void cyclic_task(unsigned long data)
{
// receive process data
down(&master_sem);
ecrt_master_receive(master);
ecrt_domain_process(domain1);
up(&master_sem);
// check process data state (optional)
check_domain1_state();
if (counter) {
counter--;
} else { // do this at 1 Hz
counter = FREQUENCY;
// check for master state (optional)
check_master_state();
}
run_serial_devices(domain1_pd);
// send process data
down(&master_sem);
ecrt_domain_queue(domain1);
ecrt_master_send(master);
up(&master_sem);
// restart timer
timer.expires += HZ / FREQUENCY;
add_timer(&timer);
}
void cyclic_task()
{
static unsigned int counter = 10;
static uint8_t outputValue = 0;
static int numAsyncCycles = 0;
uint8_t inputValue = 0;
static uint8_t error = 0;
// receive process data
ecrt_master_receive(master);
ecrt_domain_process(domain1);
// check process data state (optional)
check_domain1_state();
inputValue = EC_READ_U8(domain1_pd + off_dig_in[1]) & 0x0F;
if(inputValue != outputValue) {
numAsyncCycles++;
} else {
numAsyncCycles = 0;
}
if(numAsyncCycles > 2) {
if(error != 0xff) {
error++;
}
}
if (counter) {
counter--;
} else {
counter = 5; //update delay
// calculate new process data
outputValue = (outputValue + 1) & 0x0F;
// check for master state (optional)
check_master_state();
// check for islave configuration state(s) (optional)
// check_slave_config_states();
}
// write process data
EC_WRITE_U8(domain1_pd + off_dig_out[0], outputValue);
EC_WRITE_U8(domain1_pd + off_dig_out[1], error);
// send process data
ecrt_domain_queue(domain1);
ecrt_master_send(master);
}
void cyclic_task()
{
// receive process data
ecrt_master_receive(master);
ecrt_domain_process(domain1);
// check process data state (optional)
check_domain1_state();
if (counter) {
counter--;
} else { // do this at 1 Hz
counter = FREQUENCY;
// calculate new process data
blink = !blink;
// check for master state (optional)
check_master_state();
// check for islave configuration state(s) (optional)
check_slave_config_states();
#if SDO_ACCESS
// read process data SDO
read_sdo();
#endif
}
#if 0
// read process data
printf("AnaIn: state %u value %u\n",
EC_READ_U8(domain1_pd + off_ana_in_status),
EC_READ_U16(domain1_pd + off_ana_in_value));
#endif
#if 1
// write process data
EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x06 : 0x09);
#endif
// send process data
ecrt_domain_queue(domain1);
ecrt_master_send(master);
}
void my_cyclic_task()
{
// receive process data
ecrt_master_receive(master);
ecrt_domain_process(domain1);
// check process data state (optional)
check_domain1_state();
// check for master state (optional)
check_master_state();
// check for islave configuration state(s) (optional)
check_slave_config_states();
// read process data SDO
read_sdo();
// send process data
ecrt_domain_queue(domain1);
ecrt_master_send(master);
}
int main(int argc, char **argv)
{
// ec_slave_config_t *sc;
struct sigaction sa;
struct itimerval tv;
master = ecrt_request_master(0);
if (!master)
return -1;
domain1 = ecrt_master_create_domain(master);
if (!domain1)
{
return -1;
}
if (!(sc_ana_in = ecrt_master_slave_config(master, AliasAndPositon, VendorID_ProductCode)))
{
fprintf(stderr, "Failed to get slave configuration.\n");
return -1;
}
#if SDO_ACCESS
fprintf(stderr, "Creating operation mode read SDO requests...\n");
if (!(sdo_operation_mode_display = ecrt_slave_config_create_sdo_request(sc_ana_in, MODES_OF_OPERATION_DISPLAY, 0, 1))) // uint8 data size 1
{
fprintf(stderr, "Failed to create SDO modes_of_operation_display 0x6061 request.\n");
return -1;
}
fprintf(stderr, "Creating operation mode write SDO requests...\n");
if (!(sdo_operation_mode_write = ecrt_slave_config_create_sdo_request(sc_ana_in, MODES_OF_OPERATION, 0, 1))) // uint8 data size 1
{
fprintf(stderr, "Failed to create SDO MODES_OF_OPERATION request.\n");
return -1;
}
fprintf(stderr, "Creating controlword write SDO requests...\n");
if (!(sdo_controlword_write = ecrt_slave_config_create_sdo_request(sc_ana_in, CONTROLWORD, 0, 2))) // uint16 data size 2
{
fprintf(stderr, "Failed to create SDO CONTROLWORD request.\n");
return -1;
}
fprintf(stderr, "Creating statusword read SDO requests...\n");
if (!(sdo_statusword_read = ecrt_slave_config_create_sdo_request(sc_ana_in, STATUSWORD, 0, 2))) // uint16 data size 2
{
fprintf(stderr, "Failed to create SDO STATUSWORD request.\n");
return -1;
}
//EC_WRITE_U16(ecrt_sdo_request_data(sdo), 0xFFFF);
ecrt_sdo_request_timeout(sdo_operation_mode_display, 500); // ms
ecrt_sdo_request_timeout(sdo_operation_mode_write, 500); // ms
ecrt_sdo_request_timeout(sdo_controlword_write, 500); // ms
ecrt_sdo_request_timeout(sdo_statusword_read, 500); // ms
#endif
#if CONFIGURE_PDOS
printf("Configuring PDOs...\n");
if (ecrt_slave_config_pdos(sc_ana_in, EC_END, duetfl80_syncs)) {
fprintf(stderr, "Failed to configure PDOs.\n");
return -1;
}
// if (!(sc = ecrt_master_slave_config(
// master, AnaOutSlavePos, Beckhoff_EL4102))) {
// fprintf(stderr, "Failed to get slave configuration.\n");
// return -1;
// }
// if (ecrt_slave_config_pdos(sc, EC_END, el4102_syncs)) {
// fprintf(stderr, "Failed to configure PDOs.\n");
// return -1;
// }
// if (!(sc = ecrt_master_slave_config(
// master, DigOutSlavePos, Beckhoff_EL2032))) {
// fprintf(stderr, "Failed to get slave configuration.\n");
// return -1;
// }
// if (ecrt_slave_config_pdos(sc, EC_END, el2004_syncs)) {
// fprintf(stderr, "Failed to configure PDOs.\n");
// return -1;
// }
// // Create configuration for bus coupler
// sc = ecrt_master_slave_config(master, BusCouplerPos, Beckhoff_EK1100);
// if (!sc)
// return -1;
if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
fprintf(stderr, "PDO entry registration failed!\n");
return -1;
}
#endif
printf("Activating master...\n");
if (ecrt_master_activate(master))
return -1;
#if 1
if (!(domain1_pd = ecrt_domain_data(domain1))) {
return -1;
}
#endif
#if PRIORITY
pid_t pid = getpid();
if (setpriority(PRIO_PROCESS, pid, -19))
fprintf(stderr, "Warning: Failed to set priority: %s\n",
strerror(errno));
#endif
printf("Starting timer...\n");
tv.it_interval.tv_sec = 0;
tv.it_interval.tv_usec = 1000000 / FREQUENCY;
tv.it_value.tv_sec = 0;
tv.it_value.tv_usec = 1000;
if (setitimer(ITIMER_REAL, &tv, NULL)) {
fprintf(stderr, "Failed to start timer: %s\n", strerror(errno));
return 1;
}
