void simpletest(char *ifname) { int i, j, oloop, iloop, wkc_count, chk; needlf = FALSE; inOP = FALSE; printf("Starting simple test\n"); /* initialise SOEM, bind socket to ifname */ if (ec_init(ifname)) { printf("ec_init on %s succeeded.\n",ifname); /* find and auto-config slaves */ if ( ec_config_init(FALSE) > 0 ) { printf("%d slaves found and configured.\n",ec_slavecount); ec_config_map(&IOmap); ec_configdc(); printf("Slaves mapped, state to SAFE_OP.\n"); /* wait for all slaves to reach SAFE_OP state */ ec_statecheck(0, EC_STATE_SAFE_OP, EC_TIMEOUTSTATE * 4); oloop = ec_slave[0].Obytes; if ((oloop == 0) && (ec_slave[0].Obits > 0)) oloop = 1; if (oloop > 8) oloop = 8; iloop = ec_slave[0].Ibytes; if ((iloop == 0) && (ec_slave[0].Ibits > 0)) iloop = 1; if (iloop > 8) iloop = 8; printf("segments : %d : %d %d %d %d\n",ec_group[0].nsegments ,ec_group[0].IOsegment[0],ec_group[0].IOsegment[1],ec_group[0].IOsegment[2],ec_group[0].IOsegment[3]); printf("Request operational state for all slaves\n"); expectedWKC = (ec_group[0].outputsWKC * 2) + ec_group[0].inputsWKC; printf("Calculated workcounter %d\n", expectedWKC); ec_slave[0].state = EC_STATE_OPERATIONAL; /* send one valid process data to make outputs in slaves happy*/ ec_send_processdata(); ec_receive_processdata(EC_TIMEOUTRET); /* request OP state for all slaves */ ec_writestate(0); chk = 40; /* wait for all slaves to reach OP state */ do { ec_send_processdata(); ec_receive_processdata(EC_TIMEOUTRET); ec_statecheck(0, EC_STATE_OPERATIONAL, 50000); } while (chk-- && (ec_slave[0].state != EC_STATE_OPERATIONAL)); if (ec_slave[0].state == EC_STATE_OPERATIONAL ) { printf("Operational state reached for all slaves.\n"); wkc_count = 0; inOP = TRUE; /* cyclic loop */ for(i = 1; i <= 10000; i++) { ec_send_processdata(); wkc = ec_receive_processdata(EC_TIMEOUTRET); if(wkc >= expectedWKC) { printf("Processdata cycle %4d, WKC %d , O:", i, wkc); for(j = 0 ; j < oloop; j++) { printf(" %2.2x", *(ec_slave[0].outputs + j)); } printf(" I:"); for(j = 0 ; j < iloop; j++) { printf(" %2.2x", *(ec_slave[0].inputs + j)); } printf(" T:%lld\r",ec_DCtime); needlf = TRUE; } usleep(5000); } inOP = FALSE; } else { printf("Not all slaves reached operational state.\n"); ec_readstate(); for(i = 1; i<=ec_slavecount ; i++) { if(ec_slave[i].state != EC_STATE_OPERATIONAL) { printf("Slave %d State=0x%2.2x StatusCode=0x%4.4x : %s\n", i, ec_slave[i].state, ec_slave[i].ALstatuscode, ec_ALstatuscode2string(ec_slave[i].ALstatuscode)); } } } printf("\nRequest init state for all slaves\n"); ec_slave[0].state = EC_STATE_INIT; /* request INIT state for all slaves */ ec_writestate(0); } else { printf("No slaves found!\n"); } printf("End simple test, close socket\n"); /* stop SOEM, close socket */ ec_close(); } else { printf("No socket connection on %s\nExcecute as root\n",ifname); } }
void redtest(char *ifname, char *ifname2) { int cnt, i, j, oloop, iloop; printf("Starting Redundant test\n"); /* initialise SOEM, bind socket to ifname */ // if (ec_init_redundant(ifname, ifname2)) if (ec_init(ifname)) { printf("ec_init on %s succeeded.\n",ifname); /* find and auto-config slaves */ if ( ec_config(FALSE, &IOmap) > 0 ) { printf("%d slaves found and configured.\n",ec_slavecount); /* wait for all slaves to reach SAFE_OP state */ ec_statecheck(0, EC_STATE_SAFE_OP, EC_TIMEOUTSTATE); /* configure DC options for every DC capable slave found in the list */ ec_configdc(); /* read indevidual slave state and store in ec_slave[] */ ec_readstate(); for(cnt = 1; cnt <= ec_slavecount ; cnt++) { printf("Slave:%d Name:%s Output size:%3dbits Input size:%3dbits State:%2d delay:%d.