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SOEM/test/win32/simple_test/simple_test.c

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/** \file
* \brief Example code for Simple Open EtherCAT master
*
* Usage : simple_test [ifname1]
* ifname is NIC interface, f.e. eth0
*
* This is a minimal test.
*
* (c)Arthur Ketels 2010 - 2011
*/
#include <stdio.h>
#include <string.h>
//#include <Mmsystem.h>
#include "osal.h"
#include "ethercat.h"
#define EC_TIMEOUTMON 500
char IOmap[4096];
OSAL_THREAD_HANDLE thread1;
int expectedWKC;
boolean needlf;
volatile int wkc;
volatile int rtcnt;
boolean inOP;
uint8 currentgroup = 0;
/* most basic RT thread for process data, just does IO transfer */
void CALLBACK RTthread(UINT uTimerID, UINT uMsg, DWORD_PTR dwUser, DWORD_PTR dw1, DWORD_PTR dw2)
{
IOmap[0]++;
ec_send_processdata();
wkc = ec_receive_processdata(EC_TIMEOUTRET);
rtcnt++;
/* do RT control stuff here */
}
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;
}
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;
}
void simpletest(char *ifname)
{
int i, j, oloop, iloop, wkc_count, chk, slc;
UINT mmResult;
needlf = FALSE;
inOP = FALSE;
printf("Starting simple 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);
if((ec_slavecount > 1))
{
for(slc = 1; slc <= ec_slavecount; slc++)
{
// beckhoff EL7031, using ec_slave[].name is not very reliable
if((ec_slave[slc].eep_man == 0x00000002) && (ec_slave[slc].eep_id == 0x1b773052))
{
printf("Found %s at position %d\n", ec_slave[slc].name, slc);
// link slave specific setup to preop->safeop hook
ec_slave[slc].PO2SOconfig = &EL7031setup;
}
// Copley Controls EAP, using ec_slave[].name is not very reliable
if((ec_slave[slc].eep_man == 0x000000ab) && (ec_slave[slc].eep_id == 0x00000380))
{
printf("Found %s at position %d\n", ec_slave[slc].name, slc);
// link slave specific setup to preop->safeop hook
ec_slave[slc].PO2SOconfig = &AEPsetup;
}
}
}
ec_config_map(&IOmap);
ec_configdc();
printf("Slaves mapped, state to SAFE_OP.\n");
/* wait for all slaves to reach SAFE_OP state */
ec_statecheck(0, EC_STATE_SAFE_OP, EC_TIMEOUTSTATE * 4);
oloop = ec_slave[0].Obytes;
if ((oloop == 0) && (ec_slave[0].Obits > 0)) oloop = 1;
if (oloop > 8) oloop = 8;
iloop = ec_slave[0].Ibytes;
if ((iloop == 0) && (ec_slave[0].Ibits > 0)) iloop = 1;
if (iloop > 8) iloop = 8;
printf("segments : %d : %d %d %d %d\n",ec_group[0].nsegments ,ec_group[0].IOsegment[0],ec_group[0].IOsegment[1],ec_group[0].IOsegment[2],ec_group[0].IOsegment[3]);
printf("Request operational state for all slaves\n");
expectedWKC = (ec_group[0].outputsWKC * 2) + ec_group[0].inputsWKC;
printf("Calculated workcounter %d\n", expectedWKC);
ec_slave[0].state = EC_STATE_OPERATIONAL;
/* send one valid process data to make outputs in slaves happy*/
ec_send_processdata();
ec_receive_processdata(EC_TIMEOUTRET);
/* start RT thread as periodic MM timer */
mmResult = timeSetEvent(1, 0, RTthread, 0, TIME_PERIODIC);
/* request OP state for all slaves */
ec_writestate(0);
chk = 200;
/* wait for all slaves to reach OP state */
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 )
{
printf("Operational state reached for all slaves.\n");
wkc_count = 0;
inOP = TRUE;
/* cyclic loop, reads data from RT thread */
for(i = 1; i <= 500; i++)
{
if(wkc >= expectedWKC)
{
printf("Processdata cycle %4d, WKC %d , O:", rtcnt, wkc);
for(j = 0 ; j < oloop; j++)
{
printf(" %2.2x", *(ec_slave[0].outputs + j));
