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//---------------------------------------------------------------
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//
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// e c _ m a s t e r . c
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//
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// $LastChangedDate$
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// $Author$
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//
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//---------------------------------------------------------------
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#include "ec_globals.h"
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#include "ec_master.h"
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#define DEBUG_SEND_RECEIVE
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//---------------------------------------------------------------
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int EtherCAT_master_init(EtherCAT_master_t *master,
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char *eth_dev)
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{
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char errbuf_libpcap[PCAP_ERRBUF_SIZE];
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char errbuf_libnet[LIBNET_ERRBUF_SIZE];
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master->slaves = NULL;
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master->slave_count = 0;
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master->first_command = NULL;
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master->command_index = 0x00;
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master->process_data = NULL;
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master->pre_cb = NULL;
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master->post_cb = NULL;
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master->thread_continue = 0;
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master->cycle_time = 0;
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// Init Libpcap
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master->pcap_handle = pcap_open_live(eth_dev, BUFSIZ, 1, 0, errbuf_libpcap);
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if (master->pcap_handle == NULL)
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{
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fprintf(stderr, "Couldn't open device %s: %s\n", eth_dev, errbuf_libpcap);
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return 1;
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}
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// Init Libnet
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if (!(master->net_handle = libnet_init(LIBNET_LINK, eth_dev, errbuf_libnet)))
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{
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fprintf(stderr, "Could not init %s: %s!\n", eth_dev, errbuf_libnet);
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pcap_close(master->pcap_handle);
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return 1;
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}
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return 0;
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}
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//---------------------------------------------------------------
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void EtherCAT_master_clear(EtherCAT_master_t *master)
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{
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libnet_destroy(master->net_handle);
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pcap_close(master->pcap_handle);
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// Remove all pending commands
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while (master->first_command)
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{
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EtherCAT_remove_command(master, master->first_command);
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}
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// Remove all slaves
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EtherCAT_clear_slaves(master);
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}
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//---------------------------------------------------------------
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int EtherCAT_check_slaves(EtherCAT_master_t *master,
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EtherCAT_slave_t *slaves,
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unsigned int slave_count)
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{
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EtherCAT_command_t *cmd;
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EtherCAT_slave_t *cur;
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unsigned int i, j, found;
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unsigned char data[2];
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// EtherCAT_clear_slaves() must be called before!
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if (master->slave_count) return -1;
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// Determine number of slaves
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if ((cmd = EtherCAT_broadcast_read(master, 0x0000, 4)) == NULL)
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{
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return -1;
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}
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if (EtherCAT_send_receive(master) != 0)
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{
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return -1;
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}
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master->slave_count = cmd->working_counter;
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EtherCAT_remove_command(master, cmd);
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if (master->slave_count < slave_count)
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{
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fprintf(stderr, "ERROR: Too few slaves on EtherCAT bus!\n");
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return -1;
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}
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// No slaves. Stop further processing...
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if (master->slave_count == 0) return 0;
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// For every slave in the list
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for (i = 0; i < master->slave_count; i++)
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{
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cur = &slaves[i];
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if (!cur->desc)
