02) > 0)
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{
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ctx[ctx_count].slavelist[cnt].blockLRW = 1;
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ctx[ctx_count].slavelist[0].blockLRW++;
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}
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ctx[ctx_count].slavelist[cnt].Ebuscurrent = ecx_siigetbyte(&ctx[ctx_count], cnt, ssigen + 0x0e);
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ctx[ctx_count].slavelist[cnt].Ebuscurrent += ecx_siigetbyte(&ctx[ctx_count], cnt, ssigen + 0x0f) << 8;
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ctx[ctx_count].slavelist[0].Ebuscurrent += ctx[ctx_count].slavelist[cnt].Ebuscurrent;
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}
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printf(" CoE details: %2.2x FoE details: %2.2x EoE details: %2.2x SoE details: %2.2x\n",
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ctx[ctx_count].slavelist[cnt].CoEdetails, ctx[ctx_count].slavelist[cnt].FoEdetails, ctx[ctx_count].slavelist[cnt].EoEdetails, ctx[ctx_count].slavelist[cnt].SoEdetails);
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printf(" Ebus current: %d[mA]\n only LRD/LWR:%d\n",
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ctx[ctx_count].slavelist[cnt].Ebuscurrent, ctx[ctx_count].slavelist[cnt].blockLRW);
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}
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}
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inOP = FALSE;
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printf("Request operational state for all slaves\n");
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expectedWKC[0] = (ctx[0].grouplist[0].outputsWKC * 2) + ctx[0].grouplist[0].inputsWKC;
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expectedWKC[1] = (ctx[1].grouplist[0].outputsWKC * 2) + ctx[1].grouplist[0].inputsWKC;
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printf("Calculated workcounter master 1 %d\n", expectedWKC[0]);
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printf("Calculated workcounter master 2 %d\n", expectedWKC[1]);
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ctx[0].slavelist[0].state = EC_STATE_OPERATIONAL;
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ctx[1].slavelist[0].state = EC_STATE_OPERATIONAL;
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/* send one valid process data to make outputs in slaves happy*/
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ecx_send_processdata(&ctx[0]);
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ecx_send_processdata(&ctx[1]);
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ecx_receive_processdata(&ctx[0],EC_TIMEOUTRET);
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ecx_receive_processdata(&ctx[1],EC_TIMEOUTRET);
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/* request OP state for all slaves */
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ecx_writestate(&ctx[0], 0);
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ecx_writestate(&ctx[1], 0);
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chk = 40;
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/* wait for all slaves to reach OP state */
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do
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{
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ecx_send_processdata(&ctx[0]);
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ecx_send_processdata(&ctx[1]);
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ecx_receive_processdata(&ctx[0],EC_TIMEOUTRET);
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ecx_receive_processdata(&ctx[1],EC_TIMEOUTRET);
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ecx_statecheck(&ctx[0],0, EC_STATE_OPERATIONAL, 50000);
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ecx_statecheck(&ctx[1],0, EC_STATE_OPERATIONAL, 50000);
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}
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while (chk-- && (ctx[0].slavelist[0].state != EC_STATE_OPERATIONAL) && (ctx[1].slavelist[0].state != EC_STATE_OPERATIONAL));
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*(ctx[0].slavelist[6].outputs) = 0xFF;
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*(ctx[1].slavelist[1].outputs) = 0x0F;
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if (ctx[0].slavelist[0].state == EC_STATE_OPERATIONAL && ctx[1].slavelist[0].state == EC_STATE_OPERATIONAL )
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{
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printf("Operational state reached for all slaves.\n");
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/* cyclic loop */
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start_RT_trace (1);
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wkc_count = 0;
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inOP = TRUE;
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for(i = 1; i <= 10000; i++)
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{
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for (ctx_count = 0; ctx_count < 2; ctx_count++)
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{
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/* Receive processdata */
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log_RT_event('R',(WORD)(1 + ctx_count * 10));
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wkc[ctx_count] = ecx_receive_processdata(&ctx[ctx_count], 0);
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log_RT_event('R',(WORD)(99 + ctx_count * 100));
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}
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for (ctx_count = 0; ctx_count < 2; ctx_count++)
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{
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/* Send processdata */
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log_RT_event('S',(WORD)(1 + ctx_count * 10));
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if (!ecx_send_processdata(&ctx[ctx_count]))
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{
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printf (" Frame no: %d on master %d,Not sentOK\n", i,ctx_count);
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}
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log_RT_event('S',(WORD)(99 + ctx_count * 100));
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}
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knRtSleep(1);
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for (ctx_count = 0; ctx_count < 2; ctx_count++)
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{
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if(wkc[ctx_count] >= expectedWKC[ctx_count])
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{
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}
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else
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{
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printf (" Frame no: %d on master %d , wc not wkc >= expectedWKC, %d\n",i, ctx_count, wkc[ctx_count]);
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}
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}
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}
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stop_RT_trace ();
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inOP = FALSE;
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}
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}
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else
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{
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printf("No slaves found!\n");
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}
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printf("End slaveinfo, close socket\n");
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/* stop SOEM, close socket */
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ecx_close(&ctx[0]);
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ecx_close(&ctx[1]);
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}
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else
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{
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printf("No socket connection on %s\nExcecute as root\n",ifname);
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}
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}
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void main(int argc, char* argv[])
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{
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printf("SOEM (Simple Open EtherCAT Master)\nSlaveinfo\n");
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if (argc > 1)
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{
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/* start slaveinfo */
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slaveinfo(argv[1]);
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}
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else
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{
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printf("Usage: slaveinfo ifname [options]\nifname = eth0 for example\nOptions :\n -sdo : print SDO info\n -map : print mapping\n");
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}
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printf("End program\n");
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}
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@@ -0,0 +1,429 @@
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/** \file
|
||||
* \brief EEprom tool for Simple Open EtherCAT master
|
||||
*
|
||||
* Usage : eepromtool ifname slave OPTION fname|alias
|
||||
* ifname is NIC interface, f.e. eth0
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||||
* slave = slave number in EtherCAT order 1..n
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* -r read EEPROM, output binary format
|
||||
* -ri read EEPROM, output Intel Hex format
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* -w write EEPROM, input binary format
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* -wi write EEPROM, input Intel Hex format
|
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* -i display EEPROM information
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* -walias write slave alias in EEPROM
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*
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* (c)Arthur Ketels 2010-2012
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||||
*/
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||||
|
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <sys/time.h>
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#include <unistd.h>
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#include <time.h>
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#include "ethercat.h"
|
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#define MAXBUF 32768
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#define STDBUF 2048
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#define MINBUF 128
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#define MODE_NONE 0
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||||
#define MODE_READBIN 1
|
||||
#define MODE_READINTEL 2
|
||||
#define MODE_WRITEBIN 3
|
||||
#define MODE_WRITEINTEL 4
|
||||
#define MODE_WRITEALIAS 5
|
||||
#define MODE_INFO 6
|
||||
|
||||
#define MAXSLENGTH 256
|
||||
|
||||
uint8 ebuf[MAXBUF];
|
||||
uint8 ob;
|
||||
uint16 ow;
|
||||
int os;
|
||||
int slave;
|
||||
int alias;
|
||||
struct timeval tstart,tend, tdif;
|
||||
int wkc;
|
||||
int mode;
|
||||
char sline[MAXSLENGTH];
|
||||
|
||||
#define IHEXLENGTH 0x20
|
||||
|
||||
int input_bin(char *fname, int *length)
|
||||
{
|
||||
FILE *fp;
|
||||
|
||||
int cc = 0, c;
|
||||
|
||||
fp = fopen(fname, "rb");
|
||||
if(fp == NULL)
|
||||
return 0;
|
||||
while (((c = fgetc(fp)) != EOF) && (cc < MAXBUF))
|
||||
ebuf[cc++] = (uint8)c;
|
||||
*length = cc;
|
||||
fclose(fp);
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
int input_intelhex(char *fname, int *start, int *length)
|
||||
{
|
||||
FILE *fp;
|
||||
|
||||
int c, sc, retval = 1;
|
||||
int ll, ladr, lt, sn, i, lval;
|
||||
int hstart, hlength, sum;
|
||||
|
||||
fp = fopen(fname, "r");
|
||||
if(fp == NULL)
|
||||
return 0;
|
||||
hstart = MAXBUF;
|
||||
hlength = 0;
|
||||
sum = 0;
|
||||
do
|
||||
{
|
||||
memset(sline, 0x00, MAXSLENGTH);
|
||||
sc = 0;
|
||||
while (((c = fgetc(fp)) != EOF) && (c != 0x0A) && (sc < (MAXSLENGTH -1)))
|
||||
sline[sc++] = (uint8)c;
|
||||
if ((c != EOF) && ((sc < 11) || (sline[0] != ':')))
|
||||
{
|
||||
c = EOF;
|
||||
retval = 0;
|
||||
printf("Invalid Intel Hex format.\n");
|
||||
}
|
||||
if (c != EOF)
|
||||
{
|
||||
sn = sscanf(sline , ":%2x%4x%2x", &ll, &ladr, <);
|
||||
if ((sn == 3) && ((ladr + ll) <= MAXBUF) && (lt == 0))
|
||||
{
|
||||
sum = ll + (ladr >> 8) + (ladr & 0xff) + lt;
|
||||
if(ladr < hstart) hstart = ladr;
|
||||
for(i = 0; i < ll ; i++)
|
||||
{
|
||||
sn = sscanf(&sline[9 + (i << 1)], "%2x", &lval);
|
||||
ebuf[ladr + i] = (uint8)lval;
|
||||
sum += (uint8)lval;
|
||||
}
|
||||
if(((ladr + ll) - hstart) > hlength)
|
||||
hlength = (ladr + ll) - hstart;
|
||||
sum = (0x100 - sum) & 0xff;
|
||||
sn = sscanf(&sline[9 + (i << 1)], "%2x", &lval);
|
||||
if (!sn || ((sum - lval) != 0))
|
||||
{
|
||||
c = EOF;
|
||||
retval = 0;
|
||||
printf("Invalid checksum.\n");
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
while (c != EOF);
|
||||
if (retval)
|
||||
{
|
||||
*length = hlength;
|
||||
*start = hstart;
|
||||
}
|
||||
fclose(fp);
|
||||
|
||||
return retval;
|
||||
}
|
||||
|
||||
int output_bin(char *fname, int length)
|
||||
{
|
||||
FILE *fp;
|
||||
|
||||
int cc;
|
||||
|
||||
fp = fopen(fname, "wb");
|
||||
if(fp == NULL)
|
||||
return 0;
|
||||
for (cc = 0 ; cc < length ; cc++)
|
||||
fputc( ebuf[cc], fp);
|
||||
fclose(fp);
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
int output_intelhex(char *fname, int length)
|
||||
{
|
||||
FILE *fp;
|
||||
|
||||
int cc = 0, ll, sum, i;
|
||||
|
||||
fp = fopen(fname, "w");
|
||||
if(fp == NULL)
|
||||
return 0;
|
||||
while (cc < length)
|
||||
{
|
||||
ll = length - cc;
|
||||
if (ll > IHEXLENGTH) ll = IHEXLENGTH;
|
||||
sum = ll + (cc >> 8) + (cc & 0xff);
|
||||
fprintf(fp, ":%2.2X%4.4X00", ll, cc);
|
||||
for (i = 0; i < ll; i++)
|
||||
{
|
||||
fprintf(fp, "%2.2X", ebuf[cc + i]);
|
||||
sum += ebuf[cc + i];
|
||||
}
|
||||
fprintf(fp, "%2.2X\n", (0x100 - sum) & 0xff);
|
||||
cc += ll;
|
||||
}
|
||||
fprintf(fp, ":00000001FF\n");
|
||||
fclose(fp);
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
int eeprom_read(int slave, int start, int length)
|
||||
{
|
||||
int i, wkc, ainc = 4;
|
||||
uint16 estat, aiadr;
|
||||
uint32 b4;
|
||||
uint64 b8;
|
||||
uint8 eepctl;
|
||||
|
||||
if((ec_slavecount >= slave) && (slave > 0) && ((start + length) <= MAXBUF))
|
||||
{
|
||||
aiadr = 1 - slave;
|
||||
eepctl = 2;
|
||||
wkc = ec_APWR(aiadr, ECT_REG_EEPCFG, sizeof(eepctl), &eepctl , EC_TIMEOUTRET); /* force Eeprom from PDI */
|
||||
eepctl = 0;
|
||||
wkc = ec_APWR(aiadr, ECT_REG_EEPCFG, sizeof(eepctl), &eepctl , EC_TIMEOUTRET); /* set Eeprom to master */
|
||||
|
||||
estat = 0x0000;
|
||||
aiadr = 1 - slave;
|
||||
wkc=ec_APRD(aiadr, ECT_REG_EEPSTAT, sizeof(estat), &estat, EC_TIMEOUTRET); /* read eeprom status */
|
||||
estat = etohs(estat);
|
||||
if (estat & EC_ESTAT_R64)
|
||||
{
|
||||
ainc = 8;
|
||||
for (i = start ; i < (start + length) ; i+=ainc)
|
||||
{
|
||||
b8 = ec_readeepromAP(aiadr, i >> 1 , EC_TIMEOUTEEP);
|
||||
ebuf[i] = b8;
|
||||
ebuf[i+1] = b8 >> 8;
|
||||
ebuf[i+2] = b8 >> 16;
|
||||
ebuf[i+3] = b8 >> 24;
|
||||
ebuf[i+4] = b8 >> 32;
|
||||
ebuf[i+5] = b8 >> 40;
|
||||
ebuf[i+6] = b8 >> 48;
|
||||
ebuf[i+7] = b8 >> 56;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
for (i = start ; i < (start + length) ; i+=ainc)
|
||||
{
|
||||
b4 = ec_readeepromAP(aiadr, i >> 1 , EC_TIMEOUTEEP);
|
||||
ebuf[i] = b4;
|
||||
ebuf[i+1] = b4 >> 8;
|
||||
ebuf[i+2] = b4 >> 16;
|
||||
ebuf[i+3] = b4 >> 24;
|
||||
}
|
||||
}
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
int eeprom_write(int slave, int start, int length)
|
||||
{
|
||||
int i, wkc, dc = 0;
|
||||
uint16 aiadr, *wbuf;
|
||||
uint8 eepctl;
|
||||
int ret;
|
||||
|
||||
if((ec_slavecount >= slave) && (slave > 0) && ((start + length) <= MAXBUF))
|
||||
{
|
||||
aiadr = 1 - slave;
|
||||
eepctl = 2;
|
||||
wkc = ec_APWR(aiadr, ECT_REG_EEPCFG, sizeof(eepctl), &eepctl , EC_TIMEOUTRET); /* force Eeprom from PDI */
|
||||
eepctl = 0;
|
||||
wkc = ec_APWR(aiadr, ECT_REG_EEPCFG, sizeof(eepctl), &eepctl , EC_TIMEOUTRET); /* set Eeprom to master */
|
||||
|
||||
aiadr = 1 - slave;
|
||||
wbuf = (uint16 *)&ebuf[0];
|
||||
for (i = start ; i < (start + length) ; i+=2)
|
||||
{
|
||||
ret = ec_writeeepromAP(aiadr, i >> 1 , *(wbuf + (i >> 1)), EC_TIMEOUTEEP);
|
||||
if (++dc >= 100)
|
||||
{
|
||||
dc = 0;
|
||||
printf(".");
|
||||
fflush(stdout);
|
||||
}
|
||||
}
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
int eeprom_writealias(int slave, int alias)
|
||||
{
|
||||
int i, wkc, dc = 0;
|
||||
uint16 aiadr, *wbuf;
|
||||
uint8 eepctl;
|
||||
int ret;
|
||||
|
||||
if((ec_slavecount >= slave) && (slave > 0) && (alias <= 0xffff))
|
||||
{
|
||||
aiadr = 1 - slave;
|
||||
eepctl = 2;
|
||||
wkc = ec_APWR(aiadr, ECT_REG_EEPCFG, sizeof(eepctl), &eepctl , EC_TIMEOUTRET); /* force Eeprom from PDI */
|
||||
eepctl = 0;
|
||||
wkc = ec_APWR(aiadr, ECT_REG_EEPCFG, sizeof(eepctl), &eepctl , EC_TIMEOUTRET); /* set Eeprom to master */
|
||||
|
||||
ret = ec_writeeepromAP(aiadr, 0x04 , alias, EC_TIMEOUTEEP);
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
void eepromtool(char *ifname, int slave, int mode, char *fname)
|
||||
{
|
||||
int w, rc = 0, estart, esize;
|
||||
uint16 *wbuf;
|
||||
|
||||
/* initialise SOEM, bind socket to ifname */
|
||||
if (ec_init(ifname))
|
||||
{
|
||||
printf("ec_init on %s succeeded.\n",ifname);
|
||||
|
||||
w = 0x0000;
|
||||
wkc = ec_BRD(0x0000, ECT_REG_TYPE, sizeof(w), &w, EC_TIMEOUTSAFE); /* detect number of slaves */
|
||||
if (wkc > 0)
|
||||
{
|
||||
ec_slavecount = wkc;
|
||||
|
||||
printf("%d slaves found.\n",ec_slavecount);
|
||||
if((ec_slavecount >= slave) && (slave > 0))
|
||||
{
|
||||
if ((mode == MODE_INFO) || (mode == MODE_READBIN) || (mode == MODE_READINTEL))
|
||||
{
|
||||
rc = gettimeofday(&tstart, NULL);
|
||||
eeprom_read(slave, 0x0000, MINBUF); // read first 128 bytes
|
||||
|
||||
wbuf = (uint16 *)&ebuf[0];
|
||||
printf("Slave %d data\n", slave);
|
||||
printf(" PDI Control : %4.4X\n",*(wbuf + 0x00));
|
||||
printf(" PDI Config : %4.4X\n",*(wbuf + 0x01));
|
||||
printf(" Config Alias : %4.4X\n",*(wbuf + 0x04));
|
||||
printf(" Checksum : %4.4X\n",*(wbuf + 0x07));
|
||||
printf(" Vendor ID : %8.8X\n",*(uint32 *)(wbuf + 0x08));
|
||||
printf(" Product Code : %8.8X\n",*(uint32 *)(wbuf + 0x0A));
|
||||
printf(" Revision Number : %8.8X\n",*(uint32 *)(wbuf + 0x0C));
|
||||
printf(" Serial Number : %8.8X\n",*(uint32 *)(wbuf + 0x0E));
|
||||
printf(" Mailbox Protocol : %4.4X\n",*(wbuf + 0x1C));
|
||||
esize = (*(wbuf + 0x3E) + 1) * 128;
|
||||
if (esize > MAXBUF) esize = MAXBUF;
|
||||
printf(" Size : %4.4X = %d bytes\n",*(wbuf + 0x3E), esize);
|
||||
printf(" Version : %4.4X\n",*(wbuf + 0x3F));
|
||||
}
|
||||
if ((mode == MODE_READBIN) || (mode == MODE_READINTEL))
|
||||
{
|
||||
if (esize > MINBUF)
|
||||
eeprom_read(slave, MINBUF, esize - MINBUF); // read reminder
|
||||
|
||||
rc = gettimeofday(&tend, NULL);
|
||||
timersub(&tend, &tstart, &tdif);
|
||||
if (mode == MODE_READINTEL) output_intelhex(fname, esize);
|
||||
if (mode == MODE_READBIN) output_bin(fname, esize);
|
||||
|
||||
printf("\nTotal EEPROM read time :%ldms\n", (tdif.tv_usec+(tdif.tv_sec*1000000L)) / 1000);
|
||||
}
|
||||
if ((mode == MODE_WRITEBIN) || (mode == MODE_WRITEINTEL))
|
||||
{
|
||||
estart = 0;
|
||||
if (mode == MODE_WRITEINTEL) rc = input_intelhex(fname, &estart, &esize);
|
||||
if (mode == MODE_WRITEBIN) rc = input_bin(fname, &esize);
|
||||
|
||||
if (rc > 0)
|
||||
{
|
||||
wbuf = (uint16 *)&ebuf[0];
|
||||
printf("Slave %d\n", slave);
|
||||
printf(" Vendor ID : %8.8X\n",*(uint32 *)(wbuf + 0x08));
|
||||
printf(" Product Code : %8.8X\n",*(uint32 *)(wbuf + 0x0A));
|
||||
printf(" Revision Number : %8.8X\n",*(uint32 *)(wbuf + 0x0C));
|
||||
printf(" Serial Number : %8.8X\n",*(uint32 *)(wbuf + 0x0E));
|
||||
|
||||
printf("Busy");
|
||||
fflush(stdout);
|
||||
rc = gettimeofday(&tstart, NULL);
|
||||
eeprom_write(slave, estart, esize);
|
||||
rc = gettimeofday(&tend, NULL);
|
||||
timersub(&tend, &tstart, &tdif);
|
||||
|
||||
printf("\nTotal EEPROM write time :%ldms\n", (tdif.tv_usec+(tdif.tv_sec*1000000L)) / 1000);
|
||||
}
|
||||
else
|
||||
printf("Error reading file, abort.\n");
|
||||
}
|
||||
if (mode == MODE_WRITEALIAS)
|
||||
{
|
||||
if(eeprom_writealias(slave, alias))
|
||||
printf("Alias %4.4X written successfully to slave %d\n");
|
||||
else
|
||||
printf("Alias not written\n");
|
||||
}
|
||||
}
|
||||
else
|
||||
printf("Slave number outside range.\n");
|
||||
}
|
||||
else
|
||||
printf("No slaves found!\n");
|
||||
printf("End, close socket\n");
|
||||
/* stop SOEM, close socket */
|
||||
ec_close();
|
||||
}
|
||||
else
|
||||
printf("No socket connection on %s\nExcecute as root\n",ifname);
|
||||
}
|
||||
|
||||
int main(int argc, char *argv[])
|
||||
{
|
||||
printf("SOEM (Simple Open EtherCAT Master)\nEEPROM tool\n");
|
||||
|
||||
mode = MODE_NONE;
|
||||
if (argc > 3)
|
||||
{
|
||||
slave = atoi(argv[2]);
|
||||
if ((strncmp(argv[3], "-i", sizeof("-i")) == 0)) mode = MODE_INFO;
|
||||
if (argc > 4)
|
||||
{
|
||||
if ((strncmp(argv[3], "-r", sizeof("-r")) == 0)) mode = MODE_READBIN;
|
||||
if ((strncmp(argv[3], "-ri", sizeof("-ri")) == 0)) mode = MODE_READINTEL;
|
||||
if ((strncmp(argv[3], "-w", sizeof("-w")) == 0)) mode = MODE_WRITEBIN;
|
||||
if ((strncmp(argv[3], "-wi", sizeof("-wi")) == 0)) mode = MODE_WRITEINTEL;
|
||||
if ((strncmp(argv[3], "-walias", sizeof("-walias")) == 0))
|
||||
{
|
||||
mode = MODE_WRITEALIAS;
|
||||
alias = atoi(argv[4]);
|
||||
}
|
||||
}
|
||||
/* start tool */
|
||||
eepromtool(argv[1],slave,mode,argv[4]);
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("Usage: eepromtool ifname slave OPTION fname|alias\n");
|
||||
printf("ifname = eth0 for example\n");
|
||||
printf("slave = slave number in EtherCAT order 1..n\n");
|
||||
printf(" -i display EEPROM information\n");
|
||||
printf(" -walias write slave alias\n");
|
||||
printf(" -r read EEPROM, output binary format\n");
|
||||
printf(" -ri read EEPROM, output Intel Hex format\n");
|
||||
printf(" -w write EEPROM, input binary format\n");
|
||||
printf(" -wi write EEPROM, input Intel Hex format\n");
|
||||
}
|
||||
|
||||
printf("End program\n");
|
||||
|
||||
return (0);
|
||||
}
|
||||
@@ -0,0 +1,386 @@
|
||||
/** \file
|
||||
* \brief Example code for Simple Open EtherCAT master
|
||||
*
|
||||
* Usage : ebox [ifname] [cycletime]
|
||||
* ifname is NIC interface, f.e. eth0
|
||||
* cycletime in us, f.e. 500
|
||||
*
|
||||
* This test is specifically build for the E/BOX.
|
||||
*
|
||||
* (c)Arthur Ketels 2011
|
||||
*/
|
||||
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <sys/time.h>
|
||||
#include <unistd.h>
|
||||
#include <sched.h>
|
||||
#include <string.h>
|
||||
#include <sys/time.h>
|
||||
#include <time.h>
|
||||
#include <pthread.h>
|
||||
#include <math.h>
|
||||
|
||||
#include "ethercat.h"
|
||||
|
||||
#define NSEC_PER_SEC 1000000000
|
||||
|
||||
typedef struct PACKED
|
||||
{
|
||||
uint8 status;
|
||||
uint8 counter;
|
||||
uint8 din;
|
||||
int32 ain[2];
|
||||
uint32 tsain;
|
||||
int32 enc[2];
|
||||
} in_EBOXt;
|
||||
|
||||
typedef struct PACKED
|
||||
{
|
||||
uint8 counter;
|
||||
int16 stream[100];
|
||||
} in_EBOX_streamt;
|
||||
|
||||
typedef struct PACKED
|
||||
{
|
||||
uint8 control;
|
||||
uint8 dout;
|
||||
int16 aout[2];
|
||||
uint16 pwmout[2];
|
||||
} out_EBOXt;
|
||||
|
||||
typedef struct PACKED
|
||||
{
|
||||
uint8 control;
|
||||
} out_EBOX_streamt;
|
||||
|
||||
// total samples to capture
|
||||
#define MAXSTREAM 200000
|
||||
// sample interval in ns, here 8us -> 125kHz
|
||||
// maximum data rate for E/BOX v1.0.1 is around 150kHz
|
||||
#define SYNC0TIME 8000
|
||||
|
||||
struct sched_param schedp;
|
||||
char IOmap[4096];
|
||||
pthread_t thread1;
|
||||
struct timeval tv,t1,t2;
|
||||
int dorun = 0;
|
||||
int deltat, tmax=0;
|
||||
int64 toff;
|
||||
int DCdiff;
|
||||
int os;
|
||||
uint32 ob;
|
||||
int16 ob2;
|
||||
uint8 ob3;
|
||||
pthread_cond_t cond = PTHREAD_COND_INITIALIZER;
|
||||
pthread_mutex_t mutex = PTHREAD_MUTEX_INITIALIZER;
|
||||
int64 integral=0;
|
||||
uint32 cyclecount;
|
||||
in_EBOX_streamt *in_EBOX;
|
||||
out_EBOX_streamt *out_EBOX;
|
||||
double ain[2];
|
||||
int ainc;
|
||||
int streampos;
|
||||
int16 stream1[MAXSTREAM];
|
||||
int16 stream2[MAXSTREAM];
|
||||
|
||||
int output_cvs(char *fname, int length)
|
||||
{
|
||||
FILE *fp;
|
||||
|
||||
int i;
|
||||
|
||||
fp = fopen(fname, "w");
|
||||
if(fp == NULL)
|
||||
return 0;
|
||||
for (i = 0; i < length; i++)
|
||||
{
|
||||
fprintf(fp, "%d %d %d\n", i, stream1[i], stream2[i]);
|
||||
}
|
||||
fclose(fp);
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
void eboxtest(char *ifname)
|
||||
{
|
||||
int cnt, i;
|
||||
|
||||
printf("Starting E/BOX test\n");
|
||||
|
||||
/* initialise SOEM, bind socket to ifname */
|
||||
if (ec_init(ifname))
|
||||
{
|
||||
printf("ec_init on %s succeeded.\n",ifname);
|
||||
/* find and auto-config slaves */
|
||||
if ( ec_config_init(FALSE) > 0 )
|
||||
{
|
||||
printf("%d slaves found and configured.\n",ec_slavecount);
|
||||
|
||||
// check if first slave is an E/BOX
|
||||
if (( ec_slavecount >= 1 ) &&
|
||||
(strcmp(ec_slave[1].name,"E/BOX") == 0))
|
||||
{
|
||||
// reprogram PDO mapping to set slave in stream mode
|
||||
// this can only be done in pre-OP state
|
||||
os=sizeof(ob2); ob2 = 0x1601;
|
||||
ec_SDOwrite(1,0x1c12,01,FALSE,os,&ob2,EC_TIMEOUTRXM);
|
||||
os=sizeof(ob2); ob2 = 0x1a01;
|
||||
ec_SDOwrite(1,0x1c13,01,FALSE,os,&ob2,EC_TIMEOUTRXM);
|
||||
}
|
||||
|
||||
ec_config_map(&IOmap);
|
||||
|
||||
ec_configdc();
|
||||
|
||||
/* wait for all slaves to reach SAFE_OP state */
|
||||
ec_statecheck(0, EC_STATE_SAFE_OP, EC_TIMEOUTSTATE);
|
||||
|
||||
/* configure DC options for every DC capable slave found in the list */
|
||||
printf("DC capable : %d\n",ec_configdc());
|
||||
|
||||
/* check configuration */
|
||||
if (( ec_slavecount >= 1 ) &&
|
||||
(strcmp(ec_slave[1].name,"E/BOX") == 0)
|
||||
)
|
||||
{
|
||||
printf("E/BOX found.\n");
|
||||
|
||||
/* connect struct pointers to slave I/O pointers */
|
||||
in_EBOX = (in_EBOX_streamt*) ec_slave[1].inputs;
|
||||
out_EBOX = (out_EBOX_streamt*) ec_slave[1].outputs;
|
||||
|
||||
/* read indevidual slave state and store in ec_slave[] */
|
||||
ec_readstate();
|
||||
for(cnt = 1; cnt <= ec_slavecount ; cnt++)
|
||||
{
|
||||
printf("Slave:%d Name:%s Output size:%3dbits Input size:%3dbits State:%2d delay:%d.%d\n",
|
||||
cnt, ec_slave[cnt].name, ec_slave[cnt].Obits, ec_slave[cnt].Ibits,
|
||||
ec_slave[cnt].state, (int)ec_slave[cnt].pdelay, ec_slave[cnt].hasdc);
|
||||
}
|
||||
printf("Request operational state for all slaves\n");
|
||||
|
||||
/* send one processdata cycle to init SM in slaves */
|
||||
ec_send_processdata();
|
||||
ec_receive_processdata(EC_TIMEOUTRET);
|
||||
|
||||
ec_slave[0].state = EC_STATE_OPERATIONAL;
|
||||
/* request OP state for all slaves */
|
||||
ec_writestate(0);
|
||||
/* wait for all slaves to reach OP state */
|
||||
ec_statecheck(0, EC_STATE_OPERATIONAL, EC_TIMEOUTSTATE);
|
||||
if (ec_slave[0].state == EC_STATE_OPERATIONAL )
|
||||
{
|
||||
printf("Operational state reached for all slaves.\n");
|
||||
ain[0] = 0;
|
||||
ain[1] = 0;
|
||||
ainc = 0;
|
||||
dorun = 1;
|
||||
usleep(100000); // wait for linux to sync on DC
|
||||
ec_dcsync0(1, TRUE, SYNC0TIME, 0); // SYNC0 on slave 1
|
||||
/* acyclic loop 20ms */
|
||||
for(i = 1; i <= 200; i++)
|
||||
{
|
||||
/* read DC difference register for slave 2 */
|
||||
// ec_FPRD(ec_slave[1].configadr, ECT_REG_DCSYSDIFF, sizeof(DCdiff), &DCdiff, EC_TIMEOUTRET);
|
||||
// if(DCdiff<0) { DCdiff = - (int32)((uint32)DCdiff & 0x7ffffff); }
|
||||
printf("PD cycle %5d DCtime %12lld Cnt:%3d Data: %6d %6d %6d %6d %6d %6d %6d %6d \n",
|
||||
cyclecount, ec_DCtime, in_EBOX->counter, in_EBOX->stream[0], in_EBOX->stream[1],
|
||||
in_EBOX->stream[2], in_EBOX->stream[3], in_EBOX->stream[4], in_EBOX->stream[5],
|
||||
in_EBOX->stream[98], in_EBOX->stream[99]);
|
||||
usleep(20000);
|
||||
}
|
||||
dorun = 0;
|
||||
// printf("\nCnt %d : Ain0 = %f Ain2 = %f\n", ainc, ain[0] / ainc, ain[1] / ainc);
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("Not all slaves reached operational state.\n");
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("E/BOX not found in slave configuration.\n");
|
||||
}
|
||||
ec_dcsync0(1, FALSE, 8000, 0); // SYNC0 off
|
||||
printf("Request safe operational state for all slaves\n");
|
||||
ec_slave[0].state = EC_STATE_SAFE_OP;
|
||||
/* request SAFE_OP state for all slaves */
|
||||
ec_writestate(0);
|
||||
/* wait for all slaves to reach state */
|
||||
ec_statecheck(0, EC_STATE_SAFE_OP, EC_TIMEOUTSTATE);
|
||||
ec_slave[0].state = EC_STATE_PRE_OP;
|
||||
/* request SAFE_OP state for all slaves */
|
||||
ec_writestate(0);
|
||||
/* wait for all slaves to reach state */
|
||||
ec_statecheck(0, EC_STATE_PRE_OP, EC_TIMEOUTSTATE);
|
||||
if (( ec_slavecount >= 1 ) &&
|
||||
(strcmp(ec_slave[1].name,"E/BOX") == 0))
|
||||
{
|
||||
// restore PDO to standard mode
|
||||
// this can only be done is pre-op state
|
||||
os=sizeof(ob2); ob2 = 0x1600;
|
||||
ec_SDOwrite(1,0x1c12,01,FALSE,os,&ob2,EC_TIMEOUTRXM);
|
||||
os=sizeof(ob2); ob2 = 0x1a00;
|
||||
ec_SDOwrite(1,0x1c13,01,FALSE,os,&ob2,EC_TIMEOUTRXM);
|
||||
}
|
||||
printf("Streampos %d\n", streampos);
|
||||
output_cvs("stream.txt", streampos);
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("No slaves found!\n");
|
||||
}
|
||||
printf("End E/BOX, close socket\n");
|
||||
/* stop SOEM, close socket */
|
||||
ec_close();
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("No socket connection on %s\nExcecute as root\n",ifname);
|
||||
}
|
||||
}
|
||||
|
||||
/* add ns to timespec */
|
||||
void add_timespec(struct timespec *ts, int64 addtime)
|
||||
{
|
||||
int64 sec, nsec;
|
||||
|
||||
nsec = addtime % NSEC_PER_SEC;
|
||||
sec = (addtime - nsec) / NSEC_PER_SEC;
|
||||
ts->tv_sec += sec;
|
||||
ts->tv_nsec += nsec;
|
||||
if ( ts->tv_nsec >= NSEC_PER_SEC )
|
||||
{
|
||||
nsec = ts->tv_nsec % NSEC_PER_SEC;
|
||||
ts->tv_sec += (ts->tv_nsec - nsec) / NSEC_PER_SEC;
|
||||
ts->tv_nsec = nsec;
|
||||
}
|
||||
}
|
||||
|
||||
/* PI calculation to get linux time synced to DC time */
|
||||
void ec_sync(int64 reftime, int64 cycletime , int64 *offsettime)
|
||||
{
|
||||
int64 delta;
|
||||
/* set linux sync point 50us later than DC sync, just as example */
|
||||
delta = (reftime - 50000) % cycletime;
|
||||
if(delta> (cycletime /2)) { delta= delta - cycletime; }
|
||||
if(delta>0){ integral++; }
|
||||
if(delta<0){ integral--; }
|
||||
*offsettime = -(delta / 100) - (integral /20);
|
||||
}
|
||||
|
||||
/* RT EtherCAT thread */
|
||||
void ecatthread( void *ptr )
|
||||
{
|
||||
struct timespec ts;
|
||||
struct timeval tp;
|
||||
int ht;
|
||||
int i;
|
||||
int pcounter = 0;
|
||||
int64 cycletime;
|
||||
|
||||
pthread_mutex_lock(&mutex);
|
||||
gettimeofday(&tp, NULL);
|
||||
|
||||
/* Convert from timeval to timespec */
|
||||
ts.tv_sec = tp.tv_sec;
|
||||
ht = (tp.tv_usec / 1000) + 1; /* round to nearest ms */
|
||||
ts.tv_nsec = ht * 1000000;
|
||||
cycletime = *(int*)ptr * 1000; /* cycletime in ns */
|
||||
toff = 0;
|
||||
dorun = 0;
|
||||
while(1)
|
||||
{
|
||||
/* calculate next cycle start */
|
||||
add_timespec(&ts, cycletime + toff);
|
||||
/* wait to cycle start */
|
||||
pthread_cond_timedwait(&cond, &mutex, &ts);
|
||||
if (dorun>0)
|
||||
{
|
||||
gettimeofday(&tp, NULL);
|
||||
|
||||
ec_send_processdata();
|
||||
|
||||
ec_receive_processdata(EC_TIMEOUTRET);
|
||||
|
||||
cyclecount++;
|
||||
|
||||
|
||||
if((in_EBOX->counter != pcounter) && (streampos < (MAXSTREAM - 1)))
|
||||
{
|
||||
// check if we have timing problems in master
|
||||
// if so, overwrite stream data so it shows up clearly in plots.
