--- a/user/Makefile Fri Dec 16 15:34:04 2005 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,63 +0,0 @@
-#----------------------------------------------------------------
-#
-# M a k e f i l e
-#
-# $Id$
-#
-#----------------------------------------------------------------
-
-LIBNET_DIR = ../../soft/libnet-install
-LIBPCAP_DIR = ../../soft/libpcap-install
-FLTK_DIR = ../../soft/fltk-2.0-install
-
-CC = g++
-CFLAGS = -Wall -g -I$(LIBNET_DIR)/include -I$(LIBPCAP_DIR)/include \
- `$(FLTK_DIR)/bin/fltk-config --cflags`
-
-TEST_EXE = ethercat-test
-TEST_OBJ = main.o ec_master.o ec_command.o ec_slave.o
-TEST_LDFLAGS = -L$(LIBNET_DIR)/lib -lnet -lpcap -lpthread
-
-GUI_EXE = ethercat-gui
-GUI_OBJ = main_gui.o ec_master.o ec_command.o ec_slave.o
-GUI_LDFLAGS = -L$(LIBNET_DIR)/lib -lnet -lpcap -lpthread `$(FLTK_DIR)/bin/fltk-config --ldflags`
-
-#----------------------------------------------------------------
-
-first: $(TEST_EXE) $(GUI_EXE)
-
-$(TEST_EXE): $(TEST_OBJ)
- $(CC) $(TEST_OBJ) $(TEST_LDFLAGS) -o $@
-
-$(GUI_EXE): $(GUI_OBJ)
- $(CC) $(GUI_OBJ) $(GUI_LDFLAGS) -o $@
-
-.c.o:
- $(CC) $(CFLAGS) -c $< -o $@
-
-.cpp.o:
- $(CC) $(CFLAGS) -c $< -o $@
-
-#----------------------------------------------------------------
-
-main.o: main.c \
- ec_globals.h ec_master.h ec_command.h ec_slave.h
-
-main_gui.o: main_gui.cpp \
- ec_globals.h ec_master.h ec_command.h ec_slave.h
-
-ec_command.o: ec_command.c ec_command.h
-
-ec_master.o: ec_master.c ec_master.h \
- ec_globals.h ec_command.h ec_slave.h
-
-ec_slave.o: ec_slave.c ec_slave.h \
- ec_globals.h
-
-#----------------------------------------------------------------
-
-clean:
- rm -f *.o $(TEST_EXE) $(GUI_EXE) *~
-
-#----------------------------------------------------------------
-
--- a/user/ec_command.c Fri Dec 16 15:34:04 2005 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,61 +0,0 @@
-//---------------------------------------------------------------
-//
-// e c _ c o m m a n d . c
-//
-// $LastChangedDate$
-// $Author$
-//
-//---------------------------------------------------------------
-
-#include <stdio.h>
-#include <stdlib.h>
-
-#include "ec_command.h"
-
-//---------------------------------------------------------------
-
-void EtherCAT_command_init(EtherCAT_command_t *cmd)
-{
- cmd->command_type = 0x00;
- cmd->node_address = 0x0000;
- cmd->ring_position = 0x0000;
- cmd->mem_address = 0x0000;
- cmd->logical_address = 0x00000000;
- cmd->data_length = 0;
- cmd->status = Waiting;
- cmd->next = NULL;
- cmd->working_counter = 0;
- cmd->data = NULL;
-}
-
-//---------------------------------------------------------------
-
-void EtherCAT_command_clear(EtherCAT_command_t *cmd)
-{
- if (cmd->data)
- {
- free(cmd->data);
- }
-
- EtherCAT_command_init(cmd);
-}
-
-//---------------------------------------------------------------
-
-void EtherCAT_command_print_data(EtherCAT_command_t *cmd)
-{
- unsigned int i;
-
- printf("[");
-
- for (i = 0; i < cmd->data_length; i++)
- {
- printf("%02X", cmd->data[i]);
-
- if (i < cmd->data_length - 1) printf(" ");
- }
-
- printf("]\n");
-}
-
-//---------------------------------------------------------------
--- a/user/ec_command.h Fri Dec 16 15:34:04 2005 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,42 +0,0 @@
-//---------------------------------------------------------------
-//
-// e c _ c o m m a n d . h
-//
-// $LastChangedDate$
-// $Author$
-//
-//---------------------------------------------------------------
-
-typedef enum {Waiting, Sent, Received} EtherCAT_cmd_status_t;
-
-//---------------------------------------------------------------
-
-typedef struct EtherCAT_command
-{
- unsigned char command_type;
- short ring_position;
- unsigned short node_address;
- unsigned short mem_address;
- unsigned int logical_address;
- unsigned int data_length;
-
- struct EtherCAT_command *next;
-
- EtherCAT_cmd_status_t status;
- unsigned char command_index;
- unsigned int working_counter;
-
- unsigned char *data;
-
-}
-EtherCAT_command_t;
-
-//---------------------------------------------------------------
-
-void EtherCAT_command_init(EtherCAT_command_t *);
-void EtherCAT_command_clear(EtherCAT_command_t *);
-
-// Debug
-void EtherCAT_command_print_data(EtherCAT_command_t *);
-
-//---------------------------------------------------------------
--- a/user/ec_globals.h Fri Dec 16 15:34:04 2005 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,26 +0,0 @@
-//---------------------------------------------------------------
-//
-// e c _ g l o b a l s . h
-//
-// $LastChangedDate$
-// $Author$
-//
-//---------------------------------------------------------------
-
-#define EC_CMD_APRD 0x01 // Auto-increment physical read
-#define EC_CMD_APWR 0x02 // Auto-increment physical write
-#define EC_CMD_NPRD 0x04 // Node-addressed physical read
-#define EC_CMD_NPWR 0x05 // Node-addressed physical write
-#define EC_CMD_BRD 0x07 // Broadcast read
-#define EC_CMD_BWR 0x08 // Broadcast write
-#define EC_CMD_LRW 0x0C // Logical read/write
-
-#define EC_STATE_UNKNOWN 0x00
-#define EC_STATE_INIT 0x01
-#define EC_STATE_PREOP 0x02
-#define EC_STATE_SAVEOP 0x04
-#define EC_STATE_OP 0x08
-
-#define EC_ACK_STATE 0x10
-
-//---------------------------------------------------------------
--- a/user/ec_master.c Fri Dec 16 15:34:04 2005 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,1407 +0,0 @@
-//---------------------------------------------------------------
-//
-// e c _ m a s t e r . c
-//
-// $LastChangedDate$
-// $Author$
-//
-//---------------------------------------------------------------
-
-#include "ec_globals.h"
-#include "ec_master.h"
-
-#define DEBUG_SEND_RECEIVE
-
-//---------------------------------------------------------------
-
-int EtherCAT_master_init(EtherCAT_master_t *master,
- char *eth_dev)
-{
- char errbuf_libpcap[PCAP_ERRBUF_SIZE];
- char errbuf_libnet[LIBNET_ERRBUF_SIZE];
-
- master->slaves = NULL;
- master->slave_count = 0;
-
- master->first_command = NULL;
- master->command_index = 0x00;
-
- master->process_data = NULL;
- master->pre_cb = NULL;
- master->post_cb = NULL;
- master->thread_continue = 0;
- master->cycle_time = 0;
-
- // Init Libpcap
- master->pcap_handle = pcap_open_live(eth_dev, BUFSIZ, 1, 0, errbuf_libpcap);
-
- if (master->pcap_handle == NULL)
- {
- fprintf(stderr, "Couldn't open device %s: %s\n", eth_dev, errbuf_libpcap);
- return 1;
- }
-
- // Init Libnet
- if (!(master->net_handle = libnet_init(LIBNET_LINK, eth_dev, errbuf_libnet)))
- {
- fprintf(stderr, "Could not init %s: %s!\n", eth_dev, errbuf_libnet);
-
- pcap_close(master->pcap_handle);
-
- return 1;
- }
-
- return 0;
-}
-
-//---------------------------------------------------------------
-
-void EtherCAT_master_clear(EtherCAT_master_t *master)
-{
- libnet_destroy(master->net_handle);
- pcap_close(master->pcap_handle);
-
- // Remove all pending commands
- while (master->first_command)
- {
- EtherCAT_remove_command(master, master->first_command);
- }
-
- // Remove all slaves
- EtherCAT_clear_slaves(master);
-}
-
-//---------------------------------------------------------------
-
-int EtherCAT_check_slaves(EtherCAT_master_t *master,
- EtherCAT_slave_t *slaves,
- unsigned int slave_count)
-{
- EtherCAT_command_t *cmd;
- EtherCAT_slave_t *cur;
- unsigned int i, j, found;
- unsigned char data[2];
-
- // EtherCAT_clear_slaves() must be called before!
