int EL7031setup(uint16 slave)
{
int retval;
uint16 u16val;
// map velocity
uint16 map_1c12[4] = {0x0003, 0x1601, 0x1602, 0x1604};
uint16 map_1c13[3] = {0x0002, 0x1a01, 0x1a03};
retval = 0;
// Set PDO mapping using Complete Access
// Strange, writing CA works, reading CA doesn't
// This is a protocol error of the slave.
retval += ec_SDOwrite(slave, 0x1c12, 0x00, TRUE, sizeof(map_1c12), &map_1c12, EC_TIMEOUTSAFE);
retval += ec_SDOwrite(slave, 0x1c13, 0x00, TRUE, sizeof(map_1c13), &map_1c13, EC_TIMEOUTSAFE);
// bug in EL7031 old firmware, CompleteAccess for reading is not supported even if the slave says it is.
ec_slave[slave].CoEdetails &= ~ECT_COEDET_SDOCA;
// set some motor parameters, just as example
u16val = 1200; // max motor current in mA
// retval += ec_SDOwrite(slave, 0x8010, 0x01, FALSE, sizeof(u16val), &u16val, EC_TIMEOUTSAFE);
u16val = 150; // motor coil resistance in 0.01ohm
// retval += ec_SDOwrite(slave, 0x8010, 0x04, FALSE, sizeof(u16val), &u16val, EC_TIMEOUTSAFE);
// set other nescessary parameters as needed
// .....
while(EcatError) printf("%s", ec_elist2string());
printf("EL7031 slave %d set, retval = %d\n", slave, retval);
return 1;
}
static int myPdoSetup(uint16 slave)
{
int retval = 0;
uint8 u8val;
uint16 u16val;
u8val = 0;
retval += ec_SDOwrite(slave, 0x1c13, 0x00, FALSE, sizeof(u8val), &u8val, EC_TIMEOUTRXM);
u16val = 0x1A00;
retval += ec_SDOwrite(slave, 0x1c13, 0x01, FALSE, sizeof(u16val), &u16val, EC_TIMEOUTRXM);
u16val = 0x1A03;
retval += ec_SDOwrite(slave, 0x1c13, 0x02, FALSE, sizeof(u16val), &u16val, EC_TIMEOUTRXM);
u16val = 0x1A04;
retval += ec_SDOwrite(slave, 0x1c13, 0x03, FALSE, sizeof(u16val), &u16val, EC_TIMEOUTRXM);
u16val = 0x1A06;
retval += ec_SDOwrite(slave, 0x1c13, 0x04, FALSE, sizeof(u16val), &u16val, EC_TIMEOUTRXM);
u8val = 4;
retval += ec_SDOwrite(slave, 0x1c13, 0x00, FALSE, sizeof(u8val), &u8val, EC_TIMEOUTRXM);
while(EcatError)
qDebug("%s", ec_elist2string());
qDebug("AEP slave %d set, retval = %d\n", slave, retval);
return 1;
}
// slots
void Drive::update()
{
if (!isOpened)
return;
PdoData pdoData;
memcpy(&pdoData, ec_slave[1].inputs, sizeof(pdoData));
//qDebug() << "statusword: " << pdoData.statusword;
//qDebug() << "velocity actual value: " << pdoData.velocityActualValue;
//qDebug() << "measurement velocity rpm: " << pdoData.measurementVelRpm;
//qDebug() << "current actual filtered value: " << pdoData.currentActualValue;
//qDebug() << "ue: " << pdoData.ue;
//qDebug() << "up: " << pdoData.up;
emit rpmChanged(pdoData.velocityActualValue);
//emit currentChanged(pdoData.currentActualValue);
bool ok = !EcatError;
while (EcatError)
qDebug("%s", ec_elist2string());
//emit stateChanged(ok);
ok = true;
//
// qDebug("Slave State=0x%2.2x StatusCode=0x%4.4x : %s",
// ec_slave[1].state, ec_slave[1].ALstatuscode, ec_ALstatuscode2string(ec_slave[1].ALstatuscode));
if (globalErrorFlag.fetchAndStoreRelaxed(GLOBAL_OK) == GLOBAL_ERROR) {
qDebug("ERROR from iothread");
isWorking = false;
emit error();
}
}
bool SoemEL3104::configure()
