etherlabmaster: comparison examples/user/main.c

equal deleted inserted replaced

-:cf8f08631c8e
+:275d2fdeab48
 #define FREQUENCY 100
 #define PRIORITY 1
 // Optional features
 #define CONFIGURE_PDOS  1
+#define SDO_ACCESS      0
 /****************************************************************************/
 // EtherCAT
 static ec_master_t *master = NULL;
 // process data
 static uint8_t *domain1_pd = NULL;
 #define BusCouplerPos  0, 0
-#define AnaOutSlavePos 0, 1
+#define DigOutSlavePos 0, 2
-#define AnaInSlavePos  0, 2
+#define AnaInSlavePos  0, 3
-#define DigOutSlavePos 0, 3
+#define AnaOutSlavePos 0, 4
 #define Beckhoff_EK1100 0x00000002, 0x044c2c52
 #define Beckhoff_EL2004 0x00000002, 0x07d43052
 #define Beckhoff_EL2032 0x00000002, 0x07f03052
 #define Beckhoff_EL3152 0x00000002, 0x0c503052
+#define Beckhoff_EL3102 0x00000002, 0x0c1e3052
 #define Beckhoff_EL4102 0x00000002, 0x10063052
 // offsets for PDO entries
 static unsigned int off_ana_in_status;
 static unsigned int off_ana_in_value;
 static unsigned int off_ana_out;
 static unsigned int off_dig_out;
 const static ec_pdo_entry_reg_t domain1_regs[] = {
-{AnaInSlavePos,  Beckhoff_EL3152, 0x3101, 1, &off_ana_in_status},
+{AnaInSlavePos,  Beckhoff_EL3102, 0x3101, 1, &off_ana_in_status},
-{AnaInSlavePos,  Beckhoff_EL3152, 0x3101, 2, &off_ana_in_value},
+{AnaInSlavePos,  Beckhoff_EL3102, 0x3101, 2, &off_ana_in_value},
 	{AnaOutSlavePos, Beckhoff_EL4102, 0x3001, 1, &off_ana_out},
 	{DigOutSlavePos, Beckhoff_EL2032, 0x3001, 1, &off_dig_out},
 	{}
 };
 #if CONFIGURE_PDOS
 // Analog in --------------------------
-static ec_pdo_entry_info_t el3152_pdo_entries[] = {
+static ec_pdo_entry_info_t el3102_pdo_entries[] = {
 {0x3101, 1,  8}, // channel 1 status
 {0x3101, 2, 16}, // channel 1 value
 {0x3102, 1,  8}, // channel 2 status
 {0x3102, 2, 16}, // channel 2 value
 {0x6401, 1, 16}, // channel 1 value (alt.)
 {0x6401, 2, 16}  // channel 2 value (alt.)
 };
-static ec_pdo_info_t el3152_pdos[] = {
+static ec_pdo_info_t el3102_pdos[] = {
-{0x1A00, 2, el3152_pdo_entries},
+{0x1A00, 2, el3102_pdo_entries},
-{0x1A01, 2, el3152_pdo_entries + 2}
+{0x1A01, 2, el3102_pdo_entries + 2}
 };
-static ec_sync_info_t el3152_syncs[] = {
+static ec_sync_info_t el3102_syncs[] = {
 {2, EC_DIR_OUTPUT},
-{3, EC_DIR_INPUT, 2, el3152_pdos},
+{3, EC_DIR_INPUT, 2, el3102_pdos},
 {0xff}
 };
 // Analog out -------------------------
 static ec_sync_info_t el2004_syncs[] = {
 {0, EC_DIR_OUTPUT, 4, el2004_pdos},
 {1, EC_DIR_INPUT},
 {0xff}
 };
+#endif
+/*****************************************************************************/
+#if SDO_ACCESS
+static ec_sdo_request_t *sdo;
 #endif
 /*****************************************************************************/
 void check_domain1_state(void)
 s.operational ? "" : "Not ");
 sc_ana_in_state = s;
 }
+/*****************************************************************************/
+#if SDO_ACCESS
+void read_sdo(void)
+{
+switch (ecrt_sdo_request_state(sdo)) {
+case EC_REQUEST_UNUSED: // request was not used yet
+ecrt_sdo_request_read(sdo); // trigger first read
+break;
+case EC_REQUEST_BUSY:
+fprintf(stderr, "Still busy...\n");
+break;
+case EC_REQUEST_SUCCESS:
+fprintf(stderr, "SDO value: 0x%04X\n",
+EC_READ_U16(ecrt_sdo_request_data(sdo)));
+ecrt_sdo_request_read(sdo); // trigger next read
+break;
+case EC_REQUEST_ERROR:
+fprintf(stderr, "Failed to read SDO!\n");
+ecrt_sdo_request_read(sdo); // retry reading
+break;
+}
+}
+#endif
 /****************************************************************************/
 void cyclic_task()
 {
 int i;
 // check for master state (optional)
 check_master_state();
 // check for islave configuration state(s) (optional)
 check_slave_config_states();
+#if SDO_ACCESS
+// read process data SDO
+read_sdo();
+#endif
 }
 #if 0
 // read process data
 printf("AnaIn: state %u value %u\n",
 domain1 = ecrt_master_create_domain(master);
 if (!domain1)
 return -1;
 if (!(sc_ana_in = ecrt_master_slave_config(
-master, AnaInSlavePos, Beckhoff_EL3152))) {
+master, AnaInSlavePos, Beckhoff_EL3102))) {
 fprintf(stderr, "Failed to get slave configuration.\n");
 return -1;
 }
+#if SDO_ACCESS
+fprintf(stderr, "Creating SDO requests...\n");
+if (!(sdo = ecrt_slave_config_create_sdo_request(sc_ana_in, 0x3102, 2, 2))) {
+fprintf(stderr, "Failed to create SDO request.\n");
+return -1;
+}
+ecrt_sdo_request_timeout(sdo, 500); // ms
+#endif
 #if CONFIGURE_PDOS
 printf("Configuring PDOs...\n");
-if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3152_syncs)) {
+if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3102_syncs)) {
 fprintf(stderr, "Failed to configure PDOs.\n");
 return -1;
 }
 if (!(sc = ecrt_master_slave_config(

changeset 1352	275d2fdeab48
parent 1327	4d179b06dd3c
child 1363	11c0b2caa253