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Commit b5530ffc authored by Florian Pose's avatar Florian Pose
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user-Implementation aus aktueller Entwicklung entfernt.

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rt/msr_module.c
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− 2
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...@@ -158,8 +158,6 @@ static EtherCAT_slave_t ecat_slaves[] = ...@@ -158,8 +158,6 @@ static EtherCAT_slave_t ecat_slaves[] =
ECAT_INIT_SLAVE(Beckhoff_EL3102), ECAT_INIT_SLAVE(Beckhoff_EL3102),
ECAT_INIT_SLAVE(Beckhoff_EL3102), ECAT_INIT_SLAVE(Beckhoff_EL3102),
ECAT_INIT_SLAVE(Beckhoff_EL3102), ECAT_INIT_SLAVE(Beckhoff_EL3102),
ECAT_INIT_SLAVE(Beckhoff_EL3102),
ECAT_INIT_SLAVE(Beckhoff_EL4102), ECAT_INIT_SLAVE(Beckhoff_EL4102),
ECAT_INIT_SLAVE(Beckhoff_EL4102), ECAT_INIT_SLAVE(Beckhoff_EL4102),
ECAT_INIT_SLAVE(Beckhoff_EL4102), ECAT_INIT_SLAVE(Beckhoff_EL4102),
......
user/Makefile deleted 100644 → 0
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#----------------------------------------------------------------
#
# M a k e f i l e
#
# $Id$
#
#----------------------------------------------------------------
LIBNET_DIR = ../../soft/libnet-install
LIBPCAP_DIR = ../../soft/libpcap-install
FLTK_DIR = ../../soft/fltk-2.0-install
CC = g++
CFLAGS = -Wall -g -I$(LIBNET_DIR)/include -I$(LIBPCAP_DIR)/include \
`$(FLTK_DIR)/bin/fltk-config --cflags`
TEST_EXE = ethercat-test
TEST_OBJ = main.o ec_master.o ec_command.o ec_slave.o
TEST_LDFLAGS = -L$(LIBNET_DIR)/lib -lnet -lpcap -lpthread
GUI_EXE = ethercat-gui
GUI_OBJ = main_gui.o ec_master.o ec_command.o ec_slave.o
GUI_LDFLAGS = -L$(LIBNET_DIR)/lib -lnet -lpcap -lpthread `$(FLTK_DIR)/bin/fltk-config --ldflags`
#----------------------------------------------------------------
first: $(TEST_EXE) $(GUI_EXE)
$(TEST_EXE): $(TEST_OBJ)
$(CC) $(TEST_OBJ) $(TEST_LDFLAGS) -o $@
$(GUI_EXE): $(GUI_OBJ)
$(CC) $(GUI_OBJ) $(GUI_LDFLAGS) -o $@
.c.o:
$(CC) $(CFLAGS) -c $< -o $@
.cpp.o:
$(CC) $(CFLAGS) -c $< -o $@
#----------------------------------------------------------------
main.o: main.c \
ec_globals.h ec_master.h ec_command.h ec_slave.h
main_gui.o: main_gui.cpp \
ec_globals.h ec_master.h ec_command.h ec_slave.h
ec_command.o: ec_command.c ec_command.h
ec_master.o: ec_master.c ec_master.h \
ec_globals.h ec_command.h ec_slave.h
ec_slave.o: ec_slave.c ec_slave.h \
ec_globals.h
#----------------------------------------------------------------
clean:
rm -f *.o $(TEST_EXE) $(GUI_EXE) *~
#----------------------------------------------------------------
user/ec_command.c deleted 100644 → 0
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//---------------------------------------------------------------
//
// e c _ c o m m a n d . c
//
// $LastChangedDate$
// $Author$
//
//---------------------------------------------------------------
#include <stdio.h>
#include <stdlib.h>
#include "ec_command.h"
//---------------------------------------------------------------
void EtherCAT_command_init(EtherCAT_command_t *cmd)
{
cmd->command_type = 0x00;
cmd->node_address = 0x0000;
cmd->ring_position = 0x0000;
cmd->mem_address = 0x0000;
cmd->logical_address = 0x00000000;
cmd->data_length = 0;
cmd->status = Waiting;
cmd->next = NULL;
cmd->working_counter = 0;
cmd->data = NULL;
}
//---------------------------------------------------------------
void EtherCAT_command_clear(EtherCAT_command_t *cmd)
{
if (cmd->data)
{
free(cmd->data);
}
EtherCAT_command_init(cmd);
}
//---------------------------------------------------------------
void EtherCAT_command_print_data(EtherCAT_command_t *cmd)
{
unsigned int i;
printf("[");
for (i = 0; i < cmd->data_length; i++)
{
printf("%02X", cmd->data[i]);
if (i < cmd->data_length - 1) printf(" ");
}
printf("]\n");
}
//---------------------------------------------------------------
user/ec_command.h deleted 100644 → 0