{
#if 0
for (unsigned int i = 0; i < params.size(); i++)
{
while (EcatError)
log(RTT::Error) << ec_elist2string() << RTT::endlog();
//assigning parameters
ec_SDOwrite(((m_datap->configadr) & 0x0F), params[i].index,
params[i].subindex, FALSE, params[i].size, &val, EC_TIMEOUTRXM);
}
#endif
return true;
}
int AEPsetup(uint16 slave)
{
int retval;
uint8 u8val;
uint16 u16val;
retval = 0;
u8val = 0;
retval += ec_SDOwrite(slave, 0x1c12, 0x00, FALSE, sizeof(u8val), &u8val, EC_TIMEOUTRXM);
u16val = 0x1603;
retval += ec_SDOwrite(slave, 0x1c12, 0x01, FALSE, sizeof(u16val), &u16val, EC_TIMEOUTRXM);
u8val = 1;
retval += ec_SDOwrite(slave, 0x1c12, 0x00, FALSE, sizeof(u8val), &u8val, EC_TIMEOUTRXM);
u8val = 0;
retval += ec_SDOwrite(slave, 0x1c13, 0x00, FALSE, sizeof(u8val), &u8val, EC_TIMEOUTRXM);
u16val = 0x1a03;
retval += ec_SDOwrite(slave, 0x1c13, 0x01, FALSE, sizeof(u16val), &u16val, EC_TIMEOUTRXM);
u8val = 1;
retval += ec_SDOwrite(slave, 0x1c13, 0x00, FALSE, sizeof(u8val), &u8val, EC_TIMEOUTRXM);
u8val = 8;
retval += ec_SDOwrite(slave, 0x6060, 0x00, FALSE, sizeof(u8val), &u8val, EC_TIMEOUTRXM);
// set some motor parameters, just as example
u16val = 1200; // max motor current in mA
// retval += ec_SDOwrite(slave, 0x8010, 0x01, FALSE, sizeof(u16val), &u16val, EC_TIMEOUTSAFE);
u16val = 150; // motor coil resistance in 0.01ohm
// retval += ec_SDOwrite(slave, 0x8010, 0x04, FALSE, sizeof(u16val), &u16val, EC_TIMEOUTSAFE);
// set other nescessary parameters as needed
// .....
while(EcatError) printf("%s", ec_elist2string());
printf("AEP slave %d set, retval = %d\n", slave, retval);
return 1;
}
char* SDO2string(uint16 slave, uint16 index, uint8 subidx, uint16 dtype)
{
int l = sizeof(usdo) - 1, i;
uint8 *u8;
int8 *i8;
uint16 *u16;
int16 *i16;
uint32 *u32;
int32 *i32;
uint64 *u64;
int64 *i64;
float *sr;
double *dr;
char es[32];
memset(&usdo, 0, 128);
ec_SDOread(slave, index, subidx, FALSE, &l, &usdo, EC_TIMEOUTRXM);
if (EcatError)
{
return ec_elist2string();
}
else
{
switch(dtype)
{
case ECT_BOOLEAN:
u8 = (uint8*) &usdo[0];
if (*u8) sprintf(hstr, "TRUE");
else sprintf(hstr, "FALSE");
break;
case ECT_INTEGER8:
i8 = (int8*) &usdo[0];
sprintf(hstr, "0x%2.2x %d", *i8, *i8);
break;
case ECT_INTEGER16:
i16 = (int16*) &usdo[0];
sprintf(hstr, "0x%4.4x %d", *i16, *i16);
break;
case ECT_INTEGER32:
case ECT_INTEGER24:
i32 = (int32*) &usdo[0];
sprintf(hstr, "0x%8.8x %d", *i32, *i32);
break;
case ECT_INTEGER64:
i64 = (int64*) &usdo[0];
sprintf(hstr, "0x%16.16llx %lld", *i64, *i64);
break;
case ECT_UNSIGNED8:
u8 = (uint8*) &usdo[0];
sprintf(hstr, "0x%2.2x %u", *u8, *u8);
break;
case ECT_UNSIGNED16:
u16 = (uint16*) &usdo[0];
sprintf(hstr, "0x%4.4x %u", *u16, *u16);
break;
case ECT_UNSIGNED32:
case ECT_UNSIGNED24:
u32 = (uint32*) &usdo[0];
sprintf(hstr, "0x%8.8x %u", *u32, *u32);
break;
case ECT_UNSIGNED64:
u64 = (uint64*) &usdo[0];
sprintf(hstr, "0x%16.16llx %llu", *u64, *u64);
break;
case ECT_REAL32:
sr = (float*) &usdo[0];
sprintf(hstr, "%f", *sr);
break;
case ECT_REAL64:
