mirror of
https://gitlab.com/etherlab.org/ethercat.git
synced 2026-02-06 03:41:52 +08:00
user-Implementation aus aktueller Entwicklung entfernt.
This commit is contained in:
Florian Pose
@@ -158,8 +158,6 @@ static EtherCAT_slave_t ecat_slaves[] =
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ECAT_INIT_SLAVE(Beckhoff_EL3102),
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ECAT_INIT_SLAVE(Beckhoff_EL3102),
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ECAT_INIT_SLAVE(Beckhoff_EL3102),
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ECAT_INIT_SLAVE(Beckhoff_EL3102),
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ECAT_INIT_SLAVE(Beckhoff_EL4102),
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ECAT_INIT_SLAVE(Beckhoff_EL4102),
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ECAT_INIT_SLAVE(Beckhoff_EL4102),
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@@ -1,63 +0,0 @@
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#----------------------------------------------------------------
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#
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# M a k e f i l e
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#
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# $Id$
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#
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#----------------------------------------------------------------
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LIBNET_DIR = ../../soft/libnet-install
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LIBPCAP_DIR = ../../soft/libpcap-install
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FLTK_DIR = ../../soft/fltk-2.0-install
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CC = g++
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CFLAGS = -Wall -g -I$(LIBNET_DIR)/include -I$(LIBPCAP_DIR)/include \
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`$(FLTK_DIR)/bin/fltk-config --cflags`
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TEST_EXE = ethercat-test
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TEST_OBJ = main.o ec_master.o ec_command.o ec_slave.o
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TEST_LDFLAGS = -L$(LIBNET_DIR)/lib -lnet -lpcap -lpthread
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GUI_EXE = ethercat-gui
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GUI_OBJ = main_gui.o ec_master.o ec_command.o ec_slave.o
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GUI_LDFLAGS = -L$(LIBNET_DIR)/lib -lnet -lpcap -lpthread `$(FLTK_DIR)/bin/fltk-config --ldflags`
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#----------------------------------------------------------------
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first: $(TEST_EXE) $(GUI_EXE)
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$(TEST_EXE): $(TEST_OBJ)
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$(CC) $(TEST_OBJ) $(TEST_LDFLAGS) -o $@
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$(GUI_EXE): $(GUI_OBJ)
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$(CC) $(GUI_OBJ) $(GUI_LDFLAGS) -o $@
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.c.o:
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$(CC) $(CFLAGS) -c $< -o $@
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.cpp.o:
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$(CC) $(CFLAGS) -c $< -o $@
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#----------------------------------------------------------------
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main.o: main.c \
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ec_globals.h ec_master.h ec_command.h ec_slave.h
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main_gui.o: main_gui.cpp \
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ec_globals.h ec_master.h ec_command.h ec_slave.h
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ec_command.o: ec_command.c ec_command.h
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ec_master.o: ec_master.c ec_master.h \
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ec_globals.h ec_command.h ec_slave.h
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ec_slave.o: ec_slave.c ec_slave.h \
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ec_globals.h
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#----------------------------------------------------------------
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clean:
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rm -f *.o $(TEST_EXE) $(GUI_EXE) *~
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#----------------------------------------------------------------
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@@ -1,61 +0,0 @@
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//---------------------------------------------------------------
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//
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// e c _ c o m m a n d . c
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//
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// $LastChangedDate$
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// $Author$
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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 "ec_command.h"
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//---------------------------------------------------------------
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void EtherCAT_command_init(EtherCAT_command_t *cmd)
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{
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cmd->command_type = 0x00;
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cmd->node_address = 0x0000;
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cmd->ring_position = 0x0000;
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cmd->mem_address = 0x0000;
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cmd->logical_address = 0x00000000;
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cmd->data_length = 0;
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cmd->status = Waiting;
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cmd->next = NULL;
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cmd->working_counter = 0;
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cmd->data = NULL;
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}
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//---------------------------------------------------------------
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void EtherCAT_command_clear(EtherCAT_command_t *cmd)
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{
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if (cmd->data)
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{
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free(cmd->data);
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}
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EtherCAT_command_init(cmd);
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}
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//---------------------------------------------------------------
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void EtherCAT_command_print_data(EtherCAT_command_t *cmd)
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{
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unsigned int i;
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printf("[");
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for (i = 0; i < cmd->data_length; i++)
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{
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printf("%02X", cmd->data[i]);
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if (i < cmd->data_length - 1) printf(" ");
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}
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printf("]\n");
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}
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//---------------------------------------------------------------
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@@ -1,42 +0,0 @@
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//---------------------------------------------------------------
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//
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// e c _ c o m m a n d . h
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//
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// $LastChangedDate$
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// $Author$
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//
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//---------------------------------------------------------------
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typedef enum {Waiting, Sent, Received} EtherCAT_cmd_status_t;
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//---------------------------------------------------------------
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typedef struct EtherCAT_command
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{
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unsigned char command_type;
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short ring_position;
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unsigned short node_address;
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unsigned short mem_address;
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unsigned int logical_address;
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unsigned int data_length;
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struct EtherCAT_command *next;
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EtherCAT_cmd_status_t status;
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unsigned char command_index;
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unsigned int working_counter;
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unsigned char *data;
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}
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EtherCAT_command_t;
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//---------------------------------------------------------------
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void EtherCAT_command_init(EtherCAT_command_t *);
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void EtherCAT_command_clear(EtherCAT_command_t *);
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// Debug
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void EtherCAT_command_print_data(EtherCAT_command_t *);
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//---------------------------------------------------------------
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@@ -1,26 +0,0 @@
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//---------------------------------------------------------------
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//
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// e c _ g l o b a l s . h
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//
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// $LastChangedDate$
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// $Author$
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//
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//---------------------------------------------------------------
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#define EC_CMD_APRD 0x01 // Auto-increment physical read
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#define EC_CMD_APWR 0x02 // Auto-increment physical write
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#define EC_CMD_NPRD 0x04 // Node-addressed physical read
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#define EC_CMD_NPWR 0x05 // Node-addressed physical write