%d\n", cnt, ec_slave[cnt].name, ec_slave[cnt].Obits, ec_slave[cnt].Ibits, ec_slave[cnt].state, (int)ec_slave[cnt].pdelay, ec_slave[cnt].hasdc); printf(" Out:%8.8x,%4d In:%8.8x,%4d\n", (int)ec_slave[cnt].outputs, ec_slave[cnt].Obytes, (int)ec_slave[cnt].inputs, ec_slave[cnt].Ibytes); /* check for EL2004 or EL2008 */ if( !digout && ((ec_slave[cnt].eep_id == 0x0af83052) || (ec_slave[cnt].eep_id == 0x07d83052))) { digout = ec_slave[cnt].outputs; } } expectedWKC = (ec_group[0].outputsWKC * 2) + ec_group[0].inputsWKC; printf("Calculated workcounter %d\n", expectedWKC); printf("Request operational state for all slaves\n"); ec_slave[0].state = EC_STATE_OPERATIONAL; /* request OP state for all slaves */ ec_writestate(0); /* activate cyclic process data */ dorun = 1; /* wait for all slaves to reach OP state */ ec_statecheck(0, EC_STATE_OPERATIONAL, EC_TIMEOUTSTATE); oloop = ec_slave[0].Obytes; if ((oloop == 0) && (ec_slave[0].Obits > 0)) oloop = 1; if (oloop > 8) oloop = 8; iloop = ec_slave[0].Ibytes; if ((iloop == 0) && (ec_slave[0].Ibits > 0)) iloop = 1; if (iloop > 8) iloop = 8; if (ec_slave[0].state == EC_STATE_OPERATIONAL ) { printf("Operational state reached for all slaves.\n"); inOP = TRUE; /* acyclic loop 5000 x 20ms = 10s */ for(i = 1; i <= 5000; i++) { printf("Processdata cycle %5d , Wck %3d, DCtime %12lld, dt %12lld, O:", dorun, wkc , ec_DCtime, gl_delta); for(j = 0 ; j < oloop; j++) { printf(" %2.2x", *(ec_slave[0].outputs + j)); } printf(" I:"); for(j = 0 ; j < iloop; j++) { printf(" %2.2x", *(ec_slave[0].inputs + j)); } printf("\r"); fflush(stdout); osal_usleep(20000); } dorun = 0; inOP = FALSE; } else { printf("Not all slaves reached operational state.\n"); ec_readstate(); for(i = 1; i<=ec_slavecount ; i++) { if(ec_slave[i].state != EC_STATE_OPERATIONAL) { printf("Slave %d State=0x%2.2x StatusCode=0x%4.4x : %s\n", i, ec_slave[i].state, ec_slave[i].ALstatuscode, ec_ALstatuscode2string(ec_slave[i].ALstatuscode)); } } } printf("Request safe operational state for all slaves\n"); ec_slave[0].state = EC_STATE_SAFE_OP; /* request SAFE_OP state for all slaves */ ec_writestate(0); } else { printf("No slaves found!\n"); } printf("End redundant test, close socket\n"); /* stop SOEM, close socket */ ec_close(); } else { printf("No socket connection on %s\nExcecute as root\n",ifname); } }
void simpletest(char *ifname) { int i, j, oloop, iloop, wkc_count, chk, slc; UINT mmResult; needlf = FALSE; inOP = FALSE; printf("Starting simple test\n"); /* initialise SOEM, bind socket to ifname */ if (ec_init(ifname)) { printf("ec_init on %s succeeded.\n",ifname); /* find and auto-config slaves */ if ( ec_config_init(FALSE) > 0 ) { printf("%d slaves found and configured.\n",ec_slavecount); if((ec_slavecount > 1)) { for(slc = 1; slc <= ec_slavecount; slc++) { // beckhoff EL7031, using ec_slave[].name is not very reliable if((ec_slave[slc].eep_man == 0x00000002) && (ec_slave[slc].eep_id == 0x1b773052)) { printf("Found %s at position %d\n", ec_slave[slc].name, slc); // link slave specific setup to preop->safeop hook ec_slave[slc].PO2SOconfig = &EL7031setup; } // Copley Controls EAP, using ec_slave[].name is not very reliable if((ec_slave[slc].eep_man == 0x000000ab) && (ec_slave[slc].eep_id == 0x00000380)) { printf("Found %s at position %d\n", ec_slave[slc].name, slc); // link slave specific setup to preop->safeop hook ec_slave[slc].PO2SOconfig = &AEPsetup; } } } ec_config_map(&IOmap); ec_configdc(); printf("Slaves mapped, state to SAFE_OP.