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{
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fprintf(stderr, "ERROR: Slave has no description (list position %i)!\n", i);
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return -1;
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}
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// Set ring position
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cur->ring_position = -i;
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cur->station_address = i + 1;
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// Write station address
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data[0] = cur->station_address & 0x00FF;
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data[1] = (cur->station_address & 0xFF00) >> 8;
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if ((cmd = EtherCAT_position_write(master, cur->ring_position, 0x0010, 2, data)) == NULL)
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{
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master->slave_count = 0;
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fprintf(stderr, "ERROR: Could not create command!\n");
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return -1;
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}
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if (EtherCAT_send_receive(master) != 0)
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{
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master->slave_count = 0;
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fprintf(stderr, "ERROR: Could not send command!\n");
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return -1;
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}
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if (cmd->working_counter != 1)
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{
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master->slave_count = 0;
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fprintf(stderr, "ERROR: Slave %i did not repond while writing station address!\n", i);
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return -1;
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}
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EtherCAT_remove_command(master, cmd);
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// Read base data
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if ((cmd = EtherCAT_read(master, cur->station_address, 0x0000, 4)) == NULL)
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{
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master->slave_count = 0;
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fprintf(stderr, "ERROR: Could not create command!\n");
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return -1;
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}
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if (EtherCAT_send_receive(master) != 0)
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{
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EtherCAT_remove_command(master, cmd);
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master->slave_count = 0;
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fprintf(stderr, "ERROR: Could not send command!\n");
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return -4;
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}
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if (cmd->working_counter != 1)
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{
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EtherCAT_remove_command(master, cmd);
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master->slave_count = 0;
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fprintf(stderr, "ERROR: Slave %i did not respond while reading base data!\n", i);
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return -5;
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}
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// Get base data
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cur->type = cmd->data[0];
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cur->revision = cmd->data[1];
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cur->build = cmd->data[2] | (cmd->data[3] << 8);
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EtherCAT_remove_command(master, cmd);
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// Read identification from "Slave Information Interface" (SII)
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if (EtherCAT_read_slave_information(master, cur->station_address, 0x0008, &cur->vendor_id) != 0)
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{
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master->slave_count = 0;
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fprintf(stderr, "ERROR: Could not read SII!\n", i);
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return -1;
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}
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if (EtherCAT_read_slave_information(master, cur->station_address, 0x000A, &cur->product_code) != 0)
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{
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master->slave_count = 0;
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fprintf(stderr, "ERROR: Could not read SII!\n", i);
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return -1;
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}
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if (EtherCAT_read_slave_information(master, cur->station_address, 0x000E, &cur->revision_number) != 0)
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{
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master->slave_count = 0;
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fprintf(stderr, "ERROR: Could not read SII!\n", i);
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return -1;
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}
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// Search for identification in "database"
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found = 0;
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for (j = 0; j < slave_idents_count; j++)
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{
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if (slave_idents[j].vendor_id == cur->vendor_id
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&& slave_idents[j].product_code == cur->product_code)
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{
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found = 1;
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if (cur->desc != slave_idents[j].desc)
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{
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fprintf(stderr, "ERROR: Unexpected slave device at position %i:"
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"%s %s. Expected: %s %s\n",
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i, slave_idents[j].desc->vendor_name, slave_idents[j].desc->product_name,