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#define EC_CMD_BRD 0x07 // Broadcast read
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#define EC_CMD_BWR 0x08 // Broadcast write
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#define EC_CMD_LRW 0x0C // Logical read/write
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#define EC_STATE_UNKNOWN 0x00
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#define EC_STATE_INIT 0x01
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#define EC_STATE_PREOP 0x02
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#define EC_STATE_SAVEOP 0x04
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#define EC_STATE_OP 0x08
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#define EC_ACK_STATE 0x10
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//---------------------------------------------------------------
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1407
user/ec_master.c
1407
user/ec_master.c
File diff suppressed because it is too large
Load Diff
120
user/ec_master.h
120
user/ec_master.h
@@ -1,120 +0,0 @@
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//---------------------------------------------------------------
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//
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// e c _ m a s t e r . h
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//
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// $LastChangedDate$
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// $Author$
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//
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//---------------------------------------------------------------
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#include <pcap.h>
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#include <libnet.h>
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#include <pthread.h>
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#include "ec_slave.h"
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#include "ec_command.h"
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//---------------------------------------------------------------
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typedef struct
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{
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EtherCAT_slave_t *slaves; // Slaves array
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unsigned int slave_count; // Number of slaves
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EtherCAT_command_t *first_command; // List of commands
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pcap_t *pcap_handle; // Handle for libpcap
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libnet_t *net_handle; // Handle for libnet
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unsigned char command_index; // Current command index
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unsigned char *process_data;
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unsigned int process_data_length;
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void (*pre_cb)(unsigned char *);
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void (*post_cb)(unsigned char *);
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pthread_t thread;
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int thread_continue;
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unsigned int cycle_time;
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double bus_time;
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double last_jitter;
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double last_cycle_time;
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double last_cycle_work_time;
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double last_cycle_busy_rate;
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}
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EtherCAT_master_t;
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//---------------------------------------------------------------
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// Master creation and deletion
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int EtherCAT_master_init(EtherCAT_master_t *, char *);
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void EtherCAT_master_clear(EtherCAT_master_t *);
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// Checking for slaves
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int EtherCAT_check_slaves(EtherCAT_master_t *, EtherCAT_slave_t *, unsigned int);
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void EtherCAT_clear_slaves(EtherCAT_master_t *);
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// Slave information interface
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int EtherCAT_read_slave_information(EtherCAT_master_t *,
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unsigned short int,
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unsigned short int,
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unsigned int *);
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// EtherCAT commands
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EtherCAT_command_t *EtherCAT_read(EtherCAT_master_t *,
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unsigned short,
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unsigned short,
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unsigned int);
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EtherCAT_command_t *EtherCAT_write(EtherCAT_master_t *,
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unsigned short,
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unsigned short,
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unsigned int,
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const unsigned char *);
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EtherCAT_command_t *EtherCAT_position_read(EtherCAT_master_t *,
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short,
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unsigned short,
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unsigned int);
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EtherCAT_command_t *EtherCAT_position_write(EtherCAT_master_t *,
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short,
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unsigned short,
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unsigned int,
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const unsigned char *);
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EtherCAT_command_t *EtherCAT_broadcast_read(EtherCAT_master_t *,
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unsigned short,
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unsigned int);
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EtherCAT_command_t *EtherCAT_broadcast_write(EtherCAT_master_t *,
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unsigned short,
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unsigned int,
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const unsigned char *);
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EtherCAT_command_t *EtherCAT_logical_read_write(EtherCAT_master_t *,
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unsigned int,
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unsigned int,
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unsigned char *);
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void EtherCAT_remove_command(EtherCAT_master_t *, EtherCAT_command_t *);
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// Slave states
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int EtherCAT_state_change(EtherCAT_master_t *, EtherCAT_slave_t *, unsigned char);
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int EtherCAT_broadcast_state_change(EtherCAT_master_t *, unsigned char);
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int EtherCAT_activate_slave(EtherCAT_master_t *, EtherCAT_slave_t *);
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int EtherCAT_deactivate_slave(EtherCAT_master_t *, EtherCAT_slave_t *);
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// Sending and receiving
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int EtherCAT_send_receive(EtherCAT_master_t *);
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int EtherCAT_start(EtherCAT_master_t *,
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unsigned int,
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void (*)(unsigned char *),
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void (*)(unsigned char *),
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unsigned int);
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int EtherCAT_stop(EtherCAT_master_t *);
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// Private functions
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void add_command(EtherCAT_master_t *, EtherCAT_command_t *);
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void set_byte(unsigned char *, unsigned int, unsigned char);
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void set_word(unsigned char *, unsigned int, unsigned int);
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void *thread_function(void *);
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//---------------------------------------------------------------
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137
user/ec_slave.c
137
user/ec_slave.c
@@ -1,137 +0,0 @@
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//---------------------------------------------------------------
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//
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// e c _ s l a v e . c
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//
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// $LastChangedDate$
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// $Author$
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//
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//---------------------------------------------------------------
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#include <stdlib.h>
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#include "ec_globals.h"
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#include "ec_slave.h"
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//---------------------------------------------------------------
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void EtherCAT_slave_init(EtherCAT_slave_t *slave)
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{
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slave->type = 0;
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slave->revision = 0;
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slave->build = 0;
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slave->ring_position = 0;
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slave->station_address = 0;
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slave->vendor_id = 0;
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slave->product_code = 0;
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slave->revision_number = 0;
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slave->desc = NULL;
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slave->logical_address0 = 0;
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slave->current_state = EC_STATE_UNKNOWN;
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slave->requested_state = EC_STATE_UNKNOWN;
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}
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//---------------------------------------------------------------
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void EtherCAT_slave_clear(EtherCAT_slave_t *slave)
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{
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// Nothing yet...