|
||||
if(in_EBOX->counter > (pcounter + 1))
|
||||
{
|
||||
for(i = 0 ; i < 50 ; i++)
|
||||
{
|
||||
stream1[streampos] = 20000;
|
||||
stream2[streampos++] = -20000;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
for(i = 0 ; i < 50 ; i++)
|
||||
{
|
||||
stream1[streampos] = in_EBOX->stream[i * 2];
|
||||
stream2[streampos++] = in_EBOX->stream[(i * 2) + 1];
|
||||
}
|
||||
}
|
||||
pcounter = in_EBOX->counter;
|
||||
}
|
||||
|
||||
/* calulate toff to get linux time and DC synced */
|
||||
ec_sync(ec_DCtime, cycletime, &toff);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
int main(int argc, char *argv[])
|
||||
{
|
||||
int ctime;
|
||||
struct sched_param param;
|
||||
int policy = SCHED_OTHER;
|
||||
|
||||
printf("SOEM (Simple Open EtherCAT Master)\nE/BOX test\n");
|
||||
|
||||
memset(&schedp, 0, sizeof(schedp));
|
||||
/* do not set priority above 49, otherwise sockets are starved */
|
||||
schedp.sched_priority = 30;
|
||||
sched_setscheduler(0, SCHED_FIFO, &schedp);
|
||||
|
||||
do
|
||||
{
|
||||
usleep(1000);
|
||||
}
|
||||
while (dorun);
|
||||
|
||||
if (argc > 1)
|
||||
{
|
||||
dorun = 1;
|
||||
if( argc > 2)
|
||||
ctime = atoi(argv[2]);
|
||||
else
|
||||
ctime = 1000; // 1ms cycle time
|
||||
/* create RT thread */
|
||||
pthread_create( &thread1, NULL, (void *) &ecatthread, (void*) &ctime);
|
||||
memset(¶m, 0, sizeof(param));
|
||||
/* give it higher priority */
|
||||
param.sched_priority = 40;
|
||||
pthread_setschedparam(thread1, policy, ¶m);
|
||||
|
||||
/* start acyclic part */
|
||||
eboxtest(argv[1]);
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("Usage: ebox ifname [cycletime]\nifname = eth0 for example\ncycletime in us\n");
|
||||
}
|
||||
|
||||
schedp.sched_priority = 0;
|
||||
sched_setscheduler(0, SCHED_OTHER, &schedp);
|
||||
|
||||
printf("End program\n");
|
||||
|
||||
return (0);
|
||||
}
|
||||
@@ -0,0 +1,485 @@
|
||||
/** \file
|
||||
* \brief EEprom tool for Simple Open EtherCAT master
|
||||
*
|
||||
* Usage : eepromtool ifname slave OPTION fname|alias
|
||||
* ifname is NIC interface, f.e. eth0
|
||||
* slave = slave number in EtherCAT order 1..n
|
||||
* -r read EEPROM, output binary format
|
||||
* -ri read EEPROM, output Intel Hex format
|
||||
* -w write EEPROM, input binary format
|
||||
* -wi write EEPROM, input Intel Hex format
|
||||
* -i display EEPROM information
|
||||
* -walias write slave alias in EEPROM
|
||||
*
|
||||
* (c)Arthur Ketels 2010-2012
|
||||
*/
|
||||
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
|
||||
#include "ethercat.h"
|
||||
|
||||
#define MAXBUF 524288
|
||||
#define STDBUF 2048
|
||||
#define MINBUF 128
|
||||
#define CRCBUF 14
|
||||
|
||||
#define MODE_NONE 0
|
||||
#define MODE_READBIN 1
|
||||
#define MODE_READINTEL 2
|
||||
#define MODE_WRITEBIN 3
|
||||
#define MODE_WRITEINTEL 4
|
||||
#define MODE_WRITEALIAS 5
|
||||
#define MODE_INFO 6
|
||||
|
||||
#define MAXSLENGTH 256
|
||||
|
||||
uint8 ebuf[MAXBUF];
|
||||
uint8 ob;
|
||||
uint16 ow;
|
||||
int os;
|
||||
int slave;
|
||||
int alias;
|
||||
ec_timet tstart,tend, tdif;
|
||||
int wkc;
|
||||
int mode;
|
||||
char sline[MAXSLENGTH];
|
||||
|
||||
#define IHEXLENGTH 0x20
|
||||
|
||||
void calc_crc(uint8 *crc, uint8 b)
|
||||
{
|
||||
int j;
|
||||
*crc ^= b;
|
||||
for(j = 0; j <= 7 ; j++ )
|
||||
{
|
||||
if(*crc & 0x80)
|
||||
*crc = (*crc << 1) ^ 0x07;
|
||||
else
|
||||
*crc = (*crc << 1);
|
||||
}
|
||||
}
|
||||
|
||||
uint16 SIIcrc(uint8 *buf)
|
||||
{
|
||||
int i;
|
||||
uint8 crc;
|
||||
|
||||
crc = 0xff;
|
||||
for( i = 0 ; i <= 13 ; i++ )
|
||||
{
|
||||
calc_crc(&crc , *(buf++));
|
||||
}
|
||||
return (uint16)crc;
|
||||
}
|
||||
|
||||
int input_bin(char *fname, int *length)
|
||||
{
|
||||
FILE *fp;
|
||||
|
||||
int cc = 0, c;
|
||||
|
||||
fp = fopen(fname, "rb");
|
||||
if(fp == NULL)
|
||||
return 0;
|
||||
while (((c = fgetc(fp)) != EOF) && (cc < MAXBUF))
|
||||
ebuf[cc++] = (uint8)c;
|
||||
*length = cc;
|
||||
fclose(fp);
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
int input_intelhex(char *fname, int *start, int *length)
|
||||
{
|
||||
FILE *fp;
|
||||
|
||||
int c, sc, retval = 1;
|
||||
int ll, ladr, lt, sn, i, lval;
|
||||
int hstart, hlength, sum;
|
||||
|
||||
fp = fopen(fname, "r");
|
||||
if(fp == NULL)
|
||||
return 0;
|
||||
hstart = MAXBUF;
|
||||
hlength = 0;
|
||||
sum = 0;
|
||||
do
|
||||
{
|
||||
memset(sline, 0x00, MAXSLENGTH);
|
||||
sc = 0;
|
||||
while (((c = fgetc(fp)) != EOF) && (c != 0x0A) && (sc < (MAXSLENGTH -1)))
|
||||
sline[sc++] = (uint8)c;
|
||||
if ((c != EOF) && ((sc < 11) || (sline[0] != ':')))
|
||||
{
|
||||
c = EOF;
|
||||
retval = 0;
|
||||
printf("Invalid Intel Hex format.\n");
|
||||
}
|
||||
if (c != EOF)
|
||||
{
|
||||
sn = sscanf(sline , ":%2x%4x%2x", &ll, &ladr, <);
|
||||
if ((sn == 3) && ((ladr + ll) <= MAXBUF) && (lt == 0))
|
||||
{
|
||||
sum = ll + (ladr >> 8) + (ladr & 0xff) + lt;
|
||||
if(ladr < hstart) hstart = ladr;
|
||||
for(i = 0; i < ll ; i++)
|
||||
{
|
||||
sn = sscanf(&sline[9 + (i << 1)], "%2x", &lval);
|
||||
ebuf[ladr + i] = (uint8)lval;
|
||||
sum += (uint8)lval;
|
||||
}
|
||||
if(((ladr + ll) - hstart) > hlength)
|
||||
hlength = (ladr + ll) - hstart;
|
||||
sum = (0x100 - sum) & 0xff;
|
||||
sn = sscanf(&sline[9 + (i << 1)], "%2x", &lval);
|
||||
if (!sn || ((sum - lval) != 0))
|
||||
{
|
||||
c = EOF;
|
||||
retval = 0;
|
||||
printf("Invalid checksum.\n");
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
while (c != EOF);
|
||||
if (retval)
|
||||
{
|
||||
*length = hlength;
|
||||
*start = hstart;
|
||||
}
|
||||
fclose(fp);
|
||||
|
||||
return retval;
|
||||
}
|
||||
|
||||
int output_bin(char *fname, int length)
|
||||
{
|
||||
FILE *fp;
|
||||
|
||||
int cc;
|
||||
|
||||
fp = fopen(fname, "wb");
|
||||
if(fp == NULL)
|
||||
return 0;
|
||||
for (cc = 0 ; cc < length ; cc++)
|
||||
fputc( ebuf[cc], fp);
|
||||
fclose(fp);
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
int output_intelhex(char *fname, int length)
|
||||
{
|
||||
FILE *fp;
|
||||
|
||||
int cc = 0, ll, sum, i;
|
||||
|
||||
fp = fopen(fname, "w");
|
||||
if(fp == NULL)
|
||||
return 0;
|
||||
while (cc < length)
|
||||
{
|
||||
ll = length - cc;
|
||||
if (ll > IHEXLENGTH) ll = IHEXLENGTH;
|
||||
sum = ll + (cc >> 8) + (cc & 0xff);
|
||||
fprintf(fp, ":%2.2X%4.4X00", ll, cc);
|
||||
for (i = 0; i < ll; i++)
|
||||
{
|
||||
fprintf(fp, "%2.2X", ebuf[cc + i]);
|
||||
sum += ebuf[cc + i];
|
||||
}
|
||||
fprintf(fp, "%2.2X\n", (0x100 - sum) & 0xff);
|
||||
cc += ll;
|
||||
}
|
||||
fprintf(fp, ":00000001FF\n");
|
||||
fclose(fp);
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
int eeprom_read(int slave, int start, int length)
|
||||
{
|
||||
int i, ainc = 4;
|
||||
uint16 estat, aiadr;
|
||||
uint32 b4;
|
||||
uint64 b8;
|
||||
uint8 eepctl;
|
||||
|
||||
if((ec_slavecount >= slave) && (slave > 0) && ((start + length) <= MAXBUF))
|
||||
{
|
||||
aiadr = 1 - slave;
|
||||
eepctl = 2;
|
||||
ec_APWR(aiadr, ECT_REG_EEPCFG, sizeof(eepctl), &eepctl , EC_TIMEOUTRET); /* force Eeprom from PDI */
|
||||
eepctl = 0;
|
||||
ec_APWR(aiadr, ECT_REG_EEPCFG, sizeof(eepctl), &eepctl , EC_TIMEOUTRET); /* set Eeprom to master */
|
||||
|
||||
estat = 0x0000;
|
||||
aiadr = 1 - slave;
|
||||
ec_APRD(aiadr, ECT_REG_EEPSTAT, sizeof(estat), &estat, EC_TIMEOUTRET); /* read eeprom status */
|
||||
estat = etohs(estat);
|
||||
if (estat & EC_ESTAT_R64)
|
||||
{
|
||||
ainc = 8;
|
||||
for (i = start ; i < (start + length) ; i+=ainc)
|
||||
{
|
||||
b8 = ec_readeepromAP(aiadr, i >> 1 , EC_TIMEOUTEEP);
|
||||
ebuf[i] = b8 & 0xFF;
|
||||
ebuf[i+1] = (b8 >> 8) & 0xFF;
|
||||
ebuf[i+2] = (b8 >> 16) & 0xFF;
|
||||
ebuf[i+3] = (b8 >> 24) & 0xFF;
|
||||
ebuf[i+4] = (b8 >> 32) & 0xFF;
|
||||
ebuf[i+5] = (b8 >> 40) & 0xFF;
|
||||
ebuf[i+6] = (b8 >> 48) & 0xFF;
|
||||
ebuf[i+7] = (b8 >> 56) & 0xFF;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
for (i = start ; i < (start + length) ; i+=ainc)
|
||||
{
|
||||
b4 = ec_readeepromAP(aiadr, i >> 1 , EC_TIMEOUTEEP) & 0xFFFFFFFF;
|
||||
ebuf[i] = b4 & 0xFF;
|
||||
ebuf[i+1] = (b4 >> 8) & 0xFF;
|
||||
ebuf[i+2] = (b4 >> 16) & 0xFF;
|
||||
ebuf[i+3] = (b4 >> 24) & 0xFF;
|
||||
}
|
||||
}
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
int eeprom_write(int slave, int start, int length)
|
||||
{
|
||||
int i, dc = 0;
|
||||
uint16 aiadr, *wbuf;
|
||||
uint8 eepctl;
|
||||
|
||||
if((ec_slavecount >= slave) && (slave > 0) && ((start + length) <= MAXBUF))
|
||||
{
|
||||
aiadr = 1 - slave;
|
||||
eepctl = 2;
|
||||
ec_APWR(aiadr, ECT_REG_EEPCFG, sizeof(eepctl), &eepctl , EC_TIMEOUTRET); /* force Eeprom from PDI */
|
||||
eepctl = 0;
|
||||
ec_APWR(aiadr, ECT_REG_EEPCFG, sizeof(eepctl), &eepctl , EC_TIMEOUTRET); /* set Eeprom to master */
|
||||
|
||||
aiadr = 1 - slave;
|
||||
wbuf = (uint16 *)&ebuf[0];
|
||||
for (i = start ; i < (start + length) ; i+=2)
|
||||
{
|
||||
ec_writeeepromAP(aiadr, i >> 1 , *(wbuf + (i >> 1)), EC_TIMEOUTEEP);
|
||||
if (++dc >= 100)
|
||||
{
|
||||
dc = 0;
|
||||
printf(".");
|
||||
fflush(stdout);
|
||||
}
|
||||
}
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
int eeprom_writealias(int slave, int alias, uint16 crc)
|
||||
{
|
||||
uint16 aiadr;
|
||||
uint8 eepctl;
|
||||
int ret;
|
||||
|
||||
if((ec_slavecount >= slave) && (slave > 0) && (alias <= 0xffff))
|
||||
{
|
||||
aiadr = 1 - slave;
|
||||
eepctl = 2;
|
||||
ec_APWR(aiadr, ECT_REG_EEPCFG, sizeof(eepctl), &eepctl , EC_TIMEOUTRET); /* force Eeprom from PDI */
|
||||
eepctl = 0;
|
||||
ec_APWR(aiadr, ECT_REG_EEPCFG, sizeof(eepctl), &eepctl , EC_TIMEOUTRET); /* set Eeprom to master */
|
||||
|
||||
ret = ec_writeeepromAP(aiadr, 0x04 , alias, EC_TIMEOUTEEP);
|
||||
if (ret)
|
||||
ret = ec_writeeepromAP(aiadr, 0x07 , crc, EC_TIMEOUTEEP);
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
void eepromtool(char *ifname, int slave, int mode, char *fname)
|
||||
{
|
||||
int w, rc = 0, estart, esize;
|
||||
uint16 *wbuf;
|
||||
|
||||
/* initialise SOEM, bind socket to ifname */
|
||||
if (ec_init(ifname))
|
||||
{
|
||||
printf("ec_init on %s succeeded.\n",ifname);
|
||||
|
||||
w = 0x0000;
|
||||
wkc = ec_BRD(0x0000, ECT_REG_TYPE, sizeof(w), &w, EC_TIMEOUTSAFE); /* detect number of slaves */
|
||||
if (wkc > 0)
|
||||
{
|
||||
ec_slavecount = wkc;
|
||||
|
||||
printf("%d slaves found.\n",ec_slavecount);
|
||||
if((ec_slavecount >= slave) && (slave > 0))
|
||||
{
|
||||
if ((mode == MODE_INFO) || (mode == MODE_READBIN) || (mode == MODE_READINTEL))
|
||||
{
|
||||
tstart = osal_current_time();
|
||||
eeprom_read(slave, 0x0000, MINBUF); // read first 128 bytes
|
||||
|
||||
wbuf = (uint16 *)&ebuf[0];
|
||||
printf("Slave %d data\n", slave);
|
||||
printf(" PDI Control : %4.4X\n",*(wbuf + 0x00));
|
||||
printf(" PDI Config : %4.4X\n",*(wbuf + 0x01));
|
||||
printf(" Config Alias : %4.4X\n",*(wbuf + 0x04));
|
||||
printf(" Checksum : %4.4X\n",*(wbuf + 0x07));
|
||||
printf(" calculated : %4.4X\n",SIIcrc(&ebuf[0]));
|
||||
printf(" Vendor ID : %8.8X\n",*(uint32 *)(wbuf + 0x08));
|
||||
printf(" Product Code : %8.8X\n",*(uint32 *)(wbuf + 0x0A));
|
||||
printf(" Revision Number : %8.8X\n",*(uint32 *)(wbuf + 0x0C));
|
||||
printf(" Serial Number : %8.8X\n",*(uint32 *)(wbuf + 0x0E));
|
||||
printf(" Mailbox Protocol : %4.4X\n",*(wbuf + 0x1C));
|
||||
esize = (*(wbuf + 0x3E) + 1) * 128;
|
||||
if (esize > MAXBUF) esize = MAXBUF;
|
||||
printf(" Size : %4.4X = %d bytes\n",*(wbuf + 0x3E), esize);
|
||||
printf(" Version : %4.4X\n",*(wbuf + 0x3F));
|
||||
}
|
||||
if ((mode == MODE_READBIN) || (mode == MODE_READINTEL))
|
||||
{
|
||||
if (esize > MINBUF)
|
||||
eeprom_read(slave, MINBUF, esize - MINBUF); // read reminder
|
||||
|
||||
tend = osal_current_time();
|
||||
osal_time_diff(&tstart, &tend, &tdif);
|
||||
if (mode == MODE_READINTEL) output_intelhex(fname, esize);
|
||||
if (mode == MODE_READBIN) output_bin(fname, esize);
|
||||
|
||||
printf("\nTotal EEPROM read time :%ldms\n", (tdif.usec+(tdif.sec*1000000L)) / 1000);
|
||||
}
|
||||
if ((mode == MODE_WRITEBIN) || (mode == MODE_WRITEINTEL))
|
||||
{
|
||||
estart = 0;
|
||||
if (mode == MODE_WRITEINTEL) rc = input_intelhex(fname, &estart, &esize);
|
||||
if (mode == MODE_WRITEBIN) rc = input_bin(fname, &esize);
|
||||
|
||||
if (rc > 0)
|
||||
{
|
||||
wbuf = (uint16 *)&ebuf[0];
|
||||
printf("Slave %d\n", slave);
|
||||
printf(" Vendor ID : %8.8X\n",*(uint32 *)(wbuf + 0x08));
|
||||
printf(" Product Code : %8.8X\n",*(uint32 *)(wbuf + 0x0A));
|
||||
printf(" Revision Number : %8.8X\n",*(uint32 *)(wbuf + 0x0C));
|
||||
printf(" Serial Number : %8.8X\n",*(uint32 *)(wbuf + 0x0E));
|
||||
|
||||
printf("Busy");
|
||||
fflush(stdout);
|
||||
tstart = osal_current_time();
|
||||
eeprom_write(slave, estart, esize);
|
||||
tend = osal_current_time();
|
||||
osal_time_diff(&tstart, &tend, &tdif);
|
||||
|
||||
printf("\nTotal EEPROM write time :%ldms\n", (tdif.usec+(tdif.sec*1000000L)) / 1000);
|
||||
}
|
||||
else
|
||||
printf("Error reading file, abort.\n");
|
||||
}
|
||||
if (mode == MODE_WRITEALIAS)
|
||||
{
|
||||
if( eeprom_read(slave, 0x0000, CRCBUF) ) // read first 14 bytes
|
||||
{
|
||||
wbuf = (uint16 *)&ebuf[0];
|
||||
*(wbuf + 0x04) = alias;
|
||||
if(eeprom_writealias(slave, alias, SIIcrc(&ebuf[0])))
|
||||
{
|
||||
printf("Alias %4.4X written successfully to slave %d\n", alias, slave);
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("Alias not written\n");
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("Could not read slave EEPROM");
|
||||
}
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("Slave number outside range.\n");
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("No slaves found!\n");
|
||||
}
|
||||
printf("End, close socket\n");
|
||||
/* stop SOEM, close socket */
|
||||
ec_close();
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("No socket connection on %s\nExcecute as root\n",ifname);
|
||||
}
|
||||
}
|
||||
|
||||
int main(int argc, char *argv[])
|
||||
{
|
||||
printf("SOEM (Simple Open EtherCAT Master)\nEEPROM tool\n");
|
||||
|
||||
mode = MODE_NONE;
|
||||
if (argc > 3)
|
||||
{
|
||||
slave = atoi(argv[2]);
|
||||
if ((strncmp(argv[3], "-i", sizeof("-i")) == 0)) mode = MODE_INFO;
|
||||
if (argc > 4)
|
||||
{
|
||||
if ((strncmp(argv[3], "-r", sizeof("-r")) == 0)) mode = MODE_READBIN;
|
||||
if ((strncmp(argv[3], "-ri", sizeof("-ri")) == 0)) mode = MODE_READINTEL;
|
||||
if ((strncmp(argv[3], "-w", sizeof("-w")) == 0)) mode = MODE_WRITEBIN;
|
||||
if ((strncmp(argv[3], "-wi", sizeof("-wi")) == 0)) mode = MODE_WRITEINTEL;
|
||||
if ((strncmp(argv[3], "-walias", sizeof("-walias")) == 0))
|
||||
{
|
||||
mode = MODE_WRITEALIAS;
|
||||
alias = atoi(argv[4]);
|
||||
}
|
||||
}
|
||||
/* start tool */
|
||||
eepromtool(argv[1],slave,mode,argv[4]);
|
||||
}
|
||||
else
|
||||
{
|
||||
ec_adaptert * adapter = NULL;
|
||||
ec_adaptert * head = NULL;
|
||||
|
||||
printf("Usage: eepromtool ifname slave OPTION fname|alias\n");
|
||||
printf("ifname = eth0 for example\n");
|
||||
printf("slave = slave number in EtherCAT order 1..n\n");
|
||||
printf(" -i display EEPROM information\n");
|
||||
printf(" -walias write slave alias\n");
|
||||
printf(" -r read EEPROM, output binary format\n");
|
||||
printf(" -ri read EEPROM, output Intel Hex format\n");
|
||||
printf(" -w write EEPROM, input binary format\n");
|
||||
printf(" -wi write EEPROM, input Intel Hex format\n");
|
||||
|
||||
printf ("\nAvailable adapters:\n");
|
||||
head = adapter = ec_find_adapters ();
|
||||
while (adapter != NULL)
|
||||
{
|
||||
printf (" - %s (%s)\n", adapter->name, adapter->desc);
|
||||
adapter = adapter->next;
|
||||
}
|
||||
ec_free_adapters(head);
|
||||
}
|
||||
|
||||
printf("End program\n");
|
||||
|
||||
return (0);
|
||||
}
|
||||
@@ -0,0 +1,419 @@
|
||||
/** \file
|
||||
* \brief Example code for Simple Open EtherCAT master EoE
|
||||
*
|
||||
* This example will run the follwing EoE functions
|
||||
* SetIP
|
||||
* GetIP
|
||||
*
|
||||
* Loop
|
||||
* Send fragment data (Layer 2 0x88A4)
|
||||
* Receive fragment data (Layer 2 0x88A4)
|
||||
*
|
||||
* For this to work, a special slave test code is running that
|
||||
* will bounce the sent 0x88A4 back to receive.
|
||||
*
|
||||
* Usage : eoe_test [ifname1]
|
||||
* ifname is NIC interface, f.e. eth0
|
||||
*
|
||||
* This is a minimal test.
|
||||
*
|
||||
* (c)Arthur Ketels 2010 - 2011
|
||||
*/
|
||||
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include <inttypes.h>
|
||||
|
||||
#include "ethercat.h"
|
||||
|
||||
#define EC_TIMEOUTMON 500
|
||||
|
||||
char IOmap[4096];
|
||||
|
||||
int expectedWKC;
|
||||
boolean needlf;
|
||||
volatile int globalwkc;
|
||||
boolean inOP;
|
||||
uint8 currentgroup = 0;
|
||||
OSAL_THREAD_HANDLE thread1;
|
||||
OSAL_THREAD_HANDLE thread2;
|
||||
uint8 txbuf[1024];
|
||||
|
||||
/** Current RX fragment number */
|
||||
uint8_t rxfragmentno = 0;
|
||||
/** Complete RX frame size of current frame */
|
||||
uint16_t rxframesize = 0;
|
||||
/** Current RX data offset in frame */
|
||||
uint16_t rxframeoffset = 0;
|
||||
/** Current RX frame number */
|
||||
uint16_t rxframeno = 0;
|
||||
uint8 rxbuf[1024];
|
||||
int size_of_rx = sizeof(rxbuf);
|
||||
|
||||
/** registered EoE hook */
|
||||
int eoe_hook(ecx_contextt * context, uint16 slave, void * eoembx)
|
||||
{
|
||||
int wkc;
|
||||
/* Pass received Mbx data to EoE recevive fragment function that
|
||||
* that will start/continue fill an Ethernet frame buffer
|
||||
*/
|
||||
size_of_rx = sizeof(rxbuf);
|
||||
wkc = ecx_EOEreadfragment(eoembx,
|
||||
&rxfragmentno,
|
||||
&rxframesize,
|
||||
&rxframeoffset,
|
||||
&rxframeno,
|
||||
&size_of_rx,
|
||||
rxbuf);
|
||||
|
||||
printf("Read frameno %d, fragmentno %d\n", rxframeno, rxfragmentno);
|
||||
|
||||
/* wkc == 1 would mean a frame is complete , last fragment flag have been set and all
|
||||
* other checks must have past
|
||||
*/
|
||||
if (wkc > 0)
|
||||
{
|
||||
ec_etherheadert *bp = (ec_etherheadert *)rxbuf;
|
||||
uint16 type = ntohs(bp->etype);
|
||||
printf("Frameno %d, type 0x%x complete\n", rxframeno, type);
|
||||
if (type == ETH_P_ECAT)
|
||||
{
|
||||
/* Sanity check that received buffer still is OK */
|
||||
if (sizeof(txbuf) != size_of_rx)
|
||||
{
|
||||
printf("Size differs, expected %d , received %d\n", sizeof(txbuf), size_of_rx);
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("Size OK, expected %d , received %d\n", sizeof(txbuf), size_of_rx);
|
||||
}
|
||||
/* Check that the TX and RX frames are EQ */
|
||||
if (memcmp(rxbuf, txbuf, size_of_rx))
|
||||
{
|
||||
printf("memcmp result != 0\n");
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("memcmp result == 0\n");
|
||||
}
|
||||
/* Send a new frame */
|
||||
int ixme;
|
||||
for (ixme = ETH_HEADERSIZE; ixme < sizeof(txbuf); ixme++)
|
||||
{
|
||||
txbuf[ixme] = (uint8)rand();
|
||||
}
|
||||
printf("Send a new frame\n");
|
||||
ecx_EOEsend(context, 1, 0, sizeof(txbuf), txbuf, EC_TIMEOUTRXM);
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("Skip type 0x%x\n", type);
|
||||
}
|
||||
}
|
||||
/* No point in returning as unhandled */
|
||||
return 1;
|
||||
}
|
||||
|
||||
OSAL_THREAD_FUNC mailbox_reader(void *lpParam)
|
||||
{
|
||||
ecx_contextt *context = (ecx_contextt *)lpParam;
|
||||
int wkc;
|
||||
ec_mbxbuft MbxIn;
|
||||
ec_mbxheadert * MbxHdr = (ec_mbxheadert *)MbxIn;
|
||||
|
||||
int ixme;
|
||||
ec_setupheader(&txbuf);
|
||||
for (ixme = ETH_HEADERSIZE; ixme < sizeof(txbuf); ixme++)
|
||||
{
|
||||
txbuf[ixme] = (uint8)rand();
|
||||
}
|
||||
/* Send a made up frame to trigger a fragmented transfer
|
||||
* Used with a special bound impelmentaion of SOES. Will
|
||||
* trigger a fragmented transfer back of the same frame.
