bool ConnManager::initialize() { // Send the EtherCAT slaves into OP ec_slave[0].state = EC_STATE_OPERATIONAL; ec_writestate(0); ec_statecheck(0, EC_STATE_OPERATIONAL, EC_TIMEOUTSTATE); // We are now in OP. // Configure the distributed clocks for each slave. for (int i = 1; i <= ec_slavecount; i++) { ec_dcsync0(i, true, CONTROLLER_LOOP_PERIOD_NS, CONTROLLER_LOOP_PERIOD_NS - CONTROLLER_LOOP_OFFSET_NS); } // Update ec_DCtime so we can calculate stop time below. cycleECat(); // Send a barrage of packets to set up the DC clock. int64_t stoptime = ec_DCtime + 200000000; // SOEM automatically updates ec_DCtime. while (ec_DCtime < stoptime) { cycleECat(); } // We now have data. // Configure our medullas eCatConn->getMedullaManager()->start(ec_slave, ec_slavecount); targetTime = RTT::os::TimeService::Instance()->getNSecs(); done = false; midCycle = false; return !done; }
void eboxtest(char *ifname) { int cnt, i; printf("Starting E/BOX test\n"); /* initialise SOEM, bind socket to ifname */ if (ec_init(ifname)) { printf("ec_init on %s succeeded.\n",ifname); /* find and auto-config slaves */ if ( ec_config_init(FALSE) > 0 ) { printf("%d slaves found and configured.\n",ec_slavecount); // check if first slave is an E/BOX if (( ec_slavecount >= 1 ) && (strcmp(ec_slave[1].name,"E/BOX") == 0)) { // reprogram PDO mapping to set slave in stream mode // this can only be done in pre-OP state os=sizeof(ob2); ob2 = 0x1601; ec_SDOwrite(1,0x1c12,01,FALSE,os,&ob2,EC_TIMEOUTRXM); os=sizeof(ob2); ob2 = 0x1a01; ec_SDOwrite(1,0x1c13,01,FALSE,os,&ob2,EC_TIMEOUTRXM); } ec_config_map(&IOmap); ec_configdc(); /* wait for all slaves to reach SAFE_OP state */ ec_statecheck(0, EC_STATE_SAFE_OP, EC_TIMEOUTSTATE); /* configure DC options for every DC capable slave found in the list */ printf("DC capable : %d\n",ec_configdc()); /* check configuration */ if (( ec_slavecount >= 1 ) && (strcmp(ec_slave[1].name,"E/BOX") == 0) ) { printf("E/BOX found.\n"); /* connect struct pointers to slave I/O pointers */ in_EBOX = (in_EBOX_streamt*) ec_slave[1].inputs; out_EBOX = (out_EBOX_streamt*) ec_slave[1].outputs; /* read indevidual slave state and store in ec_slave[] */ ec_readstate(); for(cnt = 1; cnt <= ec_slavecount ; cnt++) { printf("Slave:%d Name:%s Output size:%3dbits Input size:%3dbits State:%2d delay:%d.%d\n", cnt, ec_slave[cnt].name, ec_slave[cnt].Obits, ec_slave[cnt].Ibits, ec_slave[cnt].state, (int)ec_slave[cnt].pdelay, ec_slave[cnt].hasdc); } printf("Request operational state for all slaves\n"); /* send one processdata cycle to init SM in slaves */ ec_send_processdata(); ec_receive_processdata(EC_TIMEOUTRET); ec_slave[0].state = EC_STATE_OPERATIONAL; /* request OP state for all slaves */ ec_writestate(0); /* wait for all slaves to reach OP state */ ec_statecheck(0, EC_STATE_OPERATIONAL, EC_TIMEOUTSTATE); if (ec_slave[0].state == EC_STATE_OPERATIONAL ) { printf("Operational state reached for all slaves.\n"); ain[0] = 0; ain[1] = 0; ainc = 0; dorun = 1; usleep(100000); // wait for linux to sync on DC ec_dcsync0(1, TRUE, SYNC0TIME, 0); // SYNC0 on slave 1 /* acyclic loop 20ms */ for(i = 1; i <= 200; i++) { /* read DC difference register for slave 2 */ // ec_FPRD(ec_slave[1].configadr, ECT_REG_DCSYSDIFF, sizeof(DCdiff), &DCdiff, EC_TIMEOUTRET); // if(DCdiff<0) { DCdiff = - (int32)((uint32)DCdiff & 0x7ffffff); } printf("PD cycle %5d DCtime %12lld Cnt:%3d Data: %6d %6d %6d %6d %6d %6d %6d %6d \n", cyclecount, ec_DCtime, in_EBOX->counter, in_EBOX->stream[0], in_EBOX->stream[1], in_EBOX->stream[2], in_EBOX->stream[3], in_EBOX->stream[4], in_EBOX->stream[5], in_EBOX->stream[98], in_EBOX->stream[99]); usleep(20000); } dorun = 0; // printf("\nCnt %d : Ain0 = %f Ain2 = %f\n", ainc, ain[0] / ainc, ain[1] / ainc); } else { printf("Not all slaves reached operational state.\n"); } } else { printf("E/BOX not found in slave configuration.\n"); } ec_dcsync0(1, FALSE, 8000, 0); // SYNC0 off printf("Request safe operational state for all slaves\n"); ec_slave[0].state = EC_STATE_SAFE_OP; /* request SAFE_OP state for all slaves */ ec_writestate(0); /* wait for all slaves to reach state */ ec_statecheck(0, EC_STATE_SAFE_OP, EC_TIMEOUTSTATE); ec_slave[0].state = EC_STATE_PRE_OP; /* request SAFE_OP state for all slaves */ ec_writestate(0); /* wait for all slaves to reach state */ ec_statecheck(0, EC_STATE_PRE_OP, EC_TIMEOUTSTATE); if (( ec_slavecount >= 1 ) && (strcmp(ec_slave[1].name,"E/BOX") == 0)) { // restore PDO to standard mode // this can only be done is pre-op state os=sizeof(ob2); ob2 = 0x1600; ec_SDOwrite(1,0x1c12,01,FALSE,os,&ob2,EC_TIMEOUTRXM); os=sizeof(ob2); ob2 = 0x1a00; ec_SDOwrite(1,0x1c13,01,FALSE,os,&ob2,EC_TIMEOUTRXM); } printf("Streampos %d\n", streampos); output_cvs("stream.txt", streampos); } else { printf("No slaves found!\n"); } printf("End E/BOX, close socket\n"); /* stop SOEM, close socket */ ec_close(); } else { printf("No socket connection on %s\nExcecute as root\n",ifname); } }