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}
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//---------------------------------------------------------------
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void EtherCAT_slave_print(EtherCAT_slave_t *slave)
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{
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}
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//---------------------------------------------------------------
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unsigned char sm0_multi[] = {0x00, 0x18, 0xF6, 0x00, 0x26, 0x00, 0x01, 0x00};
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unsigned char sm1_multi[] = {0xF6, 0x18, 0xF6, 0x00, 0x22, 0x00, 0x01, 0x00};
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unsigned char sm0_1014[] = {0x00, 0x10, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00};
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unsigned char sm0_2004[] = {0x00, 0x0F, 0x01, 0x00, 0x46, 0x00, 0x01, 0x00};
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unsigned char sm2_31xx[] = {0x00, 0x10, 0x04, 0x00, 0x24, 0x00, 0x00, 0x00};
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unsigned char sm3_31xx[] = {0x00, 0x11, 0x06, 0x00, 0x20, 0x00, 0x01, 0x00};
|
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unsigned char sm2_4102[] = {0x00, 0x10, 0x04, 0x00, 0x24, 0x00, 0x01, 0x00};
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unsigned char fmmu0_1014[] = {0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x07,
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0x00, 0x10, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00};
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unsigned char fmmu0_2004[] = {0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x07,
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0x00, 0x0F, 0x00, 0x02, 0x01, 0x00, 0x00, 0x00};
|
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|
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unsigned char fmmu0_31xx[] = {0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x07,
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0x00, 0x11, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00};
|
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|
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unsigned char fmmu0_4102[] = {0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x07,
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0x00, 0x10, 0x00, 0x02, 0x01, 0x00, 0x00, 0x00};
|
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|
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//---------------------------------------------------------------
|
||||
|
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EtherCAT_slave_desc_t Beckhoff_EK1100[] = {"Beckhoff", "EK1100", "Bus Coupler",
|
||||
SIMPLE,
|
||||
NULL, NULL, NULL, NULL, // Noch nicht eingepflegt...
|
||||
NULL,
|
||||
0};
|
||||
|
||||
EtherCAT_slave_desc_t Beckhoff_EL1014[] = {"Beckhoff", "EL1014", "4x Digital Input",
|
||||
SIMPLE,
|
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sm0_1014, NULL, NULL, NULL,
|
||||
fmmu0_1014,
|
||||
1};
|
||||
|
||||
EtherCAT_slave_desc_t Beckhoff_EL2004[] = {"Beckhoff", "EL2004", "4x Digital Output",
|
||||
SIMPLE,
|
||||
sm0_2004, NULL, NULL, NULL,
|
||||
fmmu0_2004,
|
||||
1};
|
||||
|
||||
EtherCAT_slave_desc_t Beckhoff_EL3102[] = {"Beckhoff", "EL3102", "2x Analog Input Diff",
|
||||
MAILBOX,
|
||||
sm0_multi, sm1_multi, sm2_31xx, sm3_31xx,
|
||||
fmmu0_31xx,
|
||||
6};
|
||||
|
||||
EtherCAT_slave_desc_t Beckhoff_EL3162[] = {"Beckhoff", "EL3162", "2x Analog Input",
|
||||
MAILBOX,
|
||||
sm0_multi, sm1_multi, sm2_31xx, sm3_31xx,
|
||||
fmmu0_31xx,
|
||||
6};
|
||||
|
||||
EtherCAT_slave_desc_t Beckhoff_EL4102[] = {"Beckhoff", "EL4102", "2x Analog Output",
|
||||
MAILBOX,
|
||||
sm0_multi, sm1_multi, sm2_4102, NULL,
|
||||
fmmu0_4102,
|
||||
4};
|
||||
|
||||
EtherCAT_slave_desc_t Beckhoff_EL5001[] = {"Beckhoff", "EL5001", "SSI-Interface",
|
||||
SIMPLE,
|
||||
NULL, NULL, NULL, NULL, // Noch nicht eingepflegt...
|
||||
NULL,
|
||||
0};
|
||||
|
||||
//---------------------------------------------------------------
|
||||
|
||||
unsigned int slave_idents_count = 7;
|
||||
|
||||
struct slave_ident slave_idents[] =
|
||||
{
|
||||
{0x00000002, 0x03F63052, Beckhoff_EL1014},
|
||||
{0x00000002, 0x044C2C52, Beckhoff_EK1100},
|
||||
{0x00000002, 0x07D43052, Beckhoff_EL2004},
|
||||
{0x00000002, 0x0C1E3052, Beckhoff_EL3102},
|
||||
{0x00000002, 0x0C5A3052, Beckhoff_EL3162},
|
||||
{0x00000002, 0x10063052, Beckhoff_EL4102},
|
||||
{0x00000002, 0x13893052, Beckhoff_EL5001}
|
||||
};
|
||||
|
||||
//---------------------------------------------------------------