|
||||
*/
|
||||
ecx_EOEsend(context, 1, 0, sizeof(txbuf), txbuf, EC_TIMEOUTRXM);
|
||||
|
||||
for (;;)
|
||||
{
|
||||
/* Read mailbox if no other mailbox conversation is ongoing eg. SDOwrite/SDOwrite etc.*/
|
||||
wkc = ecx_mbxreceive(context, 1, (ec_mbxbuft *)&MbxIn, 0);
|
||||
if (wkc > 0)
|
||||
{
|
||||
printf("Unhandled mailbox response 0x%x\n", MbxHdr->mbxtype);
|
||||
}
|
||||
osal_usleep(1 * 1000 * 1000);
|
||||
}
|
||||
}
|
||||
|
||||
void test_eoe(ecx_contextt * context)
|
||||
{
|
||||
/* Set the HOOK */
|
||||
ecx_EOEdefinehook(context, eoe_hook);
|
||||
|
||||
eoe_param_t ipsettings, re_ipsettings;
|
||||
memset(&ipsettings, 0, sizeof(ipsettings));
|
||||
memset(&re_ipsettings, 0, sizeof(re_ipsettings));
|
||||
|
||||
ipsettings.ip_set = 1;
|
||||
ipsettings.subnet_set = 1;
|
||||
ipsettings.default_gateway_set = 1;
|
||||
|
||||
EOE_IP4_ADDR_TO_U32(&ipsettings.ip, 192, 168, 9, 200);
|
||||
EOE_IP4_ADDR_TO_U32(&ipsettings.subnet, 255, 255, 255, 0);
|
||||
EOE_IP4_ADDR_TO_U32(&ipsettings.default_gateway, 0, 0, 0, 0);
|
||||
|
||||
/* Send a set IP request */
|
||||
ecx_EOEsetIp(context, 1, 0, &ipsettings, EC_TIMEOUTRXM);
|
||||
|
||||
/* Send a get IP request, should return the expected IP back */
|
||||
ecx_EOEgetIp(context, 1, 0, &re_ipsettings, EC_TIMEOUTRXM);
|
||||
|
||||
/* Trigger an MBX read request, to be replaced by slave Mbx
|
||||
* full notification via polling of FMMU status process data
|
||||
*/
|
||||
printf("recieved IP (%d.%d.%d.%d)\n",
|
||||
eoe_ip4_addr1(&re_ipsettings.ip),
|
||||
eoe_ip4_addr2(&re_ipsettings.ip),
|
||||
eoe_ip4_addr3(&re_ipsettings.ip),
|
||||
eoe_ip4_addr4(&re_ipsettings.ip));
|
||||
printf("recieved subnet (%d.%d.%d.%d)\n",
|
||||
eoe_ip4_addr1(&re_ipsettings.subnet),
|
||||
eoe_ip4_addr2(&re_ipsettings.subnet),
|
||||
eoe_ip4_addr3(&re_ipsettings.subnet),
|
||||
eoe_ip4_addr4(&re_ipsettings.subnet));
|
||||
printf("recieved gateway (%d.%d.%d.%d)\n",
|
||||
eoe_ip4_addr1(&re_ipsettings.default_gateway),
|
||||
eoe_ip4_addr2(&re_ipsettings.default_gateway),
|
||||
eoe_ip4_addr3(&re_ipsettings.default_gateway),
|
||||
eoe_ip4_addr4(&re_ipsettings.default_gateway));
|
||||
|
||||
/* Create a asyncronous EoE reader */
|
||||
osal_thread_create(&thread2, 128000, &mailbox_reader, &ecx_context);
|
||||
}
|
||||
|
||||
void teststarter(char *ifname)
|
||||
{
|
||||
int i, oloop, iloop, chk;
|
||||
needlf = FALSE;
|
||||
inOP = FALSE;
|
||||
|
||||
printf("Starting eoe test\n");
|
||||
|
||||
/* initialise SOEM, bind socket to ifname */
|
||||
if (ec_init(ifname))
|
||||
{
|
||||
printf("ec_init on %s succeeded.\n",ifname);
|
||||
/* find and auto-config slaves */
|
||||
if ( ec_config_init(FALSE) > 0 )
|
||||
{
|
||||
printf("%d slaves found and configured.\n",ec_slavecount);
|
||||
|
||||
ec_config_map(&IOmap);
|
||||
|
||||
ec_configdc();
|
||||
|
||||
printf("Slaves mapped, state to SAFE_OP.\n");
|
||||
/* wait for all slaves to reach SAFE_OP state */
|
||||
ec_statecheck(0, EC_STATE_SAFE_OP, EC_TIMEOUTSTATE * 4);
|
||||
|
||||
oloop = ec_slave[0].Obytes;
|
||||
if ((oloop == 0) && (ec_slave[0].Obits > 0)) oloop = 1;
|
||||
if (oloop > 8) oloop = 8;
|
||||
iloop = ec_slave[0].Ibytes;
|
||||
if ((iloop == 0) && (ec_slave[0].Ibits > 0)) iloop = 1;
|
||||
if (iloop > 8) iloop = 8;
|
||||
|
||||
printf("segments : %d : %d %d %d %d\n",ec_group[0].nsegments ,ec_group[0].IOsegment[0],ec_group[0].IOsegment[1],ec_group[0].IOsegment[2],ec_group[0].IOsegment[3]);
|
||||
|
||||
printf("Request operational state for all slaves\n");
|
||||
expectedWKC = (ec_group[0].outputsWKC * 2) + ec_group[0].inputsWKC;
|
||||
printf("Calculated workcounter %d\n", expectedWKC);
|
||||
ec_slave[0].state = EC_STATE_OPERATIONAL;
|
||||
/* send one valid process data to make outputs in slaves happy*/
|
||||
ec_send_processdata();
|
||||
ec_receive_processdata(EC_TIMEOUTRET);
|
||||
|
||||
/* Simple EoE test */
|
||||
test_eoe(&ecx_context);
|
||||
|
||||
/* request OP state for all slaves */
|
||||
ec_writestate(0);
|
||||
chk = 200;
|
||||
/* wait for all slaves to reach OP state */
|
||||
do
|
||||
{
|
||||
ec_send_processdata();
|
||||
ec_receive_processdata(EC_TIMEOUTRET);
|
||||
ec_statecheck(0, EC_STATE_OPERATIONAL, 50000);
|
||||
}
|
||||
while (chk-- && (ec_slave[0].state != EC_STATE_OPERATIONAL));
|
||||
if (ec_slave[0].state == EC_STATE_OPERATIONAL )
|
||||
{
|
||||
printf("Operational state reached for all slaves.\n");
|
||||
globalwkc = expectedWKC;
|
||||
inOP = TRUE;
|
||||
/* cyclic loop */
|
||||
for(i = 1; i <= 10000; i++)
|
||||
{
|
||||
ec_send_processdata();
|
||||
globalwkc = ec_receive_processdata(EC_TIMEOUTRET * 5);
|
||||
#if PRINT_EOE_INFO_INSTEAD
|
||||
int j;
|
||||
if(globalwkc >= expectedWKC)
|
||||
{
|
||||
printf("Processdata cycle %4d, WKC %d , O:", i, globalwkc);
|
||||
for(j = 0 ; j < oloop; j++)
|
||||
{
|
||||
printf(" %2.2x", *(ec_slave[0].outputs + j));
|
||||
}
|
||||
printf(" I:");
|
||||
for(j = 0 ; j < iloop; j++)
|
||||
{
|
||||
printf(" %2.2x", *(ec_slave[0].inputs + j));
|
||||
}
|
||||
printf(" T:%"PRId64"\r",ec_DCtime);
|
||||
needlf = TRUE;
|
||||
}
|
||||
#endif
|
||||
osal_usleep(1000);
|
||||
}
|
||||
inOP = FALSE;
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("Not all slaves reached operational state.\n");
|
||||
ec_readstate();
|
||||
for(i = 1; i<=ec_slavecount ; i++)
|
||||
{
|
||||
if(ec_slave[i].state != EC_STATE_OPERATIONAL)
|
||||
{
|
||||
printf("Slave %d State=0x%2.2x StatusCode=0x%4.4x : %s\n",
|
||||
i, ec_slave[i].state, ec_slave[i].ALstatuscode, ec_ALstatuscode2string(ec_slave[i].ALstatuscode));
|
||||
}
|
||||
}
|
||||
}
|
||||
printf("\nRequest init state for all slaves\n");
|
||||
ec_slave[0].state = EC_STATE_INIT;
|
||||
/* request INIT state for all slaves */
|
||||
ec_writestate(0);
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("No slaves found!\n");
|
||||
}
|
||||
printf("End eoe test, close socket\n");
|
||||
/* stop SOEM, close socket */
|
||||
ec_close();
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("No socket connection on %s\nExcecute as root\n",ifname);
|
||||
}
|
||||
}
|
||||
|
||||
OSAL_THREAD_FUNC ecatcheck( void *ptr )
|
||||
{
|
||||
int slave;
|
||||
(void)ptr; /* Not used */
|
||||
|
||||
while(1)
|
||||
{
|
||||
if( inOP && ((globalwkc < expectedWKC) || ec_group[currentgroup].docheckstate))
|
||||
{
|
||||
if (globalwkc < expectedWKC)
|
||||
{
|
||||
printf("(wkc < expectedWKC) , globalwkc %d\n", globalwkc);
|
||||
}
|
||||
if (ec_group[currentgroup].docheckstate)
|
||||
{
|
||||
printf("(ec_group[currentgroup].docheckstate)\n");
|
||||
}
|
||||
|
||||
if (needlf)
|
||||
{
|
||||
needlf = FALSE;
|
||||
printf("\n");
|
||||
}
|
||||
/* one ore more slaves are not responding */
|
||||
ec_group[currentgroup].docheckstate = FALSE;
|
||||
ec_readstate();
|
||||
for (slave = 1; slave <= ec_slavecount; slave++)
|
||||
{
|
||||
if ((ec_slave[slave].group == currentgroup) && (ec_slave[slave].state != EC_STATE_OPERATIONAL))
|
||||
{
|
||||
ec_group[currentgroup].docheckstate = TRUE;
|
||||
if (ec_slave[slave].state == (EC_STATE_SAFE_OP + EC_STATE_ERROR))
|
||||
{
|
||||
printf("ERROR : slave %d is in SAFE_OP + ERROR, attempting ack.\n", slave);
|
||||
ec_slave[slave].state = (EC_STATE_SAFE_OP + EC_STATE_ACK);
|
||||
ec_writestate(slave);
|
||||
}
|
||||
else if(ec_slave[slave].state == EC_STATE_SAFE_OP)
|
||||
{
|
||||
printf("WARNING : slave %d is in SAFE_OP, change to OPERATIONAL.\n", slave);
|
||||
ec_slave[slave].state = EC_STATE_OPERATIONAL;
|
||||
ec_writestate(slave);
|
||||
}
|
||||
else if(ec_slave[slave].state > EC_STATE_NONE)
|
||||
{
|
||||
if (ec_reconfig_slave(slave, EC_TIMEOUTMON))
|
||||
{
|
||||
ec_slave[slave].islost = FALSE;
|
||||
printf("MESSAGE : slave %d reconfigured\n",slave);
|
||||
}
|
||||
}
|
||||
else if(!ec_slave[slave].islost)
|
||||
{
|
||||
/* re-check state */
|
||||
ec_statecheck(slave, EC_STATE_OPERATIONAL, EC_TIMEOUTRET);
|
||||
if (ec_slave[slave].state == EC_STATE_NONE)
|
||||
{
|
||||
ec_slave[slave].islost = TRUE;
|
||||
printf("ERROR : slave %d lost\n",slave);
|
||||
}
|
||||
}
|
||||
}
|
||||
if (ec_slave[slave].islost)
|
||||
{
|
||||
if(ec_slave[slave].state == EC_STATE_NONE)
|
||||
{
|
||||
if (ec_recover_slave(slave, EC_TIMEOUTMON))
|
||||
{
|
||||
ec_slave[slave].islost = FALSE;
|
||||
printf("MESSAGE : slave %d recovered\n",slave);
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
ec_slave[slave].islost = FALSE;
|
||||
printf("MESSAGE : slave %d found\n",slave);
|
||||
}
|
||||
}
|
||||
}
|
||||
if(!ec_group[currentgroup].docheckstate)
|
||||
printf("OK : all slaves resumed OPERATIONAL.\n");
|
||||
}
|
||||
osal_usleep(10000);
|
||||
}
|
||||
}
|
||||
|
||||
int main(int argc, char *argv[])
|
||||
{
|
||||
printf("SOEM (Simple Open EtherCAT Master)\nEoE test\n");
|
||||
|
||||
if (argc > 1)
|
||||
{
|
||||
/* create thread to handle slave error handling in OP */
|
||||
osal_thread_create(&thread1, 128000, &ecatcheck, NULL);
|
||||
|
||||
/* start cyclic part */
|
||||
teststarter(argv[1]);
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("Usage: eoe_test ifname1\nifname = eth0 for example\n");
|
||||
}
|
||||
|
||||
printf("End program\n");
|
||||
return (0);
|
||||
}
|
||||
@@ -0,0 +1,162 @@
|
||||
/** \file
|
||||
* \brief Example code for Simple Open EtherCAT master
|
||||
*
|
||||
* Usage: firm_update ifname1 slave fname
|
||||
* ifname is NIC interface, f.e. eth0
|
||||
* slave = slave number in EtherCAT order 1..n
|
||||
* fname = binary file to store in slave
|
||||
* CAUTION! Using the wrong file can result in a bricked slave!
|
||||
*
|
||||
* This is a slave firmware update test.
|
||||
*
|
||||
* (c)Arthur Ketels 2011
|
||||
*/
|
||||
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include <sys/time.h>
|
||||
#include <unistd.h>
|
||||
|
||||
#include "ethercat.h"
|
||||
|
||||
#define FWBUFSIZE (8 * 1024 * 1024)
|
||||
|
||||
uint8 ob;
|
||||
uint16 ow;
|
||||
uint32 data;
|
||||
char filename[256];
|
||||
char filebuffer[FWBUFSIZE]; // 8MB buffer
|
||||
int filesize;
|
||||
int j;
|
||||
uint16 argslave;
|
||||
|
||||
int input_bin(char *fname, int *length)
|
||||
{
|
||||
FILE *fp;
|
||||
|
||||
int cc = 0, c;
|
||||
|
||||
fp = fopen(fname, "rb");
|
||||
if(fp == NULL)
|
||||
return 0;
|
||||
while (((c = fgetc(fp)) != EOF) && (cc < FWBUFSIZE))
|
||||
filebuffer[cc++] = (uint8)c;
|
||||
*length = cc;
|
||||
fclose(fp);
|
||||
return 1;
|
||||
}
|
||||
|
||||
|
||||
void boottest(char *ifname, uint16 slave, char *filename)
|
||||
{
|
||||
printf("Starting firmware update example\n");
|
||||
|
||||
/* initialise SOEM, bind socket to ifname */
|
||||
if (ec_init(ifname))
|
||||
{
|
||||
printf("ec_init on %s succeeded.\n",ifname);
|
||||
/* find and auto-config slaves */
|
||||
|
||||
|
||||
if ( ec_config_init(FALSE) > 0 )
|
||||
{
|
||||
printf("%d slaves found and configured.\n",ec_slavecount);
|
||||
|
||||
/* wait for all slaves to reach PRE_OP state */
|
||||
ec_statecheck(0, EC_STATE_PRE_OP, EC_TIMEOUTSTATE * 4);
|
||||
|
||||
printf("Request init state for slave %d\n", slave);
|
||||
ec_slave[slave].state = EC_STATE_INIT;
|
||||
ec_writestate(slave);
|
||||
|
||||
/* wait for slave to reach INIT state */
|
||||
ec_statecheck(slave, EC_STATE_INIT, EC_TIMEOUTSTATE * 4);
|
||||
printf("Slave %d state to INIT.\n", slave);
|
||||
|
||||
/* read BOOT mailbox data, master -> slave */
|
||||
data = ec_readeeprom(slave, ECT_SII_BOOTRXMBX, EC_TIMEOUTEEP);
|
||||
ec_slave[slave].SM[0].StartAddr = (uint16)LO_WORD(data);
|
||||
ec_slave[slave].SM[0].SMlength = (uint16)HI_WORD(data);
|
||||
/* store boot write mailbox address */
|
||||
ec_slave[slave].mbx_wo = (uint16)LO_WORD(data);
|
||||
/* store boot write mailbox size */
|
||||
ec_slave[slave].mbx_l = (uint16)HI_WORD(data);
|
||||
|
||||
/* read BOOT mailbox data, slave -> master */
|
||||
data = ec_readeeprom(slave, ECT_SII_BOOTTXMBX, EC_TIMEOUTEEP);
|
||||
ec_slave[slave].SM[1].StartAddr = (uint16)LO_WORD(data);
|
||||
ec_slave[slave].SM[1].SMlength = (uint16)HI_WORD(data);
|
||||
/* store boot read mailbox address */
|
||||
ec_slave[slave].mbx_ro = (uint16)LO_WORD(data);
|
||||
/* store boot read mailbox size */
|
||||
ec_slave[slave].mbx_rl = (uint16)HI_WORD(data);
|
||||
|
||||
printf(" SM0 A:%4.4x L:%4d F:%8.8x\n", ec_slave[slave].SM[0].StartAddr, ec_slave[slave].SM[0].SMlength,
|
||||
(int)ec_slave[slave].SM[0].SMflags);
|
||||
printf(" SM1 A:%4.4x L:%4d F:%8.8x\n", ec_slave[slave].SM[1].StartAddr, ec_slave[slave].SM[1].SMlength,
|
||||
(int)ec_slave[slave].SM[1].SMflags);
|
||||
/* program SM0 mailbox in for slave */
|
||||
ec_FPWR (ec_slave[slave].configadr, ECT_REG_SM0, sizeof(ec_smt), &ec_slave[slave].SM[0], EC_TIMEOUTRET);
|
||||
/* program SM1 mailbox out for slave */
|
||||
ec_FPWR (ec_slave[slave].configadr, ECT_REG_SM1, sizeof(ec_smt), &ec_slave[slave].SM[1], EC_TIMEOUTRET);
|
||||
|
||||
printf("Request BOOT state for slave %d\n", slave);
|
||||
ec_slave[slave].state = EC_STATE_BOOT;
|
||||
ec_writestate(slave);
|
||||
|
||||
/* wait for slave to reach BOOT state */
|
||||
if (ec_statecheck(slave, EC_STATE_BOOT, EC_TIMEOUTSTATE * 10) == EC_STATE_BOOT)
|
||||
{
|
||||
printf("Slave %d state to BOOT.\n", slave);
|
||||
|
||||
if (input_bin(filename, &filesize))
|
||||
{
|
||||
printf("File read OK, %d bytes.\n",filesize);
|
||||
printf("FoE write....");
|
||||
j = ec_FOEwrite(slave, filename, 0, filesize , &filebuffer, EC_TIMEOUTSTATE);
|
||||
printf("result %d.\n",j);
|
||||
printf("Request init state for slave %d\n", slave);
|
||||
ec_slave[slave].state = EC_STATE_INIT;
|
||||
ec_writestate(slave);
|
||||
}
|
||||
else
|
||||
printf("File not read OK.\n");
|
||||
}
|
||||
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("No slaves found!\n");
|
||||
}
|
||||
printf("End firmware update example, close socket\n");
|
||||
/* stop SOEM, close socket */
|
||||
ec_close();
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("No socket connection on %s\nExcecute as root\n",ifname);
|
||||
}
|
||||
}
|
||||
|
||||
int main(int argc, char *argv[])
|
||||
{
|
||||
printf("SOEM (Simple Open EtherCAT Master)\nFirmware update example\n");
|
||||
|
||||
if (argc > 3)
|
||||
{
|
||||
argslave = atoi(argv[2]);
|
||||
boottest(argv[1], argslave, argv[3]);
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("Usage: firm_update ifname1 slave fname\n");
|
||||
printf("ifname = eth0 for example\n");
|
||||
printf("slave = slave number in EtherCAT order 1..n\n");
|
||||
printf("fname = binary file to store in slave\n");
|
||||
printf("CAUTION! Using the wrong file can result in a bricked slave!\n");
|
||||
}
|
||||
|
||||
printf("End program\n");
|
||||
return (0);
|
||||
}
|
||||
@@ -0,0 +1,341 @@
|
||||
/** \file
|
||||
* \brief Example code for Simple Open EtherCAT master
|
||||
*
|
||||
* Usage : red_test [ifname1] [ifname2] [cycletime]
|
||||
* ifname is NIC interface, f.e. eth0
|
||||
* cycletime in us, f.e. 500
|
||||
*
|
||||
* This is a redundancy test.
|
||||
*
|
||||
* (c)Arthur Ketels 2008
|
||||
*/
|
||||
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <sys/time.h>
|
||||
#include <unistd.h>
|
||||
#include <sched.h>
|
||||
#include <string.h>
|
||||
#include <sys/time.h>
|
||||
#include <time.h>
|
||||
#include <pthread.h>
|
||||
#include <math.h>
|
||||
#include <inttypes.h>
|
||||
|
||||
#include "ethercat.h"
|
||||
|
||||
#define NSEC_PER_SEC 1000000000
|
||||
#define EC_TIMEOUTMON 500
|
||||
|
||||
struct sched_param schedp;
|
||||
char IOmap[4096];
|
||||
pthread_t thread1, thread2;
|
||||
struct timeval tv, t1, t2;
|
||||
int dorun = 0;
|
||||
int deltat, tmax = 0;
|
||||
int64 toff, gl_delta;
|
||||
int DCdiff;
|
||||
int os;
|
||||
uint8 ob;
|
||||
uint16 ob2;
|
||||
uint8 *digout = 0;
|
||||
int expectedWKC;
|
||||
boolean needlf;
|
||||
volatile int wkc;
|
||||
boolean inOP;
|
||||
uint8 currentgroup = 0;
|
||||
|
||||
|
||||
void redtest(char *ifname, char *ifname2)
|
||||
{
|
||||
int cnt, i, j, oloop, iloop;
|
||||
|
||||
printf("Starting Redundant test\n");
|
||||
|
||||
/* initialise SOEM, bind socket to ifname */
|
||||
(void) ifname2;
|
||||
// if (ec_init_redundant(ifname, ifname2))
|
||||
if (ec_init(ifname))
|
||||
{
|
||||
printf("ec_init on %s succeeded.\n",ifname);
|
||||
/* find and auto-config slaves */
|
||||
if ( ec_config(FALSE, &IOmap) > 0 )
|
||||
{
|
||||
printf("%d slaves found and configured.\n",ec_slavecount);
|
||||
/* wait for all slaves to reach SAFE_OP state */
|
||||
ec_statecheck(0, EC_STATE_SAFE_OP, EC_TIMEOUTSTATE);
|
||||
|
||||
/* configure DC options for every DC capable slave found in the list */
|
||||
ec_configdc();
|
||||
|
||||
/* read indevidual slave state and store in ec_slave[] */
|
||||
ec_readstate();
|
||||
for(cnt = 1; cnt <= ec_slavecount ; cnt++)
|
||||
{
|
||||
printf("Slave:%d Name:%s Output size:%3dbits Input size:%3dbits State:%2d delay:%d.%d\n",
|
||||
cnt, ec_slave[cnt].name, ec_slave[cnt].Obits, ec_slave[cnt].Ibits,
|
||||
ec_slave[cnt].state, (int)ec_slave[cnt].pdelay, ec_slave[cnt].hasdc);
|
||||
printf(" Out:%p,%4d In:%p,%4d\n",
|
||||
ec_slave[cnt].outputs, ec_slave[cnt].Obytes, ec_slave[cnt].inputs, ec_slave[cnt].Ibytes);
|
||||
/* check for EL2004 or EL2008 */
|
||||
if( !digout && ((ec_slave[cnt].eep_id == 0x0af83052) || (ec_slave[cnt].eep_id == 0x07d83052)))
|
||||
{
|
||||
digout = ec_slave[cnt].outputs;
|
||||
}
|
||||
}
|
||||
expectedWKC = (ec_group[0].outputsWKC * 2) + ec_group[0].inputsWKC;
|
||||
printf("Calculated workcounter %d\n", expectedWKC);
|
||||
|
||||
printf("Request operational state for all slaves\n");
|
||||
ec_slave[0].state = EC_STATE_OPERATIONAL;
|
||||
/* request OP state for all slaves */
|
||||
ec_writestate(0);
|
||||
/* activate cyclic process data */
|
||||
dorun = 1;
|
||||
/* wait for all slaves to reach OP state */
|
||||
ec_statecheck(0, EC_STATE_OPERATIONAL, 5 * EC_TIMEOUTSTATE);
|
||||
oloop = ec_slave[0].Obytes;
|
||||
if ((oloop == 0) && (ec_slave[0].Obits > 0)) oloop = 1;
|
||||
if (oloop > 8) oloop = 8;
|
||||
iloop = ec_slave[0].Ibytes;
|
||||
if ((iloop == 0) && (ec_slave[0].Ibits > 0)) iloop = 1;
|
||||
if (iloop > 8) iloop = 8;
|
||||
if (ec_slave[0].state == EC_STATE_OPERATIONAL )
|
||||
{
|
||||
printf("Operational state reached for all slaves.\n");
|
||||
inOP = TRUE;
|
||||
/* acyclic loop 5000 x 20ms = 10s */
|
||||
for(i = 1; i <= 5000; i++)
|
||||
{
|
||||
printf("Processdata cycle %5d , Wck %3d, DCtime %12"PRId64", dt %12"PRId64", O:",
|
||||
dorun, wkc , ec_DCtime, gl_delta);
|
||||
for(j = 0 ; j < oloop; j++)
|
||||
{
|
||||
printf(" %2.2x", *(ec_slave[0].outputs + j));
|
||||
}
|
||||
printf(" I:");
|
||||
for(j = 0 ; j < iloop; j++)
|
||||
{
|
||||
printf(" %2.2x", *(ec_slave[0].inputs + j));
|
||||
}
|
||||
printf("\r");
|
||||
fflush(stdout);
|
||||
osal_usleep(20000);
|
||||
}
|
||||
dorun = 0;
|
||||
inOP = FALSE;
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("Not all slaves reached operational state.\n");
|
||||
ec_readstate();
|
||||
for(i = 1; i<=ec_slavecount ; i++)
|
||||
{
|
||||
if(ec_slave[i].state != EC_STATE_OPERATIONAL)
|
||||
{
|
||||
printf("Slave %d State=0x%2.2x StatusCode=0x%4.4x : %s\n",
|
||||
i, ec_slave[i].state, ec_slave[i].ALstatuscode, ec_ALstatuscode2string(ec_slave[i].ALstatuscode));
|
||||
}
|
||||
}
|
||||
}
|
||||
printf("Request safe operational state for all slaves\n");
|
||||
ec_slave[0].state = EC_STATE_SAFE_OP;
|
||||
/* request SAFE_OP state for all slaves */
|
||||
ec_writestate(0);
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("No slaves found!\n");
|
||||
}
|
||||
printf("End redundant test, close socket\n");
|
||||
/* stop SOEM, close socket */
|
||||
ec_close();
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("No socket connection on %s\nExcecute as root\n",ifname);
|
||||
}
|
||||
}
|
||||
|
||||
/* add ns to timespec */
|
||||
void add_timespec(struct timespec *ts, int64 addtime)
|
||||
{
|
||||
int64 sec, nsec;
|
||||
|
||||
nsec = addtime % NSEC_PER_SEC;
|
||||
sec = (addtime - nsec) / NSEC_PER_SEC;
|
||||
ts->tv_sec += sec;
|
||||
ts->tv_nsec += nsec;
|
||||
if ( ts->tv_nsec >= NSEC_PER_SEC )
|
||||
{
|
||||
nsec = ts->tv_nsec % NSEC_PER_SEC;
|
||||
ts->tv_sec += (ts->tv_nsec - nsec) / NSEC_PER_SEC;
|
||||
ts->tv_nsec = nsec;
|
||||
}
|
||||
}
|
||||
|
||||
/* PI calculation to get linux time synced to DC time */
|
||||
void ec_sync(int64 reftime, int64 cycletime , int64 *offsettime)
|
||||
{
|
||||
static int64 integral = 0;
|
||||
int64 delta;
|
||||
/* set linux sync point 50us later than DC sync, just as example */
|
||||
delta = (reftime - 50000) % cycletime;
|
||||
if(delta> (cycletime / 2)) { delta= delta - cycletime; }
|
||||
if(delta>0){ integral++; }
|
||||
if(delta<0){ integral--; }
|
||||
*offsettime = -(delta / 100) - (integral / 20);
|
||||
gl_delta = delta;
|
||||
}
|
||||
|
||||
/* RT EtherCAT thread */
|
||||
OSAL_THREAD_FUNC_RT ecatthread(void *ptr)
|
||||
{
|
||||
struct timespec ts, tleft;
|
||||
int ht;
|
||||
int64 cycletime;
|
||||
|
||||
clock_gettime(CLOCK_MONOTONIC, &ts);
|
||||
ht = (ts.tv_nsec / 1000000) + 1; /* round to nearest ms */
|
||||
ts.tv_nsec = ht * 1000000;
|
||||
if (ts.tv_nsec >= NSEC_PER_SEC) {
|
||||
ts.tv_sec++;
|
||||
ts.tv_nsec -= NSEC_PER_SEC;
|
||||
}
|
||||
cycletime = *(int*)ptr * 1000; /* cycletime in ns */
|
||||
toff = 0;
|
||||
dorun = 0;
|
||||
ec_send_processdata();
|
||||
while(1)
|
||||
{
|
||||
/* calculate next cycle start */
|
||||
add_timespec(&ts, cycletime + toff);
|
||||
/* wait to cycle start */
|
||||
clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &ts, &tleft);
|
||||
if (dorun>0)
|
||||
{
|
||||
wkc = ec_receive_processdata(EC_TIMEOUTRET);
|
||||
|
||||
dorun++;
|
||||
/* if we have some digital output, cycle */
|
||||
if( digout ) *digout = (uint8) ((dorun / 16) & 0xff);
|
||||
|
||||
if (ec_slave[0].hasdc)
|
||||
{
|
||||
/* calulate toff to get linux time and DC synced */
|
||||
ec_sync(ec_DCtime, cycletime, &toff);
|
||||
}
|
||||
ec_send_processdata();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
OSAL_THREAD_FUNC ecatcheck( void *ptr )
|
||||
{
|
||||
int slave;
|
||||
|
||||
(void) ptr;
|
||||
|
||||
while(1)
|
||||
{
|
||||
if( inOP && ((wkc < expectedWKC) || ec_group[currentgroup].docheckstate))
|
||||
{
|
||||
if (needlf)
|
||||
{
|
||||
needlf = FALSE;
|
||||
printf("\n");
|
||||
}
|
||||
/* one ore more slaves are not responding */
|
||||
ec_group[currentgroup].docheckstate = FALSE;
|
||||
ec_readstate();
|
||||
for (slave = 1; slave <= ec_slavecount; slave++)
|
||||
{
|
||||
if ((ec_slave[slave].group == currentgroup) && (ec_slave[slave].state != EC_STATE_OPERATIONAL))
|
||||
{
|
||||
ec_group[currentgroup].docheckstate = TRUE;
|
||||
if (ec_slave[slave].state == (EC_STATE_SAFE_OP + EC_STATE_ERROR))
|
||||
{
|
||||
printf("ERROR : slave %d is in SAFE_OP + ERROR, attempting ack.\n", slave);
|
||||
ec_slave[slave].state = (EC_STATE_SAFE_OP + EC_STATE_ACK);
|
||||
ec_writestate(slave);
|
||||
}
|
||||
else if(ec_slave[slave].state == EC_STATE_SAFE_OP)
|
||||
{
|
||||
printf("WARNING : slave %d is in SAFE_OP, change to OPERATIONAL.\n", slave);
|
||||
ec_slave[slave].state = EC_STATE_OPERATIONAL;
|
||||
ec_writestate(slave);
|
||||
}
|
||||
else if(ec_slave[slave].state > EC_STATE_NONE)
|
||||
{
|
||||
if (ec_reconfig_slave(slave, EC_TIMEOUTMON))
|
||||
{
|
||||
ec_slave[slave].islost = FALSE;
|
||||
printf("MESSAGE : slave %d reconfigured\n",slave);
|
||||
}
|
||||
}
|
||||
else if(!ec_slave[slave].islost)
|
||||
{
|
||||
/* re-check state */
|
||||
ec_statecheck(slave, EC_STATE_OPERATIONAL, EC_TIMEOUTRET);
|
||||
if (ec_slave[slave].state == EC_STATE_NONE)
|
||||
{
|
||||
ec_slave[slave].islost = TRUE;
|
||||
printf("ERROR : slave %d lost\n",slave);
|
||||
}
|
||||
}
|
||||
}
|
||||
if (ec_slave[slave].islost)
|
||||
{
|
||||
if(ec_slave[slave].state == EC_STATE_NONE)
|
||||
{
|
||||
if (ec_recover_slave(slave, EC_TIMEOUTMON))
|
||||
{
|
||||
ec_slave[slave].islost = FALSE;
|
||||
printf("MESSAGE : slave %d recovered\n",slave);
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
ec_slave[slave].islost = FALSE;
|
||||
printf("MESSAGE : slave %d found\n",slave);
|
||||
}
|
||||
}
|
||||
}
|
||||
if(!ec_group[currentgroup].docheckstate)
|
||||
printf("OK : all slaves resumed OPERATIONAL.\n");
|
||||
}
|
||||
osal_usleep(10000);
|
||||
}
|
||||
}
|
||||
|
||||
#define stack64k (64 * 1024)
|
||||
|
||||
int main(int argc, char *argv[])
|
||||
{
|
||||
int ctime;
|
||||
|
||||
printf("SOEM (Simple Open EtherCAT Master)\nRedundancy test\n");
|
||||
|
||||
if (argc > 3)
|
||||
{
|
||||
dorun = 0;
|
||||
ctime = atoi(argv[3]);
|
||||
|
||||
/* create RT thread */
|
||||
osal_thread_create_rt(&thread1, stack64k * 2, &ecatthread, (void*) &ctime);
|
||||
|
||||
/* create thread to handle slave error handling in OP */
|
||||
osal_thread_create(&thread2, stack64k * 4, &ecatcheck, NULL);
|
||||
|
||||
/* start acyclic part */
|
||||
redtest(argv[1],argv[2]);
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("Usage: red_test ifname1 ifname2 cycletime\nifname = eth0 for example\ncycletime in us\n");
|
||||
}
|
||||
|
||||
printf("End program\n");
|
||||
|
||||
return (0);
|
||||
}
|
||||
@@ -0,0 +1,260 @@
|
||||
/** \file
|
||||
* \brief Example code for Simple Open EtherCAT master
|
||||
*
|
||||
* Usage : simple_test [ifname1]
|
||||
* ifname is NIC interface, f.e. eth0
|
||||
*
|
||||
* This is a minimal test.
|
||||
*
|
||||
* (c)Arthur Ketels 2010 - 2011
|
||||
*/
|
||||
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include <inttypes.h>
|
||||
|
||||
#include "ethercat.h"
|
||||
|
||||
#define EC_TIMEOUTMON 500
|
||||
|
||||
char IOmap[4096];
|
||||
OSAL_THREAD_HANDLE thread1;
|
||||
int expectedWKC;
|
||||
boolean needlf;
|
||||
volatile int wkc;
|
||||
boolean inOP;
|
||||
uint8 currentgroup = 0;
|
||||
boolean forceByteAlignment = FALSE;
|
||||
|
||||
void simpletest(char *ifname)
|
||||
{
|
||||
int i, j, oloop, iloop, chk;
|
||||
needlf = FALSE;
|
||||
inOP = FALSE;
|
||||
|
||||
printf("Starting simple test\n");
|
||||
|
||||
/* initialise SOEM, bind socket to ifname */
|
||||
if (ec_init(ifname))
|
||||
{
|
||||
printf("ec_init on %s succeeded.\n",ifname);
|
||||
/* find and auto-config slaves */
|
||||
|
||||
|
||||
if ( ec_config_init(FALSE) > 0 )
|
||||
{
|
||||
printf("%d slaves found and configured.\n",ec_slavecount);
|
||||
|
||||
if (forceByteAlignment)
|
||||
{
|
||||
ec_config_map_aligned(&IOmap);
|
||||
}
|
||||
else
|
||||
{
|
||||
ec_config_map(&IOmap);
|
||||
}
|
||||
|
||||
ec_configdc();
|
||||
|
||||
printf("Slaves mapped, state to SAFE_OP.\n");
|
||||
/* wait for all slaves to reach SAFE_OP state */
|
||||
ec_statecheck(0, EC_STATE_SAFE_OP, EC_TIMEOUTSTATE * 4);
|
||||
|
||||
oloop = ec_slave[0].Obytes;
|
||||
if ((oloop == 0) && (ec_slave[0].Obits > 0)) oloop = 1;
|
||||
if (oloop > 8) oloop = 8;
|
||||
iloop = ec_slave[0].Ibytes;
|
||||
if ((iloop == 0) && (ec_slave[0].Ibits > 0)) iloop = 1;
|
||||
if (iloop > 8) iloop = 8;
|
||||
|
||||
printf("segments : %d : %d %d %d %d\n",ec_group[0].nsegments ,ec_group[0].IOsegment[0],ec_group[0].IOsegment[1],ec_group[0].IOsegment[2],ec_group[0].IOsegment[3]);
|
||||
|
||||
printf("Request operational state for all slaves\n");
|
||||
expectedWKC = (ec_group[0].outputsWKC * 2) + ec_group[0].inputsWKC;
|
||||
printf("Calculated workcounter %d\n", expectedWKC);
|
||||
ec_slave[0].state = EC_STATE_OPERATIONAL;
|
||||
/* send one valid process data to make outputs in slaves happy*/
|
||||
ec_send_processdata();
|
||||
ec_receive_processdata(EC_TIMEOUTRET);
|
||||
/* request OP state for all slaves */
|
||||
ec_writestate(0);
|
||||
chk = 200;
|
||||
/* wait for all slaves to reach OP state */
|
||||
do
|
||||
{
|
||||
ec_send_processdata();
|
||||
ec_receive_processdata(EC_TIMEOUTRET);
|
||||
ec_statecheck(0, EC_STATE_OPERATIONAL, 50000);
|
||||
}
|
||||
while (chk-- && (ec_slave[0].state != EC_STATE_OPERATIONAL));
|
||||
if (ec_slave[0].state == EC_STATE_OPERATIONAL )
|
||||
{
|
||||
printf("Operational state reached for all slaves.\n");
|
||||
inOP = TRUE;
|
||||
/* cyclic loop */
|
||||
for(i = 1; i <= 10000; i++)
|
||||
{
|
||||
ec_send_processdata();
|
||||
wkc = ec_receive_processdata(EC_TIMEOUTRET);
|
||||
|
||||
if(wkc >= expectedWKC)
|
||||
{
|
||||
printf("Processdata cycle %4d, WKC %d , O:", i, wkc);
|
||||
|
||||
for(j = 0 ; j < oloop; j++)
|
||||
{
|
||||
printf(" %2.2x", *(ec_slave[0].outputs + j));
|
||||
}
|
||||
|
||||
printf(" I:");
|
||||
for(j = 0 ; j < iloop; j++)
|
||||
{
|
||||
printf(" %2.2x", *(ec_slave[0].inputs + j));
|
||||
}
|
||||
printf(" T:%"PRId64"\r",ec_DCtime);
|
||||
needlf = TRUE;
|
||||
}
|
||||
osal_usleep(5000);
|
||||
|
||||
}
|
||||
inOP = FALSE;
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("Not all slaves reached operational state.\n");
|
||||
ec_readstate();
|
||||
for(i = 1; i<=ec_slavecount ; i++)
|
||||
{
|
||||
if(ec_slave[i].state != EC_STATE_OPERATIONAL)
|
||||
{
|
||||
printf("Slave %d State=0x%2.2x StatusCode=0x%4.4x : %s\n",
|
||||
i, ec_slave[i].state, ec_slave[i].ALstatuscode, ec_ALstatuscode2string(ec_slave[i].ALstatuscode));
|
||||
}
|
||||
}
|
||||
}
|
||||
printf("\nRequest init state for all slaves\n");
|
||||
ec_slave[0].state = EC_STATE_INIT;
|
||||
/* request INIT state for all slaves */
|
||||
ec_writestate(0);
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("No slaves found!\n");
|
||||
}
|
||||
printf("End simple test, close socket\n");
|
||||
/* stop SOEM, close socket */
|
||||
ec_close();
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("No socket connection on %s\nExecute as root\n",ifname);
|
||||
}
|
||||
}
|
||||
|
||||
OSAL_THREAD_FUNC ecatcheck( void *ptr )
|
||||
{
|
||||
int slave;
|
||||
(void)ptr; /* Not used */
|
||||
|
||||
while(1)
|
||||
{
|
||||
if( inOP && ((wkc < expectedWKC) || ec_group[currentgroup].docheckstate))
|
||||
{
|
||||
if (needlf)
|
||||
{
|
||||
needlf = FALSE;
|
||||
printf("\n");
|
||||
}
|
||||
/* one ore more slaves are not responding */
|
||||
ec_group[currentgroup].docheckstate = FALSE;
|
||||
ec_readstate();
|
||||
for (slave = 1; slave <= ec_slavecount; slave++)
|
||||
{
|
||||
if ((ec_slave[slave].group == currentgroup) && (ec_slave[slave].state != EC_STATE_OPERATIONAL))
|
||||
{
|
||||
ec_group[currentgroup].docheckstate = TRUE;
|
||||
if (ec_slave[slave].state == (EC_STATE_SAFE_OP + EC_STATE_ERROR))
|
||||
{
|
||||
printf("ERROR : slave %d is in SAFE_OP + ERROR, attempting ack.\n", slave);
|
||||
ec_slave[slave].state = (EC_STATE_SAFE_OP + EC_STATE_ACK);
|
||||
ec_writestate(slave);
|
||||
}
|
||||
else if(ec_slave[slave].state == EC_STATE_SAFE_OP)
|
||||
{
|
||||
printf("WARNING : slave %d is in SAFE_OP, change to OPERATIONAL.\n", slave);
|
||||
ec_slave[slave].state = EC_STATE_OPERATIONAL;
|
||||
ec_writestate(slave);
|
||||
}
|
||||
else if(ec_slave[slave].state > EC_STATE_NONE)
|
||||
{
|
||||
if (ec_reconfig_slave(slave, EC_TIMEOUTMON))
|
||||
{
|
||||
ec_slave[slave].islost = FALSE;
|
||||
printf("MESSAGE : slave %d reconfigured\n",slave);
|
||||
}
|
||||
}
|
||||
else if(!ec_slave[slave].islost)
|
||||
{
|
||||
/* re-check state */
|
||||
ec_statecheck(slave, EC_STATE_OPERATIONAL, EC_TIMEOUTRET);
|
||||
if (ec_slave[slave].state == EC_STATE_NONE)
|
||||
{
|
||||
ec_slave[slave].islost = TRUE;
|
||||
printf("ERROR : slave %d lost\n",slave);
|
||||
}
|
||||
}
|
||||
}
|
||||
if (ec_slave[slave].islost)
|
||||
{
|
||||
if(ec_slave[slave].state == EC_STATE_NONE)
|
||||
{
|
||||
if (ec_recover_slave(slave, EC_TIMEOUTMON))
|
||||
{
|
||||
ec_slave[slave].islost = FALSE;
|
||||
printf("MESSAGE : slave %d recovered\n",slave);
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
ec_slave[slave].islost = FALSE;
|
||||
printf("MESSAGE : slave %d found\n",slave);
|
||||
}
|
||||
}
|
||||
}
|
||||
if(!ec_group[currentgroup].docheckstate)
|
||||
printf("OK : all slaves resumed OPERATIONAL.\n");
|
||||
}
|
||||
osal_usleep(10000);
|
||||
}
|
||||
}
|
||||
|
||||
int main(int argc, char *argv[])
|
||||
{
|
||||
printf("SOEM (Simple Open EtherCAT Master)\nSimple test\n");
|
||||
|
||||
if (argc > 1)
|
||||
{
|
||||
/* create thread to handle slave error handling in OP */
|
||||
osal_thread_create(&thread1, 128000, &ecatcheck, NULL);
|
||||
/* start cyclic part */
|
||||
simpletest(argv[1]);
|
||||
}
|
||||
else
|
||||
{
|
||||
ec_adaptert * adapter = NULL;
|
||||
ec_adaptert * head = NULL;
|
||||
printf("Usage: simple_test ifname1\nifname = eth0 for example\n");
|
||||
|
||||
printf ("\nAvailable adapters:\n");
|
||||
head = adapter = ec_find_adapters ();
|
||||
while (adapter != NULL)
|
||||
{
|
||||
printf (" - %s (%s)\n", adapter->name, adapter->desc);
|
||||
adapter = adapter->next;
|
||||
}
|
||||
ec_free_adapters(head);
|
||||
}
|
||||
|
||||
printf("End program\n");
|
||||
return (0);
|
||||
}
|
||||
@@ -0,0 +1,729 @@
|
||||
/** \file
|
||||
* \brief Example code for Simple Open EtherCAT master
|
||||
*
|
||||
* Usage : slaveinfo [ifname] [-sdo] [-map]
|
||||
* Ifname is NIC interface, f.e. eth0.