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cur->desc->vendor_name, cur->desc->product_name);
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return -1;
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}
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break;
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}
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}
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if (!found)
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{
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fprintf(stderr, "ERROR: Unknown slave device at position %i: Vendor %X, Code %X",
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i, cur->vendor_id, cur->product_code);
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return -1;
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}
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}
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return 0;
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}
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//---------------------------------------------------------------
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void EtherCAT_clear_slaves(EtherCAT_master_t *master)
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{
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unsigned int i;
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if (master->slave_count == 0) return;
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for (i = 0; i < master->slave_count; i++)
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{
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EtherCAT_slave_clear(&master->slaves[i]);
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}
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free(master->slaves);
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master->slaves = NULL;
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}
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//---------------------------------------------------------------
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int EtherCAT_read_slave_information(EtherCAT_master_t *master,
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unsigned short int node_address,
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unsigned short int offset,
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unsigned int *target)
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{
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EtherCAT_command_t *cmd;
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unsigned char data[10];
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unsigned int tries;
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// Initiate read operation
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data[0] = 0x00;
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data[1] = 0x01;
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data[2] = offset & 0xFF;
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data[3] = (offset & 0xFF00) >> 8;
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data[4] = 0x00;
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data[5] = 0x00;
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if ((cmd = EtherCAT_write(master, node_address, 0x502, 6, data)) == NULL)
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{
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fprintf(stderr, "ERROR: Could not allocate command!\n");
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return -2;
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}
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if (EtherCAT_send_receive(master) != 0)
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{
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EtherCAT_remove_command(master, cmd);
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fprintf(stderr, "ERROR: Could not write to slave!\n");
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return -3;
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}
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if (cmd->working_counter != 1)
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{
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EtherCAT_remove_command(master, cmd);
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fprintf(stderr, "ERROR: Command not processed by slave!\n");
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return -4;
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}
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EtherCAT_remove_command(master, cmd);
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// Get status of read operation
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tries = 0;
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while (tries < 10)
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{
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if ((cmd = EtherCAT_read(master, node_address, 0x502, 10)) == NULL)
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{
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fprintf(stderr, "ERROR: Could not allocate command!\n");
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return -2;
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}
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if (EtherCAT_send_receive(master) != 0)
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{
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EtherCAT_remove_command(master, cmd);
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fprintf(stderr, "ERROR: Could not read from slave!\n");
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return -3;
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}
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if (cmd->working_counter != 1)
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{
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EtherCAT_remove_command(master, cmd);
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fprintf(stderr, "ERROR: Command not processed by slave!\n");
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return -4;
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}
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if ((cmd->data[1] & 0x81) == 0)
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{
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#if 0
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printf("SLI status data: %02X %02X Address: %02X %02X\n", cmd->data[0], cmd->data[1], cmd->data[2], cmd->data[3]);
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printf("Data: %02X %02X %02X %02X\n", cmd->data[6], cmd->data[7], cmd->data[8], cmd->data[9]);
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#endif
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memcpy(target, cmd->data + 6, 4);
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340 |
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EtherCAT_remove_command(master, cmd);
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342 |