|
||||
@@ -1,96 +0,0 @@
|
||||
//---------------------------------------------------------------
|
||||
//
|
||||
// e c _ s l a v e . h
|
||||
//
|
||||
// $LastChangedDate$
|
||||
// $Author$
|
||||
//
|
||||
//---------------------------------------------------------------
|
||||
|
||||
#define SIMPLE 0
|
||||
#define MAILBOX 1
|
||||
|
||||
//---------------------------------------------------------------
|
||||
|
||||
typedef struct slave_desc EtherCAT_slave_desc_t;
|
||||
|
||||
typedef struct
|
||||
{
|
||||
// Base data
|
||||
unsigned char type;
|
||||
unsigned char revision;
|
||||
unsigned short build;
|
||||
|
||||
// Addresses
|
||||
short ring_position;
|
||||
unsigned short station_address;
|
||||
|
||||
// Slave information interface
|
||||
unsigned int vendor_id;
|
||||
unsigned int product_code;
|
||||
unsigned int revision_number;
|
||||
|
||||
const EtherCAT_slave_desc_t *desc;
|
||||
|
||||
unsigned int logical_address0;
|
||||
|
||||
unsigned int current_state;
|
||||
unsigned int requested_state;
|
||||
|
||||
unsigned char *process_data;
|
||||
}
|
||||
EtherCAT_slave_t;
|
||||
|
||||
#define ECAT_INIT_SLAVE(TYPE) {0, 0, 0, 0, 0, 0, 0, 0, TYPE, 0, 0, 0, NULL}
|
||||
|
||||
//---------------------------------------------------------------
|
||||
|
||||
// Slave construction and deletion
|
||||
void EtherCAT_slave_init(EtherCAT_slave_t *);
|
||||
void EtherCAT_slave_clear(EtherCAT_slave_t *);
|
||||
|
||||
// Debug
|
||||
void EtherCAT_slave_print(EtherCAT_slave_t *);
|
||||
|
||||
//---------------------------------------------------------------
|
||||
|
||||
typedef struct slave_desc
|
||||
{
|
||||
const char *vendor_name;
|
||||
const char *product_name;
|
||||
const char *product_desc;
|
||||
|
||||
const int type;
|
||||
|
||||
const unsigned char *sm0;
|
||||
const unsigned char *sm1;
|
||||
const unsigned char *sm2;
|
||||
const unsigned char *sm3;
|
||||
|
||||
const unsigned char *fmmu0;
|
||||
|
||||
const unsigned int data_length;
|
||||
}
|
||||
EtherCAT_slave_desc_t;
|
||||
|
||||
extern EtherCAT_slave_desc_t Beckhoff_EK1100[];
|
||||
extern EtherCAT_slave_desc_t Beckhoff_EL1014[];
|
||||
extern EtherCAT_slave_desc_t Beckhoff_EL2004[];
|
||||
extern EtherCAT_slave_desc_t Beckhoff_EL3102[];
|
||||
extern EtherCAT_slave_desc_t Beckhoff_EL3162[];
|
||||
extern EtherCAT_slave_desc_t Beckhoff_EL4102[];
|
||||
extern EtherCAT_slave_desc_t Beckhoff_EL5001[];
|
||||
|
||||
//---------------------------------------------------------------
|
||||
|
||||
struct slave_ident
|
||||
{
|
||||
const unsigned int vendor_id;
|
||||
const unsigned int product_code;
|
||||
const EtherCAT_slave_desc_t *desc;
|
||||
};
|
||||
|
||||
extern struct slave_ident slave_idents[];
|
||||
extern unsigned int slave_idents_count;
|
||||
|
||||
//---------------------------------------------------------------
|
||||
439
user/main.c
439
user/main.c
@@ -1,439 +0,0 @@
|
||||
//---------------------------------------------------------------
|
||||
//
|
||||
// m a i n . c
|
||||
//
|
||||
// $LastChangedDate$
|
||||
// $Author$
|
||||
//
|
||||
//---------------------------------------------------------------
|
||||
|
||||
#include <stdio.h>
|
||||
#include <string.h> // memset()
|
||||
#include <unistd.h> // usleep()
|
||||
#include <signal.h>
|
||||
|
||||
#include "ec_globals.h"
|
||||
#include "ec_master.h"
|
||||
|
||||
//---------------------------------------------------------------
|
||||
|
||||
void signal_handler(int);
|
||||
void write_data(unsigned char *);
|
||||
|
||||
int continue_running;
|
||||
unsigned short int word;
|
||||
|
||||
//---------------------------------------------------------------
|
||||
|
||||
int main(int argc, char **argv)
|
||||
{
|
||||
EtherCAT_master_t master;
|
||||
EtherCAT_command_t *cmd, *cmd2;
|
||||
unsigned char data[256];
|
||||
unsigned int i, number;
|
||||
struct sigaction sa;
|
||||
|
||||
sa.sa_handler = signal_handler;
|
||||
sigaction(SIGINT, &sa, NULL);
|
||||
|
||||
printf("CatEther-Testprogramm.\n");
|
||||
|
||||
EtherCAT_master_init(&master, "eth1");
|
||||
|
||||
if (EtherCAT_check_slaves(&master, NULL, 0) != 0)
|
||||
{
|
||||
fprintf(stderr, "ERROR while searching for slaves!\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
if (master.slave_count == 0)
|
||||
{
|
||||
fprintf(stderr, "ERROR: No slaves found!\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
for (i = 0; i < master.slave_count; i++)
|
||||
{
|
||||
printf("Slave found: Type %02X, Revision %02X, Build %04X\n",
|
||||
master.slaves[i].type, master.slaves[i].revision, master.slaves[i].build);
|
||||
}
|
||||
|
||||
printf("Writing Station addresses.\n");
|
||||
|
||||
for (i = 0; i < master.slave_count; i++)
|
||||
{
|
||||
data[0] = i & 0x00FF;
|
||||
data[1] = (i & 0xFF00) >> 8;