|
||||
* Optional -sdo to display CoE object dictionary.
|
||||
* Optional -map to display slave PDO mapping
|
||||
*
|
||||
* This shows the configured slave data.
|
||||
*
|
||||
* (c)Arthur Ketels 2010 - 2011
|
||||
*/
|
||||
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include <inttypes.h>
|
||||
|
||||
#include "ethercat.h"
|
||||
|
||||
char IOmap[4096];
|
||||
ec_ODlistt ODlist;
|
||||
ec_OElistt OElist;
|
||||
boolean printSDO = FALSE;
|
||||
boolean printMAP = FALSE;
|
||||
char usdo[128];
|
||||
|
||||
|
||||
#define OTYPE_VAR 0x0007
|
||||
#define OTYPE_ARRAY 0x0008
|
||||
#define OTYPE_RECORD 0x0009
|
||||
|
||||
#define ATYPE_Rpre 0x01
|
||||
#define ATYPE_Rsafe 0x02
|
||||
#define ATYPE_Rop 0x04
|
||||
#define ATYPE_Wpre 0x08
|
||||
#define ATYPE_Wsafe 0x10
|
||||
#define ATYPE_Wop 0x20
|
||||
|
||||
|
||||
char* dtype2string(uint16 dtype, uint16 bitlen)
|
||||
{
|
||||
static char str[32] = { 0 };
|
||||
|
||||
switch(dtype)
|
||||
{
|
||||
case ECT_BOOLEAN:
|
||||
sprintf(str, "BOOLEAN");
|
||||
break;
|
||||
case ECT_INTEGER8:
|
||||
sprintf(str, "INTEGER8");
|
||||
break;
|
||||
case ECT_INTEGER16:
|
||||
sprintf(str, "INTEGER16");
|
||||
break;
|
||||
case ECT_INTEGER32:
|
||||
sprintf(str, "INTEGER32");
|
||||
break;
|
||||
case ECT_INTEGER24:
|
||||
sprintf(str, "INTEGER24");
|
||||
break;
|
||||
case ECT_INTEGER64:
|
||||
sprintf(str, "INTEGER64");
|
||||
break;
|
||||
case ECT_UNSIGNED8:
|
||||
sprintf(str, "UNSIGNED8");
|
||||
break;
|
||||
case ECT_UNSIGNED16:
|
||||
sprintf(str, "UNSIGNED16");
|
||||
break;
|
||||
case ECT_UNSIGNED32:
|
||||
sprintf(str, "UNSIGNED32");
|
||||
break;
|
||||
case ECT_UNSIGNED24:
|
||||
sprintf(str, "UNSIGNED24");
|
||||
break;
|
||||
case ECT_UNSIGNED64:
|
||||
sprintf(str, "UNSIGNED64");
|
||||
break;
|
||||
case ECT_REAL32:
|
||||
sprintf(str, "REAL32");
|
||||
break;
|
||||
case ECT_REAL64:
|
||||
sprintf(str, "REAL64");
|
||||
break;
|
||||
case ECT_BIT1:
|
||||
sprintf(str, "BIT1");
|
||||
break;
|
||||
case ECT_BIT2:
|
||||
sprintf(str, "BIT2");
|
||||
break;
|
||||
case ECT_BIT3:
|
||||
sprintf(str, "BIT3");
|
||||
break;
|
||||
case ECT_BIT4:
|
||||
sprintf(str, "BIT4");
|
||||
break;
|
||||
case ECT_BIT5:
|
||||
sprintf(str, "BIT5");
|
||||
break;
|
||||
case ECT_BIT6:
|
||||
sprintf(str, "BIT6");
|
||||
break;
|
||||
case ECT_BIT7:
|
||||
sprintf(str, "BIT7");
|
||||
break;
|
||||
case ECT_BIT8:
|
||||
sprintf(str, "BIT8");
|
||||
break;
|
||||
case ECT_VISIBLE_STRING:
|
||||
sprintf(str, "VISIBLE_STR(%d)", bitlen);
|
||||
break;
|
||||
case ECT_OCTET_STRING:
|
||||
sprintf(str, "OCTET_STR(%d)", bitlen);
|
||||
break;
|
||||
default:
|
||||
sprintf(str, "dt:0x%4.4X (%d)", dtype, bitlen);
|
||||
}
|
||||
return str;
|
||||
}
|
||||
|
||||
char* otype2string(uint16 otype)
|
||||
{
|
||||
static char str[32] = { 0 };
|
||||
|
||||
switch(otype)
|
||||
{
|
||||
case OTYPE_VAR:
|
||||
sprintf(str, "VAR");
|
||||
break;
|
||||
case OTYPE_ARRAY:
|
||||
sprintf(str, "ARRAY");
|
||||
break;
|
||||
case OTYPE_RECORD:
|
||||
sprintf(str, "RECORD");
|
||||
break;
|
||||
default:
|
||||
sprintf(str, "ot:0x%4.4X", otype);
|
||||
}
|
||||
return str;
|
||||
}
|
||||
|
||||
char* access2string(uint16 access)
|
||||
{
|
||||
static char str[32] = { 0 };
|
||||
|
||||
sprintf(str, "%s%s%s%s%s%s",
|
||||
((access & ATYPE_Rpre) != 0 ? "R" : "_"),
|
||||
((access & ATYPE_Wpre) != 0 ? "W" : "_"),
|
||||
((access & ATYPE_Rsafe) != 0 ? "R" : "_"),
|
||||
((access & ATYPE_Wsafe) != 0 ? "W" : "_"),
|
||||
((access & ATYPE_Rop) != 0 ? "R" : "_"),
|
||||
((access & ATYPE_Wop) != 0 ? "W" : "_"));
|
||||
return str;
|
||||
}
|
||||
|
||||
char* SDO2string(uint16 slave, uint16 index, uint8 subidx, uint16 dtype)
|
||||
{
|
||||
int l = sizeof(usdo) - 1, i;
|
||||
uint8 *u8;
|
||||
int8 *i8;
|
||||
uint16 *u16;
|
||||
int16 *i16;
|
||||
uint32 *u32;
|
||||
int32 *i32;
|
||||
uint64 *u64;
|
||||
int64 *i64;
|
||||
float *sr;
|
||||
double *dr;
|
||||
char es[32];
|
||||
|
||||
memset(&usdo, 0, 128);
|
||||
ec_SDOread(slave, index, subidx, FALSE, &l, &usdo, EC_TIMEOUTRXM);
|
||||
if (EcatError)
|
||||
{
|
||||
return ec_elist2string();
|
||||
}
|
||||
else
|
||||
{
|
||||
static char str[64] = { 0 };
|
||||
switch(dtype)
|
||||
{
|
||||
case ECT_BOOLEAN:
|
||||
u8 = (uint8*) &usdo[0];
|
||||
if (*u8) sprintf(str, "TRUE");
|
||||
else sprintf(str, "FALSE");
|
||||
break;
|
||||
case ECT_INTEGER8:
|
||||
i8 = (int8*) &usdo[0];
|
||||
sprintf(str, "0x%2.2x / %d", *i8, *i8);
|
||||
break;
|
||||
case ECT_INTEGER16:
|
||||
i16 = (int16*) &usdo[0];
|
||||
sprintf(str, "0x%4.4x / %d", *i16, *i16);
|
||||
break;
|
||||
case ECT_INTEGER32:
|
||||
case ECT_INTEGER24:
|
||||
i32 = (int32*) &usdo[0];
|
||||
sprintf(str, "0x%8.8x / %d", *i32, *i32);
|
||||
break;
|
||||
case ECT_INTEGER64:
|
||||
i64 = (int64*) &usdo[0];
|
||||
sprintf(str, "0x%16.16"PRIx64" / %"PRId64, *i64, *i64);
|
||||
break;
|
||||
case ECT_UNSIGNED8:
|
||||
u8 = (uint8*) &usdo[0];
|
||||
sprintf(str, "0x%2.2x / %u", *u8, *u8);
|
||||
break;
|
||||
case ECT_UNSIGNED16:
|
||||
u16 = (uint16*) &usdo[0];
|
||||
sprintf(str, "0x%4.4x / %u", *u16, *u16);
|
||||
break;
|
||||
case ECT_UNSIGNED32:
|
||||
case ECT_UNSIGNED24:
|
||||
u32 = (uint32*) &usdo[0];
|
||||
sprintf(str, "0x%8.8x / %u", *u32, *u32);
|
||||
break;
|
||||
case ECT_UNSIGNED64:
|
||||
u64 = (uint64*) &usdo[0];
|
||||
sprintf(str, "0x%16.16"PRIx64" / %"PRIu64, *u64, *u64);
|
||||
break;
|
||||
case ECT_REAL32:
|
||||
sr = (float*) &usdo[0];
|
||||
sprintf(str, "%f", *sr);
|
||||
break;
|
||||
case ECT_REAL64:
|
||||
dr = (double*) &usdo[0];
|
||||
sprintf(str, "%f", *dr);
|
||||
break;
|
||||
case ECT_BIT1:
|
||||
case ECT_BIT2:
|
||||
case ECT_BIT3:
|
||||
case ECT_BIT4:
|
||||
case ECT_BIT5:
|
||||
case ECT_BIT6:
|
||||
case ECT_BIT7:
|
||||
case ECT_BIT8:
|
||||
u8 = (uint8*) &usdo[0];
|
||||
sprintf(str, "0x%x / %u", *u8, *u8);
|
||||
break;
|
||||
case ECT_VISIBLE_STRING:
|
||||
strcpy(str, "\"");
|
||||
strcat(str, usdo);
|
||||
strcat(str, "\"");
|
||||
break;
|
||||
case ECT_OCTET_STRING:
|
||||
str[0] = 0x00;
|
||||
for (i = 0 ; i < l ; i++)
|
||||
{
|
||||
sprintf(es, "0x%2.2x ", usdo[i]);
|
||||
strcat( str, es);
|
||||
}
|
||||
break;
|
||||
default:
|
||||
sprintf(str, "Unknown type");
|
||||
}
|
||||
return str;
|
||||
}
|
||||
}
|
||||
|
||||
/** Read PDO assign structure */
|
||||
int si_PDOassign(uint16 slave, uint16 PDOassign, int mapoffset, int bitoffset)
|
||||
{
|
||||
uint16 idxloop, nidx, subidxloop, rdat, idx, subidx;
|
||||
uint8 subcnt;
|
||||
int wkc, bsize = 0, rdl;
|
||||
int32 rdat2;
|
||||
uint8 bitlen, obj_subidx;
|
||||
uint16 obj_idx;
|
||||
int abs_offset, abs_bit;
|
||||
|
||||
rdl = sizeof(rdat); rdat = 0;
|
||||
/* read PDO assign subindex 0 ( = number of PDO's) */
|
||||
wkc = ec_SDOread(slave, PDOassign, 0x00, FALSE, &rdl, &rdat, EC_TIMEOUTRXM);
|
||||
rdat = etohs(rdat);
|
||||
/* positive result from slave ? */
|
||||
if ((wkc > 0) && (rdat > 0))
|
||||
{
|
||||
/* number of available sub indexes */
|
||||
nidx = rdat;
|
||||
bsize = 0;
|
||||
/* read all PDO's */
|
||||
for (idxloop = 1; idxloop <= nidx; idxloop++)
|
||||
{
|
||||
rdl = sizeof(rdat); rdat = 0;
|
||||
/* read PDO assign */
|
||||
wkc = ec_SDOread(slave, PDOassign, (uint8)idxloop, FALSE, &rdl, &rdat, EC_TIMEOUTRXM);
|
||||
/* result is index of PDO */
|
||||
idx = etohs(rdat);
|
||||
if (idx > 0)
|
||||
{
|
||||
rdl = sizeof(subcnt); subcnt = 0;
|
||||
/* read number of subindexes of PDO */
|
||||
wkc = ec_SDOread(slave,idx, 0x00, FALSE, &rdl, &subcnt, EC_TIMEOUTRXM);
|
||||
subidx = subcnt;
|
||||
/* for each subindex */
|
||||
for (subidxloop = 1; subidxloop <= subidx; subidxloop++)
|
||||
{
|
||||
rdl = sizeof(rdat2); rdat2 = 0;
|
||||
/* read SDO that is mapped in PDO */
|
||||
wkc = ec_SDOread(slave, idx, (uint8)subidxloop, FALSE, &rdl, &rdat2, EC_TIMEOUTRXM);
|
||||
rdat2 = etohl(rdat2);
|
||||
/* extract bitlength of SDO */
|
||||
bitlen = LO_BYTE(rdat2);
|
||||
bsize += bitlen;
|
||||
obj_idx = (uint16)(rdat2 >> 16);
|
||||
obj_subidx = (uint8)((rdat2 >> 8) & 0x000000ff);
|
||||
abs_offset = mapoffset + (bitoffset / 8);
|
||||
abs_bit = bitoffset % 8;
|
||||
ODlist.Slave = slave;
|
||||
ODlist.Index[0] = obj_idx;
|
||||
OElist.Entries = 0;
|
||||
wkc = 0;
|
||||
/* read object entry from dictionary if not a filler (0x0000:0x00) */
|
||||
if(obj_idx || obj_subidx)
|
||||
wkc = ec_readOEsingle(0, obj_subidx, &ODlist, &OElist);
|
||||
printf(" [0x%4.4X.%1d] 0x%4.4X:0x%2.2X 0x%2.2X", abs_offset, abs_bit, obj_idx, obj_subidx, bitlen);
|
||||
if((wkc > 0) && OElist.Entries)
|
||||
{
|
||||
printf(" %-12s %s\n", dtype2string(OElist.DataType[obj_subidx], bitlen), OElist.Name[obj_subidx]);
|
||||
}
|
||||
else
|
||||
printf("\n");
|
||||
bitoffset += bitlen;
|
||||
};
|
||||
};
|
||||
};
|
||||
};
|
||||
/* return total found bitlength (PDO) */
|
||||
return bsize;
|
||||
}
|
||||
|
||||
int si_map_sdo(int slave)
|
||||
{
|
||||
int wkc, rdl;
|
||||
int retVal = 0;
|
||||
uint8 nSM, iSM, tSM;
|
||||
int Tsize, outputs_bo, inputs_bo;
|
||||
uint8 SMt_bug_add;
|
||||
|
||||
printf("PDO mapping according to CoE :\n");
|
||||
SMt_bug_add = 0;
|
||||
outputs_bo = 0;
|
||||
inputs_bo = 0;
|
||||
rdl = sizeof(nSM); nSM = 0;
|
||||
/* read SyncManager Communication Type object count */
|
||||
wkc = ec_SDOread(slave, ECT_SDO_SMCOMMTYPE, 0x00, FALSE, &rdl, &nSM, EC_TIMEOUTRXM);
|
||||
/* positive result from slave ? */
|
||||
if ((wkc > 0) && (nSM > 2))
|
||||
{
|
||||
/* make nSM equal to number of defined SM */
|
||||
nSM--;
|
||||
/* limit to maximum number of SM defined, if true the slave can't be configured */
|
||||
if (nSM > EC_MAXSM)
|
||||
nSM = EC_MAXSM;
|
||||
/* iterate for every SM type defined */
|
||||
for (iSM = 2 ; iSM <= nSM ; iSM++)
|
||||
{
|
||||
rdl = sizeof(tSM); tSM = 0;
|
||||
/* read SyncManager Communication Type */
|
||||
wkc = ec_SDOread(slave, ECT_SDO_SMCOMMTYPE, iSM + 1, FALSE, &rdl, &tSM, EC_TIMEOUTRXM);
|
||||
if (wkc > 0)
|
||||
{
|
||||
if((iSM == 2) && (tSM == 2)) // SM2 has type 2 == mailbox out, this is a bug in the slave!
|
||||
{
|
||||
SMt_bug_add = 1; // try to correct, this works if the types are 0 1 2 3 and should be 1 2 3 4
|
||||
printf("Activated SM type workaround, possible incorrect mapping.\n");
|
||||
}
|
||||
if(tSM)
|
||||
tSM += SMt_bug_add; // only add if SMt > 0
|
||||
|
||||
if (tSM == 3) // outputs
|
||||
{
|
||||
/* read the assign RXPDO */
|
||||
printf(" SM%1d outputs\n addr b index: sub bitl data_type name\n", iSM);
|
||||
Tsize = si_PDOassign(slave, ECT_SDO_PDOASSIGN + iSM, (int)(ec_slave[slave].outputs - (uint8 *)&IOmap[0]), outputs_bo );
|
||||
outputs_bo += Tsize;
|
||||
}
|
||||
if (tSM == 4) // inputs
|
||||
{
|
||||
/* read the assign TXPDO */
|
||||
printf(" SM%1d inputs\n addr b index: sub bitl data_type name\n", iSM);
|
||||
Tsize = si_PDOassign(slave, ECT_SDO_PDOASSIGN + iSM, (int)(ec_slave[slave].inputs - (uint8 *)&IOmap[0]), inputs_bo );
|
||||
inputs_bo += Tsize;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/* found some I/O bits ? */
|
||||
if ((outputs_bo > 0) || (inputs_bo > 0))
|
||||
retVal = 1;
|
||||
return retVal;
|
||||
}
|
||||
|
||||
int si_siiPDO(uint16 slave, uint8 t, int mapoffset, int bitoffset)
|
||||
{
|
||||
uint16 a , w, c, e, er;
|
||||
uint8 eectl;
|
||||
uint16 obj_idx;
|
||||
uint8 obj_subidx;
|
||||
uint8 obj_name;
|
||||
uint8 obj_datatype;
|
||||
uint8 bitlen;
|
||||
int totalsize;
|
||||
ec_eepromPDOt eepPDO;
|
||||
ec_eepromPDOt *PDO;
|
||||
int abs_offset, abs_bit;
|
||||
char str_name[EC_MAXNAME + 1];
|
||||
|
||||
eectl = ec_slave[slave].eep_pdi;
|
||||
|
||||
totalsize = 0;
|
||||
PDO = &eepPDO;
|
||||
PDO->nPDO = 0;
|
||||
PDO->Length = 0;
|
||||
PDO->Index[1] = 0;
|
||||
for (c = 0 ; c < EC_MAXSM ; c++) PDO->SMbitsize[c] = 0;
|
||||
if (t > 1)
|
||||
t = 1;
|
||||
PDO->Startpos = ec_siifind(slave, ECT_SII_PDO + t);
|
||||
if (PDO->Startpos > 0)
|
||||
{
|
||||
a = PDO->Startpos;
|
||||
w = ec_siigetbyte(slave, a++);
|
||||
w += (ec_siigetbyte(slave, a++) << 8);
|
||||
PDO->Length = w;
|
||||
c = 1;
|
||||
/* traverse through all PDOs */
|
||||
do
|
||||
{
|
||||
PDO->nPDO++;
|
||||
PDO->Index[PDO->nPDO] = ec_siigetbyte(slave, a++);
|
||||
PDO->Index[PDO->nPDO] += (ec_siigetbyte(slave, a++) << 8);
|
||||
PDO->BitSize[PDO->nPDO] = 0;
|
||||
c++;
|
||||
/* number of entries in PDO */
|
||||
e = ec_siigetbyte(slave, a++);
|
||||
PDO->SyncM[PDO->nPDO] = ec_siigetbyte(slave, a++);
|
||||
a++;
|
||||
obj_name = ec_siigetbyte(slave, a++);
|
||||
a += 2;
|
||||
c += 2;
|
||||
if (PDO->SyncM[PDO->nPDO] < EC_MAXSM) /* active and in range SM? */
|
||||
{
|
||||
str_name[0] = 0;
|
||||
if(obj_name)
|
||||
ec_siistring(str_name, slave, obj_name);
|
||||
if (t)
|
||||
printf(" SM%1d RXPDO 0x%4.4X %s\n", PDO->SyncM[PDO->nPDO], PDO->Index[PDO->nPDO], str_name);
|
||||
else
|
||||
printf(" SM%1d TXPDO 0x%4.4X %s\n", PDO->SyncM[PDO->nPDO], PDO->Index[PDO->nPDO], str_name);
|
||||
printf(" addr b index: sub bitl data_type name\n");
|
||||
/* read all entries defined in PDO */
|
||||
for (er = 1; er <= e; er++)
|
||||
{
|
||||
c += 4;
|
||||
obj_idx = ec_siigetbyte(slave, a++);
|
||||
obj_idx += (ec_siigetbyte(slave, a++) << 8);
|
||||
obj_subidx = ec_siigetbyte(slave, a++);
|
||||
obj_name = ec_siigetbyte(slave, a++);
|
||||
obj_datatype = ec_siigetbyte(slave, a++);
|
||||
bitlen = ec_siigetbyte(slave, a++);
|
||||
abs_offset = mapoffset + (bitoffset / 8);
|
||||
abs_bit = bitoffset % 8;
|
||||
|
||||
PDO->BitSize[PDO->nPDO] += bitlen;
|
||||
a += 2;
|
||||
|
||||
/* skip entry if filler (0x0000:0x00) */
|
||||
if(obj_idx || obj_subidx)
|
||||
{
|
||||
str_name[0] = 0;
|
||||
if(obj_name)
|
||||
ec_siistring(str_name, slave, obj_name);
|
||||
|
||||
printf(" [0x%4.4X.%1d] 0x%4.4X:0x%2.2X 0x%2.2X", abs_offset, abs_bit, obj_idx, obj_subidx, bitlen);
|
||||
printf(" %-12s %s\n", dtype2string(obj_datatype, bitlen), str_name);
|
||||
}
|
||||
bitoffset += bitlen;
|
||||
totalsize += bitlen;
|
||||
}
|
||||
PDO->SMbitsize[ PDO->SyncM[PDO->nPDO] ] += PDO->BitSize[PDO->nPDO];
|
||||
c++;
|
||||
}
|
||||
else /* PDO deactivated because SM is 0xff or > EC_MAXSM */
|
||||
{
|
||||
c += 4 * e;
|
||||
a += 8 * e;
|
||||
c++;
|
||||
}
|
||||
if (PDO->nPDO >= (EC_MAXEEPDO - 1)) c = PDO->Length; /* limit number of PDO entries in buffer */
|
||||
}
|
||||
while (c < PDO->Length);
|
||||
}
|
||||
if (eectl) ec_eeprom2pdi(slave); /* if eeprom control was previously pdi then restore */
|
||||
return totalsize;
|
||||
}
|
||||
|
||||
|
||||
int si_map_sii(int slave)
|
||||
{
|
||||
int retVal = 0;
|
||||
int Tsize, outputs_bo, inputs_bo;
|
||||
|
||||
printf("PDO mapping according to SII :\n");
|
||||
|
||||
outputs_bo = 0;
|
||||
inputs_bo = 0;
|
||||
/* read the assign RXPDOs */
|
||||
Tsize = si_siiPDO(slave, 1, (int)(ec_slave[slave].outputs - (uint8*)&IOmap), outputs_bo );
|
||||
outputs_bo += Tsize;
|
||||
/* read the assign TXPDOs */
|
||||
Tsize = si_siiPDO(slave, 0, (int)(ec_slave[slave].inputs - (uint8*)&IOmap), inputs_bo );
|
||||
inputs_bo += Tsize;
|
||||
/* found some I/O bits ? */
|
||||
if ((outputs_bo > 0) || (inputs_bo > 0))
|
||||
retVal = 1;
|
||||
return retVal;
|
||||
}
|
||||
|
||||
void si_sdo(int cnt)
|
||||
{
|
||||
int i, j;
|
||||
|
||||
ODlist.Entries = 0;
|
||||
memset(&ODlist, 0, sizeof(ODlist));
|
||||
if( ec_readODlist(cnt, &ODlist))
|
||||
{
|
||||
printf(" CoE Object Description found, %d entries.\n",ODlist.Entries);
|
||||
for( i = 0 ; i < ODlist.Entries ; i++)
|
||||
{
|
||||
uint8_t max_sub;
|
||||
char name[128] = { 0 };
|
||||
|
||||
ec_readODdescription(i, &ODlist);
|
||||
while(EcatError) printf(" - %s\n", ec_elist2string());
|
||||
snprintf(name, sizeof(name) - 1, "\"%s\"", ODlist.Name[i]);
|
||||
if (ODlist.ObjectCode[i] == OTYPE_VAR)
|
||||
{
|
||||
printf("0x%04x %-40s [%s]\n", ODlist.Index[i], name,
|
||||
otype2string(ODlist.ObjectCode[i]));
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("0x%04x %-40s [%s maxsub(0x%02x / %d)]\n",
|
||||
ODlist.Index[i], name, otype2string(ODlist.ObjectCode[i]),
|
||||
ODlist.MaxSub[i], ODlist.MaxSub[i]);
|
||||
}
|
||||
memset(&OElist, 0, sizeof(OElist));
|
||||
ec_readOE(i, &ODlist, &OElist);
|
||||
while(EcatError) printf("- %s\n", ec_elist2string());
|
||||
|
||||
if(ODlist.ObjectCode[i] != OTYPE_VAR)
|
||||
{
|
||||
int l = sizeof(max_sub);
|
||||
ec_SDOread(cnt, ODlist.Index[i], 0, FALSE, &l, &max_sub, EC_TIMEOUTRXM);
|
||||
}
|
||||
else {
|
||||
max_sub = ODlist.MaxSub[i];
|
||||
}
|
||||
|
||||
for( j = 0 ; j < max_sub+1 ; j++)
|
||||
{
|
||||
if ((OElist.DataType[j] > 0) && (OElist.BitLength[j] > 0))
|
||||
{
|
||||
snprintf(name, sizeof(name) - 1, "\"%s\"", OElist.Name[j]);
|
||||
printf(" 0x%02x %-40s [%-16s %6s] ", j, name,
|
||||
dtype2string(OElist.DataType[j], OElist.BitLength[j]),
|
||||
access2string(OElist.ObjAccess[j]));
|
||||
if ((OElist.ObjAccess[j] & 0x0007))
|
||||
{
|
||||
printf("%s", SDO2string(cnt, ODlist.Index[i], j, OElist.DataType[j]));
|
||||
}
|
||||
printf("\n");
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
while(EcatError) printf("%s", ec_elist2string());
|
||||
}
|
||||
}
|
||||
|
||||
void slaveinfo(char *ifname)
|
||||
{
|
||||
int cnt, i, j, nSM;
|
||||
uint16 ssigen;
|
||||
int expectedWKC;
|
||||
|
||||
printf("Starting slaveinfo\n");
|
||||
|
||||
/* initialise SOEM, bind socket to ifname */
|
||||
if (ec_init(ifname))
|
||||
{
|
||||
printf("ec_init on %s succeeded.\n",ifname);
|
||||
/* find and auto-config slaves */
|
||||
if ( ec_config(FALSE, &IOmap) > 0 )
|
||||
{
|
||||
ec_configdc();
|
||||
while(EcatError) printf("%s", ec_elist2string());
|
||||
printf("%d slaves found and configured.\n",ec_slavecount);
|
||||
expectedWKC = (ec_group[0].outputsWKC * 2) + ec_group[0].inputsWKC;
|
||||
printf("Calculated workcounter %d\n", expectedWKC);
|
||||
/* wait for all slaves to reach SAFE_OP state */
|
||||
ec_statecheck(0, EC_STATE_SAFE_OP, EC_TIMEOUTSTATE * 3);
|
||||
if (ec_slave[0].state != EC_STATE_SAFE_OP )
|
||||
{
|
||||
printf("Not all slaves reached safe operational state.\n");
|
||||
ec_readstate();
|
||||
for(i = 1; i<=ec_slavecount ; i++)
|
||||
{
|
||||
if(ec_slave[i].state != EC_STATE_SAFE_OP)
|
||||
{
|
||||
printf("Slave %d State=%2x StatusCode=%4x : %s\n",
|
||||
i, ec_slave[i].state, ec_slave[i].ALstatuscode, ec_ALstatuscode2string(ec_slave[i].ALstatuscode));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
ec_readstate();
|
||||
for( cnt = 1 ; cnt <= ec_slavecount ; cnt++)
|
||||
{
|
||||
printf("\nSlave:%d\n Name:%s\n Output size: %dbits\n Input size: %dbits\n State: %d\n Delay: %d[ns]\n Has DC: %d\n",
|
||||
cnt, ec_slave[cnt].name, ec_slave[cnt].Obits, ec_slave[cnt].Ibits,
|
||||
ec_slave[cnt].state, ec_slave[cnt].pdelay, ec_slave[cnt].hasdc);
|
||||
if (ec_slave[cnt].hasdc) printf(" DCParentport:%d\n", ec_slave[cnt].parentport);
|
||||
printf(" Activeports:%d.%d.%d.%d\n", (ec_slave[cnt].activeports & 0x01) > 0 ,
|
||||
(ec_slave[cnt].activeports & 0x02) > 0 ,
|
||||
(ec_slave[cnt].activeports & 0x04) > 0 ,
|
||||
(ec_slave[cnt].activeports & 0x08) > 0 );
|
||||
printf(" Configured address: %4.4x\n", ec_slave[cnt].configadr);
|
||||
printf(" Man: %8.8x ID: %8.8x Rev: %8.8x\n", (int)ec_slave[cnt].eep_man, (int)ec_slave[cnt].eep_id, (int)ec_slave[cnt].eep_rev);
|
||||
for(nSM = 0 ; nSM < EC_MAXSM ; nSM++)
|
||||
{
|
||||
if(ec_slave[cnt].SM[nSM].StartAddr > 0)
|
||||
printf(" SM%1d A:%4.4x L:%4d F:%8.8x Type:%d\n",nSM, etohs(ec_slave[cnt].SM[nSM].StartAddr), etohs(ec_slave[cnt].SM[nSM].SMlength),
|
||||
etohl(ec_slave[cnt].SM[nSM].SMflags), ec_slave[cnt].SMtype[nSM]);
|
||||
}
|
||||
for(j = 0 ; j < ec_slave[cnt].FMMUunused ; j++)
|
||||
{
|
||||
printf(" FMMU%1d Ls:%8.8x Ll:%4d Lsb:%d Leb:%d Ps:%4.4x Psb:%d Ty:%2.2x Act:%2.2x\n", j,
|
||||
etohl(ec_slave[cnt].FMMU[j].LogStart), etohs(ec_slave[cnt].FMMU[j].LogLength), ec_slave[cnt].FMMU[j].LogStartbit,
|
||||
ec_slave[cnt].FMMU[j].LogEndbit, etohs(ec_slave[cnt].FMMU[j].PhysStart), ec_slave[cnt].FMMU[j].PhysStartBit,
|
||||
ec_slave[cnt].FMMU[j].FMMUtype, ec_slave[cnt].FMMU[j].FMMUactive);
|
||||
}
|
||||
printf(" FMMUfunc 0:%d 1:%d 2:%d 3:%d\n",
|
||||
ec_slave[cnt].FMMU0func, ec_slave[cnt].FMMU1func, ec_slave[cnt].FMMU2func, ec_slave[cnt].FMMU3func);
|
||||
printf(" MBX length wr: %d rd: %d MBX protocols : %2.2x\n", ec_slave[cnt].mbx_l, ec_slave[cnt].mbx_rl, ec_slave[cnt].mbx_proto);
|
||||
ssigen = ec_siifind(cnt, ECT_SII_GENERAL);
|
||||
/* SII general section */
|
||||
if (ssigen)
|
||||
{
|
||||
ec_slave[cnt].CoEdetails = ec_siigetbyte(cnt, ssigen + 0x07);
|
||||
ec_slave[cnt].FoEdetails = ec_siigetbyte(cnt, ssigen + 0x08);
|
||||
ec_slave[cnt].EoEdetails = ec_siigetbyte(cnt, ssigen + 0x09);
|
||||
ec_slave[cnt].SoEdetails = ec_siigetbyte(cnt, ssigen + 0x0a);
|
||||
if((ec_siigetbyte(cnt, ssigen + 0x0d) & 0x02) > 0)
|
||||
{
|
||||
ec_slave[cnt].blockLRW = 1;
|
||||
ec_slave[0].blockLRW++;
|
||||
}
|
||||
ec_slave[cnt].Ebuscurrent = ec_siigetbyte(cnt, ssigen + 0x0e);
|
||||
ec_slave[cnt].Ebuscurrent += ec_siigetbyte(cnt, ssigen + 0x0f) << 8;
|
||||
ec_slave[0].Ebuscurrent += ec_slave[cnt].Ebuscurrent;
|
||||
}
|
||||
printf(" CoE details: %2.2x FoE details: %2.2x EoE details: %2.2x SoE details: %2.2x\n",
|
||||
ec_slave[cnt].CoEdetails, ec_slave[cnt].FoEdetails, ec_slave[cnt].EoEdetails, ec_slave[cnt].SoEdetails);
|
||||
printf(" Ebus current: %d[mA]\n only LRD/LWR:%d\n",
|
||||
ec_slave[cnt].Ebuscurrent, ec_slave[cnt].blockLRW);
|
||||
if ((ec_slave[cnt].mbx_proto & ECT_MBXPROT_COE) && printSDO)
|
||||
si_sdo(cnt);
|
||||
if(printMAP)
|
||||
{
|
||||
if (ec_slave[cnt].mbx_proto & ECT_MBXPROT_COE)
|
||||
si_map_sdo(cnt);
|
||||
else
|
||||
si_map_sii(cnt);
|
||||
}
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("No slaves found!\n");
|
||||
}
|
||||
printf("End slaveinfo, close socket\n");
|
||||
/* stop SOEM, close socket */
|
||||
ec_close();
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("No socket connection on %s\nExcecute as root\n",ifname);
|
||||
}
|
||||
}
|
||||
|
||||
char ifbuf[1024];
|
||||
|
||||
int main(int argc, char *argv[])
|
||||
{
|
||||
ec_adaptert * adapter = NULL;
|
||||
ec_adaptert * head = NULL;
|
||||
printf("SOEM (Simple Open EtherCAT Master)\nSlaveinfo\n");
|
||||
|
||||
if (argc > 1)
|
||||
{
|
||||
if ((argc > 2) && (strncmp(argv[2], "-sdo", sizeof("-sdo")) == 0)) printSDO = TRUE;
|
||||
if ((argc > 2) && (strncmp(argv[2], "-map", sizeof("-map")) == 0)) printMAP = TRUE;
|
||||
/* start slaveinfo */
|
||||
strcpy(ifbuf, argv[1]);
|
||||
slaveinfo(ifbuf);
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("Usage: slaveinfo ifname [options]\nifname = eth0 for example\nOptions :\n -sdo : print SDO info\n -map : print mapping\n");
|
||||
|
||||
printf ("Available adapters\n");
|
||||
head = adapter = ec_find_adapters ();
|
||||
while (adapter != NULL)
|
||||
{
|
||||
printf ("Description : %s, Device to use for wpcap: %s\n", adapter->desc,adapter->name);
|
||||
adapter = adapter->next;
|
||||
}
|
||||
ec_free_adapters(head);
|
||||
}
|
||||
|
||||
printf("End program\n");
|
||||
return (0);
|
||||
}
|
||||
@@ -0,0 +1,518 @@
|
||||
/** \file
|
||||
* \brief Example code for Simple Open EtherCAT master
|
||||
*
|
||||
* This is a minimal example running rt-kernel TTOS. Check
|
||||
* tutorial files in documentations for som steps to get your
|
||||
* system running.