\n"); /* wait for all slaves to reach SAFE_OP state */ ec_statecheck(0, EC_STATE_SAFE_OP, EC_TIMEOUTSTATE * 4); oloop = ec_slave[0].Obytes; if ((oloop == 0) && (ec_slave[0].Obits > 0)) oloop = 1; if (oloop > 8) oloop = 8; iloop = ec_slave[0].Ibytes; if ((iloop == 0) && (ec_slave[0].Ibits > 0)) iloop = 1; if (iloop > 8) iloop = 8; printf("segments : %d : %d %d %d %d\n",ec_group[0].nsegments ,ec_group[0].IOsegment[0],ec_group[0].IOsegment[1],ec_group[0].IOsegment[2],ec_group[0].IOsegment[3]); printf("Request operational state for all slaves\n"); expectedWKC = (ec_group[0].outputsWKC * 2) + ec_group[0].inputsWKC; printf("Calculated workcounter %d\n", expectedWKC); ec_slave[0].state = EC_STATE_OPERATIONAL; /* send one valid process data to make outputs in slaves happy*/ ec_send_processdata(); ec_receive_processdata(EC_TIMEOUTRET); /* start RT thread as periodic MM timer */ mmResult = timeSetEvent(1, 0, RTthread, 0, TIME_PERIODIC); /* request OP state for all slaves */ ec_writestate(0); chk = 40; /* wait for all slaves to reach OP state */ do { ec_statecheck(0, EC_STATE_OPERATIONAL, 50000); } while (chk-- && (ec_slave[0].state != EC_STATE_OPERATIONAL)); if (ec_slave[0].state == EC_STATE_OPERATIONAL ) { printf("Operational state reached for all slaves.\n"); wkc_count = 0; inOP = TRUE; /* cyclic loop, reads data from RT thread */ for(i = 1; i <= 500; i++) { if(wkc >= expectedWKC) { printf("Processdata cycle %4d, WKC %d , O:", rtcnt, wkc); for(j = 0 ; j < oloop; j++) { printf(" %2.2x", *(ec_slave[0].outputs + j)); } printf(" I:"); for(j = 0 ; j < iloop; j++) { printf(" %2.2x", *(ec_slave[0].inputs + j)); } printf(" T:%lld\r",ec_DCtime); needlf = TRUE; } osal_usleep(50000); } inOP = FALSE; } else { printf("Not all slaves reached operational state.\n"); ec_readstate(); for(i = 1; i<=ec_slavecount ; i++) { if(ec_slave[i].state != EC_STATE_OPERATIONAL) { printf("Slave %d State=0x%2.2x StatusCode=0x%4.4x : %s\n", i, ec_slave[i].state, ec_slave[i].ALstatuscode, ec_ALstatuscode2string(ec_slave[i].ALstatuscode)); } } } /* stop RT thread */ timeKillEvent(mmResult); printf("\nRequest init state for all slaves\n"); ec_slave[0].state = EC_STATE_INIT; /* request INIT state for all slaves */ ec_writestate(0); } else { printf("No slaves found!\n"); } printf("End simple test, close socket\n"); /* stop SOEM, close socket */ ec_close(); } else { printf("No socket connection on %s\nExcecute as root\n",ifname); } }
void slaveinfo(char *ifname) { int cnt, i, j, nSM; int ctx_count; uint16 ssigen; int expectedWKC[2]; int wkc_count; int chk; volatile int wkc[2]; boolean inOP; printf("Starting slaveinfo\n"); /* initialise SOEM, bind socket to ifname */ if (ecx_init(&ctx[0],"ie1g1") && ecx_init(&ctx[1],"ie1g0")) { printf("ec_init on %s succeeded.\n",ifname); /* find and auto-config slaves */ if ( ecx_config_init(&ctx[0],FALSE) > 0 && ecx_config_init(&ctx[1],FALSE) > 0 ) { for (ctx_count = 0; ctx_count < 2; ctx_count++) { ecx_config_map_group(&ctx[ctx_count], IOmap, 0); ecx_configdc(&ctx[ctx_count]); while(*(ctx[ctx_count].ecaterror)) printf("%s", ecx_elist2string(&ctx[ctx_count])); printf("%d slaves found and configured.\n",*(ctx[ctx_count].slavecount)); expectedWKC[ctx_count] = ( ctx[ctx_count].grouplist[0].outputsWKC * 2) + ctx[ctx_count].grouplist[0].inputsWKC; printf("Calculated workcounter %d\n", expectedWKC[ctx_count]); /* wait for all slaves to reach SAFE_OP state */ ecx_statecheck(&ctx[ctx_count],0, EC_STATE_SAFE_OP, EC_TIMEOUTSTATE * 3); if (ctx[ctx_count].slavelist[ctx_count].state != EC_STATE_SAFE_OP ) { printf("Not all slaves reached safe operational state.