|
||||
|
||||
cmd = EtherCAT_position_write(&master, 0 - i, 0x0010, 2, data);
|
||||
|
||||
EtherCAT_send_receive(&master);
|
||||
|
||||
if (cmd->working_counter != 1)
|
||||
{
|
||||
fprintf(stderr, "ERROR: Slave did'n repond!\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
EtherCAT_remove_command(&master, cmd);
|
||||
}
|
||||
|
||||
//----------
|
||||
|
||||
for (i = 0; i < master.slave_count; i++)
|
||||
{
|
||||
printf("\nKlemme %i:\n", i);
|
||||
|
||||
EtherCAT_read_slave_information(&master, i, 0x0008, &number);
|
||||
printf("Vendor ID: 0x%04X (%i)\n", number, number);
|
||||
|
||||
EtherCAT_read_slave_information(&master, i, 0x000A, &number);
|
||||
printf("Product Code: 0x%04X (%i)\n", number, number);
|
||||
|
||||
EtherCAT_read_slave_information(&master, i, 0x000E, &number);
|
||||
printf("Revision Number: 0x%04X (%i)\n", number, number);
|
||||
}
|
||||
|
||||
//----------
|
||||
|
||||
printf("\nResetting FMMU's.\n");
|
||||
|
||||
memset(data, 0x00, 256);
|
||||
cmd = EtherCAT_broadcast_write(&master, 0x0600, 256, data);
|
||||
EtherCAT_send_receive(&master);
|
||||
|
||||
if (cmd->working_counter != master.slave_count)
|
||||
{
|
||||
fprintf(stderr, "ERROR: Not all slaves responded (%i of %i)!\n",
|
||||
cmd->working_counter, master.slave_count);
|
||||
return -1;
|
||||
}
|
||||
|
||||
EtherCAT_remove_command(&master, cmd);
|
||||
|
||||
//----------
|
||||
|
||||
printf("Resetting Sync Manager channels.\n");
|
||||
|
||||
memset(data, 0x00, 256);
|
||||
cmd = EtherCAT_broadcast_write(&master, 0x0800, 256, data);
|
||||
EtherCAT_send_receive(&master);
|
||||
|
||||
if (cmd->working_counter != master.slave_count)
|
||||
{
|
||||
fprintf(stderr, "ERROR: Not all slaves responded (%i of %i)!\n",
|
||||
cmd->working_counter, master.slave_count);
|
||||
return -1;
|
||||
}
|
||||
|
||||
EtherCAT_remove_command(&master, cmd);
|
||||
|
||||
//----------
|
||||
|
||||
printf("Setting INIT state for devices.\n");
|
||||
|
||||
if (EtherCAT_broadcast_state_change(&master, EC_STATE_INIT) != 0)
|
||||
{
|
||||
fprintf(stderr, "ERROR: Could not set INIT state!\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
//----------
|
||||
|
||||
printf("Setting PREOP state for bus coupler.\n");
|
||||
|
||||
if (EtherCAT_state_change(&master, &master.slaves[0], EC_STATE_PREOP) != 0)
|
||||
{
|
||||
fprintf(stderr, "ERROR: Could not set state!\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
//----------
|
||||
|
||||
printf("Setting Sync managers 0 and 1 of device 1.\n");
|
||||
|
||||
data[0] = 0x00;
|
||||
data[1] = 0x18;
|
||||
data[2] = 0xF6;
|
||||
data[3] = 0x00;
|
||||
data[4] = 0x26;
|
||||
data[5] = 0x00;
|
||||
data[6] = 0x01;
|
||||
data[7] = 0x00;
|
||||
cmd = EtherCAT_write(&master, 0x0001, 0x0800, 8, data);
|
||||
|
||||
data[0] = 0xF6;
|
||||
data[1] = 0x18;
|
||||
data[2] = 0xF6;
|
||||
data[3] = 0x00;
|
||||
data[4] = 0x22;
|
||||
data[5] = 0x00;
|
||||
data[6] = 0x01;
|
||||
data[7] = 0x00;
|
||||
cmd2 = EtherCAT_write(&master, 0x0001, 0x0808, 8, data);
|
||||
|
||||
EtherCAT_send_receive(&master);
|
||||
|
||||
if (cmd->working_counter != 1 || cmd2->working_counter != 1)
|
||||
{
|
||||
fprintf(stderr, "ERROR: Not all slaves responded!\n");
|
||||
|
||||
return -1;
|
||||
}
|
||||
|
||||
EtherCAT_remove_command(&master, cmd);
|
||||
EtherCAT_remove_command(&master, cmd2);
|
||||
|
||||
|
||||
//----------
|
||||
|
||||
printf("Setting PREOP state for device 1.\n");
|
||||
|
||||
if (EtherCAT_state_change(&master, &master.slaves[1], EC_STATE_PREOP))
|
||||
{
|
||||
fprintf(stderr, "ERROR: Could not set state!\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
//----------
|
||||
|
||||
printf("Setting PREOP state for device 4.\n");
|
||||
|
||||
if (EtherCAT_state_change(&master, &master.slaves[4], EC_STATE_PREOP))
|
||||
{
|
||||
fprintf(stderr, "ERROR: Could not set state!\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
//----------
|
||||
|
||||
#if 1
|
||||
printf("Setting FMMU 0 of device 1.\n");
|
||||
|
||||
data[0] = 0x00; // Logical start address [4]
|
||||
data[1] = 0x00;
|
||||
data[2] = 0x00;
|
||||
data[3] = 0x00;
|
||||
data[4] = 0x04; // Length [2]
|
||||
data[5] = 0x00;
|
||||
data[6] = 0x00; // Start bit
|
||||
data[7] = 0x07; // End bit
|
||||
data[8] = 0x00; // Physical start address [2]
|
||||
data[9] = 0x10;
|
||||
data[10] = 0x00; // Physical start bit
|
||||
data[11] = 0x02; // Read/write enable
|
||||
data[12] = 0x01; // channel enable [2]
|
||||
data[13] = 0x00;
|
||||
data[14] = 0x00; // Reserved [2]
|
||||
data[15] = 0x00;
|
||||
cmd = EtherCAT_write(&master, 0x0001, 0x0600, 16, data);
|
||||
EtherCAT_send_receive(&master);
|
||||
|
||||
if (cmd->working_counter != 1)
|
||||
{
|
||||
fprintf(stderr, "ERROR: Not all slaves responded (%i of 1)!\n",