- if (master->slave_count) return -1;
-
- // Determine number of slaves
-
- if ((cmd = EtherCAT_broadcast_read(master, 0x0000, 4)) == NULL)
- {
- return -1;
- }
-
- if (EtherCAT_send_receive(master) != 0)
- {
- return -1;
- }
-
- master->slave_count = cmd->working_counter;
-
- EtherCAT_remove_command(master, cmd);
-
- if (master->slave_count < slave_count)
- {
- fprintf(stderr, "ERROR: Too few slaves on EtherCAT bus!\n");
- return -1;
- }
-
- // No slaves. Stop further processing...
- if (master->slave_count == 0) return 0;
-
- // For every slave in the list
- for (i = 0; i < master->slave_count; i++)
- {
- cur = &slaves[i];
-
- if (!cur->desc)
- {
- fprintf(stderr, "ERROR: Slave has no description (list position %i)!\n", i);
- return -1;
- }
-
- // Set ring position
- cur->ring_position = -i;
- cur->station_address = i + 1;
-
- // Write station address
-
- data[0] = cur->station_address & 0x00FF;
- data[1] = (cur->station_address & 0xFF00) >> 8;
-
- if ((cmd = EtherCAT_position_write(master, cur->ring_position, 0x0010, 2, data)) == NULL)
- {
- master->slave_count = 0;
- fprintf(stderr, "ERROR: Could not create command!\n");
- return -1;
- }
-
- if (EtherCAT_send_receive(master) != 0)
- {
- master->slave_count = 0;
- fprintf(stderr, "ERROR: Could not send command!\n");
- return -1;
- }
-
- if (cmd->working_counter != 1)
- {
- master->slave_count = 0;
- fprintf(stderr, "ERROR: Slave %i did not repond while writing station address!\n", i);
- return -1;
- }
-
- EtherCAT_remove_command(master, cmd);
-
- // Read base data
-
- if ((cmd = EtherCAT_read(master, cur->station_address, 0x0000, 4)) == NULL)
- {
- master->slave_count = 0;
- fprintf(stderr, "ERROR: Could not create command!\n");
- return -1;
- }
-
- if (EtherCAT_send_receive(master) != 0)
- {
- EtherCAT_remove_command(master, cmd);
- master->slave_count = 0;
- fprintf(stderr, "ERROR: Could not send command!\n");
- return -4;
- }
-
- if (cmd->working_counter != 1)
- {
- EtherCAT_remove_command(master, cmd);
- master->slave_count = 0;
- fprintf(stderr, "ERROR: Slave %i did not respond while reading base data!\n", i);
- return -5;
- }
-
- // Get base data
- cur->type = cmd->data[0];
- cur->revision = cmd->data[1];
- cur->build = cmd->data[2] | (cmd->data[3] << 8);
-
- EtherCAT_remove_command(master, cmd);
-
- // Read identification from "Slave Information Interface" (SII)
-
- if (EtherCAT_read_slave_information(master, cur->station_address, 0x0008, &cur->vendor_id) != 0)
- {
- master->slave_count = 0;
- fprintf(stderr, "ERROR: Could not read SII!\n", i);
- return -1;
- }
-
- if (EtherCAT_read_slave_information(master, cur->station_address, 0x000A, &cur->product_code) != 0)
- {
- master->slave_count = 0;
- fprintf(stderr, "ERROR: Could not read SII!\n", i);
- return -1;
- }
-
- if (EtherCAT_read_slave_information(master, cur->station_address, 0x000E, &cur->revision_number) != 0)
- {
- master->slave_count = 0;
- fprintf(stderr, "ERROR: Could not read SII!\n", i);
- return -1;
- }
-
- // Search for identification in "database"
-
- found = 0;
-
- for (j = 0; j < slave_idents_count; j++)
- {
- if (slave_idents[j].vendor_id == cur->vendor_id
- && slave_idents[j].product_code == cur->product_code)
- {
- found = 1;
-
- if (cur->desc != slave_idents[j].desc)
- {
- fprintf(stderr, "ERROR: Unexpected slave device at position %i:"
- "%s %s. Expected: %s %s\n",
- i, slave_idents[j].desc->vendor_name, slave_idents[j].desc->product_name,
- cur->desc->vendor_name, cur->desc->product_name);
- return -1;
- }
-
- break;
- }
- }
-
- if (!found)
- {
- fprintf(stderr, "ERROR: Unknown slave device at position %i: Vendor %X, Code %X",
- i, cur->vendor_id, cur->product_code);
- return -1;
- }
- }
-
- return 0;
-}
-
-//---------------------------------------------------------------
-
-void EtherCAT_clear_slaves(EtherCAT_master_t *master)
-{
- unsigned int i;
-
- if (master->slave_count == 0) return;
-
- for (i = 0; i < master->slave_count; i++)
- {
- EtherCAT_slave_clear(&master->slaves[i]);
- }
-
- free(master->slaves);
- master->slaves = NULL;
-}
-
-//---------------------------------------------------------------
-
-int EtherCAT_read_slave_information(EtherCAT_master_t *master,
- unsigned short int node_address,
- unsigned short int offset,
- unsigned int *target)
-{
- EtherCAT_command_t *cmd;
- unsigned char data[10];
- unsigned int tries;
-
- // Initiate read operation
-
- data[0] = 0x00;
- data[1] = 0x01;
- data[2] = offset & 0xFF;
- data[3] = (offset & 0xFF00) >> 8;
- data[4] = 0x00;
- data[5] = 0x00;
-
- if ((cmd = EtherCAT_write(master, node_address, 0x502, 6, data)) == NULL)
- {
- fprintf(stderr, "ERROR: Could not allocate command!\n");
- return -2;
- }
-
- if (EtherCAT_send_receive(master) != 0)
- {
- EtherCAT_remove_command(master, cmd);
- fprintf(stderr, "ERROR: Could not write to slave!\n");
- return -3;
- }
-
- if (cmd->working_counter != 1)
- {
- EtherCAT_remove_command(master, cmd);
- fprintf(stderr, "ERROR: Command not processed by slave!\n");
- return -4;
- }
-
- EtherCAT_remove_command(master, cmd);
-
- // Get status of read operation
-
- tries = 0;
- while (tries < 10)
- {
- if ((cmd = EtherCAT_read(master, node_address, 0x502, 10)) == NULL)
- {
- fprintf(stderr, "ERROR: Could not allocate command!\n");
- return -2;
- }
-
- if (EtherCAT_send_receive(master) != 0)
- {
- EtherCAT_remove_command(master, cmd);
-
- fprintf(stderr, "ERROR: Could not read from slave!\n");
- return -3;
- }
-
- if (cmd->working_counter != 1)
- {
- EtherCAT_remove_command(master, cmd);
-
- fprintf(stderr, "ERROR: Command not processed by slave!\n");
- return -4;
- }
-
- if ((cmd->data[1] & 0x81) == 0)
- {
-#if 0
- printf("SLI status data: %02X %02X Address: %02X %02X\n", cmd->data[0], cmd->data[1], cmd->data[2], cmd->data[3]);
- printf("Data: %02X %02X %02X %02X\n", cmd->data[6], cmd->data[7], cmd->data[8], cmd->data[9]);
-#endif
-
- memcpy(target, cmd->data + 6, 4);
-
- EtherCAT_remove_command(master, cmd);
-
- break;
- }
-
- EtherCAT_remove_command(master, cmd);
-
- tries++;
- }
-
- if (tries == 10) fprintf(stderr, "ERROR: Timeout while reading SII!\n");
-
- return 0;
-}
-
-//---------------------------------------------------------------
-
-int EtherCAT_send_receive(EtherCAT_master_t *master)
-{
- libnet_ptag_t ptag;
- struct pcap_pkthdr header;
- const unsigned char *packet;
- unsigned char dst[6], src[6];
- unsigned int i, length, framelength, pos, command_type, command_index;
- EtherCAT_command_t *cmd;
- unsigned char *data;
- int bytes, command_follows, found;
-
-#ifdef DEBUG_SEND_RECEIVE
- found = 0;
-#endif
-
- length = 0;
- for (cmd = master->first_command; cmd != NULL; cmd = cmd->next)
- {