\n"); ecx_readstate(&ctx[ctx_count]); for(i = 1; i <= *(ctx[ctx_count].slavecount) ; i++) { if(ctx[ctx_count].slavelist[i].state != EC_STATE_SAFE_OP) { printf("Slave %d State=%2x StatusCode=%4x : %s\n", i, ctx[ctx_count].slavelist[i].state, ctx[ctx_count].slavelist[i].ALstatuscode, ec_ALstatuscode2string(ctx[ctx_count].slavelist[i].ALstatuscode)); } } } ecx_readstate(&ctx[ctx_count]); for( cnt = 1 ; cnt <= *(ctx[ctx_count].slavecount) ; cnt++) { printf("\nSlave:%d\n Name:%s\n Output size: %dbits\n Input size: %dbits\n State: %d\n Delay: %d[ns]\n Has DC: %d\n", cnt, ctx[ctx_count].slavelist[cnt].name, ctx[ctx_count].slavelist[cnt].Obits, ctx[ctx_count].slavelist[cnt].Ibits, ctx[ctx_count].slavelist[cnt].state, ctx[ctx_count].slavelist[cnt].pdelay, ctx[ctx_count].slavelist[cnt].hasdc); if (ctx[ctx_count].slavelist[cnt].hasdc) { printf(" DCParentport:%d\n", ctx[ctx_count].slavelist[cnt].parentport); } printf(" Activeports:%d.%d.%d.%d\n", (ctx[ctx_count].slavelist[cnt].activeports & 0x01) > 0 , (ctx[ctx_count].slavelist[cnt].activeports & 0x02) > 0 , (ctx[ctx_count].slavelist[cnt].activeports & 0x04) > 0 , (ctx[ctx_count].slavelist[cnt].activeports & 0x08) > 0 ); printf(" Configured address: %4.4x\n", ctx[ctx_count].slavelist[cnt].configadr); printf(" Man: %8.8x ID: %8.8x Rev: %8.8x\n", (int)ctx[ctx_count].slavelist[cnt].eep_man, (int)ctx[ctx_count].slavelist[cnt].eep_id, (int)ctx[ctx_count].slavelist[cnt].eep_rev); for(nSM = 0 ; nSM < EC_MAXSM ; nSM++) { if(ctx[ctx_count].slavelist[cnt].SM[nSM].StartAddr > 0) printf(" SM%1d A:%4.4x L:%4d F:%8.8x Type:%d\n",nSM, ctx[ctx_count].slavelist[cnt].SM[nSM].StartAddr, ctx[ctx_count].slavelist[cnt].SM[nSM].SMlength,(int)ctx[ctx_count].slavelist[cnt].SM[nSM].SMflags, ctx[ctx_count].slavelist[cnt].SMtype[nSM]); } for(j = 0 ; j < ctx[ctx_count].slavelist[cnt].FMMUunused ; j++) { printf(" FMMU%1d Ls:%8.8x Ll:%4d Lsb:%d Leb:%d Ps:%4.4x Psb:%d Ty:%2.2x Act:%2.2x\n", j, (int)ctx[ctx_count].slavelist[cnt].FMMU[j].LogStart, ctx[ctx_count].slavelist[cnt].FMMU[j].LogLength, ctx[ctx_count].slavelist[cnt].FMMU[j].LogStartbit, ctx[ctx_count].slavelist[cnt].FMMU[j].LogEndbit, ctx[ctx_count].slavelist[cnt].FMMU[j].PhysStart, ctx[ctx_count].slavelist[cnt].FMMU[j].PhysStartBit, ctx[ctx_count].slavelist[cnt].FMMU[j].FMMUtype, ctx[ctx_count].slavelist[cnt].FMMU[j].FMMUactive); } printf(" FMMUfunc 0:%d 1:%d 2:%d 3:%d\n", ctx[ctx_count].slavelist[cnt].FMMU0func, ctx[ctx_count].slavelist[cnt].FMMU2func, ctx[ctx_count].slavelist[cnt].FMMU2func, ctx[ctx_count].slavelist[cnt].FMMU3func); printf(" MBX length wr: %d rd: %d MBX protocols : %2.2x\n", ctx[ctx_count].slavelist[cnt].mbx_l, ctx[ctx_count].slavelist[cnt].mbx_rl, ctx[ctx_count].slavelist[cnt].mbx_proto); ssigen = ecx_siifind(&ctx[ctx_count], cnt, ECT_SII_GENERAL); /* SII general section */ if (ssigen) { ctx[ctx_count].slavelist[cnt].CoEdetails = ecx_siigetbyte(&ctx[ctx_count], cnt, ssigen + 0x07); ctx[ctx_count].slavelist[cnt].FoEdetails = ecx_siigetbyte(&ctx[ctx_count], cnt, ssigen + 0x08); ctx[ctx_count].slavelist[cnt].EoEdetails = ecx_siigetbyte(&ctx[ctx_count], cnt, ssigen + 0x09); ctx[ctx_count].slavelist[cnt].SoEdetails = ecx_siigetbyte(&ctx[ctx_count], cnt, ssigen + 0x0a); if((ecx_siigetbyte(&ctx[ctx_count], cnt, ssigen + 0x0d) & 0x02) > 0) { ctx[ctx_count].slavelist[cnt].blockLRW = 1; ctx[ctx_count].slavelist[0].blockLRW++; } ctx[ctx_count].slavelist[cnt].Ebuscurrent = ecx_siigetbyte(&ctx[ctx_count], cnt, ssigen + 0x0e); ctx[ctx_count].slavelist[cnt].Ebuscurrent += ecx_siigetbyte(&ctx[ctx_count], cnt, ssigen + 0x0f) << 8; ctx[ctx_count].slavelist[0].Ebuscurrent += ctx[ctx_count].slavelist[cnt].Ebuscurrent; } printf(" CoE details: %2.2x FoE