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//---------------------------------------------------------------
//
// e c _ c o m m a n d . h
//
// $LastChangedDate$
// $Author$
//
//---------------------------------------------------------------
typedef enum {Waiting, Sent, Received} EtherCAT_cmd_status_t;
//---------------------------------------------------------------
typedef struct EtherCAT_command
{
unsigned char command_type;
short ring_position;
unsigned short node_address;
unsigned short mem_address;
unsigned int logical_address;
unsigned int data_length;
struct EtherCAT_command *next;
EtherCAT_cmd_status_t status;
unsigned char command_index;
unsigned int working_counter;
unsigned char *data;
}
EtherCAT_command_t;
//---------------------------------------------------------------
void EtherCAT_command_init(EtherCAT_command_t *);
void EtherCAT_command_clear(EtherCAT_command_t *);
// Debug
void EtherCAT_command_print_data(EtherCAT_command_t *);
//---------------------------------------------------------------
user/ec_globals.h deleted 100644 → 0
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//---------------------------------------------------------------
//
// e c _ g l o b a l s . h
//
// $LastChangedDate$
// $Author$
//
//---------------------------------------------------------------
#define EC_CMD_APRD 0x01 // Auto-increment physical read
#define EC_CMD_APWR 0x02 // Auto-increment physical write
#define EC_CMD_NPRD 0x04 // Node-addressed physical read
#define EC_CMD_NPWR 0x05 // Node-addressed physical write
#define EC_CMD_BRD 0x07 // Broadcast read
#define EC_CMD_BWR 0x08 // Broadcast write
#define EC_CMD_LRW 0x0C // Logical read/write
#define EC_STATE_UNKNOWN 0x00
#define EC_STATE_INIT 0x01
#define EC_STATE_PREOP 0x02
#define EC_STATE_SAVEOP 0x04
#define EC_STATE_OP 0x08
#define EC_ACK_STATE 0x10
//---------------------------------------------------------------
user/ec_master.c deleted 100644 → 0
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This diff is collapsed.
user/ec_master.h deleted 100644 → 0
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//---------------------------------------------------------------
//
// e c _ m a s t e r . h
//
// $LastChangedDate$
// $Author$
//
//---------------------------------------------------------------
#include <pcap.h>
#include <libnet.h>
#include <pthread.h>
#include "ec_slave.h"
#include "ec_command.h"
//---------------------------------------------------------------
typedef struct
{
EtherCAT_slave_t *slaves; // Slaves array
unsigned int slave_count; // Number of slaves
EtherCAT_command_t *first_command; // List of commands
pcap_t *pcap_handle; // Handle for libpcap
libnet_t *net_handle; // Handle for libnet
unsigned char command_index; // Current command index
unsigned char *process_data;
unsigned int process_data_length;
void (*pre_cb)(unsigned char *);
void (*post_cb)(unsigned char *);
pthread_t thread;
int thread_continue;
unsigned int cycle_time;
double bus_time;
double last_jitter;
double last_cycle_time;
double last_cycle_work_time;
double last_cycle_busy_rate;
}
EtherCAT_master_t;
//---------------------------------------------------------------
// Master creation and deletion
int EtherCAT_master_init(EtherCAT_master_t *, char *);
void EtherCAT_master_clear(EtherCAT_master_t *);
// Checking for slaves
int EtherCAT_check_slaves(EtherCAT_master_t *, EtherCAT_slave_t *, unsigned int);
void EtherCAT_clear_slaves(EtherCAT_master_t *);
// Slave information interface
int EtherCAT_read_slave_information(EtherCAT_master_t *,
unsigned short int,
unsigned short int,
unsigned int *);
// EtherCAT commands
EtherCAT_command_t *EtherCAT_read(EtherCAT_master_t *,
unsigned short,
unsigned short,
unsigned int);
EtherCAT_command_t *EtherCAT_write(EtherCAT_master_t *,
unsigned short,
unsigned short,
unsigned int,
const unsigned char *);
EtherCAT_command_t *EtherCAT_position_read(EtherCAT_master_t *,