|
||||
* (c)Andreas Karlsson 2012
|
||||
*/
|
||||
|
||||
#include <kern.h>
|
||||
#include "ethercat.h"
|
||||
#include "string.h"
|
||||
#include <oshw.h>
|
||||
#include <config.h>
|
||||
|
||||
#include <defBF537.h>
|
||||
|
||||
#define pPORTFIO_SET ((vuint16_t *)PORTFIO_SET)
|
||||
#define pPORTFIO_CLEAR ((vuint16_t *)PORTFIO_CLEAR)
|
||||
#define pPORTFIO_DIR ((vuint16_t *)PORTFIO_DIR)
|
||||
|
||||
#define EK1100_1 1
|
||||
#define EL4001_1 2
|
||||
#define EL3061_1 3
|
||||
#define EL1008_1 4
|
||||
#define EL1008_2 5
|
||||
#define EL2622_1 6
|
||||
#define EL2622_2 7
|
||||
#define EL2622_3 8
|
||||
#define EL2622_4 9
|
||||
#define NUMBER_OF_SLAVES 9
|
||||
|
||||
|
||||
typedef struct
|
||||
{
|
||||
uint8 in1;
|
||||
uint8 in2;
|
||||
uint8 in3;
|
||||
uint8 in4;
|
||||
uint8 in5;
|
||||
uint8 in6;
|
||||
uint8 in7;
|
||||
uint8 in8;
|
||||
} in_EL1008_t;
|
||||
|
||||
typedef struct
|
||||
{
|
||||
uint8 out1;
|
||||
uint8 out2;
|
||||
} out_EL2622_t;
|
||||
|
||||
typedef struct
|
||||
{
|
||||
int16 out1;
|
||||
} out_EL4001_t;
|
||||
|
||||
typedef struct
|
||||
{
|
||||
int32 in1;
|
||||
} in_EL3061_t;
|
||||
|
||||
out_EL4001_t slave_EL4001_1;
|
||||
in_EL3061_t slave_EL3061_1;
|
||||
in_EL1008_t slave_EL1008_1;
|
||||
in_EL1008_t slave_EL1008_2;
|
||||
out_EL2622_t slave_EL2622_1;
|
||||
out_EL2622_t slave_EL2622_2;
|
||||
out_EL2622_t slave_EL2622_3;
|
||||
|
||||
uint32 network_configuration(void)
|
||||
{
|
||||
/* Do we got expected number of slaves from config */
|
||||
if (ec_slavecount < NUMBER_OF_SLAVES)
|
||||
return 0;
|
||||
|
||||
/* Verify slave by slave that it is correct*/
|
||||
if (strcmp(ec_slave[EK1100_1].name,"EK1100"))
|
||||
return 0;
|
||||
else if (strcmp(ec_slave[EL4001_1].name,"EL4001"))
|
||||
return 0;
|
||||
else if (strcmp(ec_slave[EL3061_1].name,"EL3061"))
|
||||
return 0;
|
||||
else if (strcmp(ec_slave[EL1008_1].name,"EL1008"))
|
||||
return 0;
|
||||
else if (strcmp(ec_slave[EL1008_2].name,"EL1008"))
|
||||
return 0;
|
||||
else if (strcmp(ec_slave[EL2622_1].name,"EL2622"))
|
||||
return 0;
|
||||
else if (strcmp(ec_slave[EL2622_2].name,"EL2622"))
|
||||
return 0;
|
||||
else if (strcmp(ec_slave[EL2622_3].name,"EL2622"))
|
||||
return 0;
|
||||
else if (strcmp(ec_slave[EL2622_4].name,"EL2622"))
|
||||
return 0;
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
int32 get_input_int32(uint16 slave_no,uint8 module_index)
|
||||
{
|
||||
int32 return_value;
|
||||
uint8 *data_ptr;
|
||||
/* Get the IO map pointer from the ec_slave struct */
|
||||
data_ptr = ec_slave[slave_no].inputs;
|
||||
/* Move pointer to correct module index */
|
||||
data_ptr += module_index * 4;
|
||||
/* Read value byte by byte since all targets can't handle misaligned
|
||||
* addresses
|
||||
*/
|
||||
return_value = *data_ptr++;
|
||||
return_value += (*data_ptr++ << 8);
|
||||
return_value += (*data_ptr++ << 16);
|
||||
return_value += (*data_ptr++ << 24);
|
||||
|
||||
return return_value;
|
||||
}
|
||||
|
||||
void set_input_int32 (uint16 slave_no, uint8 module_index, int32 value)
|
||||
{
|
||||
uint8 *data_ptr;
|
||||
/* Get the IO map pointer from the ec_slave struct */
|
||||
data_ptr = ec_slave[slave_no].inputs;
|
||||
/* Move pointer to correct module index */
|
||||
data_ptr += module_index * 4;
|
||||
/* Read value byte by byte since all targets can handle misaligned
|
||||
* addresses
|
||||
*/
|
||||
*data_ptr++ = (value >> 0) & 0xFF;
|
||||
*data_ptr++ = (value >> 8) & 0xFF;
|
||||
*data_ptr++ = (value >> 16) & 0xFF;
|
||||
*data_ptr++ = (value >> 24) & 0xFF;
|
||||
}
|
||||
|
||||
uint8 get_input_bit (uint16 slave_no,uint8 module_index)
|
||||
{
|
||||
/* Get the the startbit position in slaves IO byte */
|
||||
uint8 startbit = ec_slave[slave_no].Istartbit;
|
||||
/* Mask bit and return boolean 0 or 1 */
|
||||
if (*ec_slave[slave_no].inputs & BIT (module_index - 1 + startbit))
|
||||
return 1;
|
||||
else
|
||||
return 0;
|
||||
}
|
||||
|
||||
int16 get_output_int16(uint16 slave_no,uint8 module_index)
|
||||
{
|
||||
int16 return_value;
|
||||
uint8 *data_ptr;
|
||||
|
||||
/* Get the IO map pointer from the ec_slave struct */
|
||||
data_ptr = ec_slave[slave_no].outputs;
|
||||
/* Move pointer to correct module index */
|
||||
data_ptr += module_index * 2;
|
||||
/* Read value byte by byte since all targets can handle misaligned
|
||||
* addresses
|
||||
*/
|
||||
return_value = *data_ptr++;
|
||||
return_value += (*data_ptr++ << 8);
|
||||
|
||||
return return_value;
|
||||
}
|
||||
|
||||
void set_output_int16 (uint16 slave_no, uint8 module_index, int16 value)
|
||||
{
|
||||
uint8 *data_ptr;
|
||||
/* Get the IO map pointer from the ec_slave struct */
|
||||
data_ptr = ec_slave[slave_no].outputs;
|
||||
/* Move pointer to correct module index */
|
||||
data_ptr += module_index * 2;
|
||||
/* Read value byte by byte since all targets can handle misaligned
|
||||
* addresses
|
||||
*/
|
||||
*data_ptr++ = (value >> 0) & 0xFF;
|
||||
*data_ptr++ = (value >> 8) & 0xFF;
|
||||
}
|
||||
|
||||
uint8 get_output_bit (uint16 slave_no,uint8 module_index)
|
||||
{
|
||||
/* Get the the startbit position in slaves IO byte */
|
||||
uint8 startbit = ec_slave[slave_no].Ostartbit;
|
||||
/* Mask bit and return boolean 0 or 1 */
|
||||
if (*ec_slave[slave_no].outputs & BIT (module_index - 1 + startbit))
|
||||
return 1;
|
||||
else
|
||||
return 0;
|
||||
}
|
||||
|
||||
void set_output_bit (uint16 slave_no, uint8 module_index, uint8 value)
|
||||
{
|
||||
/* Get the the startbit position in slaves IO byte */
|
||||
uint8 startbit = ec_slave[slave_no].Ostartbit;
|
||||
/* Set or Clear bit */
|
||||
if (value == 0)
|
||||
*ec_slave[slave_no].outputs &= ~(1 << (module_index - 1 + startbit));
|
||||
else
|
||||
*ec_slave[slave_no].outputs |= (1 << (module_index - 1 + startbit));
|
||||
}
|
||||
|
||||
|
||||
extern tt_sched_t * tt_sched[];
|
||||
|
||||
char IOmap[128];
|
||||
int dorun = 0;
|
||||
|
||||
uint8_t load1s, load5s, load10s;
|
||||
uint32_t error_counter = 0;
|
||||
|
||||
void tt_error (uint32_t task_ix);
|
||||
void tt_error (uint32_t task_ix)
|
||||
{
|
||||
error_counter++;
|
||||
}
|
||||
|
||||
static void my_cyclic_callback (void * arg)
|
||||
{
|
||||
while (1)
|
||||
{
|
||||
stats_get_load (&load1s, &load5s, &load10s);
|
||||
rprintp ("Processor load was %d:%d:%d (1s:5s:10s) with TT errors: %d\n",
|
||||
load1s, load5s, load10s,error_counter);
|
||||
task_delay(20000);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void read_io (void * arg)
|
||||
{
|
||||
/* Function connected to cyclic TTOS task
|
||||
* The function is executed cyclic according
|
||||
* sceduel specified in schedule.tt
|
||||
*/
|
||||
*pPORTFIO_SET = BIT (6);
|
||||
/* Send and receive processdata
|
||||
* Note that you need som synchronization
|
||||
* case you modifey IO in local application
|
||||
*/
|
||||
ec_send_processdata();
|
||||
ec_receive_processdata(EC_TIMEOUTRET);
|
||||
*pPORTFIO_CLEAR = BIT (6);
|
||||
}
|
||||
|
||||
|
||||
void simpletest(void *arg)
|
||||
{
|
||||
|
||||
char *ifname = arg;
|
||||
int cnt, i, j;
|
||||
|
||||
*pPORTFIO_DIR |= BIT (6);
|
||||
|
||||
rprintp("Starting simple test\n");
|
||||
|
||||
/* initialise SOEM */
|
||||
if (ec_init(ifname))
|
||||
{
|
||||
rprintp("ec_init succeeded.\n");
|
||||
|
||||
/* find and auto-config slaves */
|
||||
if ( ec_config_init(FALSE) > 0 )
|
||||
{
|
||||
rprintp("%d slaves found and configured.\n",ec_slavecount);
|
||||
|
||||
/* Check network setup */
|
||||
if (network_configuration())
|
||||
{
|
||||
/* Run IO mapping */
|
||||
ec_config_map(&IOmap);
|
||||
|
||||
rprintp("Slaves mapped, state to SAFE_OP.\n");
|
||||
/* wait for all slaves to reach SAFE_OP state */
|
||||
ec_statecheck(0, EC_STATE_SAFE_OP, EC_TIMEOUTSTATE);
|
||||
|
||||
/* Print som information on the mapped network */
|
||||
for( cnt = 1 ; cnt <= ec_slavecount ; cnt++)
|
||||
{
|
||||
rprintp("\nSlave:%d\n Name:%s\n Output size: %dbits\n Input size: %dbits\n State: %d\n Delay: %d[ns]\n Has DC: %d\n",
|
||||
cnt, ec_slave[cnt].name, ec_slave[cnt].Obits, ec_slave[cnt].Ibits,
|
||||
ec_slave[cnt].state, ec_slave[cnt].pdelay, ec_slave[cnt].hasdc);
|
||||
rprintp(" Configured address: %x\n", ec_slave[cnt].configadr);
|
||||
rprintp(" Outputs address: %x\n", ec_slave[cnt].outputs);
|
||||
rprintp(" Inputs address: %x\n", ec_slave[cnt].inputs);
|
||||
|
||||
for(j = 0 ; j < ec_slave[cnt].FMMUunused ; j++)
|
||||
{
|
||||
rprintp(" FMMU%1d Ls:%x Ll:%4d Lsb:%d Leb:%d Ps:%x Psb:%d Ty:%x Act:%x\n", j,
|
||||
(int)ec_slave[cnt].FMMU[j].LogStart, ec_slave[cnt].FMMU[j].LogLength, ec_slave[cnt].FMMU[j].LogStartbit,
|
||||
ec_slave[cnt].FMMU[j].LogEndbit, ec_slave[cnt].FMMU[j].PhysStart, ec_slave[cnt].FMMU[j].PhysStartBit,
|
||||
ec_slave[cnt].FMMU[j].FMMUtype, ec_slave[cnt].FMMU[j].FMMUactive);
|
||||
}
|
||||
rprintp(" FMMUfunc 0:%d 1:%d 2:%d 3:%d\n",
|
||||
ec_slave[cnt].FMMU0func, ec_slave[cnt].FMMU1func, ec_slave[cnt].FMMU2func, ec_slave[cnt].FMMU3func);
|
||||
|
||||
}
|
||||
|
||||
rprintp("Request operational state for all slaves\n");
|
||||
ec_slave[0].state = EC_STATE_OPERATIONAL;
|
||||
/* send one valid process data to make outputs in slaves happy*/
|
||||
ec_send_processdata();
|
||||
ec_receive_processdata(EC_TIMEOUTRET);
|
||||
/* request OP state for all slaves */
|
||||
ec_writestate(0);
|
||||
/* wait for all slaves to reach OP state */
|
||||
ec_statecheck(0, EC_STATE_OPERATIONAL, EC_TIMEOUTSTATE);
|
||||
if (ec_slave[0].state == EC_STATE_OPERATIONAL )
|
||||
{
|
||||
rprintp("Operational state reached for all slaves.\n");
|
||||
}
|
||||
else
|
||||
{
|
||||
rprintp("Not all slaves reached operational state.\n");
|
||||
ec_readstate();
|
||||
for(i = 1; i<=ec_slavecount ; i++)
|
||||
{
|
||||
if(ec_slave[i].state != EC_STATE_OPERATIONAL)
|
||||
{
|
||||
rprintp("Slave %d State=0x%04x StatusCode=0x%04x\n",
|
||||
i, ec_slave[i].state, ec_slave[i].ALstatuscode);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/* Simple blinking lamps BOX demo */
|
||||
uint8 digout = 0;
|
||||
|
||||
slave_EL4001_1.out1 = (int16)0x3FFF;
|
||||
set_output_int16(EL4001_1,0,slave_EL4001_1.out1);
|
||||
|
||||
task_spawn ("t_StatsPrint", my_cyclic_callback, 20, 1024, (void *)NULL);
|
||||
tt_start_wait (tt_sched[0]);
|
||||
|
||||
while(1)
|
||||
{
|
||||
dorun = 0;
|
||||
slave_EL1008_1.in1 = get_input_bit(EL1008_1,1); // Start button
|
||||
slave_EL1008_1.in2 = get_input_bit(EL1008_1,2); // Turnkey RIGHT
|
||||
slave_EL1008_1.in3 = get_input_bit(EL1008_1,3); // Turnkey LEFT
|
||||
|
||||
/* (Turnkey MIDDLE + Start button) OR Turnkey RIGHT OR Turnkey LEFT
|
||||
Turnkey LEFT: Light positions bottom to top. Loop, slow operation.
|
||||
Turnkey MIDDLE: Press start button to light positions bottom to top. No loop, fast operation.
|
||||
Turnkey RIGHT: Light positions bottom to top. Loop, fast operation.
|
||||
*/
|
||||
if (slave_EL1008_1.in1 || slave_EL1008_1.in2 || slave_EL1008_1.in3)
|
||||
{
|
||||
digout = 0;
|
||||
/* *ec_slave[6].outputs = digout; */
|
||||
/* set_output_bit(slave_name #,index as 1 output on module , value */
|
||||
set_output_bit(EL2622_1,1,(digout & BIT (0))); /* Start button */
|
||||
set_output_bit(EL2622_1,2,(digout & BIT (1))); /* Turnkey RIGHT */
|
||||
set_output_bit(EL2622_2,1,(digout & BIT (2))); /* Turnkey LEFT */
|
||||
set_output_bit(EL2622_2,2,(digout & BIT (3)));
|
||||
set_output_bit(EL2622_3,1,(digout & BIT (4)));
|
||||
set_output_bit(EL2622_3,2,(digout & BIT (5)));
|
||||
|
||||
while(dorun < 95)
|
||||
{
|
||||
dorun++;
|
||||
|
||||
if (slave_EL1008_1.in3)
|
||||
task_delay(tick_from_ms(20));
|
||||
else
|
||||
task_delay(tick_from_ms(5));
|
||||
|
||||
digout = (uint8) (digout | BIT((dorun / 16) & 0xFF));
|
||||
|
||||
set_output_bit(EL2622_1,1,(digout & BIT (0))); /* LED1 */
|
||||
set_output_bit(EL2622_1,2,(digout & BIT (1))); /* LED2 */
|
||||
set_output_bit(EL2622_2,1,(digout & BIT (2))); /* LED3 */
|
||||
set_output_bit(EL2622_2,2,(digout & BIT (3))); /* LED4 */
|
||||
set_output_bit(EL2622_3,1,(digout & BIT (4))); /* LED5 */
|
||||
set_output_bit(EL2622_3,2,(digout & BIT (5))); /* LED6 */
|
||||
|
||||
slave_EL1008_1.in1 = get_input_bit(EL1008_1,2); /* Turnkey RIGHT */
|
||||
slave_EL1008_1.in2 = get_input_bit(EL1008_1,3); /* Turnkey LEFT */
|
||||
slave_EL3061_1.in1 = get_input_int32(EL3061_1,0); /* Read AI */
|
||||
}
|
||||
}
|
||||
task_delay(tick_from_ms(2));
|
||||
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
rprintp("Mismatch of network units!\n");
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
rprintp("No slaves found!\n");
|
||||
}
|
||||
rprintp("End simple test, close socket\n");
|
||||
/* stop SOEM, close socket */
|
||||
ec_close();
|
||||
}
|
||||
else
|
||||
{
|
||||
rprintp("ec_init failed");
|
||||
}
|
||||
rprintp("End program\n");
|
||||
}
|
||||
|
||||
static void test_osal_timer_timeout_us (const uint32 timeout_us)
|
||||
{
|
||||
osal_timert timer;
|
||||
|
||||
ASSERT (timeout_us > 4000);
|
||||
|
||||
osal_timer_start (&timer, timeout_us);
|
||||
ASSERT (osal_timer_is_expired (&timer) == false);
|
||||
osal_usleep (timeout_us - 2000);
|
||||
ASSERT (osal_timer_is_expired (&timer) == false);
|
||||
osal_usleep (4000);
|
||||
ASSERT (osal_timer_is_expired (&timer));
|
||||
}
|
||||
|
||||
static void test_osal_timer (void)
|
||||
{
|
||||
test_osal_timer_timeout_us (10*1000); /* 10ms */
|
||||
test_osal_timer_timeout_us (100*1000); /* 100ms */
|
||||
test_osal_timer_timeout_us (1000*1000); /* 1s */
|
||||
test_osal_timer_timeout_us (2000*1000); /* 2s */
|
||||
}
|
||||
|
||||
#define USECS_PER_SEC 1000000
|
||||
#define USECS_PER_TICK (USECS_PER_SEC / CFG_TICKS_PER_SECOND)
|
||||
#ifndef ABS
|
||||
#define ABS(x) ((x) < 0 ? -(x) : (x))
|
||||
#endif
|
||||
|
||||
static int32 time_difference_us (const ec_timet stop, const ec_timet start)
|
||||
{
|
||||
int32 difference_us;
|
||||
|
||||
ASSERT (stop.sec >= start.sec);
|
||||
if (stop.sec == start.sec)
|
||||
{
|
||||
ASSERT (stop.usec >= start.usec);
|
||||
}
|
||||
|
||||
difference_us = (stop.sec - start.sec) * USECS_PER_SEC;
|
||||
difference_us += ((int32)stop.usec - (int32)start.usec);
|
||||
|
||||
ASSERT (difference_us >= 0);
|
||||
return difference_us;
|
||||
}
|
||||
|
||||
/**
|
||||
* Test osal_current_time() by using it for measuring how long an osal_usleep()
|
||||
* takes, in specified number of microseconds.
|
||||
*/
|
||||
static void test_osal_current_time_for_delay_us (const int32 sleep_time_us)
|
||||
{
|
||||
ec_timet start;
|
||||
ec_timet stop;
|
||||
int32 measurement_us;
|
||||
int32 deviation_us;
|
||||
const int32 usleep_accuracy_us = USECS_PER_TICK;
|
||||
boolean is_deviation_within_tolerance;
|
||||
|
||||
start = osal_current_time ();
|
||||
osal_usleep (sleep_time_us);
|
||||
stop = osal_current_time ();
|
||||
|
||||
measurement_us = time_difference_us (stop, start);
|
||||
deviation_us = ABS (measurement_us - sleep_time_us);
|
||||
is_deviation_within_tolerance = deviation_us <= usleep_accuracy_us;
|
||||
ASSERT (is_deviation_within_tolerance);
|
||||
}
|
||||
|
||||
static void test_osal_current_time (void)
|
||||
{
|
||||
test_osal_current_time_for_delay_us (0);
|
||||
test_osal_current_time_for_delay_us (1);
|
||||
test_osal_current_time_for_delay_us (500);
|
||||
test_osal_current_time_for_delay_us (999);
|
||||
test_osal_current_time_for_delay_us (USECS_PER_TICK);
|
||||
test_osal_current_time_for_delay_us (USECS_PER_TICK-1);
|
||||
test_osal_current_time_for_delay_us (USECS_PER_TICK+1);
|
||||
test_osal_current_time_for_delay_us (2 * 1000 * 1000); /* 2s */
|
||||
}
|
||||
|
||||
#include <lwip/inet.h>
|
||||
|
||||
static void test_oshw_htons (void)
|
||||
{
|
||||
uint16 network;
|
||||
uint16 host;
|
||||
|
||||
host = 0x1234;
|
||||
network = oshw_htons (host);
|
||||
ASSERT (network == htons (host));
|
||||
}
|
||||
|
||||
static void test_oshw_ntohs (void)
|
||||
{
|
||||
uint16 host;
|
||||
uint16 network;
|
||||
|
||||
network = 0x1234;
|
||||
host = oshw_ntohs (network);
|
||||
ASSERT (host == ntohs (network));
|
||||
}
|
||||
|
||||
int main (void)
|
||||
{
|
||||
test_oshw_htons ();
|
||||
test_oshw_ntohs ();
|
||||
test_osal_timer ();
|
||||
test_osal_current_time ();
|
||||
|
||||
rprintp("SOEM (Simple Open EtherCAT Master)\nSimple test\n");
|
||||
|
||||
task_spawn ("simpletest", simpletest, 9, 8192, NULL);
|
||||
|
||||
return (0);
|
||||
}
|
||||
|
||||
@@ -0,0 +1,327 @@
|
||||
/** \file
|
||||
* \brief Example code for Simple Open EtherCAT master
|
||||
*
|
||||
* Usage: simple_ng IFNAME1
|
||||
* IFNAME1 is the NIC interface name, e.g. 'eth0'
|
||||
*
|
||||
* This is a minimal test.
|
||||
*/
|
||||
|
||||
#include "ethercat.h"
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
|
||||
|
||||
typedef struct {
|
||||
ecx_contextt context;
|
||||
char * iface;
|
||||
uint8 group;
|
||||
int roundtrip_time;
|
||||
|
||||
/* Used by the context */
|
||||
uint8 map[4096];
|
||||
ecx_portt port;
|
||||
ec_slavet slavelist[EC_MAXSLAVE];
|
||||
int slavecount;
|
||||
ec_groupt grouplist[EC_MAXGROUP];
|
||||
uint8 esibuf[EC_MAXEEPBUF];
|
||||
uint32 esimap[EC_MAXEEPBITMAP];
|
||||
ec_eringt elist;
|
||||
ec_idxstackT idxstack;
|
||||
boolean ecaterror;
|
||||
int64 DCtime;
|
||||
ec_SMcommtypet SMcommtype[EC_MAX_MAPT];
|
||||
ec_PDOassignt PDOassign[EC_MAX_MAPT];
|
||||
ec_PDOdesct PDOdesc[EC_MAX_MAPT];
|
||||
ec_eepromSMt eepSM;
|
||||
ec_eepromFMMUt eepFMMU;
|
||||
} Fieldbus;
|
||||
|
||||
|
||||
static void
|
||||
fieldbus_initialize(Fieldbus *fieldbus, char *iface)
|
||||
{
|
||||
ecx_contextt *context;
|
||||
|
||||
/* Let's start by 0-filling `fieldbus` to avoid surprises */
|
||||
memset(fieldbus, 0, sizeof(*fieldbus));
|
||||
|
||||
fieldbus->iface = iface;
|
||||
fieldbus->group = 0;
|
||||
fieldbus->roundtrip_time = 0;
|
||||
fieldbus->ecaterror = FALSE;
|
||||
|
||||
/* Initialize the ecx_contextt data structure */
|
||||
context = &fieldbus->context;
|
||||
context->port = &fieldbus->port;
|
||||
context->slavelist = fieldbus->slavelist;
|
||||
context->slavecount = &fieldbus->slavecount;
|
||||
context->maxslave = EC_MAXSLAVE;
|
||||
context->grouplist = fieldbus->grouplist;
|
||||
context->maxgroup = EC_MAXGROUP;
|
||||
context->esibuf = fieldbus->esibuf;
|
||||
context->esimap = fieldbus->esimap;
|
||||
context->esislave = 0;
|
||||
context->elist = &fieldbus->elist;
|
||||
context->idxstack = &fieldbus->idxstack;
|
||||
context->ecaterror = &fieldbus->ecaterror;
|
||||
context->DCtime = &fieldbus->DCtime;
|
||||
context->SMcommtype = fieldbus->SMcommtype;
|
||||
context->PDOassign = fieldbus->PDOassign;
|
||||
context->PDOdesc = fieldbus->PDOdesc;
|
||||
context->eepSM = &fieldbus->eepSM;
|
||||
context->eepFMMU = &fieldbus->eepFMMU;
|
||||
context->FOEhook = NULL;
|
||||
context->EOEhook = NULL;
|
||||
context->manualstatechange = 0;
|
||||
}
|
||||
|
||||
static int
|
||||
fieldbus_roundtrip(Fieldbus *fieldbus)
|
||||
{
|
||||
ecx_contextt *context;
|
||||
ec_timet start, end, diff;
|
||||
int wkc;
|
||||
|
||||
context = &fieldbus->context;
|
||||
|
||||
start = osal_current_time();
|
||||
ecx_send_processdata(context);
|
||||
wkc = ecx_receive_processdata(context, EC_TIMEOUTRET);
|
||||
end = osal_current_time();
|
||||
osal_time_diff(&start, &end, &diff);
|
||||
fieldbus->roundtrip_time = diff.sec * 1000000 + diff.usec;
|
||||
|
||||
return wkc;
|
||||
}
|
||||
|
||||
static boolean
|
||||
fieldbus_start(Fieldbus *fieldbus)
|
||||
{
|
||||
ecx_contextt *context;
|
||||
ec_groupt *grp;
|
||||
ec_slavet *slave;
|
||||
int i;
|
||||
|
||||
context = &fieldbus->context;
|
||||
grp = fieldbus->grouplist + fieldbus->group;
|
||||
|
||||
printf("Initializing SOEM on '%s'... ", fieldbus->iface);
|
||||
if (! ecx_init(context, fieldbus->iface)) {
|
||||
printf("no socket connection\n");
|
||||
return FALSE;
|
||||
}
|
||||
printf("done\n");
|
||||
|
||||
printf("Finding autoconfig slaves... ");
|
||||
if (ecx_config_init(context, FALSE) <= 0) {
|
||||
printf("no slaves found\n");
|
||||
return FALSE;
|
||||
}
|
||||
printf("%d slaves found\n", fieldbus->slavecount);
|
||||
|
||||
printf("Sequential mapping of I/O... ");
|
||||
ecx_config_map_group(context, fieldbus->map, fieldbus->group);
|
||||
printf("mapped %dO+%dI bytes from %d segments",
|
||||
grp->Obytes, grp->Ibytes, grp->nsegments);
|
||||
if (grp->nsegments > 1) {
|
||||
/* Show how slaves are distrubuted */
|
||||
for (i = 0; i < grp->nsegments; ++i) {
|
||||
printf("%s%d", i == 0 ? " (" : "+", grp->IOsegment[i]);
|
||||
}
|
||||
printf(" slaves)");
|
||||
}
|
||||
printf("\n");
|
||||
|
||||
printf("Configuring distributed clock... ");
|
||||
ecx_configdc(context);
|
||||
printf("done\n");
|
||||
|
||||
printf("Waiting for all slaves in safe operational... ");
|
||||
ecx_statecheck(context, 0, EC_STATE_SAFE_OP, EC_TIMEOUTSTATE * 4);
|
||||
printf("done\n");
|
||||
|
||||
printf("Send a roundtrip to make outputs in slaves happy... ");
|
||||
fieldbus_roundtrip(fieldbus);
|
||||
printf("done\n");
|
||||
|
||||
printf("Setting operational state..");
|
||||
/* Act on slave 0 (a virtual slave used for broadcasting) */
|
||||
slave = fieldbus->slavelist;
|
||||
slave->state = EC_STATE_OPERATIONAL;
|
||||
ecx_writestate(context, 0);
|
||||
/* Poll the result ten times before giving up */
|
||||
for (i = 0; i < 10; ++i) {
|
||||
printf(".");
|
||||
fieldbus_roundtrip(fieldbus);
|
||||
ecx_statecheck(context, 0, EC_STATE_OPERATIONAL, EC_TIMEOUTSTATE / 10);
|
||||
if (slave->state == EC_STATE_OPERATIONAL) {
|
||||
printf(" all slaves are now operational\n");
|
||||
return TRUE;
|
||||
}
|
||||
}
|
||||
|
||||
printf(" failed,");
|
||||
ecx_readstate(context);
|
||||
for (i = 1; i <= fieldbus->slavecount; ++i) {
|
||||
slave = fieldbus->slavelist + i;
|
||||
if (slave->state != EC_STATE_OPERATIONAL) {
|
||||
printf(" slave %d is 0x%04X (AL-status=0x%04X %s)",
|
||||
i, slave->state, slave->ALstatuscode,
|
||||
ec_ALstatuscode2string(slave->ALstatuscode));
|
||||
}
|
||||
}
|
||||
printf("\n");
|
||||
|
||||
return FALSE;
|
||||
}
|
||||
|
||||
static void
|
||||
fieldbus_stop(Fieldbus *fieldbus)
|
||||
{
|
||||
ecx_contextt *context;
|
||||
ec_slavet *slave;
|
||||
|
||||
context = &fieldbus->context;
|
||||
/* Act on slave 0 (a virtual slave used for broadcasting) */
|
||||
slave = fieldbus->slavelist;
|
||||
|
||||
printf("Requesting init state on all slaves... ");
|
||||
slave->state = EC_STATE_INIT;
|
||||
ecx_writestate(context, 0);
|
||||
printf("done\n");
|
||||
|
||||
printf("Close socket... ");
|
||||
ecx_close(context);
|
||||
printf("done\n");
|
||||
}
|
||||
|
||||
static boolean
|
||||
fieldbus_dump(Fieldbus *fieldbus)
|
||||
{
|
||||
ec_groupt *grp;
|
||||
uint32 n;
|
||||
int wkc, expected_wkc;
|
||||
|
||||
grp = fieldbus->grouplist + fieldbus->group;
|
||||
|
||||
wkc = fieldbus_roundtrip(fieldbus);
|
||||
expected_wkc = grp->outputsWKC * 2 + grp->inputsWKC;
|
||||
printf("%6d usec WKC %d", fieldbus->roundtrip_time, wkc);
|
||||
if (wkc < expected_wkc) {
|
||||
printf(" wrong (expected %d)\n", expected_wkc);
|
||||
return FALSE;
|
||||
}
|
||||
|
||||
printf(" O:");
|
||||
for (n = 0; n < grp->Obytes; ++n) {
|
||||
printf(" %02X", grp->outputs[n]);
|
||||
}
|
||||
printf(" I:");
|
||||
for (n = 0; n < grp->Ibytes; ++n) {
|
||||
printf(" %02X", grp->inputs[n]);
|
||||
}
|
||||
printf(" T: %lld\r", (long long) fieldbus->DCtime);
|
||||
return TRUE;
|
||||
}
|
||||
|
||||
static void
|
||||
fieldbus_check_state(Fieldbus *fieldbus)
|
||||
{
|
||||
ecx_contextt *context;
|
||||
ec_groupt *grp;
|
||||
ec_slavet *slave;
|
||||
int i;
|
||||
|
||||
context = &fieldbus->context;
|
||||
grp = context->grouplist + fieldbus->group;
|
||||
grp->docheckstate = FALSE;
|
||||
ecx_readstate(context);
|
||||
for (i = 1; i <= fieldbus->slavecount; ++i) {
|
||||
slave = context->slavelist + i;
|
||||
if (slave->group != fieldbus->group) {
|
||||
/* This slave is part of another group: do nothing */
|
||||
} else if (slave->state != EC_STATE_OPERATIONAL) {
|
||||
grp->docheckstate = TRUE;
|
||||
if (slave->state == EC_STATE_SAFE_OP + EC_STATE_ERROR) {
|
||||
printf("* Slave %d is in SAFE_OP+ERROR, attempting ACK\n", i);
|
||||
slave->state = EC_STATE_SAFE_OP + EC_STATE_ACK;
|
||||
ecx_writestate(context, i);
|
||||
} else if(slave->state == EC_STATE_SAFE_OP) {
|
||||
printf("* Slave %d is in SAFE_OP, change to OPERATIONAL\n", i);
|
||||
slave->state = EC_STATE_OPERATIONAL;
|
||||
ecx_writestate(context, i);
|
||||
} else if(slave->state > EC_STATE_NONE) {
|
||||
if (ecx_reconfig_slave(context, i, EC_TIMEOUTRET)) {
|
||||
slave->islost = FALSE;
|
||||
printf("* Slave %d reconfigured\n", i);
|
||||
}
|
||||
} else if(! slave->islost) {
|
||||
ecx_statecheck(context, i, EC_STATE_OPERATIONAL, EC_TIMEOUTRET);
|
||||
if (slave->state == EC_STATE_NONE) {
|
||||
slave->islost = TRUE;
|
||||
printf("* Slave %d lost\n", i);
|
||||
}
|
||||
}
|
||||
} else if (slave->islost) {
|
||||
if(slave->state != EC_STATE_NONE) {
|
||||
slave->islost = FALSE;
|
||||
printf("* Slave %d found\n", i);
|
||||
} else if (ecx_recover_slave(context, i, EC_TIMEOUTRET)) {
|
||||
slave->islost = FALSE;
|
||||
printf("* Slave %d recovered\n", i);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if (! grp->docheckstate) {
|
||||
printf("All slaves resumed OPERATIONAL\n");
|
||||
}
|
||||
}
|
||||
|
||||
int
|
||||
main(int argc, char *argv[])
|
||||
{
|
||||
Fieldbus fieldbus;
|
||||
|
||||
if (argc != 2) {
|
||||
ec_adaptert * adapter = NULL;
|
||||
ec_adaptert * head = NULL;
|
||||
printf("Usage: simple_ng IFNAME1\n"
|
||||
"IFNAME1 is the NIC interface name, e.g. 'eth0'\n");
|
||||
|
||||
printf("\nAvailable adapters:\n");
|
||||
head = adapter = ec_find_adapters();
|
||||
while (adapter != NULL)
|
||||
{
|
||||
printf(" - %s (%s)\n", adapter->name, adapter->desc);
|
||||
adapter = adapter->next;
|
||||
}
|
||||
ec_free_adapters(head);
|
||||
return 1;
|
||||
}
|
||||
|
||||
fieldbus_initialize(&fieldbus, argv[1]);
|
||||
if (fieldbus_start(&fieldbus)) {
|
||||
int i, min_time, max_time;
|
||||
min_time = max_time = 0;
|
||||
for (i = 1; i <= 10000; ++i) {
|
||||
printf("Iteration %4d:", i);
|
||||
if (! fieldbus_dump(&fieldbus)) {
|
||||
fieldbus_check_state(&fieldbus);
|
||||
} else if (i == 1) {
|
||||
min_time = max_time = fieldbus.roundtrip_time;
|
||||
} else if (fieldbus.roundtrip_time < min_time) {
|
||||
min_time = fieldbus.roundtrip_time;
|
||||
} else if (fieldbus.roundtrip_time > max_time) {
|
||||
max_time = fieldbus.roundtrip_time;
|
||||
}
|
||||
osal_usleep(5000);
|
||||
}
|
||||
printf("\nRoundtrip time (usec): min %d max %d\n", min_time, max_time);
|
||||
fieldbus_stop(&fieldbus);
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
@@ -0,0 +1,388 @@
|
||||
/** \file
|
||||
* \brief Example code for Simple Open EtherCAT master
|
||||
*
|
||||
* Usage : ebox [ifname] [cycletime]
|
||||
* ifname is NIC interface, f.e. eth0
|
||||
* cycletime in us, f.e. 500
|
||||
*
|
||||
* This test is specifically build for the E/BOX.