// handle ctrl+c ,important , do not remove
sa.sa_handler = signal_handler;
sigemptyset(&sa.sa_mask);
sa.sa_flags = 0;
if (signal(SIGINT, my_sig_handler) == SIG_ERR)
{
printf("\ncan't catch SIGUSR1\n");
return -1;
}
if (sigaction(SIGALRM, &sa, 0)) {
fprintf(stderr, "Failed to install signal handler!\n");
return -1;
}
// 1. check operation mode
bool getModeOk=false;
uint8_t mode_value;
int i=0;
while(1)
{
// printf("i=%d\n",i);
i++;
// receive process data
ecrt_master_receive(master);
// ecrt_domain_process(domain1);
// check process data state (optional)
// check_domain1_state();
// check for master state (optional)
check_master_state();
// check for islave configuration state(s) (optional)
check_slave_config_states();
// read_sdo();
if(i==1)
{
ecrt_sdo_request_read(sdo_operation_mode_display); // trigger read
}
switch (ecrt_sdo_request_state(sdo_operation_mode_display)) {
case EC_REQUEST_UNUSED: // request was not used yet
printf("request was not used yet\n");
break;
case EC_REQUEST_BUSY:
// printf( "Still busy...\n");
break;
case EC_REQUEST_SUCCESS:
fprintf(stderr, "sdo_operation_mode_display value: 0x%02X\n",
EC_READ_U8(ecrt_sdo_request_data(sdo_operation_mode_display)));
getModeOk = true;
mode_value = EC_READ_U8(ecrt_sdo_request_data(sdo_operation_mode_display));
break;
case EC_REQUEST_ERROR:
fprintf(stderr, "Failed to read SDO!\n");
break;
}
if(getModeOk)
{
printf("get mode value <%02x>\n",mode_value);
break;
}
// ecrt_domain_queue(domain1);
ecrt_master_send(master);
// pause();
// sleep(1);
// cyclic_task();
}
printf("check mode done\n");
if(getModeOk == false)
{
exit(-1);
}
// exit(0);
// 2. set operation mode to velocity mode
printf("setting mode to velocity_mode...\n");
bool isWriteModeOk=false;
while(1)
{
ecrt_master_receive(master);
EC_WRITE_U8(ecrt_sdo_request_data(sdo_operation_mode_write), 0x03);
ecrt_sdo_request_write(sdo_operation_mode_write);
switch (ecrt_sdo_request_state(sdo_operation_mode_write)) {
case EC_REQUEST_UNUSED: // request was not used yet
// ecrt_sdo_request_read(sdo_operation_mode_display); // trigger first read
// ecrt_sdo_request_write(sdo);
break;
case EC_REQUEST_BUSY:
// printf("Request to Write,But Still busy...\n");
break;
case EC_REQUEST_SUCCESS:
fprintf(stderr, "sdo_operation_mode_write write value 0x03 ok\n");
// ecrt_sdo_request_write(sdo_operation_mode_write);
isWriteModeOk = true;
break;
case EC_REQUEST_ERROR:
fprintf(stderr, "Failed to read SDO state!\n");
break;
}
if(isWriteModeOk)
{
break;
}
ecrt_master_send(master);
}
// 3. check operation mode, after write
getModeOk=false;
// for(int i=0;i<10;++i)
i=0;
while(1)
{
i++;
ecrt_master_receive(master);
if(i==1)
{
ecrt_sdo_request_read(sdo_operation_mode_display); // trigger read
}
switch (ecrt_sdo_request_state(sdo_operation_mode_display)) {
case EC_REQUEST_UNUSED: // request was not used yet
ecrt_sdo_request_read(sdo_operation_mode_display); // trigger first read
// ecrt_sdo_request_write(sdo);
break;
case EC_REQUEST_BUSY:
// fprintf(stderr, "Still busy...\n");
break;
case EC_REQUEST_SUCCESS:
printf("sdo_operation_mode_display value: 0x%02X\n",
EC_READ_U8(ecrt_sdo_request_data(sdo_operation_mode_display)));
if(EC_READ_U8(ecrt_sdo_request_data(sdo_operation_mode_display)) ^ 0x03 == 0)
{
printf("mode is in velocity_mode \n");
getModeOk = true;
}
else
{
printf("mode not in velocity_mode \n");
exit(-1);
}
break;
case EC_REQUEST_ERROR:
fprintf(stderr, "Failed to read SDO!\n");
break;
}
if(getModeOk)
{
break;
}
// if(i<10)
{
ecrt_master_send(master);
}
// sleep(1);
}
// 4. read target velocity
while(1)
{
i++;
ecrt_master_receive(master);
if(i==1)
{
ecrt_sdo_request_read(sdo_operation_mode_display); // trigger read
}
switch (ecrt_sdo_request_state(sdo_operation_mode_display)) {
case EC_REQUEST_UNUSED: // request was not used yet
ecrt_sdo_request_read(sdo_operation_mode_display); // trigger first read
// ecrt_sdo_request_write(sdo);
break;
case EC_REQUEST_BUSY:
// fprintf(stderr, "Still busy...\n");
break;
case EC_REQUEST_SUCCESS:
printf("sdo_operation_mode_display value: 0x%02X\n",
EC_READ_U8(ecrt_sdo_request_data(sdo_operation_mode_display)));
if(EC_READ_U8(ecrt_sdo_request_data(sdo_operation_mode_display)) ^ 0x03 == 0)
{
printf("mode is in velocity_mode \n");
getModeOk = true;
}
else
{
printf("mode not in velocity_mode \n");
exit(-1);
}
break;
case EC_REQUEST_ERROR:
fprintf(stderr, "Failed to read SDO!\n");
break;
}
if(getModeOk)
{
break;
}
ecrt_master_send(master);
}
// 5. set target velocity to zero
// 6. read statusword
printf("6.read statusword...\n");
bool isOperationDisabled=false;
// while(!isOperationDisabled)
while(1)
{
ecrt_master_receive(master);
EC_WRITE_U8(ecrt_sdo_request_data(sdo_controlword_write), 0x0080);// reset from fault
ecrt_sdo_request_write(sdo_controlword_write);
switch (ecrt_sdo_request_state(sdo_controlword_write)) {
case EC_REQUEST_UNUSED: // request was not used yet
// ecrt_sdo_request_read(sdo_operation_mode_display); // trigger first read
// ecrt_sdo_request_write(sdo);
break;
case EC_REQUEST_BUSY:
printf("Request to Write,But Still busy...\n");
break;
case EC_REQUEST_SUCCESS:
fprintf(stderr, "sdo_controlword_write write value 0x0080\n");
ecrt_sdo_request_write(sdo_controlword_write);
break;
case EC_REQUEST_ERROR:
fprintf(stderr, "Failed to read SDO state!\n");
break;
}
ecrt_master_send(master);
// read state ,need switch_on_disabled
ecrt_sdo_request_read(sdo_statusword_read); // trigger read
switch (ecrt_sdo_request_state(sdo_statusword_read)) {
case EC_REQUEST_UNUSED: // request was not used yet
ecrt_sdo_request_read(sdo_statusword_read); // trigger first read
// ecrt_sdo_request_write(sdo);
break;
case EC_REQUEST_BUSY:
printf("Still busy...\n");
break;
case EC_REQUEST_SUCCESS:
fprintf(stderr, "statusword value: 0x%04X\n",
EC_READ_U8(ecrt_sdo_request_data(sdo_statusword_read)));
if(EC_READ_U8(ecrt_sdo_request_data(sdo_statusword_read)) & 0x004F ^ 0x0040 == 0) // p91
{
isOperationDisabled = true;
printf("motor state is in switch_on_disabled \n");
}
break;
case EC_REQUEST_ERROR:
fprintf(stderr, "Failed to read SDO!\n");
break;
}
if(isOperationDisabled)
{
printf("good \n");
break;
}
ecrt_master_send(master);
}
// 7. set controlword to ready_to_switch_on
printf("7. set controlword , ready_to_switch_on...\n");
isOperationDisabled = false;
while(1)