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break;
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}
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345 |
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EtherCAT_remove_command(master, cmd);
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347 |
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tries++;
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}
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350 |
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351 |
if (tries == 10) fprintf(stderr, "ERROR: Timeout while reading SII!\n");
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return 0;
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}
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355 |
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//---------------------------------------------------------------
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357 |
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int EtherCAT_send_receive(EtherCAT_master_t *master)
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{
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libnet_ptag_t ptag;
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struct pcap_pkthdr header;
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const unsigned char *packet;
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unsigned char dst[6], src[6];
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unsigned int i, length, framelength, pos, command_type, command_index;
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EtherCAT_command_t *cmd;
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unsigned char *data;
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int bytes, command_follows, found;
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368 |
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369 |
#ifdef DEBUG_SEND_RECEIVE
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found = 0;
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#endif
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372 |
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length = 0;
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374 |
for (cmd = master->first_command; cmd != NULL; cmd = cmd->next)
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{
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376 |
//if (cmd->status != Waiting) continue;
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377 |
length += cmd->data_length + 12;
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378 |
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379 |
#ifdef DEBUG_SEND_RECEIVE
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380 |
found++;
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381 |
#endif
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382 |
}
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383 |
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384 |
#ifdef DEBUG_SEND_RECEIVE
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385 |
printf("Sending %i commands with length %i...\n", found, length);
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386 |
#endif
|
|
|
387 |
|
|
|
388 |
if (length == 0) return 0;
|
|
|
389 |
|
|
|
390 |
framelength = length + 2;
|
|
|
391 |
if (framelength < 46) framelength = 46;
|
|
|
392 |
|
|
|
393 |
data = (unsigned char *) malloc(sizeof(unsigned char) * framelength);
|
|
|
394 |
if (!data) return -1;
|
|
|
395 |
|
|
|
396 |
data[0] = length & 0xFF;
|
|
|
397 |
data[1] = ((length & 0x700) >> 8) | 0x10;
|
|
|
398 |
pos = 2;
|
|
|
399 |
|
|
|
400 |
for (cmd = master->first_command; cmd != NULL; cmd = cmd->next)
|
|
|
401 |
{
|
|
|
402 |
if (cmd->status != Waiting)
|
|
|
403 |
{
|
|
|
404 |
printf("Old command: %02X\n", cmd->command_type);
|
|
|
405 |
continue;
|
|
|
406 |
}
|
|
|
407 |
|
|
|
408 |
cmd->command_index = master->command_index;
|
|
|
409 |
master->command_index = (master->command_index + 1) % 0x0100;
|
|
|
410 |
|
|
|
411 |
cmd->status = Sent;
|
|
|
412 |
|
|
|
413 |
data[pos + 0] = cmd->command_type;
|
|
|
414 |
data[pos + 1] = cmd->command_index;
|
|
|
415 |
|
|
|
416 |
switch (cmd->command_type)
|
|
|
417 |
{
|
|
|
418 |
case EC_CMD_APRD:
|
|
|
419 |
case EC_CMD_APWR:
|
|
|
420 |
data[pos + 2] = cmd->ring_position & 0xFF;
|
|
|
421 |
data[pos + 3] = (cmd->ring_position & 0xFF00) >> 8;
|
|
|
422 |
data[pos + 4] = cmd->mem_address & 0xFF;
|
|
|
423 |
data[pos + 5] = (cmd->mem_address & 0xFF00) >> 8;
|
|
|
424 |
break;
|
|
|
425 |
|
|
|
426 |
case EC_CMD_NPRD:
|
|
|
427 |
case EC_CMD_NPWR:
|
|
|
428 |
data[pos + 2] = cmd->node_address & 0xFF;
|
|
|
429 |
data[pos + 3] = (cmd->node_address & 0xFF00) >> 8;
|
|
|
430 |
data[pos + 4] = cmd->mem_address & 0xFF;
|
|
|
431 |
data[pos + 5] = (cmd->mem_address & 0xFF00) >> 8;
|
|
|
432 |
break;
|
|
|
433 |
|
|
|
434 |
case EC_CMD_BRD:
|
|
|
435 |
case EC_CMD_BWR:
|
|
|
436 |
data[pos + 2] = 0x00;
|
|
|
437 |
data[pos + 3] = 0x00;
|
|
|
438 |
data[pos + 4] = cmd->mem_address & 0xFF;
|
|
|
439 |
data[pos + 5] = (cmd->mem_address & 0xFF00) >> 8;
|
|
|
440 |
break;
|
|
|
441 |
|
|
|
442 |
case EC_CMD_LRW:
|
|
|
443 |
data[pos + 2] = cmd->logical_address & 0x000000FF;
|
|
|
444 |
data[pos + 3] = (cmd->logical_address & 0x0000FF00) >> 8;
|
|
|
445 |
data[pos + 4] = (cmd->logical_address & 0x00FF0000) >> 16;
|
|
|
446 |
data[pos + 5] = (cmd->logical_address & 0xFF000000) >> 24;
|
|
|
447 |
break;
|
|
|
448 |
|
|
|
449 |
default:
|
|
|
450 |
data[pos + 2] = 0x00;
|
|
|
451 |
data[pos + 3] = 0x00;
|
|
|
452 |
data[pos + 4] = 0x00;
|
|
|
453 |
data[pos + 5] = 0x00;
|
|
|
454 |
fprintf(stderr, "WARNING: Default adress while frame construction...\n");
|
|
|
455 |
break;
|
|
|
456 |
}
|
|
|
457 |
|
|
|
458 |
data[pos + 6] = cmd->data_length & 0xFF;
|
|
|
459 |
data[pos + 7] = (cmd->data_length & 0x700) >> 8;
|
|
|
460 |
|
|
|
461 |
if (cmd->next) data[pos + 7] |= 0x80;
|
|
|
462 |
|
|
|
463 |
data[pos + 8] = 0x00;
|
|
|
464 |
data[pos + 9] = 0x00;
|
|
|
465 |
|
|
|
466 |
if (cmd->command_type == EC_CMD_APWR
|
|
|
467 |
|| cmd->command_type == EC_CMD_NPWR
|
|
|
468 |
|| cmd->command_type == EC_CMD_BWR
|
|
|
469 |
|| cmd->command_type == EC_CMD_LRW) // Write
|
|
|
470 |
{
|
|
|
471 |
for (i = 0; i < cmd->data_length; i++) data[pos + 10 + i] = cmd->data[i];
|
|
|
472 |
}
|
|
|
473 |
else // Read
|
|
|
474 |
{
|
|
|
475 |
for (i = 0; i < cmd->data_length; i++) data[pos + 10 + i] = 0x00;
|
|
|
476 |
}
|
|
|
477 |
|
|
|
478 |
data[pos + 10 + cmd->data_length] = 0x00;
|
|
|
479 |
data[pos + 11 + cmd->data_length] = 0x00;
|
|
|
480 |
|
|
|
481 |
pos += 12 + cmd->data_length;
|
|
|
482 |
}
|
|
|
483 |
|
|
|
484 |
// Pad with zeros
|
|
|
485 |
while (pos < 46) data[pos++] = 0x00;
|
|
|
486 |
|
|
|
487 |
#ifdef DEBUG_SEND_RECEIVE
|
|
|
488 |
printf("\n>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>\n");
|
|
|
489 |
for (i = 0; i < framelength; i++)
|
|
|
490 |
{
|
|
|
491 |
printf("%02X ", data[i]);
|
|
|
492 |
|
|
|
493 |
if ((i + 1) % 16 == 0) printf("\n");
|
|
|
494 |
}
|
|
|
495 |
