--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/user/main.c Fri Oct 21 11:21:42 2005 +0000
@@ -0,0 +1,439 @@
+//---------------------------------------------------------------
+//
+// 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;
+ }
+}
+
+//---------------------------------------------------------------