{
ecrt_master_receive(master);
EC_WRITE_U8(ecrt_sdo_request_data(sdo_controlword_write), 0x0006);// reset from fault
ecrt_sdo_request_write(sdo_controlword_write);
switch (ecrt_sdo_request_state(sdo_controlword_write)) {
case EC_REQUEST_UNUSED: // request was not used yet
// ecrt_sdo_request_read(sdo_operation_mode_display); // trigger first read
// ecrt_sdo_request_write(sdo);
break;
case EC_REQUEST_BUSY:
// printf("Request to Write,But Still busy...\n");
break;
case EC_REQUEST_SUCCESS:
fprintf(stderr, "sdo_controlword_write write value 0x0006\n");
ecrt_sdo_request_write(sdo_controlword_write);
break;
case EC_REQUEST_ERROR:
fprintf(stderr, "Failed to read SDO state!\n");
break;
}
ecrt_master_send(master);
// read state ,need switch_on_disabled
ecrt_sdo_request_read(sdo_statusword_read); // trigger read
switch (ecrt_sdo_request_state(sdo_statusword_read)) {
case EC_REQUEST_UNUSED: // request was not used yet
ecrt_sdo_request_read(sdo_statusword_read); // trigger first read
// ecrt_sdo_request_write(sdo);
break;
case EC_REQUEST_BUSY:
// printf("Still busy...\n");
break;
case EC_REQUEST_SUCCESS:
fprintf(stderr, "statusword value: 0x%04X\n",
EC_READ_U8(ecrt_sdo_request_data(sdo_statusword_read)));
if(EC_READ_U8(ecrt_sdo_request_data(sdo_statusword_read)) & 0x006F ^ 0x0021 == 0) // p91
{
isOperationDisabled = true;
printf("motor state is in ready_to_switch_on \n");
}
break;
case EC_REQUEST_ERROR:
fprintf(stderr, "Failed to read SDO!\n");
break;
}
if(isOperationDisabled)
{
printf("good2 \n");
break;
}
ecrt_master_send(master);
}
// 8. set controlword , enable operation
printf("8. set controlword , enable operation...\n");
isOperationDisabled = false;
while(1)
{
ecrt_master_receive(master);
EC_WRITE_U8(ecrt_sdo_request_data(sdo_controlword_write), 0x000F);// reset from fault
ecrt_sdo_request_write(sdo_controlword_write);
switch (ecrt_sdo_request_state(sdo_controlword_write)) {
case EC_REQUEST_UNUSED: // request was not used yet
// ecrt_sdo_request_read(sdo_operation_mode_display); // trigger first read
// ecrt_sdo_request_write(sdo);
break;
case EC_REQUEST_BUSY:
// printf("Request to Write,But Still busy...\n");
break;
case EC_REQUEST_SUCCESS:
fprintf(stderr, "sdo_controlword_write write value 0x000F\n");
ecrt_sdo_request_write(sdo_controlword_write);
break;
case EC_REQUEST_ERROR:
fprintf(stderr, "Failed to read SDO state!\n");
break;
}
ecrt_master_send(master);
// read state ,need switch_on_disabled
ecrt_sdo_request_read(sdo_statusword_read); // trigger read
switch (ecrt_sdo_request_state(sdo_statusword_read)) {
case EC_REQUEST_UNUSED: // request was not used yet
ecrt_sdo_request_read(sdo_statusword_read); // trigger first read
// ecrt_sdo_request_write(sdo);
break;
case EC_REQUEST_BUSY:
// printf("Still busy...\n");
break;
case EC_REQUEST_SUCCESS:
fprintf(stderr, "statusword value: 0x%04X\n",
EC_READ_U8(ecrt_sdo_request_data(sdo_statusword_read)));
fprintf(stderr, "statusword value aa: 0x%04X\n",
EC_READ_U8(ecrt_sdo_request_data(sdo_statusword_read)) & 0x006F);
fprintf(stderr, "statusword value aaa: 0x%04X\n",
EC_READ_U8(ecrt_sdo_request_data(sdo_statusword_read)) & 0x006F^ 0x0027);
if(EC_READ_U8(ecrt_sdo_request_data(sdo_statusword_read)) & 0x006F == 0x0027) // p91
{
isOperationDisabled = true;
printf("motor state is in operation_on \n");
}
break;
case EC_REQUEST_ERROR:
fprintf(stderr, "Failed to read SDO!\n");
break;
}
if(isOperationDisabled)
{
printf("good2 \n");
break;
}
ecrt_master_send(master);
}
// 8. set target velocity 100r/min
// sa.sa_handler = signal_handler;
// sigemptyset(&sa.sa_mask);
// sa.sa_flags = 0;
// if (sigaction(SIGALRM, &sa, 0)) {
// fprintf(stderr, "Failed to install signal handler!\n");
// return -1;
// }
// printf("Started.\n");
// while (1) {
// pause();
//#if 0
// struct timeval t;
// gettimeofday(&t, NULL);
// printf("%u.%06u\n", t.tv_sec, t.tv_usec);
//#endif
// while (sig_alarms != user_alarms) {
// cyclic_task();
// user_alarms++;
// }
// }
return 0;
}
void cyclic_task()
{
struct timespec wakeupTime, time;
// get current time
clock_gettime(CLOCK_TO_USE, &wakeupTime);
while(1)
{
if(deactive==1)
{
break;
}
wakeupTime = timespec_add(wakeupTime, cycletime);
clock_nanosleep(CLOCK_TO_USE, TIMER_ABSTIME, &wakeupTime, NULL);
// writter_receive(master);
ecrt_master_receive(master);
ecrt_domain_process(domain_r);
ecrt_domain_process(domain_w);
temp[0]=EC_READ_U16(domain_w_pd + status_word);
temp[1]=EC_READ_S32(domain_w_pd + mode_display);
if (counter)
{
counter--;
}
else
{ // do this at 1 Hz
counter = FREQUENCY;
check_master_state();
blink = !blink;
}
// write process data
if(servo_flag==1)
{
//servo off
EC_WRITE_U16(domain_r_pd+ctrl_word, 0x0006 );
}
else if( (temp[0]&0x004f) == 0x0040 )
{
EC_WRITE_U16(domain_r_pd+ctrl_word, 0x0006 );
}
else if( (temp[0]&0x006f) == 0x0021)
{
EC_WRITE_U16(domain_r_pd+ctrl_word, 0x0007 );
}
else if( (temp[0]&0x006f) == 0x0023)
{
EC_WRITE_U16(domain_r_pd+ctrl_word, 0x000f );
EC_WRITE_S32(domain_r_pd+tar_pos,0);
EC_WRITE_S32(domain_r_pd+tar_vel, 0xffff);
EC_WRITE_S32(domain_r_pd+max_torq, 0xf00);
}
//operation enabled
else if( (temp[0]&0x006f) == 0x0027)
{
EC_WRITE_S32(domain_r_pd+tar_pos, (move_value+=2000) );
EC_WRITE_U16(domain_r_pd+ctrl_word, 0x001f);
}
clock_gettime(CLOCK_TO_USE, &time);
ecrt_master_application_time(master, TIMESPEC2NS(time));
if (sync_ref_counter)
{
sync_ref_counter--;
}
else
{
sync_ref_counter = 1; // sync every cycle
ecrt_master_sync_reference_clock(master);
}
ecrt_master_sync_slave_clocks(master);
// send process data
ecrt_domain_queue(domain_r);
ecrt_domain_queue(domain_w);
ecrt_master_send(master);
}
}
int main(int argc, char **argv)
{
// ec_slave_config_t *sc;
struct sigaction sa;
struct itimerval tv;
master = ecrt_request_master(0);
if (!master)
return -1;
domain1 = ecrt_master_create_domain(master);
if (!domain1)
{
return -1;
}
if (!(sc_ana_in = ecrt_master_slave_config(master, AliasAndPositon, VendorID_ProductCode)))
{
fprintf(stderr, "Failed to get slave configuration.\n");
return -1;
}
// printf("sync mgr 0 config: %d \n",sc_ana_in->sync_configs[0].dir);
// printf("sync mgr 1 config: %d \n",sc_ana_in->sync_configs[1].dir);
#if SDO_ACCESS
fprintf(stderr, "Creating SDO requests...\n");
if (!(sdo = ecrt_slave_config_create_sdo_request(sc_ana_in, 0x6061, 0, 1))) // data size 1 ?