- //if (cmd->status != Waiting) continue;
- length += cmd->data_length + 12;
-
-#ifdef DEBUG_SEND_RECEIVE
- found++;
-#endif
- }
-
-#ifdef DEBUG_SEND_RECEIVE
- printf("Sending %i commands with length %i...\n", found, length);
-#endif
-
- if (length == 0) return 0;
-
- framelength = length + 2;
- if (framelength < 46) framelength = 46;
-
- data = (unsigned char *) malloc(sizeof(unsigned char) * framelength);
- if (!data) return -1;
-
- data[0] = length & 0xFF;
- data[1] = ((length & 0x700) >> 8) | 0x10;
- pos = 2;
-
- for (cmd = master->first_command; cmd != NULL; cmd = cmd->next)
- {
- if (cmd->status != Waiting)
- {
- printf("Old command: %02X\n", cmd->command_type);
- continue;
- }
-
- cmd->command_index = master->command_index;
- master->command_index = (master->command_index + 1) % 0x0100;
-
- cmd->status = Sent;
-
- data[pos + 0] = cmd->command_type;
- data[pos + 1] = cmd->command_index;
-
- switch (cmd->command_type)
- {
- case EC_CMD_APRD:
- case EC_CMD_APWR:
- data[pos + 2] = cmd->ring_position & 0xFF;
- data[pos + 3] = (cmd->ring_position & 0xFF00) >> 8;
- data[pos + 4] = cmd->mem_address & 0xFF;
- data[pos + 5] = (cmd->mem_address & 0xFF00) >> 8;
- break;
-
- case EC_CMD_NPRD:
- case EC_CMD_NPWR:
- data[pos + 2] = cmd->node_address & 0xFF;
- data[pos + 3] = (cmd->node_address & 0xFF00) >> 8;
- data[pos + 4] = cmd->mem_address & 0xFF;
- data[pos + 5] = (cmd->mem_address & 0xFF00) >> 8;
- break;
-
- case EC_CMD_BRD:
- case EC_CMD_BWR:
- data[pos + 2] = 0x00;
- data[pos + 3] = 0x00;
- data[pos + 4] = cmd->mem_address & 0xFF;
- data[pos + 5] = (cmd->mem_address & 0xFF00) >> 8;
- break;
-
- case EC_CMD_LRW:
- data[pos + 2] = cmd->logical_address & 0x000000FF;
- data[pos + 3] = (cmd->logical_address & 0x0000FF00) >> 8;
- data[pos + 4] = (cmd->logical_address & 0x00FF0000) >> 16;
- data[pos + 5] = (cmd->logical_address & 0xFF000000) >> 24;
- break;
-
- default:
- data[pos + 2] = 0x00;
- data[pos + 3] = 0x00;
- data[pos + 4] = 0x00;
- data[pos + 5] = 0x00;
- fprintf(stderr, "WARNING: Default adress while frame construction...\n");
- break;
- }
-
- data[pos + 6] = cmd->data_length & 0xFF;
- data[pos + 7] = (cmd->data_length & 0x700) >> 8;
-
- if (cmd->next) data[pos + 7] |= 0x80;
-
- data[pos + 8] = 0x00;
- data[pos + 9] = 0x00;
-
- if (cmd->command_type == EC_CMD_APWR
- || cmd->command_type == EC_CMD_NPWR
- || cmd->command_type == EC_CMD_BWR
- || cmd->command_type == EC_CMD_LRW) // Write
- {
- for (i = 0; i < cmd->data_length; i++) data[pos + 10 + i] = cmd->data[i];
- }
- else // Read
- {
- for (i = 0; i < cmd->data_length; i++) data[pos + 10 + i] = 0x00;
- }
-
- data[pos + 10 + cmd->data_length] = 0x00;
- data[pos + 11 + cmd->data_length] = 0x00;
-
- pos += 12 + cmd->data_length;
- }
-
- // Pad with zeros
- while (pos < 46) data[pos++] = 0x00;
-
-#ifdef DEBUG_SEND_RECEIVE
- printf("\n>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>\n");
- for (i = 0; i < framelength; i++)
- {
- printf("%02X ", data[i]);
-
- if ((i + 1) % 16 == 0) printf("\n");
- }
- printf("\n-----------------------------------------------\n");
-#endif
-
- dst[0] = 0xFF;
- dst[1] = 0xFF;
- dst[2] = 0xFF;
- dst[3] = 0xFF;
- dst[4] = 0xFF;
- dst[5] = 0xFF;
-
- src[0] = 0x00;
- src[1] = 0x00;
- src[2] = 0x00;
- src[3] = 0x00;
- src[4] = 0x00;
- src[5] = 0x00;
-
- // Send frame
- ptag = libnet_build_ethernet(dst, src, 0x88A4, data, framelength, master->net_handle, 0);
- bytes = libnet_write(master->net_handle);
- libnet_clear_packet(master->net_handle);
-
- if (bytes == -1)
- {
- free(data);
- fprintf(stderr, "Could not write!\n");
- return -1;
- }
-
- packet = pcap_next(master->pcap_handle, &header); // LibPCap receives sent frame first
- packet = pcap_next(master->pcap_handle, &header);
-
-#ifdef DEBUG_SEND_RECEIVE
- for (i = 0; i < header.len - 14; i++)
- {
- if (packet[i + 14] == data[i]) printf(" ");
- else printf("%02X ", packet[i + 14]);
-
- if ((i + 1) % 16 == 0) printf("\n");
- }
- printf("\n<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<\n\n");
-#endif
-
- // Free sent data
- free(data);
-
- pos = 16;
- command_follows = 1;
- while (command_follows)
- {
- command_type = packet[pos];
- command_index = packet[pos + 1];
- length = (packet[pos + 6] & 0xFF) | ((packet[pos + 7] & 0x07) << 8);
- command_follows = packet[pos + 7] & 0x80;
-
-#if 0
- printf("Command %02X received!\n", command_index);
-#endif
-
- found = 0;
-
- for (cmd = master->first_command; cmd != NULL; cmd = cmd->next)
- {
- if (cmd->status == Sent
- && cmd->command_type == command_type
- && cmd->command_index == command_index
- && cmd->data_length == length)
- {
- found = 1;
- cmd->status = Received;
-
- cmd->data = (unsigned char *) malloc(sizeof(unsigned char) * length);
- memcpy(cmd->data, packet + pos + 10, length);
-
- cmd->working_counter = (packet[pos + length + 10] & 0xFF)
- | ((packet[pos + length + 11] & 0xFF) << 8);
- }
- }
-
- if (!found)
- {
- fprintf(stderr, "WARNING: Command not assigned!\n");
- }
-
- pos += length + 12;
- }
-
- for (cmd = master->first_command; cmd != NULL; cmd = cmd->next)
- {
- if (cmd->status == Sent)
- {
- fprintf(stderr, "WARNING: Command not sent!\n");
- }
- }
-
- return 0;
-}
-
-//---------------------------------------------------------------
-
-EtherCAT_command_t *EtherCAT_read(EtherCAT_master_t *master,
- unsigned short node_address,
- unsigned short offset,
- unsigned int length)
-{
- EtherCAT_command_t *cmd;
-
- if (node_address == 0x0000) fprintf(stderr, "WARNING: Using node address 0x0000!\n");
-
- cmd = (EtherCAT_command_t *) malloc(sizeof(EtherCAT_command_t));
-
- if (cmd == NULL)
- {
- return NULL;
- }
-
- EtherCAT_command_init(cmd);
-
- cmd->command_type = EC_CMD_NPRD;
- cmd->node_address = node_address;
- cmd->mem_address = offset;
- cmd->data_length = length;
-
- // Add command to master's list
- add_command(master, cmd);
-
- return cmd;
-}
-
-//---------------------------------------------------------------
-
-EtherCAT_command_t *EtherCAT_write(EtherCAT_master_t *master,
- unsigned short node_address,
- unsigned short offset,
- unsigned int length,
- const unsigned char *data)
-{
- EtherCAT_command_t *cmd;
-
- if (node_address == 0x0000) fprintf(stderr, "WARNING: Using node address 0x0000!\n");
-
- cmd = (EtherCAT_command_t *) malloc(sizeof(EtherCAT_command_t));
-
- if (cmd == NULL)
- {
- return NULL;
- }
-
- EtherCAT_command_init(cmd);
-
- cmd->command_type = EC_CMD_NPWR;
- cmd->node_address = node_address;
- cmd->mem_address = offset;
- cmd->data_length = length;
-
- cmd->data = (unsigned char *) malloc(sizeof(unsigned char) * length);
-
- if (cmd->data == NULL)
- {
- free(cmd);
- return NULL;
- }
-
- memcpy(cmd->data, data, length);
-