short,
unsigned short,
unsigned int);
EtherCAT_command_t *EtherCAT_position_write(EtherCAT_master_t *,
short,
unsigned short,
unsigned int,
const unsigned char *);
EtherCAT_command_t *EtherCAT_broadcast_read(EtherCAT_master_t *,
unsigned short,
unsigned int);
EtherCAT_command_t *EtherCAT_broadcast_write(EtherCAT_master_t *,
unsigned short,
unsigned int,
const unsigned char *);
EtherCAT_command_t *EtherCAT_logical_read_write(EtherCAT_master_t *,
unsigned int,
unsigned int,
unsigned char *);
void EtherCAT_remove_command(EtherCAT_master_t *, EtherCAT_command_t *);
// Slave states
int EtherCAT_state_change(EtherCAT_master_t *, EtherCAT_slave_t *, unsigned char);
int EtherCAT_broadcast_state_change(EtherCAT_master_t *, unsigned char);
int EtherCAT_activate_slave(EtherCAT_master_t *, EtherCAT_slave_t *);
int EtherCAT_deactivate_slave(EtherCAT_master_t *, EtherCAT_slave_t *);
// Sending and receiving
int EtherCAT_send_receive(EtherCAT_master_t *);
int EtherCAT_start(EtherCAT_master_t *,
unsigned int,
void (*)(unsigned char *),
void (*)(unsigned char *),
unsigned int);
int EtherCAT_stop(EtherCAT_master_t *);
// Private functions
void add_command(EtherCAT_master_t *, EtherCAT_command_t *);
void set_byte(unsigned char *, unsigned int, unsigned char);
void set_word(unsigned char *, unsigned int, unsigned int);
void *thread_function(void *);
//---------------------------------------------------------------
user/ec_slave.c deleted 100644 → 0
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//---------------------------------------------------------------
//
// e c _ s l a v e . c
//
// $LastChangedDate$
// $Author$
//
//---------------------------------------------------------------
#include <stdlib.h>
#include "ec_globals.h"
#include "ec_slave.h"
//---------------------------------------------------------------
void EtherCAT_slave_init(EtherCAT_slave_t *slave)
{
slave->type = 0;
slave->revision = 0;
slave->build = 0;
slave->ring_position = 0;
slave->station_address = 0;
slave->vendor_id = 0;
slave->product_code = 0;
slave->revision_number = 0;
slave->desc = NULL;
slave->logical_address0 = 0;
slave->current_state = EC_STATE_UNKNOWN;
slave->requested_state = EC_STATE_UNKNOWN;
}
//---------------------------------------------------------------
void EtherCAT_slave_clear(EtherCAT_slave_t *slave)
{
// Nothing yet...
}
//---------------------------------------------------------------
void EtherCAT_slave_print(EtherCAT_slave_t *slave)
{
}
//---------------------------------------------------------------
unsigned char sm0_multi[] = {0x00, 0x18, 0xF6, 0x00, 0x26, 0x00, 0x01, 0x00};
unsigned char sm1_multi[] = {0xF6, 0x18, 0xF6, 0x00, 0x22, 0x00, 0x01, 0x00};
unsigned char sm0_1014[] = {0x00, 0x10, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00};
unsigned char sm0_2004[] = {0x00, 0x0F, 0x01, 0x00, 0x46, 0x00, 0x01, 0x00};
unsigned char sm2_31xx[] = {0x00, 0x10, 0x04, 0x00, 0x24, 0x00, 0x00, 0x00};
unsigned char sm3_31xx[] = {0x00, 0x11, 0x06, 0x00, 0x20, 0x00, 0x01, 0x00};
unsigned char sm2_4102[] = {0x00, 0x10, 0x04, 0x00, 0x24, 0x00, 0x01, 0x00};
unsigned char fmmu0_1014[] = {0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x07,
0x00, 0x10, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00};
unsigned char fmmu0_2004[] = {0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x07,
0x00, 0x0F, 0x00, 0x02, 0x01, 0x00, 0x00, 0x00};
unsigned char fmmu0_31xx[] = {0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x07,
0x00, 0x11, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00};
unsigned char fmmu0_4102[] = {0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x07,
0x00, 0x10, 0x00, 0x02, 0x01, 0x00, 0x00, 0x00};
//---------------------------------------------------------------
EtherCAT_slave_desc_t Beckhoff_EK1100[] = {"Beckhoff", "EK1100", "Bus Coupler",
SIMPLE,
NULL, NULL, NULL, NULL, // Noch nicht eingepflegt...