{
fprintf(stderr, "Failed to create SDO modes_of_operation_display 0x6061 request.\n");
return -1;
}
//EC_WRITE_U16(ecrt_sdo_request_data(sdo), 0xFFFF);
ecrt_sdo_request_timeout(sdo, 500); // ms
#endif
#if CONFIGURE_PDOS
printf("Configuring PDOs...\n");
if (ecrt_slave_config_pdos(sc_ana_in, EC_END, duetfl80_syncs)) {
fprintf(stderr, "Failed to configure PDOs.\n");
return -1;
}
// if (!(sc = ecrt_master_slave_config(
// master, AnaOutSlavePos, Beckhoff_EL4102))) {
// fprintf(stderr, "Failed to get slave configuration.\n");
// return -1;
// }
// if (ecrt_slave_config_pdos(sc, EC_END, el4102_syncs)) {
// fprintf(stderr, "Failed to configure PDOs.\n");
// return -1;
// }
// if (!(sc = ecrt_master_slave_config(
// master, DigOutSlavePos, Beckhoff_EL2032))) {
// fprintf(stderr, "Failed to get slave configuration.\n");
// return -1;
// }
// if (ecrt_slave_config_pdos(sc, EC_END, el2004_syncs)) {
// fprintf(stderr, "Failed to configure PDOs.\n");
// return -1;
// }
#endif
// // Create configuration for bus coupler
// sc = ecrt_master_slave_config(master, BusCouplerPos, Beckhoff_EK1100);
// if (!sc)
// return -1;
if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
fprintf(stderr, "PDO entry registration failed!\n");
return -1;
}
printf("Activating master...\n");
if (ecrt_master_activate(master))
return -1;
if (!(domain1_pd = ecrt_domain_data(domain1))) {
return -1;
}
#if PRIORITY
pid_t pid = getpid();
if (setpriority(PRIO_PROCESS, pid, -19))
fprintf(stderr, "Warning: Failed to set priority: %s\n",
strerror(errno));
#endif
sa.sa_handler = signal_handler;
sigemptyset(&sa.sa_mask);
sa.sa_flags = 0;
if (sigaction(SIGALRM, &sa, 0)) {
fprintf(stderr, "Failed to install signal handler!\n");
return -1;
}
printf("Starting timer...\n");
// tv.it_interval.tv_sec = 0;
// tv.it_interval.tv_usec = 1000000 / FREQUENCY;
// tv.it_value.tv_sec = 0;
// tv.it_value.tv_usec = 1000;
// if (setitimer(ITIMER_REAL, &tv, NULL)) {
// fprintf(stderr, "Failed to start timer: %s\n", strerror(errno));
// return 1;
// }
printf("Started.\n");
while (1) {
// pause();
#if 1
// for(int i=0;i<10;++i)
// {
// my_cyclic_task();
// receive process data
ecrt_master_receive(master);
// ecrt_domain_process(domain1);
// check process data state (optional)
// check_domain1_state();
// check for master state (optional)
check_master_state();
// check for islave configuration state(s) (optional)
check_slave_config_states();
// read process data SDO
switch (ecrt_sdo_request_state(sdo)) {
case EC_REQUEST_UNUSED: // request was not used yet
printf("request was not used yet\n");
ecrt_sdo_request_read(sdo); // trigger first read
// ecrt_sdo_request_write(sdo);
break;
case EC_REQUEST_BUSY:
// fprintf(stderr, "Still busy...\n");
break;
case EC_REQUEST_SUCCESS:
printf( "SDO value: 0x%04X\n",
EC_READ_U8(ecrt_sdo_request_data(sdo)));
ecrt_sdo_request_read(sdo); // trigger next read
break;
case EC_REQUEST_ERROR:
fprintf(stderr, "Failed to read SDO!\n");
ecrt_sdo_request_read(sdo); // retry reading
break;
}
// read_sdo();
// switch (ecrt_sdo_request_state(sdo)) {
// case EC_REQUEST_UNUSED: // request was not used yet
// printf("request was not used yet\n");
// ecrt_sdo_request_read(sdo); // trigger first read
// break;
// case EC_REQUEST_BUSY:
// fprintf(stderr, "Still busy...\n");
// break;
// case EC_REQUEST_SUCCESS:
// fprintf(stderr, "sdo value: 0x%04X\n",
// EC_READ_U8(ecrt_sdo_request_data(sdo)));
//// getModeOk = true;
// break;
// case EC_REQUEST_ERROR:
// fprintf(stderr, "Failed to read SDO!\n");
// break;
// }
// send process data
// ecrt_domain_queue(domain1);
// ecrt_sdo_request_read(sdo); // trigger next read
ecrt_master_send(master);
ecrt_master_receive(master);
// sleep(1);
// }
#else
// 1. check operation mode
bool getModeOk=false;
for(int i=0;i<10;++i)
{
printf("i=%d\n",i);
// receive process data
ecrt_master_receive(master);
// ecrt_domain_process(domain1);
// check process data state (optional)
// check_domain1_state();
// check for master state (optional)
check_master_state();
// check for islave configuration state(s) (optional)
check_slave_config_states();
// read_sdo();
// ecrt_sdo_request_read(sdo); // trigger read
switch (ecrt_sdo_request_state(sdo)) {
case EC_REQUEST_UNUSED: // request was not used yet
printf("request was not used yet\n");
ecrt_sdo_request_read(sdo); // trigger first read
break;
case EC_REQUEST_BUSY:
fprintf(stderr, "Still busy...\n");
break;
case EC_REQUEST_SUCCESS:
fprintf(stderr, "sdo value: 0x%04X\n",
EC_READ_U8(ecrt_sdo_request_data(sdo)));
getModeOk = true;
break;
case EC_REQUEST_ERROR:
fprintf(stderr, "Failed to read SDO!\n");
break;
}
if(getModeOk)
{
break;
}
// ecrt_domain_queue(domain1);
ecrt_master_send(master);