details: %2.2x EoE details: %2.2x SoE details: %2.2x\n", ctx[ctx_count].slavelist[cnt].CoEdetails, ctx[ctx_count].slavelist[cnt].FoEdetails, ctx[ctx_count].slavelist[cnt].EoEdetails, ctx[ctx_count].slavelist[cnt].SoEdetails); printf(" Ebus current: %d[mA]\n only LRD/LWR:%d\n", ctx[ctx_count].slavelist[cnt].Ebuscurrent, ctx[ctx_count].slavelist[cnt].blockLRW); } } inOP = FALSE; printf("Request operational state for all slaves\n"); expectedWKC[0] = (ctx[0].grouplist[0].outputsWKC * 2) + ctx[0].grouplist[0].inputsWKC; expectedWKC[1] = (ctx[1].grouplist[0].outputsWKC * 2) + ctx[1].grouplist[0].inputsWKC; printf("Calculated workcounter master 1 %d\n", expectedWKC[0]); printf("Calculated workcounter master 2 %d\n", expectedWKC[1]); ctx[0].slavelist[0].state = EC_STATE_OPERATIONAL; ctx[1].slavelist[0].state = EC_STATE_OPERATIONAL; /* send one valid process data to make outputs in slaves happy*/ ecx_send_processdata(&ctx[0]); ecx_send_processdata(&ctx[1]); ecx_receive_processdata(&ctx[0],EC_TIMEOUTRET); ecx_receive_processdata(&ctx[1],EC_TIMEOUTRET); /* request OP state for all slaves */ ecx_writestate(&ctx[0], 0); ecx_writestate(&ctx[1], 0); chk = 40; /* wait for all slaves to reach OP state */ do { ecx_send_processdata(&ctx[0]); ecx_send_processdata(&ctx[1]); ecx_receive_processdata(&ctx[0],EC_TIMEOUTRET); ecx_receive_processdata(&ctx[1],EC_TIMEOUTRET); ecx_statecheck(&ctx[0],0, EC_STATE_OPERATIONAL, 50000); ecx_statecheck(&ctx[1],0, EC_STATE_OPERATIONAL, 50000); } while (chk-- && (ctx[0].slavelist[0].state != EC_STATE_OPERATIONAL) && (ctx[1].slavelist[0].state != EC_STATE_OPERATIONAL)); *(ctx[0].slavelist[6].outputs) = 0xFF; *(ctx[1].slavelist[1].outputs) = 0x0F; if (ctx[0].slavelist[0].state == EC_STATE_OPERATIONAL && ctx[1].slavelist[0].state == EC_STATE_OPERATIONAL ) { printf("Operational state reached for all slaves.\n"); /* cyclic loop */ start_RT_trace (1); wkc_count = 0; inOP = TRUE; for(i = 1; i <= 10000; i++) { for (ctx_count = 0; ctx_count < 2; ctx_count++) { /* Receive processdata */ log_RT_event('R',(WORD)(1 + ctx_count * 10)); wkc[ctx_count] = ecx_receive_processdata(&ctx[ctx_count], 0); log_RT_event('R',(WORD)(99 + ctx_count * 100)); } for (ctx_count = 0; ctx_count < 2; ctx_count++) { /* Send processdata */ log_RT_event('S',(WORD)(1 + ctx_count * 10)); if (!ecx_send_processdata(&ctx[ctx_count])) { printf (" Frame no: %d on master %d,Not sentOK\n", i,ctx_count); } log_RT_event('S',(WORD)(99 + ctx_count * 100)); } knRtSleep(1); for (ctx_count = 0; ctx_count < 2; ctx_count++) { if(wkc[ctx_count] >= expectedWKC[ctx_count]) { } else { printf (" Frame no: %d on master %d , wc not wkc >= expectedWKC, %d\n",i, ctx_count, wkc[ctx_count]); } } } stop_RT_trace (); inOP = FALSE; } } else { printf("No slaves found!\n"); } printf("End slaveinfo, close socket\n"); /* stop SOEM, close socket */ ecx_close(&ctx[0]); ecx_close(&ctx[1]); } else { printf("No socket connection on %s\nExcecute as root\n",ifname); } }
void slaveinfo(char *ifname) { int cnt, i, j, nSM; uint16 ssigen, dtype; printf("Starting slaveinfo\n"); /* initialise SOEM, bind socket to ifname */ if (ec_init(ifname)) { printf("ec_init on %s succeeded.\n",ifname); /* find and auto-config slaves */ if ( ec_config(FALSE, &IOmap) > 0 ) { printf("%d slaves found and configured.\n",ec_slavecount); printf("Calculated workcounter %d\n",ec_group[0].expectedWKC); /* wait for all slaves to reach SAFE_OP state */ ec_statecheck(0, EC_STATE_SAFE_OP, EC_TIMEOUTSTATE * 3); if (ec_slave[0].state != EC_STATE_SAFE_OP ) { printf("Not all slaves reached safe operational state.