NULL,
0};
EtherCAT_slave_desc_t Beckhoff_EL1014[] = {"Beckhoff", "EL1014", "4x Digital Input",
SIMPLE,
sm0_1014, NULL, NULL, NULL,
fmmu0_1014,
1};
EtherCAT_slave_desc_t Beckhoff_EL2004[] = {"Beckhoff", "EL2004", "4x Digital Output",
SIMPLE,
sm0_2004, NULL, NULL, NULL,
fmmu0_2004,
1};
EtherCAT_slave_desc_t Beckhoff_EL3102[] = {"Beckhoff", "EL3102", "2x Analog Input Diff",
MAILBOX,
sm0_multi, sm1_multi, sm2_31xx, sm3_31xx,
fmmu0_31xx,
6};
EtherCAT_slave_desc_t Beckhoff_EL3162[] = {"Beckhoff", "EL3162", "2x Analog Input",
MAILBOX,
sm0_multi, sm1_multi, sm2_31xx, sm3_31xx,
fmmu0_31xx,
6};
EtherCAT_slave_desc_t Beckhoff_EL4102[] = {"Beckhoff", "EL4102", "2x Analog Output",
MAILBOX,
sm0_multi, sm1_multi, sm2_4102, NULL,
fmmu0_4102,
4};
EtherCAT_slave_desc_t Beckhoff_EL5001[] = {"Beckhoff", "EL5001", "SSI-Interface",
SIMPLE,
NULL, NULL, NULL, NULL, // Noch nicht eingepflegt...
NULL,
0};
//---------------------------------------------------------------
unsigned int slave_idents_count = 7;
struct slave_ident slave_idents[] =
{
{0x00000002, 0x03F63052, Beckhoff_EL1014},
{0x00000002, 0x044C2C52, Beckhoff_EK1100},
{0x00000002, 0x07D43052, Beckhoff_EL2004},
{0x00000002, 0x0C1E3052, Beckhoff_EL3102},
{0x00000002, 0x0C5A3052, Beckhoff_EL3162},
{0x00000002, 0x10063052, Beckhoff_EL4102},
{0x00000002, 0x13893052, Beckhoff_EL5001}
};
//---------------------------------------------------------------
user/ec_slave.h deleted 100644 → 0
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//---------------------------------------------------------------
//
// e c _ s l a v e . h
//
// $LastChangedDate$
// $Author$
//
//---------------------------------------------------------------
#define SIMPLE 0
#define MAILBOX 1
//---------------------------------------------------------------
typedef struct slave_desc EtherCAT_slave_desc_t;
typedef struct
{
// Base data
unsigned char type;
unsigned char revision;
unsigned short build;
// Addresses
short ring_position;
unsigned short station_address;
// Slave information interface
unsigned int vendor_id;
unsigned int product_code;
unsigned int revision_number;
const EtherCAT_slave_desc_t *desc;
unsigned int logical_address0;
unsigned int current_state;
unsigned int requested_state;
unsigned char *process_data;
}
EtherCAT_slave_t;
#define ECAT_INIT_SLAVE(TYPE) {0, 0, 0, 0, 0, 0, 0, 0, TYPE, 0, 0, 0, NULL}
//---------------------------------------------------------------
// Slave construction and deletion
void EtherCAT_slave_init(EtherCAT_slave_t *);
void EtherCAT_slave_clear(EtherCAT_slave_t *);
// Debug
void EtherCAT_slave_print(EtherCAT_slave_t *);
//---------------------------------------------------------------
typedef struct slave_desc
{
const char *vendor_name;
const char *product_name;
const char *product_desc;
const int type;
const unsigned char *sm0;
const unsigned char *sm1;
const unsigned char *sm2;
const unsigned char *sm3;
const unsigned char *fmmu0;
const unsigned int data_length;
}
EtherCAT_slave_desc_t;
extern EtherCAT_slave_desc_t Beckhoff_EK1100[];
extern EtherCAT_slave_desc_t Beckhoff_EL1014[];
extern EtherCAT_slave_desc_t Beckhoff_EL2004[];
extern EtherCAT_slave_desc_t Beckhoff_EL3102[];
extern EtherCAT_slave_desc_t Beckhoff_EL3162[];
extern EtherCAT_slave_desc_t Beckhoff_EL4102[];
extern EtherCAT_slave_desc_t Beckhoff_EL5001[];
//---------------------------------------------------------------
struct slave_ident
{
const unsigned int vendor_id;
const unsigned int product_code;
const EtherCAT_slave_desc_t *desc;
};
extern struct slave_ident slave_idents[];
extern unsigned int slave_idents_count;
//---------------------------------------------------------------
user/main.c deleted 100644 → 0
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//---------------------------------------------------------------
//
// m a i n . c
//
// $LastChangedDate$
// $Author$
//
//---------------------------------------------------------------