// sleep(1);
// cyclic_task();
}
if(getModeOk == false)
{
// exit(-1);
}
#endif
}
return 0;
}
void cyclic_task()
{
/* sync the dc clock of the slaves */
ecrt_master_sync_slave_clocks(master);
// receive process data
ecrt_master_receive(master);
ecrt_domain_process(domain1);
// check process data state (optional)
check_domain1_state();
if (counter) {
counter--;
} else { // do this at 1 Hz
counter = FREQUENCY;
// calculate new process data
blink = !blink;
// check for master state (optional)
check_master_state();
// check for islave configuration state(s) (optional)
check_slave_config_states();
#if SDO_ACCESS
// read process data SDO
read_sdo(sdo);
read_sdo(request[0]);
read_sdo(request[1]);
read_sdo(request[2]);
write_sdo(sdo_download_requests[0], sdoexample); /* SDO download value to the node */
#endif
}
/* Read process data */
unsigned int sn_status = EC_READ_U16(domain1_pd + off_pdo1_in);
unsigned int sn_modes = EC_READ_U8(domain1_pd + off_pdo2_in);
unsigned int sn_position = EC_READ_U32(domain1_pd + off_pdo3_in);
unsigned int sn_velocity = EC_READ_U32(domain1_pd + off_pdo4_in);
unsigned int sn_torque = EC_READ_U16(domain1_pd + off_pdo5_in);
logmsg(2, "[REC] 0x%4x 0x%4x 0x%8x 0x%8x 0x%4x\n",
sn_status, sn_modes,
sn_position, sn_velocity, sn_torque);
#if 0
// read process data
printf("AnaIn: state %u value %u\n",
EC_READ_U8(domain1_pd + off_ana_in_status),
EC_READ_U16(domain1_pd + off_ana_in_value));
#endif
// write process data
//EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x06 : 0x09);
#ifdef CIA402
#define STATUSW1 0x88AA
#define STATUSW2 0xAA88
#define OPMODES1 0xf1
#define OPMODES2 0x1f
#define TORVAL1 0xabab
#define TORVAL2 0xbaba
#define VELVAL1 0x2d2d4d4d
#define VELVAL2 0xd4d4d2d2
#define POSVAL1 0xe4e4e2e2
#define POSVAL2 0x2e2e4e4e
EC_WRITE_U16(domain1_pd + off_pdo1_out, (blink ? STATUSW1 : STATUSW2)&0xffff);
EC_WRITE_U8(domain1_pd + off_pdo2_out, (blink ? OPMODES1 : OPMODES2)&0xff);
EC_WRITE_U16(domain1_pd + off_pdo3_out, (blink ? TORVAL1 : TORVAL2)&0xffff);
EC_WRITE_U32(domain1_pd + off_pdo4_out, blink ? POSVAL1 : POSVAL2);
EC_WRITE_U32(domain1_pd + off_pdo5_out, blink ? VELVAL1 : VELVAL2);
#else
#define TESTWORD1 0xdead
#define TESTWORD2 0xbeef
#define TESTWORD3 0xfefe
#define TESTWORD4 0xa5a5
EC_WRITE_U16(domain1_pd + off_pdo1_out, blink ? TESTWORD1 : TESTWORD2);
EC_WRITE_U16(domain1_pd + off_pdo2_out, blink ? TESTWORD3 : TESTWORD4);
#endif
// send process data
ecrt_domain_queue(domain1);
ecrt_master_send(master);
//printf("Wrote %x to slave\n", blink ? TESTWORD1 : TESTWORD2);
}
void run(long data)
{
int i;
struct timeval tv;
unsigned int sync_ref_counter = 0;
count2timeval(nano2count(rt_get_real_time_ns()), &tv);
while (1) {
t_last_cycle = get_cycles();
// receive process data
rt_sem_wait(&master_sem);
ecrt_master_receive(master);
ecrt_domain_process(domain1);
rt_sem_signal(&master_sem);
// check process data state (optional)
check_domain1_state();
if (counter) {
counter--;
} else {
u32 c;
counter = FREQUENCY;
// check for master state (optional)
check_master_state();
c = EC_READ_U32(domain1_pd + off_counter_in);
if (counter_value != c) {
counter_value = c;
printk(KERN_INFO PFX "counter=%u\n", counter_value);
}
}
if (blink_counter) {
blink_counter--;
} else {
blink_counter = 9;
// calculate new process data
blink = !blink;
}
// write process data
for (i = 0; i < NUM_DIG_OUT; i++) {
EC_WRITE_U8(domain1_pd + off_dig_out[i], blink ? 0x66 : 0x99);
}
EC_WRITE_U8(domain1_pd + off_counter_out, blink ? 0x00 : 0x02);
rt_sem_wait(&master_sem);
tv.tv_usec += 1000;
if (tv.tv_usec >= 1000000) {
tv.tv_usec -= 1000000;
tv.tv_sec++;
}
ecrt_master_application_time(master, EC_TIMEVAL2NANO(tv));
if (sync_ref_counter) {
sync_ref_counter--;
} else {
sync_ref_counter = 9;
ecrt_master_sync_reference_clock(master);
}
ecrt_master_sync_slave_clocks(master);
ecrt_domain_queue(domain1);
ecrt_master_send(master);
rt_sem_signal(&master_sem);
rt_task_wait_period();
}
}
void cyclic_task()
{
// receive process data
ecrt_master_receive(master);
ecrt_domain_process(domain_output);
ecrt_domain_process(domain_input);
// check process data state (optional)
check_domain1_state();
if (counter) {
counter--;
} else { // do this at 1 Hz
counter = FREQUENCY;
// check for master state (optional)
check_master_state();
// check for islave configuration state(s) (optional)
check_slave_config_states();
// read process data
// {0x6040, 0x00, 16}, /* Controlword */
// {0x6060, 0x00, 8}, /* Mode_of_Operation */
// {0x6098, 0x00, 8}, /* Homing_Method */
// {0x607a, 0x00, 32}, /* Target_Position */
// {0x60ff, 0x00, 32}, /* Target_Velocity */
// {0x6071, 0x00, 16}, /* Target_Torque */
// {0x6041, 0x00, 16}, /* Statusword */