|
||||
cmd->working_counter);
|
||||
return -1;
|
||||
}
|
||||
|
||||
EtherCAT_remove_command(&master, cmd);
|
||||
#endif
|
||||
|
||||
//----------
|
||||
|
||||
#if 1
|
||||
printf("Setting FMMU 0 of device 4.\n");
|
||||
|
||||
data[0] = 0x04; // Logical start address [4]
|
||||
data[1] = 0x00;
|
||||
data[2] = 0x00;
|
||||
data[3] = 0x00;
|
||||
data[4] = 0x01; // Length [2]
|
||||
data[5] = 0x00;
|
||||
data[6] = 0x00; // Start bit
|
||||
data[7] = 0x07; // End bit
|
||||
data[8] = 0x00; // Physical start address [2]
|
||||
data[9] = 0x0F;
|
||||
data[10] = 0x00; // Physical start bit
|
||||
data[11] = 0x02; // Read/write enable
|
||||
data[12] = 0x01; // channel enable [2]
|
||||
data[13] = 0x00;
|
||||
data[14] = 0x00; // Reserved [2]
|
||||
data[15] = 0x00;
|
||||
cmd = EtherCAT_write(&master, 0x0004, 0x0600, 16, data);
|
||||
EtherCAT_send_receive(&master);
|
||||
|
||||
if (cmd->working_counter != 1)
|
||||
{
|
||||
fprintf(stderr, "ERROR: Not all slaves responded (%i of 1)!\n",
|
||||
cmd->working_counter);
|
||||
return -1;
|
||||
}
|
||||
|
||||
EtherCAT_remove_command(&master, cmd);
|
||||
#endif
|
||||
|
||||
//----------
|
||||
|
||||
printf("Setting Sync manager 2 of device 1.\n");
|
||||
|
||||
data[0] = 0x00;
|
||||
data[1] = 0x10;
|
||||
data[2] = 0x04;
|
||||
data[3] = 0x00;
|
||||
data[4] = 0x24;
|
||||
data[5] = 0x00;
|
||||
data[6] = 0x01;
|
||||
data[7] = 0x00;
|
||||
cmd = EtherCAT_write(&master, 0x0001, 0x0810, 8, data);
|
||||
EtherCAT_send_receive(&master);
|
||||
|
||||
if (cmd->working_counter != 1)
|
||||
{
|
||||
fprintf(stderr, "ERROR: Not all slaves responded (%i of 1)!\n", cmd->working_counter);
|
||||
return -1;
|
||||
}
|
||||
|
||||
EtherCAT_remove_command(&master, cmd);
|
||||
|
||||
//----------
|
||||
|
||||
printf("Setting Sync manager 0 for device 4.\n");
|
||||
|
||||
data[0] = 0x00;
|
||||
data[1] = 0x0F;
|
||||
data[2] = 0x01;
|
||||
data[3] = 0x00;
|
||||
data[4] = 0x46; // 46
|
||||
data[5] = 0x00;
|
||||
data[6] = 0x01;
|
||||
data[7] = 0x00;
|
||||
cmd = EtherCAT_write(&master, 0x0004, 0x0800, 8, data);
|
||||
|
||||
EtherCAT_send_receive(&master);
|
||||
|
||||
if (cmd->working_counter != 1)
|
||||
{
|
||||
fprintf(stderr, "ERROR: Not all slaves responded!\n");
|
||||
|
||||
return -1;
|
||||
}
|
||||
|
||||
EtherCAT_remove_command(&master, cmd);
|
||||
|
||||
//----------
|
||||
|
||||
printf("Setting SAVEOP state for bus coupler.\n");
|
||||
|
||||
if (EtherCAT_state_change(&master, 0x0000, EC_STATE_SAVEOP) != 0)
|
||||
{
|
||||
fprintf(stderr, "ERROR: Could not set state!\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
//----------
|
||||
|
||||
printf("Setting SAVEOP state for device 1.\n");
|
||||
|
||||
if (EtherCAT_state_change(&master, &master.slaves[1], EC_STATE_SAVEOP) != 0)
|
||||
{
|
||||
fprintf(stderr, "ERROR: Could not set state!\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
//----------
|
||||
|
||||
printf("Setting SAVEOP state for device 4.\n");
|
||||
|
||||
if (EtherCAT_state_change(&master, &master.slaves[4], EC_STATE_SAVEOP) != 0)
|
||||
{
|
||||
fprintf(stderr, "ERROR: Could not set state!\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
//----------
|
||||
|
||||
printf("Setting OP state for bus coupler.\n");
|
||||
|
||||
if (EtherCAT_state_change(&master, &master.slaves[0], EC_STATE_OP) != 0)
|
||||
{
|
||||
fprintf(stderr, "ERROR: Could not set state!\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
//----------
|
||||
|
||||
printf("Setting OP state for device 1.\n");
|
||||
|
||||
if (EtherCAT_state_change(&master, &master.slaves[1], EC_STATE_OP) != 0)
|
||||
{
|
||||
fprintf(stderr, "ERROR: Could not set state!\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
//----------
|
||||
|
||||
printf("Setting OP state for device 4.\n");
|
||||
|
||||
if (EtherCAT_state_change(&master, &master.slaves[4], EC_STATE_OP) != 0)
|
||||
{
|
||||
fprintf(stderr, "ERROR: Could not set state!\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
//----------
|
||||
|
||||
word = 0;
|
||||
|
||||
printf("Starting thread...\n");
|
||||
|
||||
if (EtherCAT_start(&master, 5, write_data, NULL, 10000) != 0)
|
||||
{
|
||||
return -1;
|
||||
}
|
||||
|
||||
continue_running = 1;
|
||||
|
||||
while (continue_running)
|
||||
{
|
||||
usleep(200000);
|
||||
|
||||
word += 1000;
|
||||
word = word & 0x7FFF;
|
||||
}
|
||||
|
||||
//----------
|
||||
|
||||
printf("Stopping master thread...\n");
|
||||
EtherCAT_stop(&master);
|
||||
|
||||
EtherCAT_master_clear(&master);
|
||||
|
||||
printf("Finished.\n");
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
//---------------------------------------------------------------
|
||||
|
||||
void write_data(unsigned char *data)
|
||||
{
|
||||
data[0] = word & 0xFF;
|
||||