dr = (double*) &usdo[0];
sprintf(hstr, "%f", *dr);
break;
case ECT_BIT1:
case ECT_BIT2:
case ECT_BIT3:
case ECT_BIT4:
case ECT_BIT5:
case ECT_BIT6:
case ECT_BIT7:
case ECT_BIT8:
u8 = (uint8*) &usdo[0];
sprintf(hstr, "0x%x", *u8);
break;
case ECT_VISIBLE_STRING:
strcpy(hstr, usdo);
break;
case ECT_OCTET_STRING:
hstr[0] = 0x00;
for (i = 0 ; i < l ; i++)
{
sprintf(es, "0x%2.2x ", usdo[i]);
strcat( hstr, es);
}
break;
default:
sprintf(hstr, "Unknown type");
}
return hstr;
}
}
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);
}
}
bool Drive::open(const QString& adapterName)
{
qDebug() << "drive: open " << adapterName;
bool ok = true;
if (isOpened) {
assert(false && "repeated call is not supported");
ok = false;
}
if (ok) {
strcpy_s(adapterNameBuffer, adapterName.toStdString().c_str()); // TODO уязвимость
// initialise SOEM, bind socket to adapterNameBuffer
if (ec_init(adapterNameBuffer) <= 0) {
qDebug() << "ошибка ec_init";
ok = false;
}
}
// find and auto-config slaves
if (ok) {
isOpened = true; // TODO правильное ли место?
const auto slaveCount = ec_config_init(0);
if (slaveCount != 1) {
qDebug() << "количество найденных устройств равно " << slaveCount;
if (slaveCount == EC_OTHERFRAME)
qDebug() << "Ошибка: unknown frame received";
else if (slaveCount == EC_NOFRAME)
qDebug() << "Ошибка: no frame returned";
ok = false;
}
}
if (ok) {
// проверка, что подключен именно наш мотор
auto slave = &ec_slave[1];
if (slave->eep_man != 599 || slave->eep_id != 41220) {
qDebug() << "eep_man: " << slave->eep_man << ", slave->eep_id: " << slave->eep_id;
ok = false;
}
ec_slave[1].PO2SOconfig = &myPdoSetup;
}
if (ok) {
// Map all PDOs from slaves to iomap
ec_config_map(&iomap);
// wait for all slaves to reach SAFE_OP state
ec_statecheck(0, EC_STATE_SAFE_OP, EC_TIMEOUTSTATE * 4);
ec_slave[0].state = EC_STATE_OPERATIONAL; // TODO правильно ли, что это здесь?
// send one valid process data to make outputs in slaves happy
ec_send_processdata();
ec_receive_processdata(EC_TIMEOUTRET);
// start I/O transfer thread as periodic multimedia timer
globalErrorFlag.store(GLOBAL_OK);
timerEventId = timeSetEvent(1, 0, ioTransferThread, 0, TIME_PERIODIC); // TODO рассмотреть переход на CreateTimerQueueTimer
if (timerEventId == NULL) {
qDebug() << "Не удалось создать поток ввода/вывода";
ok = false;
}
}
if (ok) {
// request OP state for all slaves
ec_writestate(0);
// wait for all slaves to reach OP state
int chk = 40;
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) {// не удадось перевести метор в состояние OPERATIONAL
qDebug() << "не удадось перевести мотор в состояние OPERATIONAL";
ok = false;
}
while(EcatError)
qDebug("%s", ec_elist2string());
}
if (ok) {
int result = ec_SDOwrite(1, 0x4003, 0x01, FALSE, sizeof(deviceMode), &deviceMode, EC_TIMEOUTRXM); // Device Mode
if (result != 1)
qDebug() << "ошибка ec_SDOwrite: " << result;
while(EcatError)
qDebug("%s", ec_elist2string());
ok = (result == 1);
}
if (ok) {
timer.start(updatePeriod);
setPower(true);
}
else
close();
return ok;
}