\n"); ec_readstate(); for(i = 1; i<=ec_slavecount ; i++) { if(ec_slave[i].state != EC_STATE_SAFE_OP) { printf("Slave %d State=%2x StatusCode=%4x : %s\n", i, ec_slave[i].state, ec_slave[i].ALstatuscode, ec_ALstatuscode2string(ec_slave[i].ALstatuscode)); } } } ec_configdc(); ec_readstate(); for( cnt = 1 ; cnt <= ec_slavecount ; cnt++) { printf("\nSlave:%d\n Name:%s\n Output size: %dbits\n Input size: %dbits\n State: %d\n Delay: %d[ns]\n Has DC: %d\n", cnt, ec_slave[cnt].name, ec_slave[cnt].Obits, ec_slave[cnt].Ibits, ec_slave[cnt].state, ec_slave[cnt].pdelay, ec_slave[cnt].hasdc); if (ec_slave[cnt].hasdc) printf(" DCParentport:%d\n", ec_slave[cnt].parentport); printf(" Activeports:%d.%d.%d.%d\n", (ec_slave[cnt].activeports & 0x01) > 0 , (ec_slave[cnt].activeports & 0x02) > 0 , (ec_slave[cnt].activeports & 0x04) > 0 , (ec_slave[cnt].activeports & 0x08) > 0 ); printf(" Configured address: %4.4x\n", ec_slave[cnt].configadr); printf(" Man: %8.8x ID: %8.8x Rev: %8.8x\n", (int)ec_slave[cnt].eep_man, (int)ec_slave[cnt].eep_id, (int)ec_slave[cnt].eep_rev); for(nSM = 0 ; nSM < EC_MAXSM ; nSM++) { if(ec_slave[cnt].SM[nSM].StartAddr > 0) printf(" SM%1d A:%4.4x L:%4d F:%8.8x Type:%d\n",nSM, ec_slave[cnt].SM[nSM].StartAddr, ec_slave[cnt].SM[nSM].SMlength, (int)ec_slave[cnt].SM[nSM].SMflags, ec_slave[cnt].SMtype[nSM]); } for(j = 0 ; j < ec_slave[cnt].FMMUunused ; j++) { printf(" FMMU%1d Ls:%8.8x Ll:%4d Lsb:%d Leb:%d Ps:%4.4x Psb:%d Ty:%2.2x Act:%2.2x\n", j, (int)ec_slave[cnt].FMMU[j].LogStart, ec_slave[cnt].FMMU[j].LogLength, ec_slave[cnt].FMMU[j].LogStartbit, ec_slave[cnt].FMMU[j].LogEndbit, ec_slave[cnt].FMMU[j].PhysStart, ec_slave[cnt].FMMU[j].PhysStartBit, ec_slave[cnt].FMMU[j].FMMUtype, ec_slave[cnt].FMMU[j].FMMUactive); } printf(" FMMUfunc 0:%d 1:%d 2:%d 3:%d\n", ec_slave[cnt].FMMU0func, ec_slave[cnt].FMMU2func, ec_slave[cnt].FMMU2func, ec_slave[cnt].FMMU3func); printf(" MBX length wr: %d rd: %d MBX protocols : %2.2x\n", ec_slave[cnt].mbx_l, ec_slave[cnt].mbx_rl, ec_slave[cnt].mbx_proto); ssigen = ec_siifind(cnt, ECT_SII_GENERAL); /* SII general section */ if (ssigen) { ec_slave[cnt].CoEdetails = ec_siigetbyte(cnt, ssigen + 0x07); ec_slave[cnt].FoEdetails = ec_siigetbyte(cnt, ssigen + 0x08); ec_slave[cnt].EoEdetails = ec_siigetbyte(cnt, ssigen + 0x09); ec_slave[cnt].SoEdetails = ec_siigetbyte(cnt, ssigen + 0x0a); if((ec_siigetbyte(cnt, ssigen + 0x0d) & 0x02) > 0) { ec_slave[cnt].blockLRW = 1; ec_slave[0].blockLRW++; } ec_slave[cnt].Ebuscurrent = ec_siigetbyte(cnt, ssigen + 0x0e); ec_slave[cnt].Ebuscurrent += ec_siigetbyte(cnt, ssigen + 0x0f) << 8; ec_slave[0].Ebuscurrent += ec_slave[cnt].Ebuscurrent; } printf(" CoE details: %2.2x FoE details: %2.2x EoE details: %2.2x SoE details: %2.2x\n", ec_slave[cnt].CoEdetails, ec_slave[cnt].FoEdetails, ec_slave[cnt].EoEdetails, ec_slave[cnt].SoEdetails); printf(" Ebus current: %d[mA]\n only LRD/LWR:%d\n", ec_slave[cnt].Ebuscurrent, ec_slave[cnt].blockLRW); if ((ec_slave[cnt].mbx_proto & 0x04) && printSDO) { ODlist.Entries = 0; memset(&ODlist, 0, sizeof(ODlist)); if( ec_readODlist(cnt, &ODlist)) { printf(" CoE Object Description found, %d entries.\n",ODlist.Entries); for( i = 0 ; i < ODlist.Entries ; i++) { ec_readODdescription(i, &ODlist); while(EcatError) { printf("%s", ec_elist2string()); } printf(" Index: %4.4x Datatype: %4.4x Objectcode: %2.2x Name: %s\n", ODlist.Index[i], ODlist.DataType[i], ODlist.ObjectCode[i], ODlist.Name[i]); memset(&OElist, 0, sizeof(OElist)); ec_readOE(i, &ODlist, &OElist); while(EcatError) { printf("%s", ec_elist2string()); } for( j = 0 ; j < ODlist.MaxSub[i]+1 ; j++) { if ((OElist.DataType[j] > 0) && (OElist.BitLength[j] > 0)) { printf(" Sub: %2.2x Datatype: %4.4x Bitlength: %4.4x Obj.access: %4.4x Name: %s\n", j, OElist.DataType[j], OElist.BitLength[j], OElist.ObjAccess[j], OElist.Name[j]); if ((OElist.ObjAccess[j] & 0x0007)) { dtype = OElist.DataType[j]; printf(" Value :%s\n", SDO2string(cnt, ODlist.Index[i], j, OElist.DataType[j])); } } } } } else { while(EcatError) { printf("%s", ec_elist2string()); } } } } } else { printf("No slaves found!