#include <stdio.h>
#include <string.h> // memset()
#include <unistd.h> // usleep()
#include <signal.h>
#include "ec_globals.h"
#include "ec_master.h"
//---------------------------------------------------------------
void signal_handler(int);
void write_data(unsigned char *);
int continue_running;
unsigned short int word;
//---------------------------------------------------------------
int main(int argc, char **argv)
{
EtherCAT_master_t master;
EtherCAT_command_t *cmd, *cmd2;
unsigned char data[256];
unsigned int i, number;
struct sigaction sa;
sa.sa_handler = signal_handler;
sigaction(SIGINT, &sa, NULL);
printf("CatEther-Testprogramm.\n");
EtherCAT_master_init(&master, "eth1");
if (EtherCAT_check_slaves(&master, NULL, 0) != 0)
{
fprintf(stderr, "ERROR while searching for slaves!\n");
return -1;
}
if (master.slave_count == 0)
{
fprintf(stderr, "ERROR: No slaves found!\n");
return -1;
}
for (i = 0; i < master.slave_count; i++)
{
printf("Slave found: Type %02X, Revision %02X, Build %04X\n",
master.slaves[i].type, master.slaves[i].revision, master.slaves[i].build);
}
printf("Writing Station addresses.\n");
for (i = 0; i < master.slave_count; i++)
{
data[0] = i & 0x00FF;
data[1] = (i & 0xFF00) >> 8;
cmd = EtherCAT_position_write(&master, 0 - i, 0x0010, 2, data);
EtherCAT_send_receive(&master);
if (cmd->working_counter != 1)
{
fprintf(stderr, "ERROR: Slave did'n repond!\n");
return -1;
}
EtherCAT_remove_command(&master, cmd);
}
//----------
for (i = 0; i < master.slave_count; i++)
{
printf("\nKlemme %i:\n", i);
EtherCAT_read_slave_information(&master, i, 0x0008, &number);
printf("Vendor ID: 0x%04X (%i)\n", number, number);
EtherCAT_read_slave_information(&master, i, 0x000A, &number);
printf("Product Code: 0x%04X (%i)\n", number, number);
EtherCAT_read_slave_information(&master, i, 0x000E, &number);
printf("Revision Number: 0x%04X (%i)\n", number, number);
}
//----------
printf("\nResetting FMMU's.\n");
memset(data, 0x00, 256);
cmd = EtherCAT_broadcast_write(&master, 0x0600, 256, data);
EtherCAT_send_receive(&master);
if (cmd->working_counter != master.slave_count)
{
fprintf(stderr, "ERROR: Not all slaves responded (%i of %i)!\n",
cmd->working_counter, master.slave_count);
return -1;
}
EtherCAT_remove_command(&master, cmd);
//----------
printf("Resetting Sync Manager channels.\n");
memset(data, 0x00, 256);
cmd = EtherCAT_broadcast_write(&master, 0x0800, 256, data);
EtherCAT_send_receive(&master);
if (cmd->working_counter != master.slave_count)
{
fprintf(stderr, "ERROR: Not all slaves responded (%i of %i)!\n",
cmd->working_counter, master.slave_count);
return -1;
}
EtherCAT_remove_command(&master, cmd);
//----------
printf("Setting INIT state for devices.\n");
if (EtherCAT_broadcast_state_change(&master, EC_STATE_INIT) != 0)
{
fprintf(stderr, "ERROR: Could not set INIT state!\n");
return -1;
}
//----------
printf("Setting PREOP state for bus coupler.\n");
if (EtherCAT_state_change(&master, &master.slaves[0], EC_STATE_PREOP) != 0)
{
fprintf(stderr, "ERROR: Could not set state!\n");
return -1;
}
//----------
printf("Setting Sync managers 0 and 1 of device 1.\n");
data[0] = 0x00;
data[1] = 0x18;
data[2] = 0xF6;
data[3] = 0x00;
data[4] = 0x26;
data[5] = 0x00;
data[6] = 0x01;
data[7] = 0x00;
cmd = EtherCAT_write(&master, 0x0001, 0x0800, 8, data);
data[0] = 0xF6;
data[1] = 0x18;
data[2] = 0xF6;
data[3] = 0x00;
data[4] = 0x22;
data[5] = 0x00;
data[6] = 0x01;
data[7] = 0x00;
cmd2 = EtherCAT_write(&master, 0x0001, 0x0808, 8, data);
EtherCAT_send_receive(&master);
if (cmd->working_counter != 1 || cmd2->working_counter != 1)
{
fprintf(stderr, "ERROR: Not all slaves responded!\n");
return -1;
}
EtherCAT_remove_command(&master, cmd);
EtherCAT_remove_command(&master, cmd2);
//----------
printf("Setting PREOP state for device 1.\n");
if (EtherCAT_state_change(&master, &master.slaves[1], EC_STATE_PREOP))
{
fprintf(stderr, "ERROR: Could not set state!\n");
return -1;
}