// {0x6064, 0x00, 32}, /* Position_Actual_Value */
// {0x6061, 0x00, 8}, /* Modes_Of_Operation_Display */
// {0x1001, 0x00, 8}, /* Error_Register */
// {0x606c, 0x00, 32}, /* Velocity_Actual_Value */
// {0x6077, 0x00, 16}, /* Torque_Actual_Value */
// printf("pdo value: %02x offset %u\n",
// EC_READ_U16(domain1_pd + off_0x6040),off_0x6040);
// printf("pdo value: %02x offset %u\n",
// EC_READ_U16(domain1_pd + off_0x1001),off_0x1001);
printf("pdo value: %04x offset %u\n",
EC_READ_U16(domain_input_pd + off_0x6041),off_0x6041);
printf("pdo value 6061asfsadf: %04x offset %u\n",
EC_READ_U8(domain_input_pd + off_0x6061),off_0x6061);
printf("pd: %u \n",*domain_input_pd);
// EC_READ_U8(domain1_pd + off_ana_in_value));
#if SDO_ACCESS
// read process data SDO
read_sdo();
#endif
}
// send process data
ecrt_domain_queue(domain_output);
ecrt_domain_queue(domain_input);
ecrt_master_send(master);
#if 0
// write process data
// EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x06 : 0x09);
#endif
}
int uei_ethercat_initialize (void)
{
uint8_t *data;
ec_pdo_entry_reg_t rw_pdos[] = {
// {RW_ETHERCAT_ALIAS, 0, COPLEY_ETHERCAT_VENDOR, AEP_090_036_PRODCODE, ECAT_CURRENT_LOOP_CI, current_ci_off, NULL},
// {RW_ETHERCAT_ALIAS, 0, COPLEY_ETHERCAT_VENDOR, AEP_090_036_PRODCODE, ECAT_CURRENT_LOOP_CP, current_cp_off, NULL},
// {RW_ETHERCAT_ALIAS, 0, COPLEY_ETHERCAT_VENDOR, AEP_090_036_PRODCODE, ECAT_CURRENT_LOOP_OFFSET, current_offset_off, NULL},
{RW_ETHERCAT_ALIAS, 0, COPLEY_ETHERCAT_VENDOR, AEP_090_036_PRODCODE, ECAT_CURRENT_LOOP_VAL, current_val_off, NULL},
// {RW_ETHERCAT_ALIAS, 0, COPLEY_ETHERCAT_VENDOR, AEP_090_036_PRODCODE, ECAT_MOTOR_POSITION, motor_pos_off, NULL},
{RW_ETHERCAT_ALIAS, 0, COPLEY_ETHERCAT_VENDOR, AEP_090_036_PRODCODE, ECAT_DRIVE_STATE, state_off, NULL},
// {RW_ETHERCAT_ALIAS, 0, COPLEY_ETHERCAT_VENDOR, AEP_090_036_PRODCODE, ECAT_DRIVE_STATUS, status_off, NULL},
// {RW_ETHERCAT_ALIAS, 0, COPLEY_ETHERCAT_VENDOR, AEP_090_036_PRODCODE, ECAT_DRIVE_TEMP, drive_temp_off, NULL},
// {RW_ETHERCAT_ALIAS, 0, COPLEY_ETHERCAT_VENDOR, AEP_090_036_PRODCODE, ECAT_LATCHED_DRIVE_FAULT, latched_fault_off, NULL},
// {RW_ETHERCAT_ALIAS, 0, COPLEY_ETHERCAT_VENDOR, AEP_090_036_PRODCODE, ECAT_LATCHED_DRIVE_STATUS, latched_status_off, NULL},
// {RW_ETHERCAT_ALIAS, 0, COPLEY_ETHERCAT_VENDOR, AEP_090_036_PRODCODE, ECAT_MOTOR_TEMP_VOLTAGE, motor_temp_v_off, NULL},
// {RW_ETHERCAT_ALIAS, 0, COPLEY_ETHERCAT_VENDOR, AEP_090_036_PRODCODE, ECAT_MOTOR_ENC_WRAP_POS, motor_enc_wrap_off, NULL},
{0, 0, 0x00, 0x00, 0x0, 0x0, NULL, NULL}};
// ec_pdo_entry_reg_t pv_pdos[] = {
// {PV_ETHERCAT_ALIAS, 0, COPLEY_ETHERCAT_VENDOR, BEL_090_020_PRODCODE, ECAT_CURRENT_LOOP_CI, current_ci_off+1, NULL},
// {PV_ETHERCAT_ALIAS, 0, COPLEY_ETHERCAT_VENDOR, BEL_090_020_PRODCODE, ECAT_CURRENT_LOOP_CP, current_cp_off+1, NULL},
// {PV_ETHERCAT_ALIAS, 0, COPLEY_ETHERCAT_VENDOR, BEL_090_020_PRODCODE, ECAT_CURRENT_LOOP_OFFSET, current_offset_off+1, NULL},
// {PV_ETHERCAT_ALIAS, 0, COPLEY_ETHERCAT_VENDOR, BEL_090_020_PRODCODE, ECAT_CURRENT_LOOP_VAL, current_val_off+1, NULL},
// {PV_ETHERCAT_ALIAS, 0, COPLEY_ETHERCAT_VENDOR, BEL_090_020_PRODCODE, ECAT_DRIVE_STATUS, status_off+1, NULL},
// {PV_ETHERCAT_ALIAS, 0, COPLEY_ETHERCAT_VENDOR, BEL_090_020_PRODCODE, ECAT_DRIVE_TEMP, drive_temp_off+1, NULL},
// {PV_ETHERCAT_ALIAS, 0, COPLEY_ETHERCAT_VENDOR, BEL_090_020_PRODCODE, ECAT_LATCHED_DRIVE_FAULT, latched_fault_off+1, NULL},
// {PV_ETHERCAT_ALIAS, 0, COPLEY_ETHERCAT_VENDOR, BEL_090_020_PRODCODE, ECAT_LATCHED_DRIVE_STATUS, latched_status_off+1, NULL},
// {PV_ETHERCAT_ALIAS, 0, COPLEY_ETHERCAT_VENDOR, BEL_090_020_PRODCODE, ECAT_MOTOR_POSITION, motor_pos_off+1, NULL},
// {PV_ETHERCAT_ALIAS, 0, COPLEY_ETHERCAT_VENDOR, BEL_090_020_PRODCODE, ECAT_MOTOR_TEMP_VOLTAGE, motor_temp_v_off+1, NULL},
// {PV_ETHERCAT_ALIAS, 0, COPLEY_ETHERCAT_VENDOR, BEL_090_020_PRODCODE, ECAT_MOTOR_ENC_WRAP_POS, motor_enc_wrap_off+1, NULL},
// {PV_ETHERCAT_ALIAS, 0, COPLEY_ETHERCAT_VENDOR, BEL_090_020_PRODCODE, ECAT_DRIVE_STATE, state_off+1, NULL},
// {0, 0, 0x00, 0x00, 0x0, 0x0, NULL, NULL}};
// ec_pdo_entry_reg_t el_pdos[] = {
// {EL_ETHERCAT_ALIAS, 0, COPLEY_ETHERCAT_VENDOR, AEP_090_036_PRODCODE, ECAT_CURRENT_LOOP_CI, current_ci_off+2, NULL},
// {EL_ETHERCAT_ALIAS, 0, COPLEY_ETHERCAT_VENDOR, AEP_090_036_PRODCODE, ECAT_CURRENT_LOOP_CP, current_cp_off+2, NULL},
// {EL_ETHERCAT_ALIAS, 0, COPLEY_ETHERCAT_VENDOR, AEP_090_036_PRODCODE, ECAT_CURRENT_LOOP_OFFSET, current_offset_off+2, NULL},
// {EL_ETHERCAT_ALIAS, 0, COPLEY_ETHERCAT_VENDOR, AEP_090_036_PRODCODE, ECAT_CURRENT_LOOP_VAL, current_val_off+2, NULL},
// {EL_ETHERCAT_ALIAS, 0, COPLEY_ETHERCAT_VENDOR, AEP_090_036_PRODCODE, ECAT_DRIVE_STATUS, status_off+2, NULL},