printf("\n-----------------------------------------------\n");
|
|
|
496 |
#endif
|
|
|
497 |
|
|
|
498 |
dst[0] = 0xFF;
|
|
|
499 |
dst[1] = 0xFF;
|
|
|
500 |
dst[2] = 0xFF;
|
|
|
501 |
dst[3] = 0xFF;
|
|
|
502 |
dst[4] = 0xFF;
|
|
|
503 |
dst[5] = 0xFF;
|
|
|
504 |
|
|
|
505 |
src[0] = 0x00;
|
|
|
506 |
src[1] = 0x00;
|
|
|
507 |
src[2] = 0x00;
|
|
|
508 |
src[3] = 0x00;
|
|
|
509 |
src[4] = 0x00;
|
|
|
510 |
src[5] = 0x00;
|
|
|
511 |
|
|
|
512 |
// Send frame
|
|
|
513 |
ptag = libnet_build_ethernet(dst, src, 0x88A4, data, framelength, master->net_handle, 0);
|
|
|
514 |
bytes = libnet_write(master->net_handle);
|
|
|
515 |
libnet_clear_packet(master->net_handle);
|
|
|
516 |
|
|
|
517 |
if (bytes == -1)
|
|
|
518 |
{
|
|
|
519 |
free(data);
|
|
|
520 |
fprintf(stderr, "Could not write!\n");
|
|
|
521 |
return -1;
|
|
|
522 |
}
|
|
|
523 |
|
|
|
524 |
packet = pcap_next(master->pcap_handle, &header); // LibPCap receives sent frame first
|
|
|
525 |
packet = pcap_next(master->pcap_handle, &header);
|
|
|
526 |
|
|
|
527 |
#ifdef DEBUG_SEND_RECEIVE
|
|
|
528 |
for (i = 0; i < header.len - 14; i++)
|
|
|
529 |
{
|
|
|
530 |
if (packet[i + 14] == data[i]) printf(" ");
|
|
|
531 |
else printf("%02X ", packet[i + 14]);
|
|
|
532 |
|
|
|
533 |
if ((i + 1) % 16 == 0) printf("\n");
|
|
|
534 |
}
|
|
|
535 |
printf("\n<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<\n\n");
|
|
|
536 |
#endif
|
|
|
537 |
|
|
|
538 |
// Free sent data
|
|
|
539 |
free(data);
|
|
|
540 |
|
|
|
541 |
pos = 16;
|
|
|
542 |
command_follows = 1;
|
|
|
543 |
while (command_follows)
|
|
|
544 |
{
|
|
|
545 |
command_type = packet[pos];
|
|
|
546 |
command_index = packet[pos + 1];
|
|
|
547 |
length = (packet[pos + 6] & 0xFF) | ((packet[pos + 7] & 0x07) << 8);
|
|
|
548 |
command_follows = packet[pos + 7] & 0x80;
|
|
|
549 |
|
|
|
550 |
#if 0
|
|
|
551 |
printf("Command %02X received!\n", command_index);
|
|
|
552 |
#endif
|
|
|
553 |
|
|
|
554 |
found = 0;
|
|
|
555 |
|
|
|
556 |
for (cmd = master->first_command; cmd != NULL; cmd = cmd->next)
|
|
|
557 |
{
|
|
|
558 |
if (cmd->status == Sent
|
|
|
559 |
&& cmd->command_type == command_type
|
|
|
560 |
&& cmd->command_index == command_index
|
|
|
561 |
&& cmd->data_length == length)
|
|
|
562 |
{
|
|
|
563 |
found = 1;
|
|
|
564 |
cmd->status = Received;
|
|
|
565 |
|
|
|
566 |
cmd->data = (unsigned char *) malloc(sizeof(unsigned char) * length);
|
|
|
567 |
memcpy(cmd->data, packet + pos + 10, length);
|
|
|
568 |
|
|
|
569 |
cmd->working_counter = (packet[pos + length + 10] & 0xFF)
|
|
|
570 |
| ((packet[pos + length + 11] & 0xFF) << 8);
|
|
|
571 |
}
|
|
|
572 |
}
|
|
|
573 |
|
|
|
574 |
if (!found)
|
|
|
575 |
{
|
|
|
576 |
fprintf(stderr, "WARNING: Command not assigned!\n");
|
|
|
577 |
}
|
|
|
578 |
|
|
|
579 |
pos += length + 12;
|
|
|
580 |
}
|
|
|
581 |
|
|
|
582 |
for (cmd = master->first_command; cmd != NULL; cmd = cmd->next)
|
|
|
583 |
{
|
|
|
584 |
if (cmd->status == Sent)
|
|
|
585 |
{
|
|
|
586 |
fprintf(stderr, "WARNING: Command not sent!\n");
|
|
|
587 |
}
|
|
|
588 |
}
|
|
|
589 |
|
|
|
590 |
return 0;
|
|
|
591 |
}
|
|
|
592 |
|
|
|
593 |
//---------------------------------------------------------------
|
|
|
594 |
|
|
|
595 |
EtherCAT_command_t *EtherCAT_read(EtherCAT_master_t *master,
|
|
|
596 |
unsigned short node_address,
|
|
|
597 |
unsigned short offset,
|
|
|
598 |
unsigned int length)
|
|
|
599 |
{
|
|
|
600 |
EtherCAT_command_t *cmd;
|
|
|
601 |
|
|
|
602 |
if (node_address == 0x0000) fprintf(stderr, "WARNING: Using node address 0x0000!\n");
|
|
|
603 |
|
|
|
604 |
cmd = (EtherCAT_command_t *) malloc(sizeof(EtherCAT_command_t));
|
|
|
605 |
|
|
|
606 |
if (cmd == NULL)
|
|
|
607 |
{
|
|
|
608 |
return NULL;
|
|
|
609 |
}
|
|
|
610 |
|
|
|
611 |
EtherCAT_command_init(cmd);
|
|
|
612 |
|
|
|
613 |
cmd->command_type = EC_CMD_NPRD;
|
|
|
614 |
cmd->node_address = node_address;
|
|
|
615 |
cmd->mem_address = offset;
|
|
|
616 |
cmd->data_length = length;
|
|
|
617 |
|
|
|
618 |
// Add command to master's list
|
|
|
619 |
add_command(master, cmd);
|
|
|
620 |
|
|
|
621 |
return cmd;
|
|
|
622 |
}
|
|
|
623 |
|
|
|
624 |
//---------------------------------------------------------------
|
|
|
625 |
|
|
|
626 |
EtherCAT_command_t *EtherCAT_write(EtherCAT_master_t *master,
|
|
|
627 |
unsigned short node_address,
|
|
|
628 |
unsigned short offset,
|
|
|
629 |
unsigned int length,
|
|
|
630 |
const unsigned char *data)
|
|
|
631 |
{
|
|
|
632 |
EtherCAT_command_t *cmd;
|
|
|
633 |
|
|
|
634 |
if (node_address == 0x0000) fprintf(stderr, "WARNING: Using node address 0x0000!\n");
|
|
|
635 |
|
|
|
636 |
cmd = (EtherCAT_command_t *) malloc(sizeof(EtherCAT_command_t));
|
|
|
637 |
|
|
|
638 |
if (cmd == NULL)
|
|
|
639 |
{
|
|
|
640 |
return NULL;
|
|
|
641 |
}
|
|
|
642 |
|
|
|
643 |
EtherCAT_command_init(cmd);
|
|
|
644 |
|
|
|
645 |
cmd->command_type = EC_CMD_NPWR;
|
|
|
646 |
cmd->node_address = node_address;
|
|
|
647 |
cmd->mem_address = offset;
|
|
|
648 |
cmd->data_length = length;
|
|
|
649 |
|
|
|
650 |
cmd->data = (unsigned char *) malloc(sizeof(unsigned char) * length);
|
|
|
651 |
|
|
|
652 |
if (cmd->data == NULL)
|
|
|
653 |
{
|
|
|
654 |
free(cmd);
|
|
|
655 |
return NULL;
|
|
|
656 |
}
|
|
|
657 |
|
|
|
658 |
memcpy(cmd->data, data, length);
|
|
|
659 |
|
|
|
660 |
// Add command to master's list
|
|
|
661 |
add_command(master, cmd);
|
|
|
662 |
|
|
|
663 |
return cmd;
|
|
|
664 |
}
|
|
|
665 |
|
|
|
666 |
//---------------------------------------------------------------
|
|
|
667 |
|
|
|
668 |
EtherCAT_command_t *EtherCAT_position_read(EtherCAT_master_t *master,
|
|
|
669 |
short ring_position,
|
|
|
670 |
unsigned short offset,
|
|
|
671 |
unsigned int length)
|
|
|
672 |
{
|
|
|
673 |
EtherCAT_command_t *cmd;
|
|
|
674 |
|
|
|
675 |
cmd = (EtherCAT_command_t *) malloc(sizeof(EtherCAT_command_t));
|
|
|
676 |
|
|
|
677 |
if (cmd == NULL)
|
|
|
678 |
{
|
|
|
679 |
return NULL;
|
|
|
680 |
}
|
|
|
681 |
|
|
|
682 |
EtherCAT_command_init(cmd);
|
|
|
683 |
|
|
|
684 |
cmd->command_type = EC_CMD_APRD;
|
|
|
685 |
cmd->ring_position = ring_position;
|
|
|
686 |
cmd->mem_address = offset;
|
|
|
687 |
cmd->data_length = length;
|
|
|
688 |
|
|
|
689 |
// Add command to master's list
|
|
|
690 |
add_command(master, cmd);
|
|
|
691 |
|
|
|
692 |
return cmd;
|
|
|
693 |
}
|
|
|
694 |
|
|
|
695 |
//---------------------------------------------------------------
|
|
|
696 |
|
|
|
697 |
EtherCAT_command_t *EtherCAT_position_write(EtherCAT_master_t *master,
|
|
|
698 |
short ring_position,
|
|
|
699 |
unsigned short offset,
|
|
|
700 |
unsigned int length,
|
|
|
701 |
const unsigned char *data)
|
|
|
702 |
{
|
|
|
703 |
EtherCAT_command_t *cmd;
|
|
|
704 |
|
|
|
705 |
cmd = (EtherCAT_command_t *) malloc(sizeof(EtherCAT_command_t));
|
|
|
706 |
|
|
|
707 |
if (cmd == NULL)
|
|
|
708 |
{
|
|
|
709 |
return NULL;
|
|
|
710 |
}
|
|
|
711 |
|
|
|
712 |
EtherCAT_command_init(cmd);
|
|
|
713 |
|
|
|
714 |
cmd->command_type = EC_CMD_APWR;
|
|
|
715 |
cmd->ring_position = ring_position;
|
|
|
716 |
cmd->mem_address = offset;
|
|
|
717 |
cmd->data_length = length;
|
|
|
718 |
|
|
|
719 |
cmd->data = (unsigned char *) malloc(sizeof(unsigned char) * length);