- // Add command to master's list
- add_command(master, cmd);
-
- return cmd;
-}
-
-//---------------------------------------------------------------
-
-EtherCAT_command_t *EtherCAT_position_read(EtherCAT_master_t *master,
- short ring_position,
- unsigned short offset,
- unsigned int length)
-{
- EtherCAT_command_t *cmd;
-
- cmd = (EtherCAT_command_t *) malloc(sizeof(EtherCAT_command_t));
-
- if (cmd == NULL)
- {
- return NULL;
- }
-
- EtherCAT_command_init(cmd);
-
- cmd->command_type = EC_CMD_APRD;
- cmd->ring_position = ring_position;
- cmd->mem_address = offset;
- cmd->data_length = length;
-
- // Add command to master's list
- add_command(master, cmd);
-
- return cmd;
-}
-
-//---------------------------------------------------------------
-
-EtherCAT_command_t *EtherCAT_position_write(EtherCAT_master_t *master,
- short ring_position,
- unsigned short offset,
- unsigned int length,
- const unsigned char *data)
-{
- EtherCAT_command_t *cmd;
-
- cmd = (EtherCAT_command_t *) malloc(sizeof(EtherCAT_command_t));
-
- if (cmd == NULL)
- {
- return NULL;
- }
-
- EtherCAT_command_init(cmd);
-
- cmd->command_type = EC_CMD_APWR;
- cmd->ring_position = ring_position;
- cmd->mem_address = offset;
- cmd->data_length = length;
-
- cmd->data = (unsigned char *) malloc(sizeof(unsigned char) * length);
-
- if (cmd->data == NULL)
- {
- free(cmd);
- return NULL;
- }
-
- memcpy(cmd->data, data, length);
-
- // Add command to master's list
- add_command(master, cmd);
-
- return cmd;
-}
-
-//---------------------------------------------------------------
-
-EtherCAT_command_t *EtherCAT_broadcast_read(EtherCAT_master_t *master,
- unsigned short offset,
- unsigned int length)
-{
- EtherCAT_command_t *cmd;
-
- cmd = (EtherCAT_command_t *) malloc(sizeof(EtherCAT_command_t));
-
- if (cmd == NULL)
- {
- return NULL;
- }
-
- EtherCAT_command_init(cmd);
-
- cmd->command_type = EC_CMD_BRD;
- cmd->mem_address = offset;
- cmd->data_length = length;
-
- // Add command to master's list
- add_command(master, cmd);
-
- return cmd;
-}
-
-//---------------------------------------------------------------
-
-EtherCAT_command_t *EtherCAT_broadcast_write(EtherCAT_master_t *master,
- unsigned short offset,
- unsigned int length,
- const unsigned char *data)
-{
- EtherCAT_command_t *cmd;
-
- cmd = (EtherCAT_command_t *) malloc(sizeof(EtherCAT_command_t));
-
- if (cmd == NULL)
- {
- return NULL;
- }
-
- EtherCAT_command_init(cmd);
-
- cmd->command_type = EC_CMD_BWR;
- cmd->mem_address = offset;
- cmd->data_length = length;
-
- cmd->data = (unsigned char *) malloc(sizeof(unsigned char) * length);
-
- if (cmd->data == NULL)
- {
- free(cmd);
- return NULL;
- }
-
- memcpy(cmd->data, data, length);
-
- // Add command to master's list
- add_command(master, cmd);
-
- return cmd;
-}
-
-//---------------------------------------------------------------
-
-EtherCAT_command_t *EtherCAT_logical_read_write(EtherCAT_master_t *master,
- unsigned int offset,
- unsigned int length,
- unsigned char *data)
-{
- EtherCAT_command_t *cmd;
-
- cmd = (EtherCAT_command_t *) malloc(sizeof(EtherCAT_command_t));
-
- if (cmd == NULL)
- {
- return NULL;
- }
-
- EtherCAT_command_init(cmd);
-
- cmd->command_type = EC_CMD_LRW;
- cmd->mem_address = offset;
- cmd->data_length = length;
-
- cmd->data = (unsigned char *) malloc(sizeof(unsigned char) * length);
-
- if (cmd->data == NULL)
- {
- free(cmd);
- return NULL;
- }
-
- memcpy(cmd->data, data, length);
-
- // Add command to master's list
- add_command(master, cmd);
-
- return cmd;
-}
-
-//---------------------------------------------------------------
-
-void add_command(EtherCAT_master_t *master, EtherCAT_command_t *cmd)
-{
- EtherCAT_command_t **last_cmd;
-
- // Find last position in the list
- last_cmd = &(master->first_command);
- while (*last_cmd) last_cmd = &(*last_cmd)->next;
-
- *last_cmd = cmd;
-}
-
-//---------------------------------------------------------------
-
-void EtherCAT_remove_command(EtherCAT_master_t *master,
- EtherCAT_command_t *rem_cmd)
-{
- EtherCAT_command_t **last_cmd;
-
- last_cmd = &(master->first_command);
- while (*last_cmd)
- {
- if (*last_cmd == rem_cmd)
- {
- *last_cmd = rem_cmd->next;
- EtherCAT_command_clear(rem_cmd);
-
- return;
- }
-
- last_cmd = &(*last_cmd)->next;
- }
-}
-
-//---------------------------------------------------------------
-
-int EtherCAT_state_change(EtherCAT_master_t *master,
- EtherCAT_slave_t *slave,
- unsigned char state_and_ack)
-{
- EtherCAT_command_t *cmd;
- unsigned char data[2];
- unsigned int tries_left;
-
- data[0] = state_and_ack;
- data[1] = 0x00;
-
- if ((cmd = EtherCAT_write(master, slave->station_address,
- 0x0120, 2, data)) == NULL)
- {
- return -1;
- }
-
- if (EtherCAT_send_receive(master) != 0)
- {
- EtherCAT_remove_command(master, cmd);
- return -2;
- }
-
- if (cmd->working_counter != 1)
- {
- EtherCAT_remove_command(master, cmd);
- return -3;
- }
-
- EtherCAT_remove_command(master, cmd);
-
- slave->requested_state = state_and_ack & 0x0F;
-
- tries_left = 10;
-
- while (tries_left)
- {
- if ((cmd = EtherCAT_read(master, slave->station_address,
- 0x0130, 2)) == NULL)
- {
- return -1;
- }
-
- if (EtherCAT_send_receive(master) != 0)
- {
- EtherCAT_remove_command(master, cmd);
- return -2;
- }
-
- if (cmd->working_counter != 1)
- {
- EtherCAT_remove_command(master, cmd);
- return -3;
- }
-
- if (cmd->data[0] & 0x10) // State change error
- {
- EtherCAT_remove_command(master, cmd);
- return -4;
- }
-
- if (cmd->data[0] == state_and_ack & 0x0F) // State change successful
- {
- EtherCAT_remove_command(master, cmd);
- break;
- }
-
- EtherCAT_remove_command(master, cmd);
-
- //printf("Trying again...\n");
-
- tries_left--;
- }
-
- if (!tries_left)
- {
- return -5;
- }
-
- slave->current_state = state_and_ack & 0x0F;
-
- return 0;
-}
-
-//---------------------------------------------------------------
-
-int EtherCAT_broadcast_state_change(EtherCAT_master_t *master,
- unsigned char state)
-{
- EtherCAT_command_t *cmd;
- unsigned char data[2];
- unsigned int tries_left;
-
- data[0] = state;
- data[1] = 0x00;
-
- if ((cmd = EtherCAT_broadcast_write(master, 0x0120, 2, data)) == NULL)
- {
- return -1;
- }
-
- if (EtherCAT_send_receive(master) != 0)
- {
- EtherCAT_remove_command(master, cmd);
- return -2;
- }
-
- if (cmd->working_counter != master->slave_count)
- {
- EtherCAT_remove_command(master, cmd);
- return -3;
- }
-
- EtherCAT_remove_command(master, cmd);
-
- tries_left = 10;
-
- while (tries_left)
- {
- if ((cmd = EtherCAT_broadcast_read(master, 0x0130, 2)) == NULL)
- {
- return -1;
- }
-
- if (EtherCAT_send_receive(master) != 0)
- {
- EtherCAT_remove_command(master, cmd);
- return -2;