\n"); } printf("End slaveinfo, close socket\n"); /* stop SOEM, close socket */ ec_close(); } else { printf("No socket connection on %s\nExcecute as root\n",ifname); } }
///establishes the ethercat connection void EthercatMaster::initializeEthercat() { // Bouml preserved body begin 000410F1 /* initialise SOEM, bind socket to ifname */ if (ec_init(ethernetDevice.c_str())) { LOG(info) << "Initializing EtherCAT on " << ethernetDevice; /* find and auto-config slaves */ if (ec_config(TRUE, &IOmap_) > 0) { LOG(trace) << ec_slavecount << " slaves found and configured."; /* wait for all slaves to reach Pre OP state */ /*ec_statecheck(0, EC_STATE_PRE_OP, EC_TIMEOUTSTATE); if (ec_slave[0].state != EC_STATE_PRE_OP ){ printf("Not all slaves reached pre operational state.\n"); ec_readstate(); //If not all slaves operational find out which one for(int i = 1; i<=ec_slavecount ; i++){ if(ec_slave[i].state != EC_STATE_PRE_OP){ printf("Slave %d State=%2x StatusCode=%4x : %s\n", i, ec_slave[i].state, ec_slave[i].ALstatuscode, ec_ALstatuscode2string(ec_slave[i].ALstatuscode)); } } } */ /* distributed clock is not working //Configure distributed clock if(!ec_configdc()){ LOG(warning) << "no distributed clock is available"; }else{ uint32 CyclTime = 4000000; uint32 CyclShift = 0; for (int i = 1; i <= ec_slavecount; i++) { ec_dcsync0(i, true, CyclTime, CyclShift); } } */ /* wait for all slaves to reach SAFE_OP state */ ec_statecheck(0, EC_STATE_SAFE_OP, EC_TIMEOUTSTATE); if (ec_slave[0].state != EC_STATE_SAFE_OP) { LOG(warning) << "Not all slaves reached safe operational state."; ec_readstate(); //If not all slaves operational find out which one for (int i = 1; i <= ec_slavecount; i++) { if (ec_slave[i].state != EC_STATE_SAFE_OP) { LOG(info) << "Slave " << i << " State=" << ec_slave[i].state << " StatusCode=" << ec_slave[i].ALstatuscode << " : " << ec_ALstatuscode2string(ec_slave[i].ALstatuscode); } } } //Read the state of all slaves //ec_readstate(); LOG(trace) << "Request operational state for all slaves"; ec_slave[0].state = EC_STATE_OPERATIONAL; // request OP state for all slaves /* send one valid process data to make outputs in slaves happy*/ ec_send_processdata(); ec_receive_processdata(EC_TIMEOUTRET); /* request OP state for all slaves */ ec_writestate(0); // wait for all slaves to reach OP state ec_statecheck(0, EC_STATE_OPERATIONAL, EC_TIMEOUTSTATE); if (ec_slave[0].state == EC_STATE_OPERATIONAL) { LOG(trace) << "Operational state reached for all slaves."; } else { throw std::runtime_error("Not all slaves reached operational state."); } } else { throw std::runtime_error("No slaves found!"); } } else { throw std::runtime_error("No socket connection on " + ethernetDevice + "\nExcecute as root"); } std::string baseJointControllerName = "TMCM-174"; std::string manipulatorJointControllerName = "TMCM-174"; std::string actualSlaveName; nrOfSlaves = 0; YouBotSlaveMsg emptySlaveMsg; quantity<si::current> maxContinuousCurrentBase = 3.54 * ampere; quantity<si::time> thermalTimeConstantWindingBase = 16.6 * second; quantity<si::time> thermalTimeConstantMotorBase = 212 * second; quantity<si::current> maxContinuousCurrentJoint13 = 2.36 * ampere; quantity<si::time> thermalTimeConstantWindingJoint13 = 16.6 * second; quantity<si::time> thermalTimeConstantMotorJoint13 = 212 * second; quantity<si::current> maxContinuousCurrentJoint4 = 1.07 * ampere; quantity<si::time> thermalTimeConstantWindingJoint4 = 13.2 * second; quantity<si::time> thermalTimeConstantMotorJoint4 = 186 * second; quantity<si::current> maxContinuousCurrentJoint5 = 0.49 * ampere; quantity<si::time> thermalTimeConstantWindingJoint5 = 8.1 * second; quantity<si::time> thermalTimeConstantMotorJoint5 = 108 * second; int manipulatorNo = 0; configfile->readInto(baseJointControllerName, "BaseJointControllerName"); configfile->readInto(manipulatorJointControllerName, "ManipulatorJointControllerName"); //reserve memory for all slave with a input/output buffer for (int cnt = 1; cnt <= ec_slavecount; cnt++) { // printf("Slave:%d Name:%s Output size:%3dbits Input size:%3dbits State:%2d delay:%d.%d\n", // cnt, ec_slave[cnt].name, ec_slave[cnt].Obits, ec_slave[cnt].Ibits, // ec_slave[cnt].state, (int) ec_slave[cnt].pdelay, ec_slave[cnt].hasdc); ethercatSlaveInfo.push_back(ec_slave[cnt]); actualSlaveName = ec_slave[cnt].name; if ((actualSlaveName == baseJointControllerName || actualSlaveName == manipulatorJointControllerName) && ec_slave[cnt].Obits > 0 && ec_slave[cnt].Ibits > 0) { nrOfSlaves++; // joints.push_back(YouBotJoint(nrOfSlaves)); firstBufferVector.push_back(emptySlaveMsg); secondBufferVector.push_back(emptySlaveMsg); ethercatOutputBufferVector.push_back((SlaveMessageOutput*) (ec_slave[cnt].outputs)); ethercatInputBufferVector.push_back((SlaveMessageInput*) (ec_slave[cnt].inputs)); YouBotSlaveMailboxMsg emptyMailboxSlaveMsg(cnt); firstMailboxBufferVector.push_back(emptyMailboxSlaveMsg); secondMailboxBufferVector.push_back(emptyMailboxSlaveMsg); newOutputDataFlagOne.push_back(false); newOutputDataFlagTwo.push_back(false); newMailboxDataFlagOne.push_back(false); newMailboxDataFlagTwo.push_back(false); newMailboxInputDataFlagOne.push_back(false); newMailboxInputDataFlagTwo.push_back(false); pendingMailboxMsgsReply.push_back(false); int i = 0; bool b = false; upperLimit.push_back(i); lowerLimit.push_back(i); limitActive.push_back(b); jointLimitReached.push_back(b); inverseMovementDirection.push_back(b); if (actualSlaveName == baseJointControllerName) { motorProtections.push_back(MotorProtection(maxContinuousCurrentBase, thermalTimeConstantWindingBase, thermalTimeConstantMotorBase)); } if (actualSlaveName == manipulatorJointControllerName) { manipulatorNo++; if (manipulatorNo >= 1 && manipulatorNo <= 3) { motorProtections.push_back(MotorProtection(maxContinuousCurrentJoint13, thermalTimeConstantWindingJoint13, thermalTimeConstantMotorJoint13)); } if (manipulatorNo == 4) { motorProtections.push_back(MotorProtection(maxContinuousCurrentJoint4, thermalTimeConstantWindingJoint4, thermalTimeConstantMotorJoint4)); } if (manipulatorNo == 5) { motorProtections.push_back(MotorProtection(maxContinuousCurrentJoint5, thermalTimeConstantWindingJoint5, thermalTimeConstantMotorJoint5)); manipulatorNo = 0; } } } } if (nrOfSlaves != motorProtections.size()) { throw std::runtime_error("Insufficient motor protections loaded"); } if (nrOfSlaves > 0) { LOG(info) << nrOfSlaves << " EtherCAT slaves found" ; } else { throw std::runtime_error("No EtherCAT slave could be found"); return; } stopThread = false; threads.create_thread(boost::bind(&EthercatMaster::updateSensorActorValues, this)); SLEEP_MILLISEC(10); //needed to start up thread and EtherCAT communication return; // Bouml preserved body end 000410F1 }