void check_master_state() { ec_master_state_t ms; ecrt_master_state(gkMaster, &ms); if (ms.slaves_responding != gkMasterState.slaves_responding) printf("%u slave(s).\n", ms.slaves_responding); if (ms.al_states != gkMasterState.al_states) printf("AL states: 0x%02X.\n", ms.al_states); if (ms.link_up != gkMasterState.link_up) printf("Link is %s.\n", ms.link_up ? "up" : "down"); gkMasterState = ms; }
void sdo_handle_ecat(master_setup_variables_t *master_setup, ctrlproto_slv_handle *slv_handles, int update_sequence, int slave_number) { int slv; if(sig_alarms == user_alarms) pause(); while (sig_alarms != user_alarms) { /* sync the dc clock of the slaves */ // ecrt_master_sync_slave_clocks(master); // receive process data ecrt_master_receive(master_setup->master); ecrt_domain_process(master_setup->domain); //for (slv = 0; slv < total_no_of_slaves; ++slv) { slv_handles[slave_number].motor_config_param = \ sdo_motor_config_update(slv_handles[slave_number].motor_config_param, \ slv_handles[slave_number].__request, update_sequence); } // send process data ecrt_domain_queue(master_setup->domain); ecrt_master_send(master_setup->master); //Check for master und domain state ecrt_master_state(master_setup->master, &master_setup->master_state); ecrt_domain_state(master_setup->domain, &master_setup->domain_state); if (master_setup->domain_state.wc_state == EC_WC_COMPLETE && !master_setup->op_flag) { //printf("System up!\n"); master_setup->op_flag = 1; } else { if(master_setup->domain_state.wc_state != EC_WC_COMPLETE && master_setup->op_flag) { //printf("System down!\n"); master_setup->op_flag = 0; } } user_alarms++; } }
void check_master_state(master_setup_variables_t *master_setup) { ec_master_state_t ms; ecrt_master_state(master_setup->master, &ms); if (ms.slaves_responding != master_setup->master_state.slaves_responding) logmsg(1, "%u slave(s).\n", ms.slaves_responding); if (ms.al_states != master_setup->master_state.al_states) logmsg(1, "AL states: 0x%02X.\n", ms.al_states); if (ms.link_up != master_setup->master_state.link_up) logmsg(1, "Link is %s.\n", ms.link_up ? "up" : "down"); master_setup->master_state = ms; }
static inline void check_master_state(void) { ec_master_state_t ms; ecrt_master_state(master, &ms); if (ms.slaves_responding != master_state.slaves_responding) printf("%u slave(s).\n", ms.slaves_responding); if (ms.al_states != master_state.al_states) printf("AL states: 0x%02X.\n", ms.al_states); if (ms.link_up != master_state.link_up) printf("Link is %s.\n", ms.link_up ? "up" : "down"); memcpy(&master_state, &ms, sizeof(ms)); }
void check_master_state(void) { ec_master_state_t ms; down(&master_sem); ecrt_master_state(master, &ms); up(&master_sem); if (ms.slaves_responding != master_state.slaves_responding) printk(KERN_INFO PFX "%u slave(s).\n", ms.slaves_responding); if (ms.al_states != master_state.al_states) printk(KERN_INFO PFX "AL states: 0x%02X.\n", ms.al_states); if (ms.link_up != master_state.link_up) printk(KERN_INFO PFX "Link is %s.\n", ms.link_up ? "up" : "down"); master_state = ms; }
void pdo_handle_ecat(master_setup_variables_t *master_setup, ctrlproto_slv_handle *slv_handles, unsigned int total_no_of_slaves) { int slv; if(sig_alarms == user_alarms) pause(); while (sig_alarms != user_alarms) { /* sync the dc clock of the slaves */ // ecrt_master_sync_slave_clocks(master); // receive process data ecrt_master_receive(master_setup->master); ecrt_domain_process(master_setup->domain); // check process data state (optional) //check_domain1_state(master_setup); // check for master state (optional) //check_master_state(master_setup); // check for islave configuration state(s) (optional) // check_slave_config_states(); for(slv=0;slv<total_no_of_slaves;++slv) { /* Read process data */ slv_handles[slv].motorctrl_status_in = EC_READ_U16(master_setup->domain_pd + slv_handles[slv].__ecat_slave_in[0]); slv_handles[slv].operation_mode_disp = EC_READ_U8(master_setup->domain_pd + slv_handles[slv].__ecat_slave_in[1]); slv_handles[slv].position_in = EC_READ_U32(master_setup->domain_pd + slv_handles[slv].__ecat_slave_in[2]); slv_handles[slv].speed_in = EC_READ_U32(master_setup->domain_pd + slv_handles[slv].__ecat_slave_in[3]); slv_handles[slv].torque_in = EC_READ_U16(master_setup->domain_pd + slv_handles[slv].__ecat_slave_in[4]); } /* printf("\n%x", slv_handles[slv].motorctrl_status_in); printf("\n%x", slv_handles[slv].operation_mode_disp); printf("\n%x", slv_handles[slv].position_in); printf("\n%x", slv_handles[slv].speed_in); printf("\n%x", slv_handles[slv].torque_in); */ for(slv=0;slv<total_no_of_slaves;++slv) { EC_WRITE_U16(master_setup->domain_pd + slv_handles[slv].__ecat_slave_out[0], (slv_handles[slv].motorctrl_out)&0xffff); EC_WRITE_U8(master_setup->domain_pd + slv_handles[slv].__ecat_slave_out[1], (slv_handles[slv].operation_mode)&0xff); EC_WRITE_U16(master_setup->domain_pd + slv_handles[slv].__ecat_slave_out[2], (slv_handles[slv].torque_setpoint)&0xffff); EC_WRITE_U32(master_setup->domain_pd + slv_handles[slv].__ecat_slave_out[3], slv_handles[slv].position_setpoint); EC_WRITE_U32(master_setup->domain_pd + slv_handles[slv].__ecat_slave_out[4], slv_handles[slv].speed_setpoint); } // send process data ecrt_domain_queue(master_setup->domain); ecrt_master_send(master_setup->master); //Check for master und domain state ecrt_master_state(master_setup->master, &master_setup->master_state); ecrt_domain_state(master_setup->domain, &master_setup->domain_state); if (master_setup->domain_state.wc_state == EC_WC_COMPLETE && !master_setup->op_flag) { //printf("System up!\n"); master_setup->op_flag = 1; } else { if(master_setup->domain_state.wc_state != EC_WC_COMPLETE && master_setup->op_flag) { //printf("System down!\n"); master_setup->op_flag = 0; } } user_alarms++; } }