data[1] = (word & 0xFF00) >> 8;
|
||||
data[2] = word & 0xFF;
|
||||
data[3] = (word & 0xFF00) >> 8;
|
||||
|
||||
data[4] = 0x01;
|
||||
}
|
||||
|
||||
//---------------------------------------------------------------
|
||||
|
||||
void signal_handler(int signum)
|
||||
{
|
||||
if (signum == SIGINT || signum == SIGTERM)
|
||||
{
|
||||
continue_running = 0;
|
||||
}
|
||||
}
|
||||
|
||||
//---------------------------------------------------------------
|
||||
@@ -1,287 +0,0 @@
|
||||
//---------------------------------------------------------------
|
||||
//
|
||||
// m a i n _ g u i . c p p
|
||||
//
|
||||
// $LastChangedDate$
|
||||
// $Author$
|
||||
//
|
||||
//---------------------------------------------------------------
|
||||
|
||||
#include <stdio.h>
|
||||
#include <string.h> // memset()
|
||||
#include <unistd.h> // usleep()
|
||||
#include <signal.h>
|
||||
|
||||
#include <fltk/Window.h>
|
||||
#include <fltk/Slider.h>
|
||||
#include <fltk/ValueOutput.h>
|
||||
#include <fltk/FillSlider.h>
|
||||
#include <fltk/CheckButton.h>
|
||||
#include <fltk/run.h>
|
||||
using namespace fltk;
|
||||
|
||||
#include "ec_globals.h"
|
||||
#include "ec_master.h"
|
||||
|
||||
#define SLIDER_UPDATE_CYCLE 0.02
|
||||
#define VALUES_UPDATE_CYCLE 0.50
|
||||
|
||||
//---------------------------------------------------------------
|
||||
|
||||
unsigned short int write_value;
|
||||
signed short int read_value;
|
||||
unsigned char dig_value;
|
||||
|
||||
void write_data(unsigned char *);
|
||||
void read_data(unsigned char *);
|
||||
|
||||
void slider_write_callback(Widget *, void *);
|
||||
void slider_read_timeout(void *);
|
||||
void values_timeout(void *);
|
||||
|
||||
Window *window;
|
||||
Slider *slider_read, *slider_write;
|
||||
ValueOutput *output_cycle, *output_jitter, *output_work, *output_busy, *output_bus;
|
||||
CheckButton *check1, *check2, *check3, *check4;
|
||||
EtherCAT_master_t master;
|
||||
|
||||
double max_cycle, max_jitter, max_work, max_busy, max_bus;
|
||||
|
||||
//---------------------------------------------------------------
|
||||
|
||||
#define SLAVE_COUNT 7
|
||||
|
||||
EtherCAT_slave_t slaves[SLAVE_COUNT] =
|
||||
{
|
||||
ECAT_INIT_SLAVE(Beckhoff_EK1100),
|
||||
ECAT_INIT_SLAVE(Beckhoff_EL4102),
|
||||
ECAT_INIT_SLAVE(Beckhoff_EL3162),
|
||||
ECAT_INIT_SLAVE(Beckhoff_EL1014),
|
||||
ECAT_INIT_SLAVE(Beckhoff_EL5001),
|
||||
ECAT_INIT_SLAVE(Beckhoff_EL2004),
|
||||
ECAT_INIT_SLAVE(Beckhoff_EL3102)
|
||||
};
|
||||
|
||||
//---------------------------------------------------------------
|
||||
|
||||
int main(int argc, char **argv)
|
||||
{
|
||||
//unsigned int i;
|
||||
EtherCAT_slave_t *buskoppler, *input, *output, *dig_in, *dig_out;
|
||||
struct sched_param sched;
|
||||
|
||||
printf("CatEther-Testprogramm.\n\n");
|
||||
|
||||
//----------
|
||||
|
||||
#if 1
|
||||
printf("Setting highest task priority...\n");
|
||||
|
||||
sched.sched_priority = sched_get_priority_max(SCHED_RR);
|
||||
if (sched_setscheduler(0, SCHED_RR, &sched) == -1)
|
||||
{
|
||||
fprintf(stderr, "ERROR: Could not set priority: %s\n", strerror(errno));
|
||||
return -1;
|
||||
}
|
||||
#endif
|
||||
|
||||
//----------
|
||||
|
||||
printf("Initializing master...\n");
|
||||
EtherCAT_master_init(&master, "eth1");
|
||||
|
||||
printf("Checking slaves...\n");
|
||||
if (EtherCAT_check_slaves(&master, slaves, SLAVE_COUNT) != 0)
|
||||
{
|
||||
fprintf(stderr, "ERROR while searching for slaves!\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
//----------
|
||||
|
||||
// Check for slaves
|
||||
|
||||
buskoppler = &slaves[0];
|
||||
output = &slaves[1];
|
||||
dig_in = &slaves[3];
|
||||
dig_out = &slaves[5];
|
||||
input = &slaves[6];
|
||||
|
||||
// Set Mapping addresses
|
||||
|
||||
output->logical_address0 = 0x00000000;
|
||||
input->logical_address0 = 0x00000004;
|
||||
dig_in->logical_address0 = 0x0000000F;
|
||||
dig_out->logical_address0 = 0x0000000E;
|
||||
|
||||
//----------
|
||||
|
||||
printf("Init output slave...\n");
|
||||
|
||||
if (EtherCAT_activate_slave(&master, output) != 0)
|
||||
{
|
||||
fprintf(stderr, "ERROR: Could not init slave!\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
printf("Init input slave...\n");
|
||||
|
||||
if (EtherCAT_activate_slave(&master, input) != 0)
|
||||
{
|
||||
fprintf(stderr, "ERROR: Could not init slave!\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
printf("Init digital input slave...\n");
|
||||
|
||||
if (EtherCAT_activate_slave(&master, dig_in) != 0)
|
||||
{
|
||||
fprintf(stderr, "ERROR: Could not init slave!\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
printf("Init digital output slave...\n");
|
||||
|
||||
if (EtherCAT_activate_slave(&master, dig_out) != 0)
|
||||
{
|
||||