//----------
printf("Setting PREOP state for device 4.\n");
if (EtherCAT_state_change(&master, &master.slaves[4], EC_STATE_PREOP))
{
fprintf(stderr, "ERROR: Could not set state!\n");
return -1;
}
//----------
#if 1
printf("Setting FMMU 0 of device 1.\n");
data[0] = 0x00; // Logical start address [4]
data[1] = 0x00;
data[2] = 0x00;
data[3] = 0x00;
data[4] = 0x04; // Length [2]
data[5] = 0x00;
data[6] = 0x00; // Start bit
data[7] = 0x07; // End bit
data[8] = 0x00; // Physical start address [2]
data[9] = 0x10;
data[10] = 0x00; // Physical start bit
data[11] = 0x02; // Read/write enable
data[12] = 0x01; // channel enable [2]
data[13] = 0x00;
data[14] = 0x00; // Reserved [2]
data[15] = 0x00;
cmd = EtherCAT_write(&master, 0x0001, 0x0600, 16, data);
EtherCAT_send_receive(&master);
if (cmd->working_counter != 1)
{
fprintf(stderr, "ERROR: Not all slaves responded (%i of 1)!\n",
cmd->working_counter);
return -1;
}
EtherCAT_remove_command(&master, cmd);
#endif
//----------
#if 1
printf("Setting FMMU 0 of device 4.\n");
data[0] = 0x04; // Logical start address [4]
data[1] = 0x00;
data[2] = 0x00;
data[3] = 0x00;
data[4] = 0x01; // Length [2]
data[5] = 0x00;
data[6] = 0x00; // Start bit
data[7] = 0x07; // End bit
data[8] = 0x00; // Physical start address [2]
data[9] = 0x0F;
data[10] = 0x00; // Physical start bit
data[11] = 0x02; // Read/write enable
data[12] = 0x01; // channel enable [2]
data[13] = 0x00;
data[14] = 0x00; // Reserved [2]
data[15] = 0x00;
cmd = EtherCAT_write(&master, 0x0004, 0x0600, 16, data);
EtherCAT_send_receive(&master);
if (cmd->working_counter != 1)
{
fprintf(stderr, "ERROR: Not all slaves responded (%i of 1)!\n",
cmd->working_counter);
return -1;
}
EtherCAT_remove_command(&master, cmd);
#endif
//----------
printf("Setting Sync manager 2 of device 1.\n");
data[0] = 0x00;
data[1] = 0x10;
data[2] = 0x04;
data[3] = 0x00;
data[4] = 0x24;
data[5] = 0x00;
data[6] = 0x01;
data[7] = 0x00;
cmd = EtherCAT_write(&master, 0x0001, 0x0810, 8, data);
EtherCAT_send_receive(&master);
if (cmd->working_counter != 1)
{
fprintf(stderr, "ERROR: Not all slaves responded (%i of 1)!\n", cmd->working_counter);
return -1;
}
EtherCAT_remove_command(&master, cmd);
//----------
printf("Setting Sync manager 0 for device 4.\n");
data[0] = 0x00;
data[1] = 0x0F;
data[2] = 0x01;
data[3] = 0x00;
data[4] = 0x46; // 46
data[5] = 0x00;
data[6] = 0x01;
data[7] = 0x00;
cmd = EtherCAT_write(&master, 0x0004, 0x0800, 8, data);
EtherCAT_send_receive(&master);
if (cmd->working_counter != 1)
{
fprintf(stderr, "ERROR: Not all slaves responded!\n");
return -1;
}
EtherCAT_remove_command(&master, cmd);
//----------
printf("Setting SAVEOP state for bus coupler.\n");
if (EtherCAT_state_change(&master, 0x0000, EC_STATE_SAVEOP) != 0)
{
fprintf(stderr, "ERROR: Could not set state!\n");
return -1;
}
//----------
printf("Setting SAVEOP state for device 1.\n");
if (EtherCAT_state_change(&master, &master.slaves[1], EC_STATE_SAVEOP) != 0)
{
fprintf(stderr, "ERROR: Could not set state!\n");
return -1;
}
//----------
printf("Setting SAVEOP state for device 4.\n");
if (EtherCAT_state_change(&master, &master.slaves[4], EC_STATE_SAVEOP) != 0)
{
fprintf(stderr, "ERROR: Could not set state!\n");
return -1;
}
//----------
printf("Setting OP state for bus coupler.\n");
if (EtherCAT_state_change(&master, &master.slaves[0], EC_STATE_OP) != 0)
{
fprintf(stderr, "ERROR: Could not set state!\n");
return -1;
}
//----------
printf("Setting OP state for device 1.\n");
if (EtherCAT_state_change(&master, &master.slaves[1], EC_STATE_OP) != 0)
{
fprintf(stderr, "ERROR: Could not set state!\n");
return -1;
}
//----------
printf("Setting OP state for device 4.\n");
if (EtherCAT_state_change(&master, &master.slaves[4], EC_STATE_OP) != 0)
{
fprintf(stderr, "ERROR: Could not set state!\n");
return -1;
}
//----------
word = 0;
printf("Starting thread...\n");
if (EtherCAT_start(&master, 5, write_data, NULL, 10000) != 0)
{
return -1;