- }
-
- if (cmd->working_counter != master->slave_count)
- {
- EtherCAT_remove_command(master, cmd);
- return -3;
- }
-
- if (cmd->data[0] & 0x10) // State change error
- {
- EtherCAT_remove_command(master, cmd);
- return -4;
- }
-
- if (cmd->data[0] == state) // State change successful
- {
- EtherCAT_remove_command(master, cmd);
- break;
- }
-
- EtherCAT_remove_command(master, cmd);
-
- //printf("Trying again...\n");
-
- tries_left--;
- }
-
- if (!tries_left)
- {
- return -5;
- }
-
- return 0;
-}
-
-//---------------------------------------------------------------
-
-int EtherCAT_start(EtherCAT_master_t *master,
- unsigned int length,
- void (*pre_cb)(unsigned char *),
- void (*post_cb)(unsigned char *),
- unsigned int cycle_time)
-{
- if (master->process_data)
- {
- fprintf(stderr, "ERROR: Process data already allocated!\n");
- return -1;
- }
-
- if ((master->process_data = (unsigned char *) malloc(length)) == NULL)
- {
- fprintf(stderr, "ERROR: Could not allocate process data block!\n");
- return -2;
- }
-
- memset(master->process_data, 0x00, length);
-
- master->process_data_length = length;
- master->pre_cb = pre_cb;
- master->post_cb = post_cb;
- master->cycle_time = cycle_time;
-
- master->thread_continue = 1;
-
- if (pthread_create(&master->thread, NULL, thread_function, (void *) master) != 0)
- {
- fprintf(stderr, "ERROR: Could not create thread!\n");
- return -3;
- }
-
- return 0;
-}
-
-//---------------------------------------------------------------
-
-int EtherCAT_stop(EtherCAT_master_t *master)
-{
- if (!master->thread_continue)
- {
- fprintf(stderr, "ERROR: Thread not running!\n");
- return -1;
- }
-
- master->thread_continue = 0;
- pthread_join(master->thread, NULL);
-
- if (master->process_data)
- {
- free(master->process_data);
- master->process_data = NULL;
- }
-
- master->pre_cb = NULL;
- master->post_cb = NULL;
-
- return 0;
-}
-
-//---------------------------------------------------------------
-
-double current_timestamp()
-{
- struct timeval tv;
- gettimeofday(&tv, NULL);
- return tv.tv_sec + (double) tv.tv_usec / 1000000.0;
-}
-
-//---------------------------------------------------------------
-
-void *thread_function(void *data)
-{
- EtherCAT_master_t *master;
- EtherCAT_command_t *cmd;
- double bus_start_time, bus_end_time;
- double cycle_start_time, cycle_end_time, last_cycle_start_time;
- unsigned int wait_usecs;
-
- master = (EtherCAT_master_t *) data;
-
- last_cycle_start_time = 0.0;
-
- while (master->thread_continue)
- {
- cycle_start_time = current_timestamp();
-
- if (last_cycle_start_time != 0.0)
- {
- master->last_cycle_time = cycle_start_time - last_cycle_start_time;
- master->last_jitter = (master->last_cycle_time - (master->cycle_time / 1000000.0))
- / (master->cycle_time / 1000000.0) * 100.0;
- }
-
- last_cycle_start_time = cycle_start_time;
-
- if (master->pre_cb) master->pre_cb(master->process_data);
-
- cmd = EtherCAT_logical_read_write(master,
- 0x00000000,
- master->process_data_length,
- master->process_data);
-
- bus_start_time = current_timestamp();
-
- EtherCAT_send_receive(master);
-
- bus_end_time = current_timestamp();
- master->bus_time = bus_end_time - bus_start_time;
-
-#if 0
- printf("Working counter: %i\n", cmd->working_counter);
-#endif
-
- memcpy(master->process_data, cmd->data, master->process_data_length);
-
- EtherCAT_remove_command(master, cmd);
-
- if (master->post_cb) master->post_cb(master->process_data);
-
- // Calculate working time
-
- cycle_end_time = current_timestamp();
- master->last_cycle_work_time = cycle_end_time - cycle_start_time;
- master->last_cycle_busy_rate = master->last_cycle_work_time
- / ((double) master->cycle_time / 1000000.0) * 100.0;
- wait_usecs = master->cycle_time - (unsigned int) (master->last_cycle_work_time * 1000000.0);
-
- //printf("USECS to wait: %i\n", wait_usecs);
-
- usleep(wait_usecs);
-
- //printf("waited: %lf\n", current_timestamp() - cycle_end_time);
- }
-
- return (void *) 0;
-}
-
-//---------------------------------------------------------------
-
-int EtherCAT_activate_slave(EtherCAT_master_t *master,
- EtherCAT_slave_t *slave)
-{
- EtherCAT_command_t *cmd;
- const EtherCAT_slave_desc_t *desc;
- unsigned char fmmu[16];
- unsigned char data[256];
-
- if (EtherCAT_state_change(master, slave, EC_STATE_INIT) != 0)
- {
- return -1;
- }
-
- // Resetting FMMU's
-
- memset(data, 0x00, 256);
- cmd = EtherCAT_write(master, slave->station_address, 0x0600, 256, data);
- EtherCAT_send_receive(master);
-
- if (cmd->working_counter != 1)
- {
- fprintf(stderr, "ERROR: Slave did not respond!\n");
- return -2;
- }
-
- EtherCAT_remove_command(master, cmd);
-
- // Resetting Sync Manager channels
-
- memset(data, 0x00, 256);
- cmd = EtherCAT_write(master, slave->station_address, 0x0800, 256, data);
- EtherCAT_send_receive(master);
-
- if (cmd->working_counter != 1)
- {
- fprintf(stderr, "ERROR: Slave did not respond!\n");
- return -2;
- }
-
- EtherCAT_remove_command(master, cmd);
-
- desc = slave->desc;
-
- // Init Mailbox communication
-
- if (desc->type == MAILBOX)
- {
- if (desc->sm0)
- {
- cmd = EtherCAT_write(master, slave->station_address, 0x0800, 8, desc->sm0);
-
- EtherCAT_send_receive(master);
-
- if (cmd->working_counter != 1)
- {
- fprintf(stderr, "ERROR: Not all slaves responded!\n");
- return -3;
- }
-
- EtherCAT_remove_command(master, cmd);
- }
-
- if (desc->sm1)
- {
- cmd = EtherCAT_write(master, slave->station_address, 0x0808, 8, desc->sm1);
-
- EtherCAT_send_receive(master);
-
- if (cmd->working_counter != 1)
- {
- fprintf(stderr, "ERROR: Not all slaves responded!\n");
- return -4;
- }
-
- EtherCAT_remove_command(master, cmd);
- }
- }
-
- // Change state to PREOP
-
- if (EtherCAT_state_change(master, slave, EC_STATE_PREOP) != 0)
- {
- fprintf(stderr, "ERROR: Could not set state!\n");
- return -5;
- }
-
- // Set FMMU's
-
- if (desc->fmmu0)
- {
- memcpy(fmmu, desc->fmmu0, 16);
-
- fmmu[0] = slave->logical_address0 & 0x000000FF;
- fmmu[1] = (slave->logical_address0 & 0x0000FF00) >> 8;
- fmmu[2] = (slave->logical_address0 & 0x00FF0000) >> 16;
- fmmu[3] = (slave->logical_address0 & 0xFF000000) >> 24;
-
- cmd = EtherCAT_write(master, slave->station_address, 0x0600, 16, fmmu);
- EtherCAT_send_receive(master);
-
- if (cmd->working_counter != 1)
- {
- fprintf(stderr, "ERROR: Not all slaves responded (%i of 1)!\n",
- cmd->working_counter);
- return -6;
- }
-
- EtherCAT_remove_command(master, cmd);
- }
-
- // Set Sync Managers
-
- if (desc->type != MAILBOX)
- {
- if (desc->sm0)
- {
- cmd = EtherCAT_write(master, slave->station_address, 0x0800, 8, desc->sm0);
-
- EtherCAT_send_receive(master);
-
- if (cmd->working_counter != 1)
- {