|
|
|
720 |
|
|
|
721 |
if (cmd->data == NULL)
|
|
|
722 |
{
|
|
|
723 |
free(cmd);
|
|
|
724 |
return NULL;
|
|
|
725 |
}
|
|
|
726 |
|
|
|
727 |
memcpy(cmd->data, data, length);
|
|
|
728 |
|
|
|
729 |
// Add command to master's list
|
|
|
730 |
add_command(master, cmd);
|
|
|
731 |
|
|
|
732 |
return cmd;
|
|
|
733 |
}
|
|
|
734 |
|
|
|
735 |
//---------------------------------------------------------------
|
|
|
736 |
|
|
|
737 |
EtherCAT_command_t *EtherCAT_broadcast_read(EtherCAT_master_t *master,
|
|
|
738 |
unsigned short offset,
|
|
|
739 |
unsigned int length)
|
|
|
740 |
{
|
|
|
741 |
EtherCAT_command_t *cmd;
|
|
|
742 |
|
|
|
743 |
cmd = (EtherCAT_command_t *) malloc(sizeof(EtherCAT_command_t));
|
|
|
744 |
|
|
|
745 |
if (cmd == NULL)
|
|
|
746 |
{
|
|
|
747 |
return NULL;
|
|
|
748 |
}
|
|
|
749 |
|
|
|
750 |
EtherCAT_command_init(cmd);
|
|
|
751 |
|
|
|
752 |
cmd->command_type = EC_CMD_BRD;
|
|
|
753 |
cmd->mem_address = offset;
|
|
|
754 |
cmd->data_length = length;
|
|
|
755 |
|
|
|
756 |
// Add command to master's list
|
|
|
757 |
add_command(master, cmd);
|
|
|
758 |
|
|
|
759 |
return cmd;
|
|
|
760 |
}
|
|
|
761 |
|
|
|
762 |
//---------------------------------------------------------------
|
|
|
763 |
|
|
|
764 |
EtherCAT_command_t *EtherCAT_broadcast_write(EtherCAT_master_t *master,
|
|
|
765 |
unsigned short offset,
|
|
|
766 |
unsigned int length,
|
|
|
767 |
const unsigned char *data)
|
|
|
768 |
{
|
|
|
769 |
EtherCAT_command_t *cmd;
|
|
|
770 |
|
|
|
771 |
cmd = (EtherCAT_command_t *) malloc(sizeof(EtherCAT_command_t));
|
|
|
772 |
|
|
|
773 |
if (cmd == NULL)
|
|
|
774 |
{
|
|
|
775 |
return NULL;
|
|
|
776 |
}
|
|
|
777 |
|
|
|
778 |
EtherCAT_command_init(cmd);
|
|
|
779 |
|
|
|
780 |
cmd->command_type = EC_CMD_BWR;
|
|
|
781 |
cmd->mem_address = offset;
|
|
|
782 |
cmd->data_length = length;
|
|
|
783 |
|
|
|
784 |
cmd->data = (unsigned char *) malloc(sizeof(unsigned char) * length);
|
|
|
785 |
|
|
|
786 |
if (cmd->data == NULL)
|
|
|
787 |
{
|
|
|
788 |
free(cmd);
|
|
|
789 |
return NULL;
|
|
|
790 |
}
|
|
|
791 |
|
|
|
792 |
memcpy(cmd->data, data, length);
|
|
|
793 |
|
|
|
794 |
// Add command to master's list
|
|
|
795 |
add_command(master, cmd);
|
|
|
796 |
|
|
|
797 |
return cmd;
|
|
|
798 |
}
|
|
|
799 |
|
|
|
800 |
//---------------------------------------------------------------
|
|
|
801 |
|
|
|
802 |
EtherCAT_command_t *EtherCAT_logical_read_write(EtherCAT_master_t *master,
|
|
|
803 |
unsigned int offset,
|
|
|
804 |
unsigned int length,
|
|
|
805 |
unsigned char *data)
|
|
|
806 |
{
|
|
|
807 |
EtherCAT_command_t *cmd;
|
|
|
808 |
|
|
|
809 |
cmd = (EtherCAT_command_t *) malloc(sizeof(EtherCAT_command_t));
|
|
|
810 |
|
|
|
811 |
if (cmd == NULL)
|
|
|
812 |
{
|
|
|
813 |
return NULL;
|
|
|
814 |
}
|
|
|
815 |
|
|
|
816 |
EtherCAT_command_init(cmd);
|
|
|
817 |
|
|
|
818 |
cmd->command_type = EC_CMD_LRW;
|
|
|
819 |
cmd->mem_address = offset;
|
|
|
820 |
cmd->data_length = length;
|
|
|
821 |
|
|
|
822 |
cmd->data = (unsigned char *) malloc(sizeof(unsigned char) * length);
|
|
|
823 |
|
|
|
824 |
if (cmd->data == NULL)
|
|
|
825 |
{
|
|
|
826 |
free(cmd);
|
|
|
827 |
return NULL;
|
|
|
828 |
}
|
|
|
829 |
|
|
|
830 |
memcpy(cmd->data, data, length);
|
|
|
831 |
|
|
|
832 |
// Add command to master's list
|
|
|
833 |
add_command(master, cmd);
|
|
|
834 |
|
|
|
835 |
return cmd;
|
|
|
836 |
}
|
|
|
837 |
|
|
|
838 |
//---------------------------------------------------------------
|
|
|
839 |
|
|
|
840 |
void add_command(EtherCAT_master_t *master, EtherCAT_command_t *cmd)
|
|
|
841 |
{
|
|
|
842 |
EtherCAT_command_t **last_cmd;
|
|
|
843 |
|
|
|
844 |
// Find last position in the list
|
|
|
845 |
last_cmd = &(master->first_command);
|
|
|
846 |
while (*last_cmd) last_cmd = &(*last_cmd)->next;
|
|
|
847 |
|
|
|
848 |
*last_cmd = cmd;
|
|
|
849 |
}
|
|
|
850 |
|
|
|
851 |
//---------------------------------------------------------------
|
|
|
852 |
|
|
|
853 |
void EtherCAT_remove_command(EtherCAT_master_t *master,
|
|
|
854 |
EtherCAT_command_t *rem_cmd)
|
|
|
855 |
{
|
|
|
856 |
EtherCAT_command_t **last_cmd;
|
|
|
857 |
|
|
|
858 |
last_cmd = &(master->first_command);
|
|
|
859 |
while (*last_cmd)
|
|
|
860 |
{
|
|
|
861 |
if (*last_cmd == rem_cmd)
|
|
|
862 |
{
|
|
|
863 |
*last_cmd = rem_cmd->next;
|
|
|
864 |
EtherCAT_command_clear(rem_cmd);
|
|
|
865 |
|
|
|
866 |
return;
|
|
|
867 |
}
|
|
|
868 |
|
|
|
869 |
last_cmd = &(*last_cmd)->next;
|
|
|
870 |
}
|
|
|
871 |
}
|
|
|
872 |
|
|
|
873 |
//---------------------------------------------------------------
|
|
|
874 |
|
|
|
875 |
int EtherCAT_state_change(EtherCAT_master_t *master,
|
|
|
876 |
EtherCAT_slave_t *slave,
|
|
|
877 |
unsigned char state_and_ack)
|
|
|
878 |
{
|
|
|
879 |
EtherCAT_command_t *cmd;
|
|
|
880 |
unsigned char data[2];
|
|
|
881 |
unsigned int tries_left;
|
|
|
882 |
|
|
|
883 |
data[0] = state_and_ack;
|
|
|
884 |
data[1] = 0x00;
|
|
|
885 |
|
|
|
886 |
if ((cmd = EtherCAT_write(master, slave->station_address,
|
|
|
887 |
0x0120, 2, data)) == NULL)
|
|
|
888 |
{
|
|
|
889 |
return -1;
|
|
|
890 |
}
|
|
|
891 |
|
|
|
892 |
if (EtherCAT_send_receive(master) != 0)
|
|
|
893 |
{
|
|
|
894 |
EtherCAT_remove_command(master, cmd);
|
|
|
895 |
return -2;
|
|
|
896 |
}
|
|
|
897 |
|
|
|
898 |
if (cmd->working_counter != 1)
|
|
|
899 |
{
|
|
|
900 |
EtherCAT_remove_command(master, cmd);
|
|
|
901 |
return -3;
|
|
|
902 |
}
|
|
|
903 |
|
|
|
904 |
EtherCAT_remove_command(master, cmd);
|
|
|
905 |
|
|
|
906 |
slave->requested_state = state_and_ack & 0x0F;
|
|
|
907 |
|
|
|
908 |
tries_left = 10;
|
|
|
909 |
|
|
|
910 |
while (tries_left)
|
|
|
911 |
{
|
|
|
912 |
if ((cmd = EtherCAT_read(master, slave->station_address,
|
|
|
913 |
0x0130, 2)) == NULL)
|
|
|
914 |
{
|
|
|
915 |
return -1;
|
|
|
916 |
}
|
|
|
917 |
|
|
|
918 |
if (EtherCAT_send_receive(master) != 0)
|
|
|
919 |
{
|
|
|
920 |
EtherCAT_remove_command(master, cmd);
|
|
|
921 |
return -2;
|
|
|
922 |
}
|
|
|
923 |
|
|
|
924 |
if (cmd->working_counter != 1)
|
|
|
925 |
{
|
|
|
926 |
EtherCAT_remove_command(master, cmd);
|
|
|
927 |
return -3;
|
|
|
928 |
}
|
|
|
929 |
|
|
|
930 |
if (cmd->data[0] & 0x10) // State change error
|
|
|
931 |
{
|
|
|
932 |
EtherCAT_remove_command(master, cmd);
|
|
|
933 |
return -4;
|
|
|
934 |
}
|
|
|
935 |
|
|
|
936 |
if (cmd->data[0] == state_and_ack & 0x0F) // State change successful
|
|
|
937 |
{
|
|
|
938 |
EtherCAT_remove_command(master, cmd);
|
|
|
939 |
break;
|
|
|
940 |
}
|
|
|
941 |
|
|
|
942 |
EtherCAT_remove_command(master, cmd);
|
|
|
943 |
|
|
|
944 |
//printf("Trying again...\n");
|
|
|
945 |
|
|
|
946 |
tries_left--;
|
|
|
947 |
}
|
|
|
948 |
|
|
|
949 |
if (!tries_left)
|
|
|
950 |
{
|
|
|
951 |
return -5;
|
|
|
952 |
}
|
|
|
953 |
|
|
|
954 |
slave->current_state = state_and_ack & 0x0F;
|
|
|
955 |
|
|
|
956 |
return 0;
|
|
|
957 |
}
|
|
|
958 |
|
|
|
959 |
//---------------------------------------------------------------
|
|
|
960 |
|
|
|
961 |
int EtherCAT_broadcast_state_change(EtherCAT_master_t *master,
|
|
|
962 |
unsigned char state)
|
|
|
963 |
{
|
|
|
964 |
EtherCAT_command_t *cmd;
