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;
}
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 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
}