}
continue_running = 1;
while (continue_running)
{
usleep(200000);
word += 1000;
word = word & 0x7FFF;
}
//----------
printf("Stopping master thread...\n");
EtherCAT_stop(&master);
EtherCAT_master_clear(&master);
printf("Finished.\n");
return 0;
}
//---------------------------------------------------------------
void write_data(unsigned char *data)
{
data[0] = word & 0xFF;
data[1] = (word & 0xFF00) >> 8;
data[2] = word & 0xFF;
data[3] = (word & 0xFF00) >> 8;
data[4] = 0x01;
}
//---------------------------------------------------------------
void signal_handler(int signum)
{
if (signum == SIGINT || signum == SIGTERM)
{
continue_running = 0;
}
}
//---------------------------------------------------------------
user/main_gui.cpp deleted 100644 → 0
+ 0
− 287
View file @ b70f903f
//---------------------------------------------------------------
//
// m a i n _ g u i . c p p
//
// $LastChangedDate$
// $Author$
//
//---------------------------------------------------------------
#include <stdio.h>
#include <string.h> // memset()
#include <unistd.h> // usleep()
#include <signal.h>
#include <fltk/Window.h>
#include <fltk/Slider.h>
#include <fltk/ValueOutput.h>
#include <fltk/FillSlider.h>
#include <fltk/CheckButton.h>
#include <fltk/run.h>
using namespace fltk;
#include "ec_globals.h"
#include "ec_master.h"
#define SLIDER_UPDATE_CYCLE 0.02
#define VALUES_UPDATE_CYCLE 0.50
//---------------------------------------------------------------
unsigned short int write_value;
signed short int read_value;
unsigned char dig_value;
void write_data(unsigned char *);
void read_data(unsigned char *);
void slider_write_callback(Widget *, void *);
void slider_read_timeout(void *);
void values_timeout(void *);
Window *window;
Slider *slider_read, *slider_write;
ValueOutput *output_cycle, *output_jitter, *output_work, *output_busy, *output_bus;
CheckButton *check1, *check2, *check3, *check4;
EtherCAT_master_t master;
double max_cycle, max_jitter, max_work, max_busy, max_bus;
//---------------------------------------------------------------
#define SLAVE_COUNT 7
EtherCAT_slave_t slaves[SLAVE_COUNT] =
{
ECAT_INIT_SLAVE(Beckhoff_EK1100),
ECAT_INIT_SLAVE(Beckhoff_EL4102),
ECAT_INIT_SLAVE(Beckhoff_EL3162),
ECAT_INIT_SLAVE(Beckhoff_EL1014),
ECAT_INIT_SLAVE(Beckhoff_EL5001),
ECAT_INIT_SLAVE(Beckhoff_EL2004),
ECAT_INIT_SLAVE(Beckhoff_EL3102)
};
//---------------------------------------------------------------
int main(int argc, char **argv)
{
//unsigned int i;
EtherCAT_slave_t *buskoppler, *input, *output, *dig_in, *dig_out;
struct sched_param sched;
printf("CatEther-Testprogramm.\n\n");
//----------
#if 1
printf("Setting highest task priority...\n");
sched.sched_priority = sched_get_priority_max(SCHED_RR);
if (sched_setscheduler(0, SCHED_RR, &sched) == -1)
{
fprintf(stderr, "ERROR: Could not set priority: %s\n", strerror(errno));
return -1;
}
#endif
//----------
printf("Initializing master...\n");
EtherCAT_master_init(&master, "eth1");
printf("Checking slaves...\n");
if (EtherCAT_check_slaves(&master, slaves, SLAVE_COUNT) != 0)
{
fprintf(stderr, "ERROR while searching for slaves!\n");
return -1;
}
//----------
// Check for slaves
buskoppler = &slaves[0];
output = &slaves[1];
dig_in = &slaves[3];
dig_out = &slaves[5];
input = &slaves[6];
// Set Mapping addresses
output->logical_address0 = 0x00000000;
input->logical_address0 = 0x00000004;
dig_in->logical_address0 = 0x0000000F;
dig_out->logical_address0 = 0x0000000E;
//----------
printf("Init output slave...\n");
if (EtherCAT_activate_slave(&master, output) != 0)
{
fprintf(stderr, "ERROR: Could not init slave!\n");
return -1;
}
printf("Init input slave...\n");
if (EtherCAT_activate_slave(&master, input) != 0)
{
fprintf(stderr, "ERROR: Could not init slave!\n");
return -1;
}
printf("Init digital input slave...\n");
if (EtherCAT_activate_slave(&master, dig_in) != 0)
{
fprintf(stderr, "ERROR: Could not init slave!\n");
return -1;
}