|
|
|
965 |
unsigned char data[2];
|
|
|
966 |
unsigned int tries_left;
|
|
|
967 |
|
|
|
968 |
data[0] = state;
|
|
|
969 |
data[1] = 0x00;
|
|
|
970 |
|
|
|
971 |
if ((cmd = EtherCAT_broadcast_write(master, 0x0120, 2, data)) == NULL)
|
|
|
972 |
{
|
|
|
973 |
return -1;
|
|
|
974 |
}
|
|
|
975 |
|
|
|
976 |
if (EtherCAT_send_receive(master) != 0)
|
|
|
977 |
{
|
|
|
978 |
EtherCAT_remove_command(master, cmd);
|
|
|
979 |
return -2;
|
|
|
980 |
}
|
|
|
981 |
|
|
|
982 |
if (cmd->working_counter != master->slave_count)
|
|
|
983 |
{
|
|
|
984 |
EtherCAT_remove_command(master, cmd);
|
|
|
985 |
return -3;
|
|
|
986 |
}
|
|
|
987 |
|
|
|
988 |
EtherCAT_remove_command(master, cmd);
|
|
|
989 |
|
|
|
990 |
tries_left = 10;
|
|
|
991 |
|
|
|
992 |
while (tries_left)
|
|
|
993 |
{
|
|
|
994 |
if ((cmd = EtherCAT_broadcast_read(master, 0x0130, 2)) == NULL)
|
|
|
995 |
{
|
|
|
996 |
return -1;
|
|
|
997 |
}
|
|
|
998 |
|
|
|
999 |
if (EtherCAT_send_receive(master) != 0)
|
|
|
1000 |
{
|
|
|
1001 |
EtherCAT_remove_command(master, cmd);
|
|
|
1002 |
return -2;
|
|
|
1003 |
}
|
|
|
1004 |
|
|
|
1005 |
if (cmd->working_counter != master->slave_count)
|
|
|
1006 |
{
|
|
|
1007 |
EtherCAT_remove_command(master, cmd);
|
|
|
1008 |
return -3;
|
|
|
1009 |
}
|
|
|
1010 |
|
|
|
1011 |
if (cmd->data[0] & 0x10) // State change error
|
|
|
1012 |
{
|
|
|
1013 |
EtherCAT_remove_command(master, cmd);
|
|
|
1014 |
return -4;
|
|
|
1015 |
}
|
|
|
1016 |
|
|
|
1017 |
if (cmd->data[0] == state) // State change successful
|
|
|
1018 |
{
|
|
|
1019 |
EtherCAT_remove_command(master, cmd);
|
|
|
1020 |
break;
|
|
|
1021 |
}
|
|
|
1022 |
|
|
|
1023 |
EtherCAT_remove_command(master, cmd);
|
|
|
1024 |
|
|
|
1025 |
//printf("Trying again...\n");
|
|
|
1026 |
|
|
|
1027 |
tries_left--;
|
|
|
1028 |
}
|
|
|
1029 |
|
|
|
1030 |
if (!tries_left)
|
|
|
1031 |
{
|
|
|
1032 |
return -5;
|
|
|
1033 |
}
|
|
|
1034 |
|
|
|
1035 |
return 0;
|
|
|
1036 |
}
|
|
|
1037 |
|
|
|
1038 |
//---------------------------------------------------------------
|
|
|
1039 |
|
|
|
1040 |
int EtherCAT_start(EtherCAT_master_t *master,
|
|
|
1041 |
unsigned int length,
|
|
|
1042 |
void (*pre_cb)(unsigned char *),
|
|
|
1043 |
void (*post_cb)(unsigned char *),
|
|
|
1044 |
unsigned int cycle_time)
|
|
|
1045 |
{
|
|
|
1046 |
if (master->process_data)
|
|
|
1047 |
{
|
|
|
1048 |
fprintf(stderr, "ERROR: Process data already allocated!\n");
|
|
|
1049 |
return -1;
|
|
|
1050 |
}
|
|
|
1051 |
|
|
|
1052 |
if ((master->process_data = (unsigned char *) malloc(length)) == NULL)
|
|
|
1053 |
{
|
|
|
1054 |
fprintf(stderr, "ERROR: Could not allocate process data block!\n");
|
|
|
1055 |
return -2;
|
|
|
1056 |
}
|
|
|
1057 |
|
|
|
1058 |
memset(master->process_data, 0x00, length);
|
|
|
1059 |
|
|
|
1060 |
master->process_data_length = length;
|
|
|
1061 |
master->pre_cb = pre_cb;
|
|
|
1062 |
master->post_cb = post_cb;
|
|
|
1063 |
master->cycle_time = cycle_time;
|
|
|
1064 |
|
|
|
1065 |
master->thread_continue = 1;
|
|
|
1066 |
|
|
|
1067 |
if (pthread_create(&master->thread, NULL, thread_function, (void *) master) != 0)
|
|
|
1068 |
{
|
|
|
1069 |
fprintf(stderr, "ERROR: Could not create thread!\n");
|
|
|
1070 |
return -3;
|
|
|
1071 |
}
|
|
|
1072 |
|
|
|
1073 |
return 0;
|
|
|
1074 |
}
|
|
|
1075 |
|
|
|
1076 |
//---------------------------------------------------------------
|
|
|
1077 |
|
|
|
1078 |
int EtherCAT_stop(EtherCAT_master_t *master)
|
|
|
1079 |
{
|
|
|
1080 |
if (!master->thread_continue)
|
|
|
1081 |
{
|
|
|
1082 |
fprintf(stderr, "ERROR: Thread not running!\n");
|
|
|
1083 |
return -1;
|
|
|
1084 |
}
|
|
|
1085 |
|
|
|
1086 |
master->thread_continue = 0;
|
|
|
1087 |
pthread_join(master->thread, NULL);
|
|
|
1088 |
|
|
|
1089 |
if (master->process_data)
|
|
|
1090 |
{
|
|
|
1091 |
free(master->process_data);
|
|
|
1092 |
master->process_data = NULL;
|
|
|
1093 |
}
|
|
|
1094 |
|
|
|
1095 |
master->pre_cb = NULL;
|
|
|
1096 |
master->post_cb = NULL;
|
|
|
1097 |
|
|
|
1098 |
return 0;
|
|
|
1099 |
}
|
|
|
1100 |
|
|
|
1101 |
//---------------------------------------------------------------
|
|
|
1102 |
|
|
|
1103 |
double current_timestamp()
|
|
|
1104 |
{
|
|
|
1105 |
struct timeval tv;
|
|
|
1106 |
gettimeofday(&tv, NULL);
|
|
|
1107 |
return tv.tv_sec + (double) tv.tv_usec / 1000000.0;
|
|
|
1108 |
}
|
|
|
1109 |
|
|
|
1110 |
//---------------------------------------------------------------
|
|
|
1111 |
|
|
|
1112 |
void *thread_function(void *data)
|
|
|
1113 |
{
|
|
|
1114 |
EtherCAT_master_t *master;
|
|
|
1115 |
EtherCAT_command_t *cmd;
|
|
|
1116 |
double bus_start_time, bus_end_time;
|
|
|
1117 |
double cycle_start_time, cycle_end_time, last_cycle_start_time;
|
|
|
1118 |
unsigned int wait_usecs;
|
|
|
1119 |
|
|
|
1120 |
master = (EtherCAT_master_t *) data;
|
|
|
1121 |
|
|
|
1122 |
last_cycle_start_time = 0.0;
|
|
|
1123 |
|
|
|
1124 |
while (master->thread_continue)
|
|
|
1125 |
{
|
|
|
1126 |
cycle_start_time = current_timestamp();
|
|
|
1127 |
|
|
|
1128 |
if (last_cycle_start_time != 0.0)
|
|
|
1129 |
{
|
|
|
1130 |
master->last_cycle_time = cycle_start_time - last_cycle_start_time;
|
|
|
1131 |
master->last_jitter = (master->last_cycle_time - (master->cycle_time / 1000000.0))
|
|
|
1132 |
/ (master->cycle_time / 1000000.0) * 100.0;
|
|
|
1133 |
}
|
|
|
1134 |
|
|
|
1135 |
last_cycle_start_time = cycle_start_time;
|
|
|
1136 |
|
|
|
1137 |
if (master->pre_cb) master->pre_cb(master->process_data);
|
|
|
1138 |
|
|
|
1139 |
cmd = EtherCAT_logical_read_write(master,
|
|
|
1140 |
0x00000000,
|
|
|
1141 |
master->process_data_length,
|
|
|
1142 |
master->process_data);
|
|
|
1143 |
|
|
|
1144 |
bus_start_time = current_timestamp();
|
|
|
1145 |
|
|
|
1146 |
EtherCAT_send_receive(master);
|
|
|
1147 |
|
|
|
1148 |
bus_end_time = current_timestamp();
|
|
|
1149 |
master->bus_time = bus_end_time - bus_start_time;
|
|
|
1150 |
|
|
|
1151 |
#if 0
|
|
|
1152 |
printf("Working counter: %i\n", cmd->working_counter);
|
|
|
1153 |
#endif
|
|
|
1154 |
|
|
|
1155 |
memcpy(master->process_data, cmd->data, master->process_data_length);
|
|
|
1156 |
|
|
|
1157 |
EtherCAT_remove_command(master, cmd);
|
|
|
1158 |
|
|
|
1159 |
if (master->post_cb) master->post_cb(master->process_data);
|
|
|
1160 |
|
|
|
1161 |
// Calculate working time
|
|
|
1162 |
|
|
|
1163 |
cycle_end_time = current_timestamp();
|
|
|
1164 |
master->last_cycle_work_time = cycle_end_time - cycle_start_time;
|
|
|
1165 |
master->last_cycle_busy_rate = master->last_cycle_work_time
|
|
|
1166 |
/ ((double) master->cycle_time / 1000000.0) * 100.0;
|
|
|
1167 |
wait_usecs = master->cycle_time - (unsigned int) (master->last_cycle_work_time * 1000000.0);
|
|
|
1168 |
|
|
|
1169 |
//printf("USECS to wait: %i\n", wait_usecs);
|
|
|
1170 |
|
|
|
1171 |
usleep(wait_usecs);
|
|
|
1172 |
|
|
|
1173 |
//printf("waited: %lf\n", current_timestamp() - cycle_end_time);
|
|
|
1174 |
}
|
|
|
1175 |
|
|
|
1176 |
return (void *) 0;
|
|
|
1177 |
}
|
|
|
1178 |
|
|
|
1179 |
//---------------------------------------------------------------
|
|
|
1180 |
|
|
|
1181 |
int EtherCAT_activate_slave(EtherCAT_master_t *master,
|
|
|
1182 |