|
||||
*
|
||||
* (c)Arthur Ketels 2011
|
||||
*/
|
||||
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <sys/time.h>
|
||||
#include <unistd.h>
|
||||
#include <sched.h>
|
||||
#include <string.h>
|
||||
#include <sys/time.h>
|
||||
#include <time.h>
|
||||
#include <pthread.h>
|
||||
#include <math.h>
|
||||
|
||||
#include "ethercat.h"
|
||||
|
||||
#define NSEC_PER_SEC 1000000000
|
||||
|
||||
typedef struct PACKED
|
||||
{
|
||||
uint8 status;
|
||||
uint8 counter;
|
||||
uint8 din;
|
||||
int32 ain[2];
|
||||
uint32 tsain;
|
||||
int32 enc[2];
|
||||
} in_EBOXt;
|
||||
|
||||
typedef struct PACKED
|
||||
{
|
||||
uint8 counter;
|
||||
int16 stream[100];
|
||||
} in_EBOX_streamt;
|
||||
|
||||
typedef struct PACKED
|
||||
{
|
||||
uint8 control;
|
||||
uint8 dout;
|
||||
int16 aout[2];
|
||||
uint16 pwmout[2];
|
||||
} out_EBOXt;
|
||||
|
||||
typedef struct PACKED
|
||||
{
|
||||
uint8 control;
|
||||
} out_EBOX_streamt;
|
||||
|
||||
// total samples to capture
|
||||
#define MAXSTREAM 200000
|
||||
// sample interval in ns, here 8us -> 125kHz
|
||||
// maximum data rate for E/BOX v1.0.1 is around 150kHz
|
||||
#define SYNC0TIME 8000
|
||||
|
||||
struct sched_param schedp;
|
||||
char IOmap[4096];
|
||||
pthread_t thread1;
|
||||
struct timeval tv,t1,t2;
|
||||
int dorun = 0;
|
||||
int deltat, tmax=0;
|
||||
int64 toff;
|
||||
int DCdiff;
|
||||
int os;
|
||||
uint32 ob;
|
||||
int16 ob2;
|
||||
uint8 ob3;
|
||||
pthread_cond_t cond = PTHREAD_COND_INITIALIZER;
|
||||
pthread_mutex_t mutex = PTHREAD_MUTEX_INITIALIZER;
|
||||
int64 integral=0;
|
||||
uint32 cyclecount;
|
||||
in_EBOX_streamt *in_EBOX;
|
||||
out_EBOX_streamt *out_EBOX;
|
||||
double ain[2];
|
||||
int ainc;
|
||||
int streampos;
|
||||
int16 stream1[MAXSTREAM];
|
||||
int16 stream2[MAXSTREAM];
|
||||
|
||||
int output_cvs(char *fname, int length)
|
||||
{
|
||||
FILE *fp;
|
||||
|
||||
int i;
|
||||
|
||||
fp = fopen(fname, "w");
|
||||
if(fp == NULL)
|
||||
return 0;
|
||||
for (i = 0; i < length; i++)
|
||||
{
|
||||
fprintf(fp, "%d %d %d\n", i, stream1[i], stream2[i]);
|
||||
}
|
||||
fclose(fp);
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
void eboxtest(char *ifname)
|
||||
{
|
||||
int cnt, i;
|
||||
|
||||
printf("Starting E/BOX test\n");
|
||||
|
||||
/* initialise SOEM, bind socket to ifname */
|
||||
if (ec_init(ifname))
|
||||
{
|
||||
printf("ec_init on %s succeeded.\n",ifname);
|
||||
/* find and auto-config slaves */
|
||||
if ( ec_config_init(FALSE) > 0 )
|
||||
{
|
||||
printf("%d slaves found and configured.\n",ec_slavecount);
|
||||
|
||||
// check if first slave is an E/BOX
|
||||
if (( ec_slavecount >= 1 ) &&
|
||||
(strcmp(ec_slave[1].name,"E/BOX") == 0))
|
||||
{
|
||||
// reprogram PDO mapping to set slave in stream mode
|
||||
// this can only be done in pre-OP state
|
||||
os=sizeof(ob2); ob2 = 0x1601;
|
||||
ec_SDOwrite(1,0x1c12,01,FALSE,os,&ob2,EC_TIMEOUTRXM);
|
||||
os=sizeof(ob2); ob2 = 0x1a01;
|
||||
ec_SDOwrite(1,0x1c13,01,FALSE,os,&ob2,EC_TIMEOUTRXM);
|
||||
}
|
||||
|
||||
ec_config_map(&IOmap);
|
||||
|
||||
ec_configdc();
|
||||
|
||||
/* wait for all slaves to reach SAFE_OP state */
|
||||
ec_statecheck(0, EC_STATE_SAFE_OP, EC_TIMEOUTSTATE);
|
||||
|
||||
/* configure DC options for every DC capable slave found in the list */
|
||||
printf("DC capable : %d\n",ec_configdc());
|
||||
|
||||
/* check configuration */
|
||||
if (( ec_slavecount >= 1 ) &&
|
||||
(strcmp(ec_slave[1].name,"E/BOX") == 0)
|
||||
)
|
||||
{
|
||||
printf("E/BOX found.\n");
|
||||
|
||||
/* connect struct pointers to slave I/O pointers */
|
||||
in_EBOX = (in_EBOX_streamt*) ec_slave[1].inputs;
|
||||
out_EBOX = (out_EBOX_streamt*) ec_slave[1].outputs;
|
||||
|
||||
/* read indevidual slave state and store in ec_slave[] */
|
||||
ec_readstate();
|
||||
for(cnt = 1; cnt <= ec_slavecount ; cnt++)
|
||||
{
|
||||
printf("Slave:%d Name:%s Output size:%3dbits Input size:%3dbits State:%2d delay:%d.%d\n",
|
||||
cnt, ec_slave[cnt].name, ec_slave[cnt].Obits, ec_slave[cnt].Ibits,
|
||||
ec_slave[cnt].state, (int)ec_slave[cnt].pdelay, ec_slave[cnt].hasdc);
|
||||
}
|
||||
printf("Request operational state for all slaves\n");
|
||||
|
||||
/* send one processdata cycle to init SM in slaves */
|
||||
ec_send_processdata();
|
||||
ec_receive_processdata(EC_TIMEOUTRET);
|
||||
|
||||
ec_slave[0].state = EC_STATE_OPERATIONAL;
|
||||
/* request OP state for all slaves */
|
||||
ec_writestate(0);
|
||||
/* wait for all slaves to reach OP state */
|
||||
ec_statecheck(0, EC_STATE_OPERATIONAL, EC_TIMEOUTSTATE);
|
||||
if (ec_slave[0].state == EC_STATE_OPERATIONAL )
|
||||
{
|
||||
printf("Operational state reached for all slaves.\n");
|
||||
ain[0] = 0;
|
||||
ain[1] = 0;
|
||||
ainc = 0;
|
||||
dorun = 1;
|
||||
usleep(100000); // wait for linux to sync on DC
|
||||
ec_dcsync0(1, TRUE, SYNC0TIME, 0); // SYNC0 on slave 1
|
||||
/* acyclic loop 20ms */
|
||||
for(i = 1; i <= 200; i++)
|
||||
{
|
||||
/* read DC difference register for slave 2 */
|
||||
// ec_FPRD(ec_slave[1].configadr, ECT_REG_DCSYSDIFF, sizeof(DCdiff), &DCdiff, EC_TIMEOUTRET);
|
||||
// if(DCdiff<0) { DCdiff = - (int32)((uint32)DCdiff & 0x7ffffff); }
|
||||
printf("PD cycle %5d DCtime %12lld Cnt:%3d Data: %6d %6d %6d %6d %6d %6d %6d %6d \n",
|
||||
cyclecount, ec_DCtime, in_EBOX->counter, in_EBOX->stream[0], in_EBOX->stream[1],
|
||||
in_EBOX->stream[2], in_EBOX->stream[3], in_EBOX->stream[4], in_EBOX->stream[5],
|
||||
in_EBOX->stream[98], in_EBOX->stream[99]);
|
||||
usleep(20000);
|
||||
}
|
||||
dorun = 0;
|
||||
// printf("\nCnt %d : Ain0 = %f Ain2 = %f\n", ainc, ain[0] / ainc, ain[1] / ainc);
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("Not all slaves reached operational state.\n");
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("E/BOX not found in slave configuration.\n");
|
||||
}
|
||||
ec_dcsync0(1, FALSE, 8000, 0); // SYNC0 off
|
||||
printf("Request safe operational state for all slaves\n");
|
||||
ec_slave[0].state = EC_STATE_SAFE_OP;
|
||||
/* request SAFE_OP state for all slaves */
|
||||
ec_writestate(0);
|
||||
/* wait for all slaves to reach state */
|
||||
ec_statecheck(0, EC_STATE_SAFE_OP, EC_TIMEOUTSTATE);
|
||||
ec_slave[0].state = EC_STATE_PRE_OP;
|
||||
/* request SAFE_OP state for all slaves */
|
||||
ec_writestate(0);
|
||||
/* wait for all slaves to reach state */
|
||||
ec_statecheck(0, EC_STATE_PRE_OP, EC_TIMEOUTSTATE);
|
||||
if (( ec_slavecount >= 1 ) &&
|
||||
(strcmp(ec_slave[1].name,"E/BOX") == 0))
|
||||
{
|
||||
// restore PDO to standard mode
|
||||
// this can only be done is pre-op state
|
||||
os=sizeof(ob2); ob2 = 0x1600;
|
||||
ec_SDOwrite(1,0x1c12,01,FALSE,os,&ob2,EC_TIMEOUTRXM);
|
||||
os=sizeof(ob2); ob2 = 0x1a00;
|
||||
ec_SDOwrite(1,0x1c13,01,FALSE,os,&ob2,EC_TIMEOUTRXM);
|
||||
}
|
||||
printf("Streampos %d\n", streampos);
|
||||
output_cvs("stream.txt", streampos);
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("No slaves found!\n");
|
||||
}
|
||||
printf("End E/BOX, close socket\n");
|
||||
/* stop SOEM, close socket */
|
||||
ec_close();
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("No socket connection on %s\nExcecute as root\n",ifname);
|
||||
}
|
||||
}
|
||||
|
||||
/* add ns to timespec */
|
||||
void add_timespec(struct timespec *ts, int64 addtime)
|
||||
{
|
||||
int64 sec, nsec;
|
||||
|
||||
nsec = addtime % NSEC_PER_SEC;
|
||||
sec = (addtime - nsec) / NSEC_PER_SEC;
|
||||
ts->tv_sec += sec;
|
||||
ts->tv_nsec += nsec;
|
||||
if ( ts->tv_nsec >= NSEC_PER_SEC )
|
||||
{
|
||||
nsec = ts->tv_nsec % NSEC_PER_SEC;
|
||||
ts->tv_sec += (ts->tv_nsec - nsec) / NSEC_PER_SEC;
|
||||
ts->tv_nsec = nsec;
|
||||
}
|
||||
}
|
||||
|
||||
/* PI calculation to get linux time synced to DC time */
|
||||
void ec_sync(int64 reftime, int64 cycletime , int64 *offsettime)
|
||||
{
|
||||
int64 delta;
|
||||
/* set linux sync point 50us later than DC sync, just as example */
|
||||
delta = (reftime - 50000) % cycletime;
|
||||
if(delta> (cycletime /2)) { delta= delta - cycletime; }
|
||||
if(delta>0){ integral++; }
|
||||
if(delta<0){ integral--; }
|
||||
*offsettime = -(delta / 100) - (integral /20);
|
||||
}
|
||||
|
||||
/* RT EtherCAT thread */
|
||||
void ecatthread( void *ptr )
|
||||
{
|
||||
struct timespec ts;
|
||||
struct timeval tp;
|
||||
int rc;
|
||||
int ht;
|
||||
int i;
|
||||
int pcounter = 0;
|
||||
int64 cycletime;
|
||||
|
||||
rc = pthread_mutex_lock(&mutex);
|
||||
rc = gettimeofday(&tp, NULL);
|
||||
|
||||
/* Convert from timeval to timespec */
|
||||
ts.tv_sec = tp.tv_sec;
|
||||
ht = (tp.tv_usec / 1000) + 1; /* round to nearest ms */
|
||||
ts.tv_nsec = ht * 1000000;
|
||||
cycletime = *(int*)ptr * 1000; /* cycletime in ns */
|
||||
toff = 0;
|
||||
dorun = 0;
|
||||
while(1)
|
||||
{
|
||||
/* calculate next cycle start */
|
||||
add_timespec(&ts, cycletime + toff);
|
||||
/* wait to cycle start */
|
||||
rc = pthread_cond_timedwait(&cond, &mutex, &ts);
|
||||
if (dorun>0)
|
||||
{
|
||||
rc = gettimeofday(&tp, NULL);
|
||||
|
||||
ec_send_processdata();
|
||||
|
||||
ec_receive_processdata(EC_TIMEOUTRET);
|
||||
|
||||
cyclecount++;
|
||||
|
||||
|
||||
if((in_EBOX->counter != pcounter) && (streampos < (MAXSTREAM - 1)))
|
||||
{
|
||||
// check if we have timing problems in master
|
||||
// if so, overwrite stream data so it shows up clearly in plots.
|
||||
if(in_EBOX->counter > (pcounter + 1))
|
||||
{
|
||||
for(i = 0 ; i < 50 ; i++)
|
||||
{
|
||||
stream1[streampos] = 20000;
|
||||
stream2[streampos++] = -20000;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
for(i = 0 ; i < 50 ; i++)
|
||||
{
|
||||
stream1[streampos] = in_EBOX->stream[i * 2];
|
||||
stream2[streampos++] = in_EBOX->stream[(i * 2) + 1];
|
||||
}
|
||||
}
|
||||
pcounter = in_EBOX->counter;
|
||||
}
|
||||
|
||||
/* calulate toff to get linux time and DC synced */
|
||||
ec_sync(ec_DCtime, cycletime, &toff);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
int main(int argc, char *argv[])
|
||||
{
|
||||
int iret1;
|
||||
int ctime;
|
||||
struct sched_param param;
|
||||
int policy = SCHED_OTHER;
|
||||
|
||||
printf("SOEM (Simple Open EtherCAT Master)\nE/BOX test\n");
|
||||
|
||||
memset(&schedp, 0, sizeof(schedp));
|
||||
/* do not set priority above 49, otherwise sockets are starved */
|
||||
schedp.sched_priority = 30;
|
||||
sched_setscheduler(0, SCHED_FIFO, &schedp);
|
||||
|
||||
do
|
||||
{
|
||||
usleep(1000);
|
||||
}
|
||||
while (dorun);
|
||||
|
||||
if (argc > 1)
|
||||
{
|
||||
dorun = 1;
|
||||
if( argc > 2)
|
||||
ctime = atoi(argv[2]);
|
||||
else
|
||||
ctime = 1000; // 1ms cycle time
|
||||
/* create RT thread */
|
||||
iret1 = pthread_create( &thread1, NULL, (void *) &ecatthread, (void*) &ctime);
|
||||
memset(¶m, 0, sizeof(param));
|
||||
/* give it higher priority */
|
||||
param.sched_priority = 40;
|
||||
iret1 = pthread_setschedparam(thread1, policy, ¶m);
|
||||
|
||||
/* start acyclic part */
|
||||
eboxtest(argv[1]);
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("Usage: ebox ifname [cycletime]\nifname = eth0 for example\ncycletime in us\n");
|
||||
}
|
||||
|
||||
schedp.sched_priority = 0;
|
||||
sched_setscheduler(0, SCHED_OTHER, &schedp);
|
||||
|
||||
printf("End program\n");
|
||||
|
||||
return (0);
|
||||
}
|
||||
@@ -0,0 +1,390 @@
|
||||
/** \file
|
||||
* \brief EEprom tool for Simple Open EtherCAT master
|
||||
*
|
||||
* Usage : eepromtool ifname slave OPTION fname
|
||||
* ifname is NIC interface, f.e. eth0
|
||||
* slave = slave number in EtherCAT order 1..n
|
||||
* -r read EEPROM, output binary format
|
||||
* -ri read EEPROM, output Intel Hex format
|
||||
* -w write EEPROM, input binary format
|
||||
* -wi write EEPROM, input Intel Hex format
|
||||
*
|
||||
* (c)Arthur Ketels 2010
|
||||
*/
|
||||
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
|
||||
#include "ethercat.h"
|
||||
|
||||
#define MAXBUF 32768
|
||||
#define STDBUF 2048
|
||||
#define MINBUF 128
|
||||
|
||||
#define MODE_NONE 0
|
||||
#define MODE_READBIN 1
|
||||
#define MODE_READINTEL 2
|
||||
#define MODE_WRITEBIN 3
|
||||
#define MODE_WRITEINTEL 4
|
||||
|
||||
#define MAXSLENGTH 256
|
||||
|
||||
uint8 ebuf[MAXBUF];
|
||||
uint8 ob;
|
||||
uint16 ow;
|
||||
int os;
|
||||
int slave;
|
||||
ec_timet tstart,tend, tdif;
|
||||
int wkc;
|
||||
int mode;
|
||||
char sline[MAXSLENGTH];
|
||||
|
||||
#define IHEXLENGTH 0x20
|
||||
|
||||
int input_bin(char *fname, int *length)
|
||||
{
|
||||
FILE *fp;
|
||||
|
||||
int cc = 0, c;
|
||||
|
||||
fp = fopen(fname, "rb");
|
||||
if(fp == NULL)
|
||||
return 0;
|
||||
while (((c = fgetc(fp)) != EOF) && (cc < MAXBUF))
|
||||
ebuf[cc++] = (uint8)c;
|
||||
*length = cc;
|
||||
fclose(fp);
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
int input_intelhex(char *fname, int *start, int *length)
|
||||
{
|
||||
FILE *fp;
|
||||
|
||||
int c, sc, retval = 1;
|
||||
int ll, ladr, lt, sn, i, lval;
|
||||
int hstart, hlength, sum;
|
||||
|
||||
fp = fopen(fname, "r");
|
||||
if(fp == NULL)
|
||||
return 0;
|
||||
hstart = MAXBUF;
|
||||
hlength = 0;
|
||||
sum = 0;
|
||||
do
|
||||
{
|
||||
memset(sline, 0x00, MAXSLENGTH);
|
||||
sc = 0;
|
||||
while (((c = fgetc(fp)) != EOF) && (c != 0x0A) && (sc < (MAXSLENGTH -1)))
|
||||
sline[sc++] = (uint8)c;
|
||||
if ((c != EOF) && ((sc < 11) || (sline[0] != ':')))
|
||||
{
|
||||
c = EOF;
|
||||
retval = 0;
|
||||
printf("Invalid Intel Hex format.\n");
|
||||
}
|
||||
if (c != EOF)
|
||||
{
|
||||
sn = sscanf(sline , ":%2x%4x%2x", &ll, &ladr, <);
|
||||
if ((sn == 3) && ((ladr + ll) <= MAXBUF) && (lt == 0))
|
||||
{
|
||||
sum = ll + (ladr >> 8) + (ladr & 0xff) + lt;
|
||||
if(ladr < hstart) hstart = ladr;
|
||||
for(i = 0; i < ll ; i++)
|
||||
{
|
||||
sn = sscanf(&sline[9 + (i << 1)], "%2x", &lval);
|
||||
ebuf[ladr + i] = (uint8)lval;
|
||||
sum += (uint8)lval;
|
||||
}
|
||||
if(((ladr + ll) - hstart) > hlength)
|
||||
hlength = (ladr + ll) - hstart;
|
||||
sum = (0x100 - sum) & 0xff;
|
||||
sn = sscanf(&sline[9 + (i << 1)], "%2x", &lval);
|
||||
if (!sn || ((sum - lval) != 0))
|
||||
{
|
||||
c = EOF;
|
||||
retval = 0;
|
||||
printf("Invalid checksum.\n");
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
while (c != EOF);
|
||||
if (retval)
|
||||
{
|
||||
*length = hlength;
|
||||
*start = hstart;
|
||||
}
|
||||
fclose(fp);
|
||||
|
||||
return retval;
|
||||
}
|
||||
|
||||
int output_bin(char *fname, int length)
|
||||
{
|
||||
FILE *fp;
|
||||
|
||||
int cc;
|
||||
|
||||
fp = fopen(fname, "wb");
|
||||
if(fp == NULL)
|
||||
return 0;
|
||||
for (cc = 0 ; cc < length ; cc++)
|
||||
fputc( ebuf[cc], fp);
|
||||
fclose(fp);
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
int output_intelhex(char *fname, int length)
|
||||
{
|
||||
FILE *fp;
|
||||
|
||||
int cc = 0, ll, sum, i;
|
||||
|
||||
fp = fopen(fname, "w");
|
||||
if(fp == NULL)
|
||||
return 0;
|
||||
while (cc < length)
|
||||
{
|
||||
ll = length - cc;
|
||||
if (ll > IHEXLENGTH) ll = IHEXLENGTH;
|
||||
sum = ll + (cc >> 8) + (cc & 0xff);
|
||||
fprintf(fp, ":%2.2X%4.4X00", ll, cc);
|
||||
for (i = 0; i < ll; i++)
|
||||
{
|
||||
fprintf(fp, "%2.2X", ebuf[cc + i]);
|
||||
sum += ebuf[cc + i];
|
||||
}
|
||||
fprintf(fp, "%2.2X\n", (0x100 - sum) & 0xff);
|
||||
cc += ll;
|
||||
}
|
||||
fprintf(fp, ":00000001FF\n");
|
||||
fclose(fp);
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
int eeprom_read(int slave, int start, int length)
|
||||
{
|
||||
int i, wkc, ainc = 4;
|
||||
uint16 estat, aiadr;
|
||||
uint32 b4;
|
||||
uint64 b8;
|
||||
uint8 eepctl;
|
||||
|
||||
if((ec_slavecount >= slave) && (slave > 0) && ((start + length) <= MAXBUF))
|
||||
{
|
||||
aiadr = 1 - slave;
|
||||
eepctl = 2;
|
||||
wkc = ec_APWR(aiadr, ECT_REG_EEPCFG, sizeof(eepctl), &eepctl , EC_TIMEOUTRET3); /* force Eeprom from PDI */
|
||||
eepctl = 0;
|
||||
wkc = ec_APWR(aiadr, ECT_REG_EEPCFG, sizeof(eepctl), &eepctl , EC_TIMEOUTRET3); /* set Eeprom to master */
|
||||
|
||||
estat = 0x0000;
|
||||
aiadr = 1 - slave;
|
||||
wkc=ec_APRD(aiadr, ECT_REG_EEPSTAT, sizeof(estat), &estat, EC_TIMEOUTRET3); /* read eeprom status */
|
||||
estat = etohs(estat);
|
||||
if (estat & EC_ESTAT_R64)
|
||||
{
|
||||
ainc = 8;
|
||||
for (i = start ; i < (start + length) ; i+=ainc)
|
||||
{
|
||||
b8 = ec_readeepromAP(aiadr, i >> 1 , EC_TIMEOUTEEP);
|
||||
ebuf[i] = (uint8) b8;
|
||||
ebuf[i+1] = (uint8) (b8 >> 8);
|
||||
ebuf[i+2] = (uint8) (b8 >> 16);
|
||||
ebuf[i+3] = (uint8) (b8 >> 24);
|
||||
ebuf[i+4] = (uint8) (b8 >> 32);
|
||||
ebuf[i+5] = (uint8) (b8 >> 40);
|
||||
ebuf[i+6] = (uint8) (b8 >> 48);
|
||||
ebuf[i+7] = (uint8) (b8 >> 56);
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
for (i = start ; i < (start + length) ; i+=ainc)
|
||||
{
|
||||
b4 = (uint32)ec_readeepromAP(aiadr, i >> 1 , EC_TIMEOUTEEP);
|
||||
ebuf[i] = (uint8) b4;
|
||||
ebuf[i+1] = (uint8) (b4 >> 8);
|
||||
ebuf[i+2] = (uint8) (b4 >> 16);
|
||||
ebuf[i+3] = (uint8) (b4 >> 24);
|
||||
}
|
||||
}
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
int eeprom_write(int slave, int start, int length)
|
||||
{
|
||||
int i, wkc, dc = 0;
|
||||
uint16 aiadr, *wbuf;
|
||||
uint8 eepctl;
|
||||
int ret;
|
||||
|
||||
if((ec_slavecount >= slave) && (slave > 0) && ((start + length) <= MAXBUF))
|
||||
{
|
||||
aiadr = 1 - slave;
|
||||
eepctl = 2;
|
||||
wkc = ec_APWR(aiadr, ECT_REG_EEPCFG, sizeof(eepctl), &eepctl , EC_TIMEOUTRET3); /* force Eeprom from PDI */
|
||||
eepctl = 0;
|
||||
wkc = ec_APWR(aiadr, ECT_REG_EEPCFG, sizeof(eepctl), &eepctl , EC_TIMEOUTRET3); /* set Eeprom to master */
|
||||
|
||||
aiadr = 1 - slave;
|
||||
wbuf = (uint16 *)&ebuf[0];
|
||||
for (i = start ; i < (start + length) ; i+=2)
|
||||
{
|
||||
ret = ec_writeeepromAP(aiadr, i >> 1 , *(wbuf + (i >> 1)), EC_TIMEOUTEEP);
|
||||
if (++dc >= 100)
|
||||
{
|
||||
dc = 0;
|
||||
printf(".");
|
||||
fflush(stdout);
|
||||
}
|
||||
}
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
void eepromtool(char *ifname, int slave, int mode, char *fname)
|
||||
{
|
||||
int w, rc = 0, estart, esize;
|
||||
uint16 *wbuf;
|
||||
|
||||
/* initialise SOEM, bind socket to ifname */
|
||||
if (ec_init(ifname))
|
||||
{
|
||||
printf("ec_init on %s succeeded.\n",ifname);
|
||||
|
||||
w = 0x0000;
|
||||
wkc = ec_BRD(0x0000, ECT_REG_TYPE, sizeof(w), &w, EC_TIMEOUTSAFE); /* detect number of slaves */
|
||||
if (wkc > 0)
|
||||
{
|
||||
ec_slavecount = wkc;
|
||||
|
||||
printf("%d slaves found.\n",ec_slavecount);
|
||||
if((ec_slavecount >= slave) && (slave > 0))
|
||||
{
|
||||
if ((mode == MODE_READBIN) || (mode == MODE_READINTEL))
|
||||
{
|
||||
tstart = osal_current_time();
|
||||
eeprom_read(slave, 0x0000, MINBUF); // read first 128 bytes
|
||||
|
||||
wbuf = (uint16 *)&ebuf[0];
|
||||
printf("Slave %d data\n", slave);
|
||||
printf(" PDI Control : %4.4X\n",*(wbuf + 0x00));
|
||||
printf(" PDI Config : %4.4X\n",*(wbuf + 0x01));
|
||||
printf(" Config Alias : %4.4X\n",*(wbuf + 0x04));
|
||||
printf(" Checksum : %4.4X\n",*(wbuf + 0x07));
|
||||
printf(" Vendor ID : %8.8X\n",*(uint32 *)(wbuf + 0x08));
|
||||
printf(" Product Code : %8.8X\n",*(uint32 *)(wbuf + 0x0A));
|
||||
printf(" Revision Number : %8.8X\n",*(uint32 *)(wbuf + 0x0C));
|
||||
printf(" Serial Number : %8.8X\n",*(uint32 *)(wbuf + 0x0E));
|
||||
printf(" Mailbox Protocol : %4.4X\n",*(wbuf + 0x1C));
|
||||
esize = (*(wbuf + 0x3E) + 1) * 128;
|
||||
if (esize > MAXBUF) esize = MAXBUF;
|
||||
printf(" Size : %4.4X = %d bytes\n",*(wbuf + 0x3E), esize);
|
||||
printf(" Version : %4.4X\n",*(wbuf + 0x3F));
|
||||
|
||||
if (esize > MINBUF)
|
||||
eeprom_read(slave, MINBUF, esize - MINBUF); // read reminder
|
||||
|
||||
tend = osal_current_time();
|
||||
osal_time_diff(&tstart, &tend, &tdif);
|
||||
if (mode == MODE_READINTEL) output_intelhex(fname, esize);
|
||||
if (mode == MODE_READBIN) output_bin(fname, esize);
|
||||
|
||||
printf("\nTotal EEPROM read time :%ldms\n", (tdif.usec+(tdif.sec*1000000L)) / 1000);
|
||||
}
|
||||
if ((mode == MODE_WRITEBIN) || (mode == MODE_WRITEINTEL))
|
||||
{
|
||||
estart = 0;
|
||||
if (mode == MODE_WRITEINTEL) rc = input_intelhex(fname, &estart, &esize);
|
||||
if (mode == MODE_WRITEBIN) rc = input_bin(fname, &esize);
|
||||
|
||||
if (rc > 0)
|
||||
{
|
||||
wbuf = (uint16 *)&ebuf[0];
|
||||
printf("Slave %d\n", slave);
|
||||
printf(" Vendor ID : %8.8X\n",*(uint32 *)(wbuf + 0x08));
|
||||
printf(" Product Code : %8.8X\n",*(uint32 *)(wbuf + 0x0A));
|
||||
printf(" Revision Number : %8.8X\n",*(uint32 *)(wbuf + 0x0C));
|
||||
printf(" Serial Number : %8.8X\n",*(uint32 *)(wbuf + 0x0E));
|
||||
|
||||
printf("Busy");
|
||||
fflush(stdout);
|
||||
tstart = osal_current_time();
|
||||
eeprom_write(slave, estart, esize);
|
||||
tend = osal_current_time();
|
||||
osal_time_diff(&tstart, &tend, &tdif);
|
||||
|
||||
printf("\nTotal EEPROM write time :%ldms\n", (tdif.usec+(tdif.sec*1000000L)) / 1000);
|
||||
}
|
||||
else
|
||||
printf("Error reading file, abort.\n");
|
||||
}
|
||||
}
|
||||
else
|
||||
printf("Slave number outside range.\n");
|
||||
}
|
||||
else
|
||||
printf("No slaves found!\n");
|
||||
printf("End, close socket\n");
|
||||
/* stop SOEM, close socket */
|
||||
ec_close();
|
||||
}
|
||||
else
|
||||
printf("No socket connection on %s\nExcecute as root\n",ifname);
|
||||
}
|
||||
|
||||
int main(int argc, char *argv[])
|
||||
{
|
||||
ec_adaptert * adapter = NULL;
|
||||
ec_adaptert * head = NULL;
|
||||
printf("SOEM (Simple Open EtherCAT Master)\nEEPROM tool\n");
|
||||
|
||||
if (argc > 4)
|
||||
{
|
||||
slave = atoi(argv[2]);
|
||||
mode = MODE_NONE;
|
||||
if ((strncmp(argv[3], "-r", sizeof("-r")) == 0)) mode = MODE_READBIN;
|
||||
if ((strncmp(argv[3], "-ri", sizeof("-ri")) == 0)) mode = MODE_READINTEL;
|
||||
if ((strncmp(argv[3], "-w", sizeof("-w")) == 0)) mode = MODE_WRITEBIN;
|
||||
if ((strncmp(argv[3], "-wi", sizeof("-wi")) == 0)) mode = MODE_WRITEINTEL;
|
||||
|
||||
/* start tool */
|
||||
eepromtool(argv[1],slave,mode,argv[4]);
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("Usage: eepromtool ifname slave OPTION fname\n");
|
||||
printf("ifname = adapter name\n");
|
||||
printf("slave = slave number in EtherCAT order 1..n\n");
|
||||
printf(" -r read EEPROM, output binary format\n");
|
||||
printf(" -ri read EEPROM, output Intel Hex format\n");
|
||||
printf(" -w write EEPROM, input binary format\n");
|
||||
printf(" -wi write EEPROM, input Intel Hex format\n");
|
||||
/* Print the list */
|
||||
printf ("Available adapters\n");
|
||||
head = adapter = ec_find_adapters ();
|
||||
while (adapter != NULL)
|
||||
{
|
||||
printf ("Description : %s, Device to use for wpcap: %s\n", adapter->desc,adapter->name);
|
||||
adapter = adapter->next;
|
||||
}
|
||||
ec_free_adapters(adapter);
|
||||
}
|
||||
|
||||
printf("End program\n");
|
||||
|
||||
return (0);
|
||||
}
|
||||
@@ -0,0 +1,159 @@
|
||||
/** \file
|
||||
* \brief Example code for Simple Open EtherCAT master
|
||||
*
|
||||
* Usage: firm_update ifname1 slave fname
|
||||
* ifname is NIC interface, f.e. eth0
|
||||
* slave = slave number in EtherCAT order 1..n
|
||||
* fname = binary file to store in slave
|
||||
* CAUTION! Using the wrong file can result in a bricked slave!