- fprintf(stderr, "ERROR: Not all slaves responded!\n");
- return -8;
- }
-
- EtherCAT_remove_command(master, cmd);
- }
-
- if (desc->sm1)
- {
- cmd = EtherCAT_write(master, slave->station_address, 0x0808, 8, desc->sm1);
-
- EtherCAT_send_receive(master);
-
- if (cmd->working_counter != 1)
- {
- fprintf(stderr, "ERROR: Not all slaves responded!\n");
- return -9;
- }
-
- EtherCAT_remove_command(master, cmd);
- }
- }
-
- if (desc->sm2)
- {
- cmd = EtherCAT_write(master, slave->station_address, 0x0810, 8, desc->sm2);
-
- EtherCAT_send_receive(master);
-
- if (cmd->working_counter != 1)
- {
- fprintf(stderr, "ERROR: Not all slaves responded!\n");
- return -10;
- }
-
- EtherCAT_remove_command(master, cmd);
- }
-
- if (desc->sm3)
- {
- cmd = EtherCAT_write(master, slave->station_address, 0x0818, 8, desc->sm3);
-
- EtherCAT_send_receive(master);
-
- if (cmd->working_counter != 1)
- {
- fprintf(stderr, "ERROR: Not all slaves responded!\n");
- return -11;
- }
-
- EtherCAT_remove_command(master, cmd);
- }
-
- // Change state to SAVEOP
-
- if (EtherCAT_state_change(master, slave, EC_STATE_SAVEOP) != 0)
- {
- fprintf(stderr, "ERROR: Could not set state!\n");
- return -12;
- }
-
- // Change state to OP
-
- if (EtherCAT_state_change(master, slave, EC_STATE_OP) != 0)
- {
- fprintf(stderr, "ERROR: Could not set state!\n");
- return -13;
- }
-
- return 0;
-}
-
-//---------------------------------------------------------------
-
-int EtherCAT_deactivate_slave(EtherCAT_master_t *master,
- EtherCAT_slave_t *slave)
-{
- if (EtherCAT_state_change(master, slave, EC_STATE_INIT) != 0)
- {
- return -1;
- }
-
- return 0;
-}
-
-//---------------------------------------------------------------
-
-void set_byte(unsigned char *data,
- unsigned int offset,
- unsigned char value)
-{
- data[offset] = value;
-}
-
-//---------------------------------------------------------------
-
-void set_word(unsigned char *data,
- unsigned int offset,
- unsigned int value)
-{
- data[offset] = value & 0xFF;
- data[offset + 1] = (value & 0xFF00) >> 8;
-}
-
-//---------------------------------------------------------------
--- a/user/ec_master.h Fri Dec 16 15:34:04 2005 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,120 +0,0 @@
-//---------------------------------------------------------------
-//
-// e c _ m a s t e r . h
-//
-// $LastChangedDate$
-// $Author$
-//
-//---------------------------------------------------------------
-
-#include <pcap.h>
-#include <libnet.h>
-#include <pthread.h>
-
-#include "ec_slave.h"
-#include "ec_command.h"
-
-//---------------------------------------------------------------
-
-typedef struct
-{
- EtherCAT_slave_t *slaves; // Slaves array
- unsigned int slave_count; // Number of slaves
-
- EtherCAT_command_t *first_command; // List of commands
-
- pcap_t *pcap_handle; // Handle for libpcap
- libnet_t *net_handle; // Handle for libnet
-
- unsigned char command_index; // Current command index
-
- unsigned char *process_data;
- unsigned int process_data_length;
- void (*pre_cb)(unsigned char *);
- void (*post_cb)(unsigned char *);
- pthread_t thread;
- int thread_continue;
- unsigned int cycle_time;
-
- double bus_time;
-
- double last_jitter;
- double last_cycle_time;
- double last_cycle_work_time;
- double last_cycle_busy_rate;
-}
-EtherCAT_master_t;
-
-//---------------------------------------------------------------
-
-// Master creation and deletion
-int EtherCAT_master_init(EtherCAT_master_t *, char *);
-void EtherCAT_master_clear(EtherCAT_master_t *);
-
-// Checking for slaves
-int EtherCAT_check_slaves(EtherCAT_master_t *, EtherCAT_slave_t *, unsigned int);
-void EtherCAT_clear_slaves(EtherCAT_master_t *);
-
-// Slave information interface
-int EtherCAT_read_slave_information(EtherCAT_master_t *,
- unsigned short int,
- unsigned short int,
- unsigned int *);
-
-// EtherCAT commands
-EtherCAT_command_t *EtherCAT_read(EtherCAT_master_t *,
- unsigned short,
- unsigned short,
- unsigned int);
-EtherCAT_command_t *EtherCAT_write(EtherCAT_master_t *,
- unsigned short,
- unsigned short,
- unsigned int,
- const unsigned char *);
-EtherCAT_command_t *EtherCAT_position_read(EtherCAT_master_t *,
- short,
- unsigned short,
- unsigned int);
-EtherCAT_command_t *EtherCAT_position_write(EtherCAT_master_t *,
- short,
- unsigned short,
- unsigned int,
- const unsigned char *);
-EtherCAT_command_t *EtherCAT_broadcast_read(EtherCAT_master_t *,
- unsigned short,
- unsigned int);
-EtherCAT_command_t *EtherCAT_broadcast_write(EtherCAT_master_t *,
- unsigned short,
- unsigned int,
- const unsigned char *);
-EtherCAT_command_t *EtherCAT_logical_read_write(EtherCAT_master_t *,
- unsigned int,
- unsigned int,
- unsigned char *);
-
-void EtherCAT_remove_command(EtherCAT_master_t *, EtherCAT_command_t *);
-
-// Slave states
-int EtherCAT_state_change(EtherCAT_master_t *, EtherCAT_slave_t *, unsigned char);
-int EtherCAT_broadcast_state_change(EtherCAT_master_t *, unsigned char);
-
-int EtherCAT_activate_slave(EtherCAT_master_t *, EtherCAT_slave_t *);
-int EtherCAT_deactivate_slave(EtherCAT_master_t *, EtherCAT_slave_t *);
-
-// Sending and receiving
-int EtherCAT_send_receive(EtherCAT_master_t *);
-
-int EtherCAT_start(EtherCAT_master_t *,
- unsigned int,
- void (*)(unsigned char *),
- void (*)(unsigned char *),
- unsigned int);
-int EtherCAT_stop(EtherCAT_master_t *);
-
-// Private functions
-void add_command(EtherCAT_master_t *, EtherCAT_command_t *);
-void set_byte(unsigned char *, unsigned int, unsigned char);
-void set_word(unsigned char *, unsigned int, unsigned int);
-void *thread_function(void *);
-
-//---------------------------------------------------------------
--- a/user/ec_slave.c Fri Dec 16 15:34:04 2005 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,137 +0,0 @@
-//---------------------------------------------------------------
-//
-// e c _ s l a v e . c
-//
-// $LastChangedDate$
-// $Author$
-//
-//---------------------------------------------------------------
-
-#include <stdlib.h>
-
-#include "ec_globals.h"
-#include "ec_slave.h"
-
-//---------------------------------------------------------------
-
-void EtherCAT_slave_init(EtherCAT_slave_t *slave)
-{
- slave->type = 0;
- slave->revision = 0;
- slave->build = 0;
-
- slave->ring_position = 0;
- slave->station_address = 0;
-
- slave->vendor_id = 0;
- slave->product_code = 0;
- slave->revision_number = 0;
-
- slave->desc = NULL;
-
- slave->logical_address0 = 0;
-
- slave->current_state = EC_STATE_UNKNOWN;
- slave->requested_state = EC_STATE_UNKNOWN;
-}
-
-//---------------------------------------------------------------
-
-void EtherCAT_slave_clear(EtherCAT_slave_t *slave)
-{
- // Nothing yet...