// {EL_ETHERCAT_ALIAS, 0, COPLEY_ETHERCAT_VENDOR, AEP_090_036_PRODCODE, ECAT_DRIVE_TEMP, drive_temp_off+2, NULL},
// {EL_ETHERCAT_ALIAS, 0, COPLEY_ETHERCAT_VENDOR, AEP_090_036_PRODCODE, ECAT_LATCHED_DRIVE_FAULT, latched_fault_off+2, NULL},
// {EL_ETHERCAT_ALIAS, 0, COPLEY_ETHERCAT_VENDOR, AEP_090_036_PRODCODE, ECAT_LATCHED_DRIVE_STATUS, latched_status_off+2, NULL},
// {EL_ETHERCAT_ALIAS, 0, COPLEY_ETHERCAT_VENDOR, AEP_090_036_PRODCODE, ECAT_MOTOR_POSITION, motor_pos_off+2, NULL},
// {EL_ETHERCAT_ALIAS, 0, COPLEY_ETHERCAT_VENDOR, AEP_090_036_PRODCODE, ECAT_MOTOR_TEMP_VOLTAGE, motor_temp_v_off+2, NULL},
// {EL_ETHERCAT_ALIAS, 0, COPLEY_ETHERCAT_VENDOR, AEP_090_036_PRODCODE, ECAT_MOTOR_ENC_WRAP_POS, motor_enc_wrap_off+2, NULL},
// {EL_ETHERCAT_ALIAS, 0, COPLEY_ETHERCAT_VENDOR, AEP_090_036_PRODCODE, ECAT_DRIVE_STATE, state_off+2, NULL},
// {0, 0, 0x00, 0x00, 0x0, 0x0, NULL, NULL}};
master = ecrt_request_master(0);
if (!master){
printf("Could not request master!\n");
return -1;
}
domain = ecrt_master_create_domain(master);
if (!domain) {
printf("Could not create domain!\n");
return -1;
}
printf("Created Domain\n");
if (!(rx_controller = ecrt_master_slave_config(master,RW_ETHERCAT_ALIAS, 0, COPLEY_ETHERCAT_VENDOR, AEP_090_036_PRODCODE))) {
fprintf(stderr, "Failed to get slave configuration for Reaction Wheel controller!\n");
return -1;
}
// if (!(pv_controller = ecrt_master_slave_config(master,PV_ETHERCAT_ALIAS, 0, COPLEY_ETHERCAT_VENDOR, BEL_090_020_PRODCODE))) {
// fprintf(stderr, "Failed to get slave configuration for Pivot Motor controller!\n");
// return -1;
// }
// if (!(el_controller = ecrt_master_slave_config(master,EL_ETHERCAT_ALIAS, 0, COPLEY_ETHERCAT_VENDOR, AEP_090_036_PRODCODE))) {
// fprintf(stderr, "Failed to get slave configuration for Elevation Motor controller!\n");
// return -1;
// }
if (ecrt_slave_config_pdos(rx_controller, EC_END, copley_pdo_syncs)) {
perror("ecrt_slave_config_pdos() failed for RX controller.");
ecrt_release_master(master);
return 3;
}
// if (ecrt_slave_config_pdos(pv_controller, 1, copley_pdo_syncs)) {
// perror("ecrt_slave_config_pdos() failed for Pivot controller.");
// ecrt_release_master(master);
// return 3;
// }
// if (ecrt_slave_config_pdos(el_controller, 1, copley_pdo_syncs)) {
// perror("ecrt_slave_config_pdos() failed for Elevation controller.");
// ecrt_release_master(master);
// return 3;
// }
/// Register the PDO list and variable mappings
// if (ecrt_domain_reg_pdo_entry_list(domain, rw_pdos)) {
// perror("ecrt_domain_reg_pdo_entry_list() failed for reaction wheel!");
// ecrt_release_master(master);
// return -1;
// }
// if (ecrt_domain_reg_pdo_entry_list(domain, pv_pdos)) {
// perror("ecrt_domain_reg_pdo_entry_list() failed for pivot motor!");
// ecrt_release_master(master);
// return -1;
// }
// if (ecrt_domain_reg_pdo_entry_list(domain, el_pdos)) {
// perror("ecrt_domain_reg_pdo_entry_list() failed for Elevation motor!");
// ecrt_release_master(master);
// return -1;
// }
state_off[0] = ecrt_slave_config_reg_pdo_entry(rx_controller,
ECAT_DRIVE_STATE, domain, NULL);
current_val_off[0] = ecrt_slave_config_reg_pdo_entry(rx_controller,
ECAT_CURRENT_LOOP_VAL, domain, NULL);
// configure SYNC signals for this slave
ecrt_slave_config_dc(rx_controller, 0, 1000000000ll / 100, 4400000, 0, 0);
printf("Set Master/Slave Configuration\n");
if (ecrt_master_activate(master) < 0) {
printf("Could not activate master!\n");
return -1;
}
if (!(data = ecrt_domain_data(domain))) {
perror("ecrt_domain_data() failed!");
ecrt_release_master(master);
return -1;
}
ethercat_set_offsets(&rx_controller_state, data, 0);
// ethercat_set_offsets(&pv_controller_state, data, 1);
// ethercat_set_offsets(&el_controller_state, data, 2);
check_domain1_state();
check_master_state();
printf("Data: %p\t Current: %p\t State: %p\n", data, rx_controller_state.current_val, rx_controller_state.amp_state);
ecrt_master_receive(master);
ecrt_domain_process(domain);
EC_WRITE_S16(data + current_val_off[0], 0);
EC_WRITE_U16(data + state_off[0], ECAT_STATE_DISABLED);
ecrt_domain_queue(domain);
ecrt_master_send(master);
check_domain1_state();
check_master_state();
return 0;
}
int main(int argc, char **argv)
{
// Создаем мастер-объект
gkMaster = ecrt_request_master(0);
if (gkMaster) {
fprintf(stdout, "1. Master created.\n");
} else {
fprintf(stderr, "Unable to get requested master.\n");
return -1;
}
// Создаем объект для обмена PDO в циклическом режиме.
gkDomain1 = ecrt_master_create_domain(gkMaster);
if (gkDomain1) {
fprintf(stdout, "2. Process data domain created.\n");
} else {
fprintf(stderr, "Unable to create process data domain.\n");
return -1;
}
// Создаем объект конфигурации подчиненного.