|
||||
*
|
||||
* This is a slave firmware update test.
|
||||
*
|
||||
* (c)Arthur Ketels 2011
|
||||
*/
|
||||
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include <sys/time.h>
|
||||
#include <unistd.h>
|
||||
|
||||
#include "ethercat.h"
|
||||
|
||||
#define FWBUFSIZE (8 * 1024 * 1024)
|
||||
|
||||
uint8 ob;
|
||||
uint16 ow;
|
||||
uint32 data;
|
||||
char filename[256];
|
||||
char filebuffer[FWBUFSIZE]; // 8MB buffer
|
||||
int filesize;
|
||||
int j;
|
||||
uint16 argslave;
|
||||
|
||||
int input_bin(char *fname, int *length)
|
||||
{
|
||||
FILE *fp;
|
||||
|
||||
int cc = 0, c;
|
||||
|
||||
fp = fopen(fname, "rb");
|
||||
if(fp == NULL)
|
||||
return 0;
|
||||
while (((c = fgetc(fp)) != EOF) && (cc < FWBUFSIZE))
|
||||
filebuffer[cc++] = (uint8)c;
|
||||
*length = cc;
|
||||
fclose(fp);
|
||||
return 1;
|
||||
}
|
||||
|
||||
|
||||
void boottest(char *ifname, uint16 slave, char *filename)
|
||||
{
|
||||
printf("Starting firmware update example\n");
|
||||
|
||||
/* initialise SOEM, bind socket to ifname */
|
||||
if (ec_init(ifname))
|
||||
{
|
||||
printf("ec_init on %s succeeded.\n",ifname);
|
||||
/* find and auto-config slaves */
|
||||
|
||||
|
||||
if ( ec_config_init(FALSE) > 0 )
|
||||
{
|
||||
printf("%d slaves found and configured.\n",ec_slavecount);
|
||||
|
||||
printf("Request init state for slave %d\n", slave);
|
||||
ec_slave[slave].state = EC_STATE_INIT;
|
||||
ec_writestate(slave);
|
||||
|
||||
/* wait for slave to reach INIT state */
|
||||
ec_statecheck(slave, EC_STATE_INIT, EC_TIMEOUTSTATE * 4);
|
||||
printf("Slave %d state to INIT.\n", slave);
|
||||
|
||||
/* read BOOT mailbox data, master -> slave */
|
||||
data = ec_readeeprom(slave, ECT_SII_BOOTRXMBX, EC_TIMEOUTEEP);
|
||||
ec_slave[slave].SM[0].StartAddr = (uint16)LO_WORD(data);
|
||||
ec_slave[slave].SM[0].SMlength = (uint16)HI_WORD(data);
|
||||
/* store boot write mailbox address */
|
||||
ec_slave[slave].mbx_wo = (uint16)LO_WORD(data);
|
||||
/* store boot write mailbox size */
|
||||
ec_slave[slave].mbx_l = (uint16)HI_WORD(data);
|
||||
|
||||
/* read BOOT mailbox data, slave -> master */
|
||||
data = ec_readeeprom(slave, ECT_SII_BOOTTXMBX, EC_TIMEOUTEEP);
|
||||
ec_slave[slave].SM[1].StartAddr = (uint16)LO_WORD(data);
|
||||
ec_slave[slave].SM[1].SMlength = (uint16)HI_WORD(data);
|
||||
/* store boot read mailbox address */
|
||||
ec_slave[slave].mbx_ro = (uint16)LO_WORD(data);
|
||||
/* store boot read mailbox size */
|
||||
ec_slave[slave].mbx_rl = (uint16)HI_WORD(data);
|
||||
|
||||
printf(" SM0 A:%4.4x L:%4d F:%8.8x\n", ec_slave[slave].SM[0].StartAddr, ec_slave[slave].SM[0].SMlength,
|
||||
(int)ec_slave[slave].SM[0].SMflags);
|
||||
printf(" SM1 A:%4.4x L:%4d F:%8.8x\n", ec_slave[slave].SM[1].StartAddr, ec_slave[slave].SM[1].SMlength,
|
||||
(int)ec_slave[slave].SM[1].SMflags);
|
||||
/* program SM0 mailbox in for slave */
|
||||
ec_FPWR (ec_slave[slave].configadr, ECT_REG_SM0, sizeof(ec_smt), &ec_slave[slave].SM[0], EC_TIMEOUTRET);
|
||||
/* program SM1 mailbox out for slave */
|
||||
ec_FPWR (ec_slave[slave].configadr, ECT_REG_SM1, sizeof(ec_smt), &ec_slave[slave].SM[1], EC_TIMEOUTRET);
|
||||
|
||||
printf("Request BOOT state for slave %d\n", slave);
|
||||
ec_slave[slave].state = EC_STATE_BOOT;
|
||||
ec_writestate(slave);
|
||||
|
||||
/* wait for slave to reach BOOT state */
|
||||
if (ec_statecheck(slave, EC_STATE_BOOT, EC_TIMEOUTSTATE * 10) == EC_STATE_BOOT)
|
||||
{
|
||||
printf("Slave %d state to BOOT.\n", slave);
|
||||
|
||||
if (input_bin(filename, &filesize))
|
||||
{
|
||||
printf("File read OK, %d bytes.\n",filesize);
|
||||
printf("FoE write....");
|
||||
j = ec_FOEwrite(slave, filename, 0, filesize , &filebuffer, EC_TIMEOUTSTATE);
|
||||
printf("result %d.\n",j);
|
||||
printf("Request init state for slave %d\n", slave);
|
||||
ec_slave[slave].state = EC_STATE_INIT;
|
||||
ec_writestate(slave);
|
||||
}
|
||||
else
|
||||
printf("File not read OK.\n");
|
||||
}
|
||||
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("No slaves found!\n");
|
||||
}
|
||||
printf("End firmware update example, close socket\n");
|
||||
/* stop SOEM, close socket */
|
||||
ec_close();
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("No socket connection on %s\nExcecute as root\n",ifname);
|
||||
}
|
||||
}
|
||||
|
||||
int main(int argc, char *argv[])
|
||||
{
|
||||
printf("SOEM (Simple Open EtherCAT Master)\nFirmware update example\n");
|
||||
|
||||
if (argc > 3)
|
||||
{
|
||||
argslave = atoi(argv[2]);
|
||||
boottest(argv[1], argslave, argv[3]);
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("Usage: firm_update ifname1 slave fname\n");
|
||||
printf("ifname = eth0 for example\n");
|
||||
printf("slave = slave number in EtherCAT order 1..n\n");
|
||||
printf("fname = binary file to store in slave\n");
|
||||
printf("CAUTION! Using the wrong file can result in a bricked slave!\n");
|
||||
}
|
||||
|
||||
printf("End program\n");
|
||||
return (0);
|
||||
}
|
||||
@@ -0,0 +1,257 @@
|
||||
/** \file
|
||||
* \brief Example code for Simple Open EtherCAT master
|
||||
*
|
||||
* Usage : red_test [ifname1] [ifname2] [cycletime]
|
||||
* ifname is NIC interface, f.e. eth0
|
||||
* cycletime in us, f.e. 500
|
||||
*
|
||||
* This is a redundancy test.
|
||||
*
|
||||
* (c)Arthur Ketels 2008
|
||||
*/
|
||||
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <sys/time.h>
|
||||
#include <unistd.h>
|
||||
#include <sched.h>
|
||||
#include <string.h>
|
||||
#include <sys/time.h>
|
||||
#include <time.h>
|
||||
#include <pthread.h>
|
||||
#include <math.h>
|
||||
|
||||
#include "ethercat.h"
|
||||
|
||||
#define NSEC_PER_SEC 1000000000
|
||||
|
||||
struct sched_param schedp;
|
||||
char IOmap[4096];
|
||||
pthread_t thread1;
|
||||
struct timeval tv, t1, t2;
|
||||
int dorun = 0;
|
||||
int deltat, tmax = 0;
|
||||
int64 toff;
|
||||
int DCdiff;
|
||||
int os;
|
||||
uint8 ob;
|
||||
uint16 ob2;
|
||||
pthread_cond_t cond = PTHREAD_COND_INITIALIZER;
|
||||
pthread_mutex_t mutex = PTHREAD_MUTEX_INITIALIZER;
|
||||
uint8 *digout = 0;
|
||||
int wcounter;
|
||||
|
||||
void redtest(char *ifname, char *ifname2)
|
||||
{
|
||||
int cnt, i, j, oloop, iloop;
|
||||
|
||||
printf("Starting Redundant test\n");
|
||||
|
||||
/* initialise SOEM, bind socket to ifname */
|
||||
if (ec_init_redundant(ifname, ifname2))
|
||||
{
|
||||
printf("ec_init on %s succeeded.\n",ifname);
|
||||
/* find and auto-config slaves */
|
||||
if ( ec_config(FALSE, &IOmap) > 0 )
|
||||
{
|
||||
printf("%d slaves found and configured.\n",ec_slavecount);
|
||||
/* wait for all slaves to reach SAFE_OP state */
|
||||
ec_statecheck(0, EC_STATE_SAFE_OP, EC_TIMEOUTSTATE);
|
||||
|
||||
/* configure DC options for every DC capable slave found in the list */
|
||||
ec_configdc();
|
||||
|
||||
/* read indevidual slave state and store in ec_slave[] */
|
||||
ec_readstate();
|
||||
for(cnt = 1; cnt <= ec_slavecount ; cnt++)
|
||||
{
|
||||
printf("Slave:%d Name:%s Output size:%3dbits Input size:%3dbits State:%2d delay:%d.%d\n",
|
||||
cnt, ec_slave[cnt].name, ec_slave[cnt].Obits, ec_slave[cnt].Ibits,
|
||||
ec_slave[cnt].state, (int)ec_slave[cnt].pdelay, ec_slave[cnt].hasdc);
|
||||
printf(" Out:%8.8x,%4d In:%8.8x,%4d\n",
|
||||
(int)ec_slave[cnt].outputs, ec_slave[cnt].Obytes, (int)ec_slave[cnt].inputs, ec_slave[cnt].Ibytes);
|
||||
/* check for EL2004 or EL2008 */
|
||||
if( !digout && ((ec_slave[cnt].eep_id == 0x07d43052) || (ec_slave[cnt].eep_id == 0x07d83052)))
|
||||
{
|
||||
digout = ec_slave[cnt].outputs;
|
||||
}
|
||||
}
|
||||
printf("Request operational state for all slaves\n");
|
||||
ec_slave[0].state = EC_STATE_OPERATIONAL;
|
||||
/* request OP state for all slaves */
|
||||
ec_writestate(0);
|
||||
/* wait for all slaves to reach OP state */
|
||||
ec_statecheck(0, EC_STATE_OPERATIONAL, 5 * EC_TIMEOUTSTATE);
|
||||
oloop = ec_slave[0].Obytes;
|
||||
if ((oloop == 0) && (ec_slave[0].Obits > 0)) oloop = 1;
|
||||
if (oloop > 8) oloop = 8;
|
||||
iloop = ec_slave[0].Ibytes;
|
||||
if ((iloop == 0) && (ec_slave[0].Ibits > 0)) iloop = 1;
|
||||
if (iloop > 8) iloop = 8;
|
||||
if (ec_slave[0].state == EC_STATE_OPERATIONAL )
|
||||
{
|
||||
printf("Operational state reached for all slaves.\n");
|
||||
dorun = 1;
|
||||
/* acyclic loop 5000 x 20ms = 10s */
|
||||
for(i = 1; i <= 5000; i++)
|
||||
{
|
||||
printf("Processdata cycle %5d , Wck %3d, DCtime %12lld, O:", dorun, wcounter , ec_DCtime);
|
||||
for(j = 0 ; j < oloop; j++)
|
||||
{
|
||||
printf(" %2.2x", *(ec_slave[0].outputs + j));
|
||||
}
|
||||
printf(" I:");
|
||||
for(j = 0 ; j < iloop; j++)
|
||||
{
|
||||
printf(" %2.2x", *(ec_slave[0].inputs + j));
|
||||
}
|
||||
printf("\n");
|
||||
usleep(20000);
|
||||
}
|
||||
dorun = 0;
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("Not all slaves reached operational state.\n");
|
||||
}
|
||||
printf("Request safe operational state for all slaves\n");
|
||||
ec_slave[0].state = EC_STATE_SAFE_OP;
|
||||
/* request SAFE_OP state for all slaves */
|
||||
ec_writestate(0);
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("No slaves found!\n");
|
||||
}
|
||||
printf("End redundant test, close socket\n");
|
||||
/* stop SOEM, close socket */
|
||||
ec_close();
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("No socket connection on %s\nExcecute as root\n",ifname);
|
||||
}
|
||||
}
|
||||
|
||||
/* add ns to timespec */
|
||||
void add_timespec(struct timespec *ts, int64 addtime)
|
||||
{
|
||||
int64 sec, nsec;
|
||||
|
||||
nsec = addtime % NSEC_PER_SEC;
|
||||
sec = (addtime - nsec) / NSEC_PER_SEC;
|
||||
ts->tv_sec += sec;
|
||||
ts->tv_nsec += nsec;
|
||||
if ( ts->tv_nsec >= NSEC_PER_SEC )
|
||||
{
|
||||
nsec = ts->tv_nsec % NSEC_PER_SEC;
|
||||
ts->tv_sec += (ts->tv_nsec - nsec) / NSEC_PER_SEC;
|
||||
ts->tv_nsec = nsec;
|
||||
}
|
||||
}
|
||||
|
||||
/* PI calculation to get linux time synced to DC time */
|
||||
void ec_sync(int64 reftime, int64 cycletime , int64 *offsettime)
|
||||
{
|
||||
static int64 integral = 0;
|
||||
int64 delta;
|
||||
/* set linux sync point 50us later than DC sync, just as example */
|
||||
delta = (reftime - 50000) % cycletime;
|
||||
if(delta> (cycletime / 2)) { delta= delta - cycletime; }
|
||||
if(delta>0){ integral++; }
|
||||
if(delta<0){ integral--; }
|
||||
*offsettime = -(delta / 100) - (integral / 20);
|
||||
}
|
||||
|
||||
/* RT EtherCAT thread */
|
||||
void ecatthread( void *ptr )
|
||||
{
|
||||
struct timespec ts;
|
||||
struct timeval tp;
|
||||
int rc;
|
||||
int ht;
|
||||
int64 cycletime;
|
||||
|
||||
rc = pthread_mutex_lock(&mutex);
|
||||
rc = gettimeofday(&tp, NULL);
|
||||
|
||||
/* Convert from timeval to timespec */
|
||||
ts.tv_sec = tp.tv_sec;
|
||||
ht = (tp.tv_usec / 1000) + 1; /* round to nearest ms */
|
||||
ts.tv_nsec = ht * 1000000;
|
||||
cycletime = *(int*)ptr * 1000; /* cycletime in ns */
|
||||
toff = 0;
|
||||
dorun = 0;
|
||||
while(1)
|
||||
{
|
||||
/* calculate next cycle start */
|
||||
add_timespec(&ts, cycletime + toff);
|
||||
/* wait to cycle start */
|
||||
rc = pthread_cond_timedwait(&cond, &mutex, &ts);
|
||||
if (dorun>0)
|
||||
{
|
||||
rc = gettimeofday(&tp, NULL);
|
||||
|
||||
ec_send_processdata();
|
||||
|
||||
wcounter = ec_receive_processdata(EC_TIMEOUTRET);
|
||||
|
||||
dorun++;
|
||||
/* if we have some digital output, cycle */
|
||||
if( digout ) *digout = (uint8) ((dorun / 16) & 0xff);
|
||||
|
||||
if (ec_slave[0].hasdc)
|
||||
{
|
||||
/* calulate toff to get linux time and DC synced */
|
||||
ec_sync(ec_DCtime, cycletime, &toff);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
int main(int argc, char *argv[])
|
||||
{
|
||||
int iret1;
|
||||
int ctime;
|
||||
struct sched_param param;
|
||||
int policy = SCHED_OTHER;
|
||||
|
||||
printf("SOEM (Simple Open EtherCAT Master)\nRedundancy test\n");
|
||||
|
||||
memset(&schedp, 0, sizeof(schedp));
|
||||
/* do not set priority above 49, otherwise sockets are starved */
|
||||
schedp.sched_priority = 30;
|
||||
sched_setscheduler(0, SCHED_FIFO, &schedp);
|
||||
|
||||
do
|
||||
{
|
||||
usleep(1000);
|
||||
}
|
||||
while (dorun);
|
||||
|
||||
if (argc > 3)
|
||||
{
|
||||
dorun = 1;
|
||||
ctime = atoi(argv[3]);
|
||||
/* create RT thread */
|
||||
iret1 = pthread_create( &thread1, NULL, (void *) &ecatthread, (void*) &ctime);
|
||||
memset(¶m, 0, sizeof(param));
|
||||
/* give it higher priority */
|
||||
param.sched_priority = 40;
|
||||
iret1 = pthread_setschedparam(thread1, policy, ¶m);
|
||||
|
||||
/* start acyclic part */
|
||||
redtest(argv[1],argv[2]);
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("Usage: red_test ifname1 ifname2 cycletime\nifname = eth0 for example\ncycletime in us\n");
|
||||
}
|
||||
|
||||
schedp.sched_priority = 0;
|
||||
sched_setscheduler(0, SCHED_OTHER, &schedp);
|
||||
|
||||
printf("End program\n");
|
||||
|
||||
return (0);
|
||||
}
|
||||
@@ -0,0 +1,375 @@
|
||||
/** \file
|
||||
* \brief Example code for Simple Open EtherCAT master
|
||||
*
|
||||
* Usage : simple_test [ifname1]
|
||||
* ifname is NIC interface, f.e. eth0
|
||||
*
|
||||
* This is a minimal test.
|
||||
*
|
||||
* (c)Arthur Ketels 2010 - 2011
|
||||
*/
|
||||
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
//#include <Mmsystem.h>
|
||||
|
||||
#include "osal.h"
|
||||
#include "ethercat.h"
|
||||
|
||||
#define EC_TIMEOUTMON 500
|
||||
|
||||
char IOmap[4096];
|
||||
OSAL_THREAD_HANDLE thread1;
|
||||
int expectedWKC;
|
||||
boolean needlf;
|
||||
volatile int wkc;
|
||||
volatile int rtcnt;
|
||||
boolean inOP;
|
||||
uint8 currentgroup = 0;
|
||||
|
||||
/* most basic RT thread for process data, just does IO transfer */
|
||||
void CALLBACK RTthread(UINT uTimerID, UINT uMsg, DWORD_PTR dwUser, DWORD_PTR dw1, DWORD_PTR dw2)
|
||||
{
|
||||
IOmap[0]++;
|
||||
|
||||
ec_send_processdata();
|
||||
wkc = ec_receive_processdata(EC_TIMEOUTRET);
|
||||
rtcnt++;
|
||||
/* do RT control stuff here */
|
||||
}
|
||||
|
||||
int EL7031setup(uint16 slave, void *not_used)
|
||||
{
|
||||
int retval;
|
||||
uint16 u16val;
|
||||
|
||||
// map velocity
|
||||
uint16 map_1c12[4] = {0x0003, 0x1601, 0x1602, 0x1604};
|
||||
uint16 map_1c13[3] = {0x0002, 0x1a01, 0x1a03};
|
||||
|
||||
retval = 0;
|
||||
|
||||
// Set PDO mapping using Complete Access
|
||||
// Strange, writing CA works, reading CA doesn't
|
||||
// This is a protocol error of the slave.
|
||||
retval += ec_SDOwrite(slave, 0x1c12, 0x00, TRUE, sizeof(map_1c12), &map_1c12, EC_TIMEOUTSAFE);
|
||||
retval += ec_SDOwrite(slave, 0x1c13, 0x00, TRUE, sizeof(map_1c13), &map_1c13, EC_TIMEOUTSAFE);
|
||||
|
||||
// bug in EL7031 old firmware, CompleteAccess for reading is not supported even if the slave says it is.
|
||||
ec_slave[slave].CoEdetails &= ~ECT_COEDET_SDOCA;
|
||||
|
||||
// set some motor parameters, just as example
|
||||
u16val = 1200; // max motor current in mA
|
||||
// retval += ec_SDOwrite(slave, 0x8010, 0x01, FALSE, sizeof(u16val), &u16val, EC_TIMEOUTSAFE);
|
||||
u16val = 150; // motor coil resistance in 0.01ohm
|
||||
// retval += ec_SDOwrite(slave, 0x8010, 0x04, FALSE, sizeof(u16val), &u16val, EC_TIMEOUTSAFE);
|
||||
|
||||
// set other nescessary parameters as needed
|
||||
// .....
|
||||
|
||||
while(EcatError) printf("%s", ec_elist2string());
|
||||
|
||||
printf("EL7031 slave %d set, retval = %d\n", slave, retval);
|
||||
return 1;
|
||||
}
|
||||
|
||||
int AEPsetup(uint16 slave, void *not_used)
|
||||
{
|
||||
int retval;
|
||||
uint8 u8val;
|
||||
uint16 u16val;
|
||||
|
||||
retval = 0;
|
||||
|
||||
u8val = 0;
|
||||
retval += ec_SDOwrite(slave, 0x1c12, 0x00, FALSE, sizeof(u8val), &u8val, EC_TIMEOUTRXM);
|
||||
u16val = 0x1603;
|
||||
retval += ec_SDOwrite(slave, 0x1c12, 0x01, FALSE, sizeof(u16val), &u16val, EC_TIMEOUTRXM);
|
||||
u8val = 1;
|
||||
retval += ec_SDOwrite(slave, 0x1c12, 0x00, FALSE, sizeof(u8val), &u8val, EC_TIMEOUTRXM);
|
||||
|
||||
u8val = 0;
|
||||
retval += ec_SDOwrite(slave, 0x1c13, 0x00, FALSE, sizeof(u8val), &u8val, EC_TIMEOUTRXM);
|
||||
u16val = 0x1a03;
|
||||
retval += ec_SDOwrite(slave, 0x1c13, 0x01, FALSE, sizeof(u16val), &u16val, EC_TIMEOUTRXM);
|
||||
u8val = 1;
|
||||
retval += ec_SDOwrite(slave, 0x1c13, 0x00, FALSE, sizeof(u8val), &u8val, EC_TIMEOUTRXM);
|
||||
|
||||
u8val = 8;
|
||||
retval += ec_SDOwrite(slave, 0x6060, 0x00, FALSE, sizeof(u8val), &u8val, EC_TIMEOUTRXM);
|
||||
|
||||
// set some motor parameters, just as example
|
||||
u16val = 1200; // max motor current in mA
|
||||
// retval += ec_SDOwrite(slave, 0x8010, 0x01, FALSE, sizeof(u16val), &u16val, EC_TIMEOUTSAFE);
|
||||
u16val = 150; // motor coil resistance in 0.01ohm
|
||||
// retval += ec_SDOwrite(slave, 0x8010, 0x04, FALSE, sizeof(u16val), &u16val, EC_TIMEOUTSAFE);
|
||||
|
||||
// set other nescessary parameters as needed
|
||||
// .....
|
||||
|
||||
while(EcatError) printf("%s", ec_elist2string());
|
||||
|
||||
printf("AEP slave %d set, retval = %d\n", slave, retval);
|
||||
return 1;
|
||||
}
|
||||
|
||||
void simpletest(char *ifname)
|
||||
{
|
||||
int i, j, oloop, iloop, wkc_count, chk, slc;
|
||||
UINT mmResult;
|
||||
|
||||
needlf = FALSE;
|
||||
inOP = FALSE;
|
||||
|
||||
printf("Starting simple test\n");
|
||||
|
||||
/* initialise SOEM, bind socket to ifname */
|
||||
if (ec_init(ifname))
|
||||
{
|
||||
printf("ec_init on %s succeeded.\n",ifname);
|
||||
/* find and auto-config slaves */
|
||||
|
||||
|
||||
if ( ec_config_init(FALSE) > 0 )
|
||||
{
|
||||
printf("%d slaves found and configured.\n",ec_slavecount);
|
||||
|
||||
if((ec_slavecount > 1))
|
||||
{
|
||||
for(slc = 1; slc <= ec_slavecount; slc++)
|
||||
{
|
||||
// beckhoff EL7031, using ec_slave[].name is not very reliable
|
||||
if((ec_slave[slc].eep_man == 0x00000002) && (ec_slave[slc].eep_id == 0x1b773052))
|
||||
{
|
||||
printf("Found %s at position %d\n", ec_slave[slc].name, slc);
|
||||
// link slave specific setup to preop->safeop hook
|
||||
ec_slave[slc].PO2SOconfig = &EL7031setup;
|
||||
}
|
||||
// Copley Controls EAP, using ec_slave[].name is not very reliable
|
||||
if((ec_slave[slc].eep_man == 0x000000ab) && (ec_slave[slc].eep_id == 0x00000380))
|
||||
{
|
||||
printf("Found %s at position %d\n", ec_slave[slc].name, slc);
|
||||
// link slave specific setup to preop->safeop hook
|
||||
ec_slave[slc].PO2SOconfig = &AEPsetup;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
ec_config_map(&IOmap);
|
||||
|
||||
ec_configdc();
|
||||
|
||||
printf("Slaves mapped, state to SAFE_OP.\n");
|
||||
/* wait for all slaves to reach SAFE_OP state */
|
||||
ec_statecheck(0, EC_STATE_SAFE_OP, EC_TIMEOUTSTATE * 4);
|
||||
|
||||
oloop = ec_slave[0].Obytes;
|
||||
if ((oloop == 0) && (ec_slave[0].Obits > 0)) oloop = 1;
|
||||
if (oloop > 8) oloop = 8;
|
||||
iloop = ec_slave[0].Ibytes;
|
||||
if ((iloop == 0) && (ec_slave[0].Ibits > 0)) iloop = 1;
|
||||
if (iloop > 8) iloop = 8;
|
||||
|
||||
printf("segments : %d : %d %d %d %d\n",ec_group[0].nsegments ,ec_group[0].IOsegment[0],ec_group[0].IOsegment[1],ec_group[0].IOsegment[2],ec_group[0].IOsegment[3]);
|
||||
|
||||
printf("Request operational state for all slaves\n");
|
||||
expectedWKC = (ec_group[0].outputsWKC * 2) + ec_group[0].inputsWKC;
|
||||
printf("Calculated workcounter %d\n", expectedWKC);
|
||||
ec_slave[0].state = EC_STATE_OPERATIONAL;
|
||||
/* send one valid process data to make outputs in slaves happy*/
|
||||
ec_send_processdata();
|
||||
ec_receive_processdata(EC_TIMEOUTRET);
|
||||
|
||||
/* start RT thread as periodic MM timer */
|
||||
mmResult = timeSetEvent(1, 0, RTthread, 0, TIME_PERIODIC);
|
||||
|
||||
/* request OP state for all slaves */
|
||||
ec_writestate(0);
|
||||
chk = 200;
|
||||
/* wait for all slaves to reach OP state */
|
||||
do
|
||||
{
|
||||
ec_statecheck(0, EC_STATE_OPERATIONAL, 50000);
|
||||
}
|
||||
while (chk-- && (ec_slave[0].state != EC_STATE_OPERATIONAL));
|
||||
if (ec_slave[0].state == EC_STATE_OPERATIONAL )
|
||||
{
|
||||
printf("Operational state reached for all slaves.\n");
|
||||
wkc_count = 0;
|
||||
inOP = TRUE;
|
||||
|
||||
|
||||
/* cyclic loop, reads data from RT thread */
|
||||
for(i = 1; i <= 500; i++)
|
||||
{
|
||||
if(wkc >= expectedWKC)
|
||||
{
|
||||
printf("Processdata cycle %4d, WKC %d , O:", rtcnt, wkc);
|
||||
|
||||
for(j = 0 ; j < oloop; j++)
|
||||
{
|
||||
printf(" %2.2x", *(ec_slave[0].outputs + j));
|
||||
}
|
||||
|
||||
printf(" I:");
|
||||
for(j = 0 ; j < iloop; j++)
|
||||
{
|
||||
printf(" %2.2x", *(ec_slave[0].inputs + j));
|
||||
}
|
||||
printf(" T:%lld\r",ec_DCtime);
|
||||
needlf = TRUE;
|
||||
}
|
||||
osal_usleep(50000);
|
||||
|
||||
}
|
||||
inOP = FALSE;
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("Not all slaves reached operational state.\n");
|
||||
ec_readstate();
|
||||
for(i = 1; i<=ec_slavecount ; i++)
|
||||
{
|
||||
if(ec_slave[i].state != EC_STATE_OPERATIONAL)
|
||||
{
|
||||
printf("Slave %d State=0x%2.2x StatusCode=0x%4.4x : %s\n",
|
||||
i, ec_slave[i].state, ec_slave[i].ALstatuscode, ec_ALstatuscode2string(ec_slave[i].ALstatuscode));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/* stop RT thread */
|
||||
timeKillEvent(mmResult);
|
||||
|
||||
printf("\nRequest init state for all slaves\n");
|
||||
ec_slave[0].state = EC_STATE_INIT;
|
||||
/* request INIT state for all slaves */
|
||||
ec_writestate(0);
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("No slaves found!\n");
|
||||
}
|
||||
printf("End simple test, close socket\n");
|
||||
/* stop SOEM, close socket */
|
||||
ec_close();
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("No socket connection on %s\nExcecute as root\n",ifname);
|
||||
}
|
||||
}
|
||||
|
||||
//DWORD WINAPI ecatcheck( LPVOID lpParam )
|
||||
OSAL_THREAD_FUNC ecatcheck(void *lpParam)
|
||||
{
|
||||
int slave;
|
||||
|
||||
while(1)
|
||||
{
|
||||
if( inOP && ((wkc < expectedWKC) || ec_group[currentgroup].docheckstate))
|
||||
{
|
||||
if (needlf)
|
||||
{
|
||||
needlf = FALSE;
|
||||
printf("\n");
|
||||
}
|
||||
/* one ore more slaves are not responding */
|
||||
ec_group[currentgroup].docheckstate = FALSE;
|
||||
ec_readstate();
|
||||
for (slave = 1; slave <= ec_slavecount; slave++)
|
||||
{
|
||||
if ((ec_slave[slave].group == currentgroup) && (ec_slave[slave].state != EC_STATE_OPERATIONAL))
|
||||
{
|
||||
ec_group[currentgroup].docheckstate = TRUE;
|
||||
if (ec_slave[slave].state == (EC_STATE_SAFE_OP + EC_STATE_ERROR))
|
||||
{
|
||||
printf("ERROR : slave %d is in SAFE_OP + ERROR, attempting ack.\n", slave);
|
||||
ec_slave[slave].state = (EC_STATE_SAFE_OP + EC_STATE_ACK);
|
||||
ec_writestate(slave);
|
||||
}
|
||||
else if(ec_slave[slave].state == EC_STATE_SAFE_OP)
|
||||
{
|
||||
printf("WARNING : slave %d is in SAFE_OP, change to OPERATIONAL.\n", slave);
|
||||
ec_slave[slave].state = EC_STATE_OPERATIONAL;
|
||||
ec_writestate(slave);
|
||||
}
|
||||
else if(ec_slave[slave].state > EC_STATE_NONE)
|
||||
{
|
||||
if (ec_reconfig_slave(slave, EC_TIMEOUTMON))
|
||||
{
|
||||
ec_slave[slave].islost = FALSE;
|
||||
printf("MESSAGE : slave %d reconfigured\n",slave);
|
||||
}
|
||||
}
|
||||
else if(!ec_slave[slave].islost)
|
||||
{
|
||||
/* re-check state */
|
||||
ec_statecheck(slave, EC_STATE_OPERATIONAL, EC_TIMEOUTRET);
|
||||
if (ec_slave[slave].state == EC_STATE_NONE)
|
||||
{
|
||||
ec_slave[slave].islost = TRUE;
|
||||
printf("ERROR : slave %d lost\n",slave);
|
||||
}
|
||||
}
|
||||
}
|
||||
if (ec_slave[slave].islost)
|
||||
{
|
||||
if(ec_slave[slave].state == EC_STATE_NONE)
|
||||
{
|
||||
if (ec_recover_slave(slave, EC_TIMEOUTMON))
|
||||
{
|
||||
ec_slave[slave].islost = FALSE;
|
||||
printf("MESSAGE : slave %d recovered\n",slave);
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
ec_slave[slave].islost = FALSE;
|
||||
printf("MESSAGE : slave %d found\n",slave);
|
||||
}
|
||||
}
|
||||
}
|
||||
if(!ec_group[currentgroup].docheckstate)
|
||||
printf("OK : all slaves resumed OPERATIONAL.\n");
|
||||
}
|
||||
osal_usleep(10000);
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
char ifbuf[1024];
|
||||
|
||||
int main(int argc, char *argv[])
|
||||
{
|
||||
ec_adaptert * adapter = NULL;
|
||||
ec_adaptert * head = NULL;
|
||||
printf("SOEM (Simple Open EtherCAT Master)\nSimple test\n");
|
||||
|
||||
if (argc > 1)
|
||||
{
|
||||
/* create thread to handle slave error handling in OP */
|
||||
osal_thread_create(&thread1, 128000, &ecatcheck, NULL);
|
||||
strcpy(ifbuf, argv[1]);
|
||||
/* start cyclic part */
|
||||
simpletest(ifbuf);
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("Usage: simple_test ifname1\n");
|
||||
/* Print the list */
|
||||
printf ("Available adapters\n");
|
||||
head = adapter = ec_find_adapters ();
|
||||
while (adapter != NULL)
|
||||
{
|
||||
printf ("Description : %s, Device to use for wpcap: %s\n", adapter->desc,adapter->name);
|
||||
adapter = adapter->next;
|
||||
}
|
||||
ec_free_adapters(adapter);
|
||||
}
|
||||
|
||||
printf("End program\n");
|
||||
return (0);
|
||||
}
|
||||
@@ -0,0 +1,648 @@
|
||||
/** \file
|
||||
* \brief Example code for Simple Open EtherCAT master
|
||||
*
|
||||
* Usage : slaveinfo [ifname] [-sdo] [-map]
|
||||
* Ifname is NIC interface, f.e. eth0.