}
printf(" I:");
for(j = 0 ; j < iloop; j++)
{
printf(" %2.2x", *(ec_slave[0].inputs + j));
}
printf(" T:%lld\r",ec_DCtime);
needlf = TRUE;
}
osal_usleep(50000);
}
inOP = FALSE;
}
else
{
printf("Not all slaves reached operational state.\n");
ec_readstate();
for(i = 1; i<=ec_slavecount ; i++)
{
if(ec_slave[i].state != EC_STATE_OPERATIONAL)
{
printf("Slave %d State=0x%2.2x StatusCode=0x%4.4x : %s\n",
i, ec_slave[i].state, ec_slave[i].ALstatuscode, ec_ALstatuscode2string(ec_slave[i].ALstatuscode));
}
}
}
/* stop RT thread */
timeKillEvent(mmResult);
printf("\nRequest init state for all slaves\n");
ec_slave[0].state = EC_STATE_INIT;
/* request INIT state for all slaves */
ec_writestate(0);
}
else
{
printf("No slaves found!\n");
}
printf("End simple test, close socket\n");
/* stop SOEM, close socket */
ec_close();
}
else
{
printf("No socket connection on %s\nExcecute as root\n",ifname);
}
}
//DWORD WINAPI ecatcheck( LPVOID lpParam )
OSAL_THREAD_FUNC ecatcheck(void *lpParam)
{
int slave;
while(1)
{
if( inOP && ((wkc < expectedWKC) || ec_group[currentgroup].docheckstate))
{
if (needlf)
{
needlf = FALSE;
printf("\n");
}
/* one ore more slaves are not responding */
ec_group[currentgroup].docheckstate = FALSE;
ec_readstate();
for (slave = 1; slave <= ec_slavecount; slave++)
{
if ((ec_slave[slave].group == currentgroup) && (ec_slave[slave].state != EC_STATE_OPERATIONAL))
{
ec_group[currentgroup].docheckstate = TRUE;
if (ec_slave[slave].state == (EC_STATE_SAFE_OP + EC_STATE_ERROR))
{
printf("ERROR : slave %d is in SAFE_OP + ERROR, attempting ack.\n", slave);
ec_slave[slave].state = (EC_STATE_SAFE_OP + EC_STATE_ACK);
ec_writestate(slave);
}
else if(ec_slave[slave].state == EC_STATE_SAFE_OP)
{
printf("WARNING : slave %d is in SAFE_OP, change to OPERATIONAL.\n", slave);
ec_slave[slave].state = EC_STATE_OPERATIONAL;
ec_writestate(slave);
}
else if(ec_slave[slave].state > EC_STATE_NONE)
{
if (ec_reconfig_slave(slave, EC_TIMEOUTMON))
{
ec_slave[slave].islost = FALSE;
printf("MESSAGE : slave %d reconfigured\n",slave);
}
}
else if(!ec_slave[slave].islost)
{
/* re-check state */
ec_statecheck(slave, EC_STATE_OPERATIONAL, EC_TIMEOUTRET);
if (ec_slave[slave].state == EC_STATE_NONE)
{
ec_slave[slave].islost = TRUE;
printf("ERROR : slave %d lost\n",slave);
}
}
}
if (ec_slave[slave].islost)
{
if(ec_slave[slave].state == EC_STATE_NONE)
{
if (ec_recover_slave(slave, EC_TIMEOUTMON))
{
ec_slave[slave].islost = FALSE;
printf("MESSAGE : slave %d recovered\n",slave);
}
}
else
{
ec_slave[slave].islost = FALSE;
printf("MESSAGE : slave %d found\n",slave);
}
}
}
if(!ec_group[currentgroup].docheckstate)
printf("OK : all slaves resumed OPERATIONAL.\n");
}
osal_usleep(10000);
}
return 0;
}
char ifbuf[1024];
int main(int argc, char *argv[])
{
ec_adaptert * adapter = NULL;
printf("SOEM (Simple Open EtherCAT Master)\nSimple test\n");
if (argc > 1)
{
/* create thread to handle slave error handling in OP */
osal_thread_create(&thread1, 128000, &ecatcheck, (void*) &ctime);
strcpy(ifbuf, argv[1]);
/* start cyclic part */
simpletest(ifbuf);
}
else
{
printf("Usage: simple_test ifname1\n");
/* Print the list */
printf ("Available adapters\n");
adapter = ec_find_adapters ();
while (adapter != NULL)
{
printf ("Description : %s, Device to use for wpcap: %s\n", adapter->desc,adapter->name);
adapter = adapter->next;
}
}
printf("End program\n");
return (0);
}
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