EtherCAT_slave_t *slave)
|
|
|
1183 |
{
|
|
|
1184 |
EtherCAT_command_t *cmd;
|
|
|
1185 |
const EtherCAT_slave_desc_t *desc;
|
|
|
1186 |
unsigned char fmmu[16];
|
|
|
1187 |
unsigned char data[256];
|
|
|
1188 |
|
|
|
1189 |
if (EtherCAT_state_change(master, slave, EC_STATE_INIT) != 0)
|
|
|
1190 |
{
|
|
|
1191 |
return -1;
|
|
|
1192 |
}
|
|
|
1193 |
|
|
|
1194 |
// Resetting FMMU's
|
|
|
1195 |
|
|
|
1196 |
memset(data, 0x00, 256);
|
|
|
1197 |
cmd = EtherCAT_write(master, slave->station_address, 0x0600, 256, data);
|
|
|
1198 |
EtherCAT_send_receive(master);
|
|
|
1199 |
|
|
|
1200 |
if (cmd->working_counter != 1)
|
|
|
1201 |
{
|
|
|
1202 |
fprintf(stderr, "ERROR: Slave did not respond!\n");
|
|
|
1203 |
return -2;
|
|
|
1204 |
}
|
|
|
1205 |
|
|
|
1206 |
EtherCAT_remove_command(master, cmd);
|
|
|
1207 |
|
|
|
1208 |
// Resetting Sync Manager channels
|
|
|
1209 |
|
|
|
1210 |
memset(data, 0x00, 256);
|
|
|
1211 |
cmd = EtherCAT_write(master, slave->station_address, 0x0800, 256, data);
|
|
|
1212 |
EtherCAT_send_receive(master);
|
|
|
1213 |
|
|
|
1214 |
if (cmd->working_counter != 1)
|
|
|
1215 |
{
|
|
|
1216 |
fprintf(stderr, "ERROR: Slave did not respond!\n");
|
|
|
1217 |
return -2;
|
|
|
1218 |
}
|
|
|
1219 |
|
|
|
1220 |
EtherCAT_remove_command(master, cmd);
|
|
|
1221 |
|
|
|
1222 |
desc = slave->desc;
|
|
|
1223 |
|
|
|
1224 |
// Init Mailbox communication
|
|
|
1225 |
|
|
|
1226 |
if (desc->type == MAILBOX)
|
|
|
1227 |
{
|
|
|
1228 |
if (desc->sm0)
|
|
|
1229 |
{
|
|
|
1230 |
cmd = EtherCAT_write(master, slave->station_address, 0x0800, 8, desc->sm0);
|
|
|
1231 |
|
|
|
1232 |
EtherCAT_send_receive(master);
|
|
|
1233 |
|
|
|
1234 |
if (cmd->working_counter != 1)
|
|
|
1235 |
{
|
|
|
1236 |
fprintf(stderr, "ERROR: Not all slaves responded!\n");
|
|
|
1237 |
return -3;
|
|
|
1238 |
}
|
|
|
1239 |
|
|
|
1240 |
EtherCAT_remove_command(master, cmd);
|
|
|
1241 |
}
|
|
|
1242 |
|
|
|
1243 |
if (desc->sm1)
|
|
|
1244 |
{
|
|
|
1245 |
cmd = EtherCAT_write(master, slave->station_address, 0x0808, 8, desc->sm1);
|
|
|
1246 |
|
|
|
1247 |
EtherCAT_send_receive(master);
|
|
|
1248 |
|
|
|
1249 |
if (cmd->working_counter != 1)
|
|
|
1250 |
{
|
|
|
1251 |
fprintf(stderr, "ERROR: Not all slaves responded!\n");
|
|
|
1252 |
return -4;
|
|
|
1253 |
}
|
|
|
1254 |
|
|
|
1255 |
EtherCAT_remove_command(master, cmd);
|
|
|
1256 |
}
|
|
|
1257 |
}
|
|
|
1258 |
|
|
|
1259 |
// Change state to PREOP
|
|
|
1260 |
|
|
|
1261 |
if (EtherCAT_state_change(master, slave, EC_STATE_PREOP) != 0)
|
|
|
1262 |
{
|
|
|
1263 |
fprintf(stderr, "ERROR: Could not set state!\n");
|
|
|
1264 |
return -5;
|
|
|
1265 |
}
|
|
|
1266 |
|
|
|
1267 |
// Set FMMU's
|
|
|
1268 |
|
|
|
1269 |
if (desc->fmmu0)
|
|
|
1270 |
{
|
|
|
1271 |
memcpy(fmmu, desc->fmmu0, 16);
|
|
|
1272 |
|
|
|
1273 |
fmmu[0] = slave->logical_address0 & 0x000000FF;
|
|
|
1274 |
fmmu[1] = (slave->logical_address0 & 0x0000FF00) >> 8;
|
|
|
1275 |
fmmu[2] = (slave->logical_address0 & 0x00FF0000) >> 16;
|
|
|
1276 |
fmmu[3] = (slave->logical_address0 & 0xFF000000) >> 24;
|
|
|
1277 |
|
|
|
1278 |
cmd = EtherCAT_write(master, slave->station_address, 0x0600, 16, fmmu);
|
|
|
1279 |
EtherCAT_send_receive(master);
|
|
|
1280 |
|
|
|
1281 |
if (cmd->working_counter != 1)
|
|
|
1282 |
{
|
|
|
1283 |
fprintf(stderr, "ERROR: Not all slaves responded (%i of 1)!\n",
|
|
|
1284 |
cmd->working_counter);
|
|
|
1285 |
return -6;
|
|
|
1286 |
}
|
|
|
1287 |
|
|
|
1288 |
EtherCAT_remove_command(master, cmd);
|
|
|
1289 |
}
|
|
|
1290 |
|
|
|
1291 |
// Set Sync Managers
|
|
|
1292 |
|
|
|
1293 |
if (desc->type != MAILBOX)
|
|
|
1294 |
{
|
|
|
1295 |
if (desc->sm0)
|
|
|
1296 |
{
|
|
|
1297 |
cmd = EtherCAT_write(master, slave->station_address, 0x0800, 8, desc->sm0);
|
|
|
1298 |
|
|
|
1299 |
EtherCAT_send_receive(master);
|
|
|
1300 |
|
|
|
1301 |
if (cmd->working_counter != 1)
|
|
|
1302 |
{
|
|
|
1303 |
fprintf(stderr, "ERROR: Not all slaves responded!\n");
|
|
|
1304 |
return -8;
|
|
|
1305 |
}
|
|
|
1306 |
|
|
|
1307 |
EtherCAT_remove_command(master, cmd);
|
|
|
1308 |
}
|
|
|
1309 |
|
|
|
1310 |
if (desc->sm1)
|
|
|
1311 |
{
|
|
|
1312 |
cmd = EtherCAT_write(master, slave->station_address, 0x0808, 8, desc->sm1);
|
|
|
1313 |
|
|
|
1314 |
EtherCAT_send_receive(master);
|
|
|
1315 |
|
|
|
1316 |
if (cmd->working_counter != 1)
|
|
|
1317 |
{
|
|
|
1318 |
fprintf(stderr, "ERROR: Not all slaves responded!\n");
|
|
|
1319 |
return -9;
|
|
|
1320 |
}
|
|
|
1321 |
|
|
|
1322 |
EtherCAT_remove_command(master, cmd);
|
|
|
1323 |
}
|
|
|
1324 |
}
|
|
|
1325 |
|
|
|
1326 |
if (desc->sm2)
|
|
|
1327 |
{
|
|
|
1328 |
cmd = EtherCAT_write(master, slave->station_address, 0x0810, 8, desc->sm2);
|
|
|
1329 |
|
|
|
1330 |
EtherCAT_send_receive(master);
|
|
|
1331 |
|
|
|
1332 |
if (cmd->working_counter != 1)
|
|
|
1333 |
{
|
|
|
1334 |
fprintf(stderr, "ERROR: Not all slaves responded!\n");
|
|
|
1335 |
return -10;
|
|
|
1336 |
}
|
|
|
1337 |
|
|
|
1338 |
EtherCAT_remove_command(master, cmd);
|
|
|
1339 |
}
|
|
|
1340 |
|
|
|
1341 |
if (desc->sm3)
|
|
|
1342 |
{
|
|
|
1343 |
cmd = EtherCAT_write(master, slave->station_address, 0x0818, 8, desc->sm3);
|
|
|
1344 |
|
|
|
1345 |
EtherCAT_send_receive(master);
|
|
|
1346 |
|
|
|
1347 |
if (cmd->working_counter != 1)
|
|
|
1348 |
{
|
|
|
1349 |
fprintf(stderr, "ERROR: Not all slaves responded!\n");
|
|
|
1350 |
return -11;
|
|
|
1351 |
}
|
|
|
1352 |
|
|
|
1353 |
EtherCAT_remove_command(master, cmd);
|
|
|
1354 |
}
|
|
|
1355 |
|
|
|
1356 |
// Change state to SAVEOP
|
|
|
1357 |
|
|
|
1358 |
if (EtherCAT_state_change(master, slave, EC_STATE_SAVEOP) != 0)
|
|
|
1359 |
{
|
|
|
1360 |
fprintf(stderr, "ERROR: Could not set state!\n");
|
|
|
1361 |
return -12;
|
|
|
1362 |
}
|
|
|
1363 |
|
|
|
1364 |
// Change state to OP
|
|
|
1365 |
|
|
|
1366 |
if (EtherCAT_state_change(master, slave, EC_STATE_OP) != 0)
|
|
|
1367 |
{
|
|
|
1368 |
fprintf(stderr, "ERROR: Could not set state!\n");
|
|
|
1369 |
return -13;
|
|
|
1370 |
}
|
|
|
1371 |
|
|
|
1372 |
return 0;
|
|
|
1373 |
}
|
|
|
1374 |
|
|
|
1375 |
//---------------------------------------------------------------
|
|
|
1376 |
|
|
|
1377 |
int EtherCAT_deactivate_slave(EtherCAT_master_t *master,
|
|
|
1378 |
EtherCAT_slave_t *slave)
|
|
|
1379 |
{
|
|
|
1380 |
if (EtherCAT_state_change(master, slave, EC_STATE_INIT) != 0)
|
|
|
1381 |
{
|
|
|
1382 |
return -1;
|
|
|
1383 |
}
|
|
|
1384 |
|
|
|
1385 |
return 0;
|
|
|
1386 |
}
|
|
|
1387 |
|
|
|
1388 |
//---------------------------------------------------------------
|
|
|
1389 |
|
|
|
1390 |
void set_byte(unsigned char *data,
|
|
|
1391 |
unsigned int offset,
|
|
|
1392 |
unsigned char value)
|
|
|
1393 |
{
|
|
|
1394 |
data[offset] = value;
|
|
|
1395 |
}
|
|
|
1396 |
|
|
|
1397 |
//---------------------------------------------------------------
|
|
|
1398 |
|
|
|
1399 |
void set_word(unsigned char *data,
|
|
|
1400 |
unsigned int offset,
|
|
|
1401 |
unsigned int value)
|
|
|
1402 |
{
|
|
|
1403 |
data[offset] = value & 0xFF;
|
|
|
1404 |
data[offset + 1] = (value & 0xFF00) >> 8;
|
|
|
1405 |
}
|
|
|
1406 |
|
|
|
1407 |
//---------------------------------------------------------------
|