|
||||
* Optional -sdo to display CoE object dictionary.
|
||||
* Optional -map to display slave PDO mapping
|
||||
*
|
||||
* This shows the configured slave data.
|
||||
*
|
||||
* (c)Arthur Ketels 2010 - 2011
|
||||
*/
|
||||
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include <inttypes.h>
|
||||
|
||||
#include "ethercat.h"
|
||||
|
||||
char IOmap[4096];
|
||||
ec_ODlistt ODlist;
|
||||
ec_OElistt OElist;
|
||||
boolean printSDO = FALSE;
|
||||
boolean printMAP = FALSE;
|
||||
char usdo[128];
|
||||
char hstr[1024];
|
||||
|
||||
char* dtype2string(uint16 dtype)
|
||||
{
|
||||
switch(dtype)
|
||||
{
|
||||
case ECT_BOOLEAN:
|
||||
sprintf(hstr, "BOOLEAN");
|
||||
break;
|
||||
case ECT_INTEGER8:
|
||||
sprintf(hstr, "INTEGER8");
|
||||
break;
|
||||
case ECT_INTEGER16:
|
||||
sprintf(hstr, "INTEGER16");
|
||||
break;
|
||||
case ECT_INTEGER32:
|
||||
sprintf(hstr, "INTEGER32");
|
||||
break;
|
||||
case ECT_INTEGER24:
|
||||
sprintf(hstr, "INTEGER24");
|
||||
break;
|
||||
case ECT_INTEGER64:
|
||||
sprintf(hstr, "INTEGER64");
|
||||
break;
|
||||
case ECT_UNSIGNED8:
|
||||
sprintf(hstr, "UNSIGNED8");
|
||||
break;
|
||||
case ECT_UNSIGNED16:
|
||||
sprintf(hstr, "UNSIGNED16");
|
||||
break;
|
||||
case ECT_UNSIGNED32:
|
||||
sprintf(hstr, "UNSIGNED32");
|
||||
break;
|
||||
case ECT_UNSIGNED24:
|
||||
sprintf(hstr, "UNSIGNED24");
|
||||
break;
|
||||
case ECT_UNSIGNED64:
|
||||
sprintf(hstr, "UNSIGNED64");
|
||||
break;
|
||||
case ECT_REAL32:
|
||||
sprintf(hstr, "REAL32");
|
||||
break;
|
||||
case ECT_REAL64:
|
||||
sprintf(hstr, "REAL64");
|
||||
break;
|
||||
case ECT_BIT1:
|
||||
sprintf(hstr, "BIT1");
|
||||
break;
|
||||
case ECT_BIT2:
|
||||
sprintf(hstr, "BIT2");
|
||||
break;
|
||||
case ECT_BIT3:
|
||||
sprintf(hstr, "BIT3");
|
||||
break;
|
||||
case ECT_BIT4:
|
||||
sprintf(hstr, "BIT4");
|
||||
break;
|
||||
case ECT_BIT5:
|
||||
sprintf(hstr, "BIT5");
|
||||
break;
|
||||
case ECT_BIT6:
|
||||
sprintf(hstr, "BIT6");
|
||||
break;
|
||||
case ECT_BIT7:
|
||||
sprintf(hstr, "BIT7");
|
||||
break;
|
||||
case ECT_BIT8:
|
||||
sprintf(hstr, "BIT8");
|
||||
break;
|
||||
case ECT_VISIBLE_STRING:
|
||||
sprintf(hstr, "VISIBLE_STRING");
|
||||
break;
|
||||
case ECT_OCTET_STRING:
|
||||
sprintf(hstr, "OCTET_STRING");
|
||||
break;
|
||||
default:
|
||||
sprintf(hstr, "Type 0x%4.4X", dtype);
|
||||
}
|
||||
return hstr;
|
||||
}
|
||||
|
||||
char* SDO2string(uint16 slave, uint16 index, uint8 subidx, uint16 dtype)
|
||||
{
|
||||
int l = sizeof(usdo) - 1, i;
|
||||
uint8 *u8;
|
||||
int8 *i8;
|
||||
uint16 *u16;
|
||||
int16 *i16;
|
||||
uint32 *u32;
|
||||
int32 *i32;
|
||||
uint64 *u64;
|
||||
int64 *i64;
|
||||
float *sr;
|
||||
double *dr;
|
||||
char es[32];
|
||||
|
||||
memset(&usdo, 0, 128);
|
||||
ec_SDOread(slave, index, subidx, FALSE, &l, &usdo, EC_TIMEOUTRXM);
|
||||
if (EcatError)
|
||||
{
|
||||
return ec_elist2string();
|
||||
}
|
||||
else
|
||||
{
|
||||
switch(dtype)
|
||||
{
|
||||
case ECT_BOOLEAN:
|
||||
u8 = (uint8*) &usdo[0];
|
||||
if (*u8) sprintf(hstr, "TRUE");
|
||||
else sprintf(hstr, "FALSE");
|
||||
break;
|
||||
case ECT_INTEGER8:
|
||||
i8 = (int8*) &usdo[0];
|
||||
sprintf(hstr, "0x%2.2x %d", *i8, *i8);
|
||||
break;
|
||||
case ECT_INTEGER16:
|
||||
i16 = (int16*) &usdo[0];
|
||||
sprintf(hstr, "0x%4.4x %d", *i16, *i16);
|
||||
break;
|
||||
case ECT_INTEGER32:
|
||||
case ECT_INTEGER24:
|
||||
i32 = (int32*) &usdo[0];
|
||||
sprintf(hstr, "0x%8.8x %d", *i32, *i32);
|
||||
break;
|
||||
case ECT_INTEGER64:
|
||||
i64 = (int64*) &usdo[0];
|
||||
sprintf(hstr, "0x%16.16"PRIx64" %"PRId64, *i64, *i64);
|
||||
break;
|
||||
case ECT_UNSIGNED8:
|
||||
u8 = (uint8*) &usdo[0];
|
||||
sprintf(hstr, "0x%2.2x %u", *u8, *u8);
|
||||
break;
|
||||
case ECT_UNSIGNED16:
|
||||
u16 = (uint16*) &usdo[0];
|
||||
sprintf(hstr, "0x%4.4x %u", *u16, *u16);
|
||||
break;
|
||||
case ECT_UNSIGNED32:
|
||||
case ECT_UNSIGNED24:
|
||||
u32 = (uint32*) &usdo[0];
|
||||
sprintf(hstr, "0x%8.8x %u", *u32, *u32);
|
||||
break;
|
||||
case ECT_UNSIGNED64:
|
||||
u64 = (uint64*) &usdo[0];
|
||||
sprintf(hstr, "0x%16.16"PRIx64" %"PRIu64, *u64, *u64);
|
||||
break;
|
||||
case ECT_REAL32:
|
||||
sr = (float*) &usdo[0];
|
||||
sprintf(hstr, "%f", *sr);
|
||||
break;
|
||||
case ECT_REAL64:
|
||||
dr = (double*) &usdo[0];
|
||||
sprintf(hstr, "%f", *dr);
|
||||
break;
|
||||
case ECT_BIT1:
|
||||
case ECT_BIT2:
|
||||
case ECT_BIT3:
|
||||
case ECT_BIT4:
|
||||
case ECT_BIT5:
|
||||
case ECT_BIT6:
|
||||
case ECT_BIT7:
|
||||
case ECT_BIT8:
|
||||
u8 = (uint8*) &usdo[0];
|
||||
sprintf(hstr, "0x%x", *u8);
|
||||
break;
|
||||
case ECT_VISIBLE_STRING:
|
||||
strcpy(hstr, usdo);
|
||||
break;
|
||||
case ECT_OCTET_STRING:
|
||||
hstr[0] = 0x00;
|
||||
for (i = 0 ; i < l ; i++)
|
||||
{
|
||||
sprintf(es, "0x%2.2x ", usdo[i]);
|
||||
strcat( hstr, es);
|
||||
}
|
||||
break;
|
||||
default:
|
||||
sprintf(hstr, "Unknown type");
|
||||
}
|
||||
return hstr;
|
||||
}
|
||||
}
|
||||
|
||||
/** Read PDO assign structure */
|
||||
int si_PDOassign(uint16 slave, uint16 PDOassign, int mapoffset, int bitoffset)
|
||||
{
|
||||
uint16 idxloop, nidx, subidxloop, rdat, idx, subidx;
|
||||
uint8 subcnt;
|
||||
int wkc, bsize = 0, rdl;
|
||||
int32 rdat2;
|
||||
uint8 bitlen, obj_subidx;
|
||||
uint16 obj_idx;
|
||||
int abs_offset, abs_bit;
|
||||
|
||||
rdl = sizeof(rdat); rdat = 0;
|
||||
/* read PDO assign subindex 0 ( = number of PDO's) */
|
||||
wkc = ec_SDOread(slave, PDOassign, 0x00, FALSE, &rdl, &rdat, EC_TIMEOUTRXM);
|
||||
rdat = etohs(rdat);
|
||||
/* positive result from slave ? */
|
||||
if ((wkc > 0) && (rdat > 0))
|
||||
{
|
||||
/* number of available sub indexes */
|
||||
nidx = rdat;
|
||||
bsize = 0;
|
||||
/* read all PDO's */
|
||||
for (idxloop = 1; idxloop <= nidx; idxloop++)
|
||||
{
|
||||
rdl = sizeof(rdat); rdat = 0;
|
||||
/* read PDO assign */
|
||||
wkc = ec_SDOread(slave, PDOassign, (uint8)idxloop, FALSE, &rdl, &rdat, EC_TIMEOUTRXM);
|
||||
/* result is index of PDO */
|
||||
idx = etohl(rdat);
|
||||
if (idx > 0)
|
||||
{
|
||||
rdl = sizeof(subcnt); subcnt = 0;
|
||||
/* read number of subindexes of PDO */
|
||||
wkc = ec_SDOread(slave,idx, 0x00, FALSE, &rdl, &subcnt, EC_TIMEOUTRXM);
|
||||
subidx = subcnt;
|
||||
/* for each subindex */
|
||||
for (subidxloop = 1; subidxloop <= subidx; subidxloop++)
|
||||
{
|
||||
rdl = sizeof(rdat2); rdat2 = 0;
|
||||
/* read SDO that is mapped in PDO */
|
||||
wkc = ec_SDOread(slave, idx, (uint8)subidxloop, FALSE, &rdl, &rdat2, EC_TIMEOUTRXM);
|
||||
rdat2 = etohl(rdat2);
|
||||
/* extract bitlength of SDO */
|
||||
bitlen = LO_BYTE(rdat2);
|
||||
bsize += bitlen;
|
||||
obj_idx = (uint16)(rdat2 >> 16);
|
||||
obj_subidx = (uint8)((rdat2 >> 8) & 0x000000ff);
|
||||
abs_offset = mapoffset + (bitoffset / 8);
|
||||
abs_bit = bitoffset % 8;
|
||||
ODlist.Slave = slave;
|
||||
ODlist.Index[0] = obj_idx;
|
||||
OElist.Entries = 0;
|
||||
wkc = 0;
|
||||
/* read object entry from dictionary if not a filler (0x0000:0x00) */
|
||||
if(obj_idx || obj_subidx)
|
||||
wkc = ec_readOEsingle(0, obj_subidx, &ODlist, &OElist);
|
||||
printf(" [0x%4.4X.%1d] 0x%4.4X:0x%2.2X 0x%2.2X", abs_offset, abs_bit, obj_idx, obj_subidx, bitlen);
|
||||
if((wkc > 0) && OElist.Entries)
|
||||
{
|
||||
printf(" %-12s %s\n", dtype2string(OElist.DataType[obj_subidx]), OElist.Name[obj_subidx]);
|
||||
}
|
||||
else
|
||||
printf("\n");
|
||||
bitoffset += bitlen;
|
||||
};
|
||||
};
|
||||
};
|
||||
};
|
||||
/* return total found bitlength (PDO) */
|
||||
return bsize;
|
||||
}
|
||||
|
||||
int si_map_sdo(int slave)
|
||||
{
|
||||
int wkc, rdl;
|
||||
int retVal = 0;
|
||||
uint8 nSM, iSM, tSM;
|
||||
int Tsize, outputs_bo, inputs_bo;
|
||||
uint8 SMt_bug_add;
|
||||
|
||||
printf("PDO mapping according to CoE :\n");
|
||||
SMt_bug_add = 0;
|
||||
outputs_bo = 0;
|
||||
inputs_bo = 0;
|
||||
rdl = sizeof(nSM); nSM = 0;
|
||||
/* read SyncManager Communication Type object count */
|
||||
wkc = ec_SDOread(slave, ECT_SDO_SMCOMMTYPE, 0x00, FALSE, &rdl, &nSM, EC_TIMEOUTRXM);
|
||||
/* positive result from slave ? */
|
||||
if ((wkc > 0) && (nSM > 2))
|
||||
{
|
||||
/* make nSM equal to number of defined SM */
|
||||
nSM--;
|
||||
/* limit to maximum number of SM defined, if true the slave can't be configured */
|
||||
if (nSM > EC_MAXSM)
|
||||
nSM = EC_MAXSM;
|
||||
/* iterate for every SM type defined */
|
||||
for (iSM = 2 ; iSM <= nSM ; iSM++)
|
||||
{
|
||||
rdl = sizeof(tSM); tSM = 0;
|
||||
/* read SyncManager Communication Type */
|
||||
wkc = ec_SDOread(slave, ECT_SDO_SMCOMMTYPE, iSM + 1, FALSE, &rdl, &tSM, EC_TIMEOUTRXM);
|
||||
if (wkc > 0)
|
||||
{
|
||||
if((iSM == 2) && (tSM == 2)) // SM2 has type 2 == mailbox out, this is a bug in the slave!
|
||||
{
|
||||
SMt_bug_add = 1; // try to correct, this works if the types are 0 1 2 3 and should be 1 2 3 4
|
||||
printf("Activated SM type workaround, possible incorrect mapping.\n");
|
||||
}
|
||||
if(tSM)
|
||||
tSM += SMt_bug_add; // only add if SMt > 0
|
||||
|
||||
if (tSM == 3) // outputs
|
||||
{
|
||||
/* read the assign RXPDO */
|
||||
printf(" SM%1d outputs\n addr b index: sub bitl data_type name\n", iSM);
|
||||
Tsize = si_PDOassign(slave, ECT_SDO_PDOASSIGN + iSM, (int)(ec_slave[slave].outputs - (uint8 *)&IOmap[0]), outputs_bo );
|
||||
outputs_bo += Tsize;
|
||||
}
|
||||
if (tSM == 4) // inputs
|
||||
{
|
||||
/* read the assign TXPDO */
|
||||
printf(" SM%1d inputs\n addr b index: sub bitl data_type name\n", iSM);
|
||||
Tsize = si_PDOassign(slave, ECT_SDO_PDOASSIGN + iSM, (int)(ec_slave[slave].inputs - (uint8 *)&IOmap[0]), inputs_bo );
|
||||
inputs_bo += Tsize;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/* found some I/O bits ? */
|
||||
if ((outputs_bo > 0) || (inputs_bo > 0))
|
||||
retVal = 1;
|
||||
return retVal;
|
||||
}
|
||||
|
||||
int si_siiPDO(uint16 slave, uint8 t, int mapoffset, int bitoffset)
|
||||
{
|
||||
uint16 a , w, c, e, er, Size;
|
||||
uint8 eectl;
|
||||
uint16 obj_idx;
|
||||
uint8 obj_subidx;
|
||||
uint8 obj_name;
|
||||
uint8 obj_datatype;
|
||||
uint8 bitlen;
|
||||
int totalsize;
|
||||
ec_eepromPDOt eepPDO;
|
||||
ec_eepromPDOt *PDO;
|
||||
int abs_offset, abs_bit;
|
||||
char str_name[EC_MAXNAME + 1];
|
||||
|
||||
eectl = ec_slave[slave].eep_pdi;
|
||||
Size = 0;
|
||||
totalsize = 0;
|
||||
PDO = &eepPDO;
|
||||
PDO->nPDO = 0;
|
||||
PDO->Length = 0;
|
||||
PDO->Index[1] = 0;
|
||||
for (c = 0 ; c < EC_MAXSM ; c++) PDO->SMbitsize[c] = 0;
|
||||
if (t > 1)
|
||||
t = 1;
|
||||
PDO->Startpos = ec_siifind(slave, ECT_SII_PDO + t);
|
||||
if (PDO->Startpos > 0)
|
||||
{
|
||||
a = PDO->Startpos;
|
||||
w = ec_siigetbyte(slave, a++);
|
||||
w += (ec_siigetbyte(slave, a++) << 8);
|
||||
PDO->Length = w;
|
||||
c = 1;
|
||||
/* traverse through all PDOs */
|
||||
do
|
||||
{
|
||||
PDO->nPDO++;
|
||||
PDO->Index[PDO->nPDO] = ec_siigetbyte(slave, a++);
|
||||
PDO->Index[PDO->nPDO] += (ec_siigetbyte(slave, a++) << 8);
|
||||
PDO->BitSize[PDO->nPDO] = 0;
|
||||
c++;
|
||||
/* number of entries in PDO */
|
||||
e = ec_siigetbyte(slave, a++);
|
||||
PDO->SyncM[PDO->nPDO] = ec_siigetbyte(slave, a++);
|
||||
a++;
|
||||
obj_name = ec_siigetbyte(slave, a++);
|
||||
a += 2;
|
||||
c += 2;
|
||||
if (PDO->SyncM[PDO->nPDO] < EC_MAXSM) /* active and in range SM? */
|
||||
{
|
||||
str_name[0] = 0;
|
||||
if(obj_name)
|
||||
ec_siistring(str_name, slave, obj_name);
|
||||
if (t)
|
||||
printf(" SM%1d RXPDO 0x%4.4X %s\n", PDO->SyncM[PDO->nPDO], PDO->Index[PDO->nPDO], str_name);
|
||||
else
|
||||
printf(" SM%1d TXPDO 0x%4.4X %s\n", PDO->SyncM[PDO->nPDO], PDO->Index[PDO->nPDO], str_name);
|
||||
printf(" addr b index: sub bitl data_type name\n");
|
||||
/* read all entries defined in PDO */
|
||||
for (er = 1; er <= e; er++)
|
||||
{
|
||||
c += 4;
|
||||
obj_idx = ec_siigetbyte(slave, a++);
|
||||
obj_idx += (ec_siigetbyte(slave, a++) << 8);
|
||||
obj_subidx = ec_siigetbyte(slave, a++);
|
||||
obj_name = ec_siigetbyte(slave, a++);
|
||||
obj_datatype = ec_siigetbyte(slave, a++);
|
||||
bitlen = ec_siigetbyte(slave, a++);
|
||||
abs_offset = mapoffset + (bitoffset / 8);
|
||||
abs_bit = bitoffset % 8;
|
||||
|
||||
PDO->BitSize[PDO->nPDO] += bitlen;
|
||||
a += 2;
|
||||
|
||||
str_name[0] = 0;
|
||||
if(obj_name)
|
||||
ec_siistring(str_name, slave, obj_name);
|
||||
|
||||
printf(" [0x%4.4X.%1d] 0x%4.4X:0x%2.2X 0x%2.2X", abs_offset, abs_bit, obj_idx, obj_subidx, bitlen);
|
||||
printf(" %-12s %s\n", dtype2string(obj_datatype), str_name);
|
||||
bitoffset += bitlen;
|
||||
totalsize += bitlen;
|
||||
}
|
||||
PDO->SMbitsize[ PDO->SyncM[PDO->nPDO] ] += PDO->BitSize[PDO->nPDO];
|
||||
Size += PDO->BitSize[PDO->nPDO];
|
||||
c++;
|
||||
}
|
||||
else /* PDO deactivated because SM is 0xff or > EC_MAXSM */
|
||||
{
|
||||
c += 4 * e;
|
||||
a += 8 * e;
|
||||
c++;
|
||||
}
|
||||
if (PDO->nPDO >= (EC_MAXEEPDO - 1)) c = PDO->Length; /* limit number of PDO entries in buffer */
|
||||
}
|
||||
while (c < PDO->Length);
|
||||
}
|
||||
if (eectl) ec_eeprom2pdi(slave); /* if eeprom control was previously pdi then restore */
|
||||
return totalsize;
|
||||
}
|
||||
|
||||
|
||||
int si_map_sii(int slave)
|
||||
{
|
||||
int retVal = 0;
|
||||
int Tsize, outputs_bo, inputs_bo;
|
||||
|
||||
printf("PDO mapping according to SII :\n");
|
||||
|
||||
outputs_bo = 0;
|
||||
inputs_bo = 0;
|
||||
/* read the assign RXPDOs */
|
||||
Tsize = si_siiPDO(slave, 1, (int)(ec_slave[slave].outputs - (uint8*)&IOmap), outputs_bo );
|
||||
outputs_bo += Tsize;
|
||||
/* read the assign TXPDOs */
|
||||
Tsize = si_siiPDO(slave, 0, (int)(ec_slave[slave].inputs - (uint8*)&IOmap), inputs_bo );
|
||||
inputs_bo += Tsize;
|
||||
/* found some I/O bits ? */
|
||||
if ((outputs_bo > 0) || (inputs_bo > 0))
|
||||
retVal = 1;
|
||||
return retVal;
|
||||
}
|
||||
|
||||
void si_sdo(int cnt)
|
||||
{
|
||||
int i, j;
|
||||
|
||||
ODlist.Entries = 0;
|
||||
memset(&ODlist, 0, sizeof(ODlist));
|
||||
if( ec_readODlist(cnt, &ODlist))
|
||||
{
|
||||
printf(" CoE Object Description found, %d entries.\n",ODlist.Entries);
|
||||
for( i = 0 ; i < ODlist.Entries ; i++)
|
||||
{
|
||||
ec_readODdescription(i, &ODlist);
|
||||
while(EcatError) printf("%s", ec_elist2string());
|
||||
printf(" Index: %4.4x Datatype: %4.4x Objectcode: %2.2x Name: %s\n",
|
||||
ODlist.Index[i], ODlist.DataType[i], ODlist.ObjectCode[i], ODlist.Name[i]);
|
||||
memset(&OElist, 0, sizeof(OElist));
|
||||
ec_readOE(i, &ODlist, &OElist);
|
||||
while(EcatError) printf("%s", ec_elist2string());
|
||||
for( j = 0 ; j < ODlist.MaxSub[i]+1 ; j++)
|
||||
{
|
||||
if ((OElist.DataType[j] > 0) && (OElist.BitLength[j] > 0))
|
||||
{
|
||||
printf(" Sub: %2.2x Datatype: %4.4x Bitlength: %4.4x Obj.access: %4.4x Name: %s\n",
|
||||
j, OElist.DataType[j], OElist.BitLength[j], OElist.ObjAccess[j], OElist.Name[j]);
|
||||
if ((OElist.ObjAccess[j] & 0x0007))
|
||||
{
|
||||
printf(" Value :%s\n", SDO2string(cnt, ODlist.Index[i], j, OElist.DataType[j]));
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
while(EcatError) printf("%s", ec_elist2string());
|
||||
}
|
||||
}
|
||||
|
||||
void slaveinfo(char *ifname)
|
||||
{
|
||||
int cnt, i, j, nSM;
|
||||
uint16 ssigen;
|
||||
int expectedWKC;
|
||||
|
||||
printf("Starting slaveinfo\n");
|
||||
|
||||
/* initialise SOEM, bind socket to ifname */
|
||||
if (ec_init(ifname))
|
||||
{
|
||||
printf("ec_init on %s succeeded.\n",ifname);
|
||||
/* find and auto-config slaves */
|
||||
if ( ec_config(FALSE, &IOmap) > 0 )
|
||||
{
|
||||
ec_configdc();
|
||||
while(EcatError) printf("%s", ec_elist2string());
|
||||
printf("%d slaves found and configured.\n",ec_slavecount);
|
||||
expectedWKC = (ec_group[0].outputsWKC * 2) + ec_group[0].inputsWKC;
|
||||
printf("Calculated workcounter %d\n", expectedWKC);
|
||||
/* wait for all slaves to reach SAFE_OP state */
|
||||
ec_statecheck(0, EC_STATE_SAFE_OP, EC_TIMEOUTSTATE * 3);
|
||||
if (ec_slave[0].state != EC_STATE_SAFE_OP )
|
||||
{
|
||||
printf("Not all slaves reached safe operational state.\n");
|
||||
ec_readstate();
|
||||
for(i = 1; i<=ec_slavecount ; i++)
|
||||
{
|
||||
if(ec_slave[i].state != EC_STATE_SAFE_OP)
|
||||
{
|
||||
printf("Slave %d State=%2x StatusCode=%4x : %s\n",
|
||||
i, ec_slave[i].state, ec_slave[i].ALstatuscode, ec_ALstatuscode2string(ec_slave[i].ALstatuscode));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
ec_readstate();
|
||||
for( cnt = 1 ; cnt <= ec_slavecount ; cnt++)
|
||||
{
|
||||
printf("\nSlave:%d\n Name:%s\n Output size: %dbits\n Input size: %dbits\n State: %d\n Delay: %d[ns]\n Has DC: %d\n",
|
||||
cnt, ec_slave[cnt].name, ec_slave[cnt].Obits, ec_slave[cnt].Ibits,
|
||||
ec_slave[cnt].state, ec_slave[cnt].pdelay, ec_slave[cnt].hasdc);
|
||||
if (ec_slave[cnt].hasdc) printf(" DCParentport:%d\n", ec_slave[cnt].parentport);
|
||||
printf(" Activeports:%d.%d.%d.%d\n", (ec_slave[cnt].activeports & 0x01) > 0 ,
|
||||
(ec_slave[cnt].activeports & 0x02) > 0 ,
|
||||
(ec_slave[cnt].activeports & 0x04) > 0 ,
|
||||
(ec_slave[cnt].activeports & 0x08) > 0 );
|
||||
printf(" Configured address: %4.4x\n", ec_slave[cnt].configadr);
|
||||
printf(" Man: %8.8x ID: %8.8x Rev: %8.8x\n", (int)ec_slave[cnt].eep_man, (int)ec_slave[cnt].eep_id, (int)ec_slave[cnt].eep_rev);
|
||||
for(nSM = 0 ; nSM < EC_MAXSM ; nSM++)
|
||||
{
|
||||
if(ec_slave[cnt].SM[nSM].StartAddr > 0)
|
||||
printf(" SM%1d A:%4.4x L:%4d F:%8.8x Type:%d\n",nSM, ec_slave[cnt].SM[nSM].StartAddr, ec_slave[cnt].SM[nSM].SMlength,
|
||||
(int)ec_slave[cnt].SM[nSM].SMflags, ec_slave[cnt].SMtype[nSM]);
|
||||
}
|
||||
for(j = 0 ; j < ec_slave[cnt].FMMUunused ; j++)
|
||||
{
|
||||
printf(" FMMU%1d Ls:%8.8x Ll:%4d Lsb:%d Leb:%d Ps:%4.4x Psb:%d Ty:%2.2x Act:%2.2x\n", j,
|
||||
(int)ec_slave[cnt].FMMU[j].LogStart, ec_slave[cnt].FMMU[j].LogLength, ec_slave[cnt].FMMU[j].LogStartbit,
|
||||
ec_slave[cnt].FMMU[j].LogEndbit, ec_slave[cnt].FMMU[j].PhysStart, ec_slave[cnt].FMMU[j].PhysStartBit,
|
||||
ec_slave[cnt].FMMU[j].FMMUtype, ec_slave[cnt].FMMU[j].FMMUactive);
|
||||
}
|
||||
printf(" FMMUfunc 0:%d 1:%d 2:%d 3:%d\n",
|
||||
ec_slave[cnt].FMMU0func, ec_slave[cnt].FMMU1func, ec_slave[cnt].FMMU2func, ec_slave[cnt].FMMU3func);
|
||||
printf(" MBX length wr: %d rd: %d MBX protocols : %2.2x\n", ec_slave[cnt].mbx_l, ec_slave[cnt].mbx_rl, ec_slave[cnt].mbx_proto);
|
||||
ssigen = ec_siifind(cnt, ECT_SII_GENERAL);
|
||||
/* SII general section */
|
||||
if (ssigen)
|
||||
{
|
||||
ec_slave[cnt].CoEdetails = ec_siigetbyte(cnt, ssigen + 0x07);
|
||||
ec_slave[cnt].FoEdetails = ec_siigetbyte(cnt, ssigen + 0x08);
|
||||
ec_slave[cnt].EoEdetails = ec_siigetbyte(cnt, ssigen + 0x09);
|
||||
ec_slave[cnt].SoEdetails = ec_siigetbyte(cnt, ssigen + 0x0a);
|
||||
if((ec_siigetbyte(cnt, ssigen + 0x0d) & 0x02) > 0)
|
||||
{
|
||||
ec_slave[cnt].blockLRW = 1;
|
||||
ec_slave[0].blockLRW++;
|
||||
}
|
||||
ec_slave[cnt].Ebuscurrent = ec_siigetbyte(cnt, ssigen + 0x0e);
|
||||
ec_slave[cnt].Ebuscurrent += ec_siigetbyte(cnt, ssigen + 0x0f) << 8;
|
||||
ec_slave[0].Ebuscurrent += ec_slave[cnt].Ebuscurrent;
|
||||
}
|
||||
printf(" CoE details: %2.2x FoE details: %2.2x EoE details: %2.2x SoE details: %2.2x\n",
|
||||
ec_slave[cnt].CoEdetails, ec_slave[cnt].FoEdetails, ec_slave[cnt].EoEdetails, ec_slave[cnt].SoEdetails);
|
||||
printf(" Ebus current: %d[mA]\n only LRD/LWR:%d\n",
|
||||
ec_slave[cnt].Ebuscurrent, ec_slave[cnt].blockLRW);
|
||||
if ((ec_slave[cnt].mbx_proto & ECT_MBXPROT_COE) && printSDO)
|
||||
si_sdo(cnt);
|
||||
if(printMAP)
|
||||
{
|
||||
if (ec_slave[cnt].mbx_proto & ECT_MBXPROT_COE)
|
||||
si_map_sdo(cnt);
|
||||
else
|
||||
si_map_sii(cnt);
|
||||
}
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("No slaves found!\n");
|
||||
}
|
||||
printf("End slaveinfo, close socket\n");
|
||||
/* stop SOEM, close socket */
|
||||
ec_close();
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("No socket connection on %s\nExcecute as root\n",ifname);
|
||||
}
|
||||
}
|
||||
|
||||
char ifbuf[1024];
|
||||
|
||||
int main(int argc, char *argv[])
|
||||
{
|
||||
ec_adaptert * adapter = NULL;
|
||||
ec_adaptert * head = NULL;
|
||||
printf("SOEM (Simple Open EtherCAT Master)\nSlaveinfo\n");
|
||||
|
||||
if (argc > 1)
|
||||
{
|
||||
if ((argc > 2) && (strncmp(argv[2], "-sdo", sizeof("-sdo")) == 0)) printSDO = TRUE;
|
||||
if ((argc > 2) && (strncmp(argv[2], "-map", sizeof("-map")) == 0)) printMAP = TRUE;
|
||||
/* start slaveinfo */
|
||||
strcpy(ifbuf, argv[1]);
|
||||
slaveinfo(ifbuf);
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("Usage: slaveinfo ifname [options]\nifname = eth0 for example\nOptions :\n -sdo : print SDO info\n -map : print mapping\n");
|
||||
/* Print the list */
|
||||
printf ("Available adapters\n");
|
||||
head = adapter = ec_find_adapters ();
|
||||
while (adapter != NULL)
|
||||
{
|
||||
printf ("Description : %s, Device to use for wpcap: %s\n", adapter->desc,adapter->name);
|
||||
adapter = adapter->next;
|
||||
}
|
||||
ec_free_adapters(head);
|
||||
}
|
||||
|
||||
printf("End program\n");
|
||||
return (0);
|
||||
}
|
||||
Reference in New Issue
Block a user