fprintf(stderr, "ERROR: Could not init slave!\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
//----------
|
||||
|
||||
printf("Starting FLTK window...\n");
|
||||
|
||||
window = new Window(300, 300);
|
||||
window->begin();
|
||||
|
||||
slider_read = new FillSlider(50, 10, 40, 280);
|
||||
slider_read->set_vertical();
|
||||
slider_read->buttoncolor(BLUE);
|
||||
|
||||
slider_read->deactivate();
|
||||
|
||||
slider_write = new Slider(110, 10, 40, 280);
|
||||
slider_write->set_vertical();
|
||||
slider_write->callback(slider_write_callback, NULL);
|
||||
|
||||
output_cycle = new ValueOutput(200, 50, 90, 25, "Cycle time [µs]");
|
||||
output_cycle->align(ALIGN_LEFT | ALIGN_TOP);
|
||||
|
||||
output_jitter = new ValueOutput(200, 90, 90, 25, "Jitter [%]");
|
||||
output_jitter->align(ALIGN_LEFT | ALIGN_TOP);
|
||||
|
||||
output_work = new ValueOutput(200, 130, 90, 25, "Work time [µs]");
|
||||
output_work->align(ALIGN_LEFT | ALIGN_TOP);
|
||||
|
||||
output_busy = new ValueOutput(200, 170, 90, 25, "Busy rate [%]");
|
||||
output_busy->align(ALIGN_LEFT | ALIGN_TOP);
|
||||
|
||||
output_bus = new ValueOutput(200, 210, 90, 25, "Bus time [µs]");
|
||||
output_bus->align(ALIGN_LEFT | ALIGN_TOP);
|
||||
|
||||
check1 = new CheckButton(200, 240, 30, 25, "1");
|
||||
check2 = new CheckButton(250, 240, 30, 25, "2");
|
||||
check3 = new CheckButton(200, 270, 30, 25, "3");
|
||||
check4 = new CheckButton(250, 270, 30, 25, "4");
|
||||
|
||||
// output_cycle = new Output(200, 35, 90, 25);
|
||||
|
||||
window->end();
|
||||
window->show();
|
||||
|
||||
add_timeout(SLIDER_UPDATE_CYCLE, slider_read_timeout, NULL);
|
||||
add_timeout(VALUES_UPDATE_CYCLE, values_timeout, NULL);
|
||||
|
||||
printf("Starting thread...\n");
|
||||
|
||||
if (EtherCAT_start(&master, 20, write_data, read_data, 10000) != 0)
|
||||
{
|
||||
return -1;
|
||||
}
|
||||
|
||||
run(); // Start FLTK loop
|
||||
|
||||
remove_timeout(slider_read_timeout, NULL);
|
||||
remove_timeout(values_timeout, NULL);
|
||||
|
||||
printf("Stopping master thread...\n");
|
||||
EtherCAT_stop(&master);
|
||||
|
||||
printf("Deactivating slaves...\n");
|
||||
|
||||
EtherCAT_deactivate_slave(&master, dig_out);
|
||||
EtherCAT_deactivate_slave(&master, dig_in);
|
||||
EtherCAT_deactivate_slave(&master, input);
|
||||
EtherCAT_deactivate_slave(&master, output);
|
||||
EtherCAT_deactivate_slave(&master, buskoppler);
|
||||
|
||||
EtherCAT_master_clear(&master);
|
||||
|
||||
printf("Finished.\n");
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
//---------------------------------------------------------------
|
||||
|
||||
void write_data(unsigned char *data)
|
||||
{
|
||||
data[0] = write_value & 0xFF;
|
||||
data[1] = (write_value & 0xFF00) >> 8;
|
||||
|
||||
data[14] = (write_value * 16 / 32767) & 0x0F;
|
||||
}
|
||||
|
||||
//---------------------------------------------------------------
|
||||
|
||||
void read_data(unsigned char *data)
|
||||
{
|
||||
read_value = data[5] | data[6] << 8;
|
||||
dig_value = data[15];
|
||||
}
|
||||
|
||||
//---------------------------------------------------------------
|
||||
|
||||
void slider_read_timeout(void *data)
|
||||
{
|
||||
slider_read->value((double) read_value / 65536 + 0.5);
|
||||
slider_read->redraw();
|
||||
|
||||
check1->value(dig_value & 1);
|
||||
check2->value(dig_value & 2);
|
||||
check3->value(dig_value & 4);
|
||||
check4->value(dig_value & 8);
|
||||
|
||||
if (max_cycle < master.last_cycle_time) max_cycle = master.last_cycle_time;
|
||||
if (max_jitter < master.last_jitter) max_jitter = master.last_jitter;
|
||||
if (max_work < master.last_cycle_work_time) max_work = master.last_cycle_work_time;
|
||||
if (max_busy < master.last_cycle_busy_rate) max_busy = master.last_cycle_busy_rate;
|
||||
if (max_bus < master.bus_time) max_bus = master.bus_time;
|
||||
|
||||
repeat_timeout(SLIDER_UPDATE_CYCLE, slider_read_timeout, NULL);
|
||||
}
|
||||
|
||||
//---------------------------------------------------------------
|
||||
|
||||
void values_timeout(void *data)
|
||||
{
|
||||
output_cycle->value(max_cycle * 1000000.0);
|
||||
output_jitter->value(max_jitter);
|
||||
output_work->value(max_work * 1000000.0);
|
||||
output_busy->value(max_busy);
|
||||
output_bus->value(max_bus * 1000000.0);
|
||||
|
||||
max_cycle = max_jitter = max_work = max_busy = max_bus = 0.0;
|
||||
|
||||
repeat_timeout(VALUES_UPDATE_CYCLE, values_timeout, NULL);
|
||||
}
|
||||
|
||||
//---------------------------------------------------------------
|
||||
|
||||
void slider_write_callback(Widget *sender, void *data)
|
||||
{
|
||||
write_value = (short unsigned int) (32767 * slider_write->value() + 0.5);
|
||||
}
|
||||
|
||||
//---------------------------------------------------------------
|
||||
Reference in New Issue
Block a user