printf("Init digital output slave...\n");
if (EtherCAT_activate_slave(&master, dig_out) != 0)
{
fprintf(stderr, "ERROR: Could not init slave!\n");
return -1;
}
//----------
printf("Starting FLTK window...\n");
window = new Window(300, 300);
window->begin();
slider_read = new FillSlider(50, 10, 40, 280);
slider_read->set_vertical();
slider_read->buttoncolor(BLUE);
slider_read->deactivate();
slider_write = new Slider(110, 10, 40, 280);
slider_write->set_vertical();
slider_write->callback(slider_write_callback, NULL);
output_cycle = new ValueOutput(200, 50, 90, 25, "Cycle time [s]");
output_cycle->align(ALIGN_LEFT | ALIGN_TOP);
output_jitter = new ValueOutput(200, 90, 90, 25, "Jitter [%]");
output_jitter->align(ALIGN_LEFT | ALIGN_TOP);
output_work = new ValueOutput(200, 130, 90, 25, "Work time [s]");
output_work->align(ALIGN_LEFT | ALIGN_TOP);
output_busy = new ValueOutput(200, 170, 90, 25, "Busy rate [%]");
output_busy->align(ALIGN_LEFT | ALIGN_TOP);
output_bus = new ValueOutput(200, 210, 90, 25, "Bus time [s]");
output_bus->align(ALIGN_LEFT | ALIGN_TOP);
check1 = new CheckButton(200, 240, 30, 25, "1");
check2 = new CheckButton(250, 240, 30, 25, "2");
check3 = new CheckButton(200, 270, 30, 25, "3");
check4 = new CheckButton(250, 270, 30, 25, "4");
// output_cycle = new Output(200, 35, 90, 25);
window->end();
window->show();
add_timeout(SLIDER_UPDATE_CYCLE, slider_read_timeout, NULL);
add_timeout(VALUES_UPDATE_CYCLE, values_timeout, NULL);
printf("Starting thread...\n");
if (EtherCAT_start(&master, 20, write_data, read_data, 10000) != 0)
{
return -1;
}
run(); // Start FLTK loop
remove_timeout(slider_read_timeout, NULL);
remove_timeout(values_timeout, NULL);
printf("Stopping master thread...\n");
EtherCAT_stop(&master);
printf("Deactivating slaves...\n");
EtherCAT_deactivate_slave(&master, dig_out);
EtherCAT_deactivate_slave(&master, dig_in);
EtherCAT_deactivate_slave(&master, input);
EtherCAT_deactivate_slave(&master, output);
EtherCAT_deactivate_slave(&master, buskoppler);
EtherCAT_master_clear(&master);
printf("Finished.\n");
return 0;
}
//---------------------------------------------------------------
void write_data(unsigned char *data)
{
data[0] = write_value & 0xFF;
data[1] = (write_value & 0xFF00) >> 8;
data[14] = (write_value * 16 / 32767) & 0x0F;
}
//---------------------------------------------------------------
void read_data(unsigned char *data)
{
read_value = data[5] | data[6] << 8;
dig_value = data[15];
}
//---------------------------------------------------------------
void slider_read_timeout(void *data)
{
slider_read->value((double) read_value / 65536 + 0.5);
slider_read->redraw();
check1->value(dig_value & 1);
check2->value(dig_value & 2);
check3->value(dig_value & 4);
check4->value(dig_value & 8);
if (max_cycle < master.last_cycle_time) max_cycle = master.last_cycle_time;
if (max_jitter < master.last_jitter) max_jitter = master.last_jitter;
if (max_work < master.last_cycle_work_time) max_work = master.last_cycle_work_time;
if (max_busy < master.last_cycle_busy_rate) max_busy = master.last_cycle_busy_rate;
if (max_bus < master.bus_time) max_bus = master.bus_time;
repeat_timeout(SLIDER_UPDATE_CYCLE, slider_read_timeout, NULL);
}
//---------------------------------------------------------------
void values_timeout(void *data)
{
output_cycle->value(max_cycle * 1000000.0);
output_jitter->value(max_jitter);
output_work->value(max_work * 1000000.0);
output_busy->value(max_busy);
output_bus->value(max_bus * 1000000.0);
max_cycle = max_jitter = max_work = max_busy = max_bus = 0.0;
repeat_timeout(VALUES_UPDATE_CYCLE, values_timeout, NULL);
}
//---------------------------------------------------------------
void slider_write_callback(Widget *sender, void *data)
{
write_value = (short unsigned int) (32767 * slider_write->value() + 0.5);
}
//---------------------------------------------------------------
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