ec_slave_config_t* sc = ecrt_master_slave_config(gkMaster, 0, gkDriveNum, 0x00007595, 0x00000000);
if (sc) {
fprintf(stdout, "3. Slave configuration object created.\n");
} else {
fprintf(stderr, "Failed to get slave configuration.\n");
return -1;
}
// Конфигурируем PDO подчиненного
// TxPDO
ec_pdo_entry_info_t l7na_tx_channel1[] = {
{0x6041, 0, 16}, // Statusword
{0x6061, 0, 8}, // The Modes of Operation Display
{0x6062, 0, 32}, // The Position Demand Value
{0x6064, 0, 32}, // The Position Actual Value
{0x606B, 0, 32}, // The Velocity Demand Value
{0x6081, 0, 32}, // The Profile Velocity
{0x606C, 0, 32}, // The Actual Velocity Value
{0x607A, 0, 32}, // The Target Position
{0x6077, 0, 16}, // Actual torque value
// {0x200F, 0, 16}, // Position Scale Denominator
};
ec_pdo_info_t l7na_tx_pdos[] = {
{0x1A00, 9, l7na_tx_channel1}
};
// RxPDO
ec_pdo_entry_info_t l7na_rx_channel1[] = {
{0x6040, 0, 16}, // Controlword
{0x6060, 0, 8}, // Modes of Operation
{0x607A, 0, 32}, // The Target Position
{0x606C, 0, 32}, // The Velocity Demand value
{0x6081, 0, 32}, // The Profile Velocity
{0x60FF, 0, 32}, // The Target Velocity (in Profile Velocity (Pv) mode and Cyclic Synchronous Velocity (Csv) modes)
{0x6071, 0, 16}, // The Target Torque
};
ec_pdo_info_t l7na_rx_pdos[] = {
{0x1600, 7, l7na_rx_channel1}
};
// Конфигурация SyncManagers 2 (FMMU0) и 3 (FMMU1)
// { sync_mgr_idx, sync_mgr_direction, pdo_num, pdo_ptr, watch_dog_mode }
// { 0xFF - end marker}
ec_sync_info_t l7na_syncs[] = {
{2, EC_DIR_OUTPUT, 1, l7na_rx_pdos, EC_WD_DISABLE},
{3, EC_DIR_INPUT, 1, l7na_tx_pdos, EC_WD_DISABLE},
{0xFF}
};
if (ecrt_slave_config_pdos(sc, EC_END, l7na_syncs)) {
fprintf(stderr, "Failed to configure slave pdo.\n");
return -1;
}
fprintf(stdout, "4. Configuring slave PDOs and sync managers done.\n");
// Регистируем PDO в домене
if (ecrt_domain_reg_pdo_entry_list(gkDomain1, gkDomain1Regs)) {
fprintf(stderr, "PDO entry registration failed!\n");
return -1;
}
fprintf(stdout, "5. PDO entries registered in domain.\n");
if (ecrt_master_activate(gkMaster)) {
fprintf(stderr,"Master activation failed.\n");
return -1;
}
fprintf(stdout, "6. Master activated.\n");
if (!(gkDomain1PD = ecrt_domain_data(gkDomain1))) {
fprintf(stderr,"Domain data initialization failed.\n");
return -1;
}
fprintf(stdout, "7. Domain data registered.\n");
//goto end;
check_master_state();
check_domain1_state();
int32_t op_flag = 0, ipos = 0;
uint16_t istatus = 0;
//ждать режим OP
for(uint32_t j = 0; ; j++) {
ecrt_master_receive(gkMaster); //RECEIVE A FRAME
ecrt_domain_process(gkDomain1); //DETERMINE THE DATAGRAM STATES
// check_slave_config_states();
if (! op_flag) {
check_domain1_state();
}
if (gkDomain1State.wc_state == EC_WC_COMPLETE && !op_flag) {
printf("Domain is up at %d cycles.\n", j);
op_flag = 1;
}
ipos = EC_READ_U32(gkDomain1PD + gkOffIPos); //READ DATA 0x6064 position
istatus = EC_READ_U16(gkDomain1PD + gkOffIStatus); //READ DATA 0x6041 status
// send process data
ecrt_domain_queue(gkDomain1); //MARK THE DOMAIN DATA AS READY FOR EXCHANGE
ecrt_master_send(gkMaster); //SEND ALL QUEUED DATAGRAMS
usleep(1000); //WAIT 1mS
if (op_flag) {
printf("1-Position: %d Status: 0x%x\n", ipos, istatus);
break;
}
}
fprintf(stdout, "8. Got OP state.\n");
if(argc > 1) {
//перейти в позицию
const int cmdpos = atoi(argv[1]);
printf("cmd pos: %d\n", cmdpos);
ecrt_master_receive(gkMaster);
ecrt_domain_process(gkDomain1);
EC_WRITE_U16(gkDomain1PD + gkOffOControl, 0xF); //0x6040 ControlWord
EC_WRITE_U8(gkDomain1PD + gkOffOMode, 1); // 0x6060 Profile position mode // 3 - for velocity mode, 1- for position mode
EC_WRITE_S32(gkDomain1PD + gkOffPVel, 1000000); // 0x60ff profile velocity // gkOffTVel - for velocity mode
ecrt_domain_queue(gkDomain1);
ecrt_master_send(gkMaster);
usleep(1000);
//wait
for (uint32_t i = 0; i < 200; ++i) {
ecrt_master_receive(gkMaster);
ecrt_domain_process(gkDomain1);
ecrt_domain_queue(gkDomain1);
ecrt_master_send(gkMaster);
usleep(1000);
}
ecrt_master_receive(gkMaster);
ecrt_domain_process(gkDomain1);
/* comment 2 lines for velocity mode */
EC_WRITE_S32(gkDomain1PD + gkOffOPos, cmdpos);
EC_WRITE_U16(gkDomain1PD + gkOffOControl, 0x11F);
ecrt_domain_queue(gkDomain1);
ecrt_master_send(gkMaster);
usleep(1000);
//wait
for (uint32_t i = 0; i < 200; ++i) {
ecrt_master_receive(gkMaster);
ecrt_domain_process(gkDomain1);
ecrt_domain_queue(gkDomain1);
ecrt_master_send(gkMaster);
usleep(1000);
}
/* ecrt_master_receive(gkMaster);
ecrt_domain_process(gkDomain1);
EC_WRITE_S32(gkDomain1PD + gkOffOPos, cmdpos);
ecrt_domain_queue(gkDomain1);
ecrt_master_send(gkMaster);
usleep(1000);*/
//wait
/* for (uint32_t i = 0; i < 1000; ++i) {
ecrt_master_receive(gkMaster);
ecrt_domain_process(gkDomain1);
ecrt_domain_queue(gkDomain1);
ecrt_master_send(gkMaster);
usleep(1000);
}
*/
timespec tbegin, tend;
::clock_gettime(CLOCK_MONOTONIC, &tbegin);
printf("Time begin: %lds/%ldns\n", tbegin.tv_sec, tbegin.tv_nsec);
const uint32_t kIterationMax = 500000;
uint32_t change_count = 0;
bool target_reached = false;
for (uint32_t j = 0; ; j++) {
ecrt_master_receive(gkMaster);
ecrt_domain_process(gkDomain1);
int32_t ipos_new = EC_READ_S32(gkDomain1PD + gkOffIPos); //READ DATA 0x6064 position
uint16_t istatus_new = EC_READ_U16(gkDomain1PD + gkOffIStatus); //READ DATA 0x6041 status
int32_t imode = EC_READ_S8(gkDomain1PD + gkOffIMode);
int32_t ipvel = EC_READ_S32(gkDomain1PD + gkOffPVel);
int32_t idvel = EC_READ_S32(gkDomain1PD + gkOffDVel);
int32_t iavel = EC_READ_S32(gkDomain1PD + gkOffIVel);
int32_t idpos = EC_READ_S32(gkDomain1PD + gkOffDPos);
int32_t itpos = EC_READ_S32(gkDomain1PD + gkOffOPos);
int32_t icontrol = EC_READ_U16(gkDomain1PD + gkOffOControl);
int16_t iatorq = EC_READ_S16(gkDomain1PD + gkOffITorq);
// int32_t ipdenom = EC_READ_S16(gkDomain1PD + gkOffPDenom);
if (ipos_new != ipos) {
ipos = ipos_new;
change_count++;
printf("Position: %d Status: 0x%x Mode: %d ATorq: %d PVel: %d DVel: %d AVel: %d DPos: %d TPos: %d OControl: 0x%x\n", ipos, istatus, imode, iatorq, ipvel, idvel, iavel, idpos, itpos, icontrol);
}
// position mode
if(! target_reached && ((istatus_new >> 10) & 0x1)) {
::clock_gettime(CLOCK_MONOTONIC, &tend);
printf("Target reached. Pos: %d Status: 0x%x TEnd=%lds/%ldns\n", ipos, istatus, tend.tv_sec, tend.tv_nsec);
target_reached = true;
//break;
}
/* Velocity mode */
if (j == kIterationMax) {
/* clock_gettime(CLOCK_MONOTONIC, &tend);
printf("Iterations=%d, change_count=%d. time_end=%lds/%ldns Stopping...\n", j, change_count, tend.tv_sec, tend.tv_nsec);
EC_WRITE_U16(gkDomain1PD + gkOffOControl, 0x6);
break;
*/
}
ecrt_domain_queue(gkDomain1);
ecrt_master_send(gkMaster);
usleep(100); //WAIT 1mS
}
}
ecrt_master_receive(gkMaster);
ecrt_domain_process(gkDomain1);
printf("...Done. Releasing the master!\n");
// Освобождаем мастер-объект
ecrt_release_master(gkMaster);
return 0;
}