-}
-
-//---------------------------------------------------------------
-
-void EtherCAT_slave_print(EtherCAT_slave_t *slave)
-{
-}
-
-//---------------------------------------------------------------
-
-unsigned char sm0_multi[] = {0x00, 0x18, 0xF6, 0x00, 0x26, 0x00, 0x01, 0x00};
-unsigned char sm1_multi[] = {0xF6, 0x18, 0xF6, 0x00, 0x22, 0x00, 0x01, 0x00};
-
-unsigned char sm0_1014[] = {0x00, 0x10, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00};
-
-unsigned char sm0_2004[] = {0x00, 0x0F, 0x01, 0x00, 0x46, 0x00, 0x01, 0x00};
-
-unsigned char sm2_31xx[] = {0x00, 0x10, 0x04, 0x00, 0x24, 0x00, 0x00, 0x00};
-unsigned char sm3_31xx[] = {0x00, 0x11, 0x06, 0x00, 0x20, 0x00, 0x01, 0x00};
-
-unsigned char sm2_4102[] = {0x00, 0x10, 0x04, 0x00, 0x24, 0x00, 0x01, 0x00};
-
-
-unsigned char fmmu0_1014[] = {0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x07,
- 0x00, 0x10, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00};
-
-unsigned char fmmu0_2004[] = {0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x07,
- 0x00, 0x0F, 0x00, 0x02, 0x01, 0x00, 0x00, 0x00};
-
-unsigned char fmmu0_31xx[] = {0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x07,
- 0x00, 0x11, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00};
-
-unsigned char fmmu0_4102[] = {0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x07,
- 0x00, 0x10, 0x00, 0x02, 0x01, 0x00, 0x00, 0x00};
-
-//---------------------------------------------------------------
-
-EtherCAT_slave_desc_t Beckhoff_EK1100[] = {"Beckhoff", "EK1100", "Bus Coupler",
- SIMPLE,
- NULL, NULL, NULL, NULL, // Noch nicht eingepflegt...
- NULL,
- 0};
-
-EtherCAT_slave_desc_t Beckhoff_EL1014[] = {"Beckhoff", "EL1014", "4x Digital Input",
- SIMPLE,
- sm0_1014, NULL, NULL, NULL,
- fmmu0_1014,
- 1};
-
-EtherCAT_slave_desc_t Beckhoff_EL2004[] = {"Beckhoff", "EL2004", "4x Digital Output",
- SIMPLE,
- sm0_2004, NULL, NULL, NULL,
- fmmu0_2004,
- 1};
-
-EtherCAT_slave_desc_t Beckhoff_EL3102[] = {"Beckhoff", "EL3102", "2x Analog Input Diff",
- MAILBOX,
- sm0_multi, sm1_multi, sm2_31xx, sm3_31xx,
- fmmu0_31xx,
- 6};
-
-EtherCAT_slave_desc_t Beckhoff_EL3162[] = {"Beckhoff", "EL3162", "2x Analog Input",
- MAILBOX,
- sm0_multi, sm1_multi, sm2_31xx, sm3_31xx,
- fmmu0_31xx,
- 6};
-
-EtherCAT_slave_desc_t Beckhoff_EL4102[] = {"Beckhoff", "EL4102", "2x Analog Output",
- MAILBOX,
- sm0_multi, sm1_multi, sm2_4102, NULL,
- fmmu0_4102,
- 4};
-
-EtherCAT_slave_desc_t Beckhoff_EL5001[] = {"Beckhoff", "EL5001", "SSI-Interface",
- SIMPLE,
- NULL, NULL, NULL, NULL, // Noch nicht eingepflegt...
- NULL,
- 0};
-
-//---------------------------------------------------------------
-
-unsigned int slave_idents_count = 7;
-
-struct slave_ident slave_idents[] =
-{
- {0x00000002, 0x03F63052, Beckhoff_EL1014},
- {0x00000002, 0x044C2C52, Beckhoff_EK1100},
- {0x00000002, 0x07D43052, Beckhoff_EL2004},
- {0x00000002, 0x0C1E3052, Beckhoff_EL3102},
- {0x00000002, 0x0C5A3052, Beckhoff_EL3162},
- {0x00000002, 0x10063052, Beckhoff_EL4102},
- {0x00000002, 0x13893052, Beckhoff_EL5001}
-};
-
-//---------------------------------------------------------------
--- a/user/ec_slave.h Fri Dec 16 15:34:04 2005 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,96 +0,0 @@
-//---------------------------------------------------------------
-//
-// e c _ s l a v e . h
-//
-// $LastChangedDate$
-// $Author$
-//
-//---------------------------------------------------------------
-
-#define SIMPLE 0
-#define MAILBOX 1
-
-//---------------------------------------------------------------
-
-typedef struct slave_desc EtherCAT_slave_desc_t;
-
-typedef struct
-{
- // Base data
- unsigned char type;
- unsigned char revision;
- unsigned short build;
-
- // Addresses
- short ring_position;
- unsigned short station_address;
-
- // Slave information interface
- unsigned int vendor_id;
- unsigned int product_code;
- unsigned int revision_number;
-
- const EtherCAT_slave_desc_t *desc;
-
- unsigned int logical_address0;
-
- unsigned int current_state;
- unsigned int requested_state;
-
- unsigned char *process_data;
-}
-EtherCAT_slave_t;
-
-#define ECAT_INIT_SLAVE(TYPE) {0, 0, 0, 0, 0, 0, 0, 0, TYPE, 0, 0, 0, NULL}
-
-//---------------------------------------------------------------
-
-// Slave construction and deletion
-void EtherCAT_slave_init(EtherCAT_slave_t *);
-void EtherCAT_slave_clear(EtherCAT_slave_t *);
-
-// Debug
-void EtherCAT_slave_print(EtherCAT_slave_t *);
-
-//---------------------------------------------------------------
-
-typedef struct slave_desc
-{
- const char *vendor_name;
- const char *product_name;
- const char *product_desc;
-
- const int type;
-
- const unsigned char *sm0;
- const unsigned char *sm1;
- const unsigned char *sm2;
- const unsigned char *sm3;
-
- const unsigned char *fmmu0;
-
- const unsigned int data_length;
-}
-EtherCAT_slave_desc_t;
-
-extern EtherCAT_slave_desc_t Beckhoff_EK1100[];
-extern EtherCAT_slave_desc_t Beckhoff_EL1014[];
-extern EtherCAT_slave_desc_t Beckhoff_EL2004[];
-extern EtherCAT_slave_desc_t Beckhoff_EL3102[];
-extern EtherCAT_slave_desc_t Beckhoff_EL3162[];
-extern EtherCAT_slave_desc_t Beckhoff_EL4102[];
-extern EtherCAT_slave_desc_t Beckhoff_EL5001[];
-
-//---------------------------------------------------------------
-
-struct slave_ident
-{
- const unsigned int vendor_id;
- const unsigned int product_code;
- const EtherCAT_slave_desc_t *desc;
-};
-
-extern struct slave_ident slave_idents[];
-extern unsigned int slave_idents_count;
-
-//---------------------------------------------------------------
--- 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;
- }
-}
-
-//---------------------------------------------------------------
