--- a/user/main.c Fri Dec 16 15:34:04 2005 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,439 +0,0 @@
-//---------------------------------------------------------------
-//
-// 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;
- }
-}
-
-//---------------------------------------------------------------