--- a/user/main_gui.cpp Fri Dec 16 15:34:04 2005 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,287 +0,0 @@
-//---------------------------------------------------------------
-//
-// m a i n _ g u i . c p p
-//
-// $LastChangedDate$
-// $Author$
-//
-//---------------------------------------------------------------
-
-#include <stdio.h>
-#include <string.h> // memset()
-#include <unistd.h> // usleep()
-#include <signal.h>
-
-#include <fltk/Window.h>
-#include <fltk/Slider.h>
-#include <fltk/ValueOutput.h>
-#include <fltk/FillSlider.h>
-#include <fltk/CheckButton.h>
-#include <fltk/run.h>
-using namespace fltk;
-
-#include "ec_globals.h"
-#include "ec_master.h"
-
-#define SLIDER_UPDATE_CYCLE 0.02
-#define VALUES_UPDATE_CYCLE 0.50
-
-//---------------------------------------------------------------
-
-unsigned short int write_value;
-signed short int read_value;
-unsigned char dig_value;
-
-void write_data(unsigned char *);
-void read_data(unsigned char *);
-
-void slider_write_callback(Widget *, void *);
-void slider_read_timeout(void *);
-void values_timeout(void *);
-
-Window *window;
-Slider *slider_read, *slider_write;
-ValueOutput *output_cycle, *output_jitter, *output_work, *output_busy, *output_bus;
-CheckButton *check1, *check2, *check3, *check4;
-EtherCAT_master_t master;
-
-double max_cycle, max_jitter, max_work, max_busy, max_bus;
-
-//---------------------------------------------------------------
-
-#define SLAVE_COUNT 7
-
-EtherCAT_slave_t slaves[SLAVE_COUNT] =
-{
- ECAT_INIT_SLAVE(Beckhoff_EK1100),
- ECAT_INIT_SLAVE(Beckhoff_EL4102),
- ECAT_INIT_SLAVE(Beckhoff_EL3162),
- ECAT_INIT_SLAVE(Beckhoff_EL1014),
- ECAT_INIT_SLAVE(Beckhoff_EL5001),
- ECAT_INIT_SLAVE(Beckhoff_EL2004),
- ECAT_INIT_SLAVE(Beckhoff_EL3102)
-};
-
-//---------------------------------------------------------------
-
-int main(int argc, char **argv)
-{
- //unsigned int i;
- EtherCAT_slave_t *buskoppler, *input, *output, *dig_in, *dig_out;
- struct sched_param sched;
-
- printf("CatEther-Testprogramm.\n\n");
-
- //----------
-
-#if 1
- printf("Setting highest task priority...\n");
-
- sched.sched_priority = sched_get_priority_max(SCHED_RR);
- if (sched_setscheduler(0, SCHED_RR, &sched) == -1)
- {
- fprintf(stderr, "ERROR: Could not set priority: %s\n", strerror(errno));
- return -1;
- }
-#endif
-
- //----------
-
- printf("Initializing master...\n");
- EtherCAT_master_init(&master, "eth1");
-
- printf("Checking slaves...\n");
- if (EtherCAT_check_slaves(&master, slaves, SLAVE_COUNT) != 0)
- {
- fprintf(stderr, "ERROR while searching for slaves!\n");
- return -1;
- }
-
- //----------
-
- // Check for slaves
-
- buskoppler = &slaves[0];
- output = &slaves[1];
- dig_in = &slaves[3];
- dig_out = &slaves[5];
- input = &slaves[6];
-
- // Set Mapping addresses
-
- output->logical_address0 = 0x00000000;
- input->logical_address0 = 0x00000004;
- dig_in->logical_address0 = 0x0000000F;
- dig_out->logical_address0 = 0x0000000E;
-
- //----------
-
- printf("Init output slave...\n");
-
- if (EtherCAT_activate_slave(&master, output) != 0)
- {
- fprintf(stderr, "ERROR: Could not init slave!\n");
- return -1;
- }
-
- printf("Init input slave...\n");
-
- if (EtherCAT_activate_slave(&master, input) != 0)
- {
- fprintf(stderr, "ERROR: Could not init slave!\n");
- return -1;
- }
-
- printf("Init digital input slave...\n");
-
- if (EtherCAT_activate_slave(&master, dig_in) != 0)
- {
- fprintf(stderr, "ERROR: Could not init slave!\n");
- return -1;
- }
-
- printf("Init digital output slave...\n");
-
- if (EtherCAT_activate_slave(&master, dig_out) != 0)
- {
- fprintf(stderr, "ERROR: Could not init slave!\n");
- return -1;
- }
-
- //----------
-
- printf("Starting FLTK window...\n");
-
- window = new Window(300, 300);
- window->begin();
-
- slider_read = new FillSlider(50, 10, 40, 280);
- slider_read->set_vertical();
- slider_read->buttoncolor(BLUE);
-
- slider_read->deactivate();
-
- slider_write = new Slider(110, 10, 40, 280);
- slider_write->set_vertical();
- slider_write->callback(slider_write_callback, NULL);
-
- output_cycle = new ValueOutput(200, 50, 90, 25, "Cycle time [µs]");
- output_cycle->align(ALIGN_LEFT | ALIGN_TOP);
-
- output_jitter = new ValueOutput(200, 90, 90, 25, "Jitter [%]");
- output_jitter->align(ALIGN_LEFT | ALIGN_TOP);
-
- output_work = new ValueOutput(200, 130, 90, 25, "Work time [µs]");
- output_work->align(ALIGN_LEFT | ALIGN_TOP);
-
- output_busy = new ValueOutput(200, 170, 90, 25, "Busy rate [%]");
- output_busy->align(ALIGN_LEFT | ALIGN_TOP);
-
- output_bus = new ValueOutput(200, 210, 90, 25, "Bus time [µs]");
- output_bus->align(ALIGN_LEFT | ALIGN_TOP);
-
- check1 = new CheckButton(200, 240, 30, 25, "1");
- check2 = new CheckButton(250, 240, 30, 25, "2");
- check3 = new CheckButton(200, 270, 30, 25, "3");
- check4 = new CheckButton(250, 270, 30, 25, "4");
-
- // output_cycle = new Output(200, 35, 90, 25);
-
- window->end();
- window->show();
-
- add_timeout(SLIDER_UPDATE_CYCLE, slider_read_timeout, NULL);
- add_timeout(VALUES_UPDATE_CYCLE, values_timeout, NULL);
-
- printf("Starting thread...\n");
-
- if (EtherCAT_start(&master, 20, write_data, read_data, 10000) != 0)
- {
- return -1;
- }
-
- run(); // Start FLTK loop
-
- remove_timeout(slider_read_timeout, NULL);
- remove_timeout(values_timeout, NULL);
-
- printf("Stopping master thread...\n");
- EtherCAT_stop(&master);
-
- printf("Deactivating slaves...\n");
-
- EtherCAT_deactivate_slave(&master, dig_out);
- EtherCAT_deactivate_slave(&master, dig_in);
- EtherCAT_deactivate_slave(&master, input);
- EtherCAT_deactivate_slave(&master, output);
- EtherCAT_deactivate_slave(&master, buskoppler);
-
- EtherCAT_master_clear(&master);
-
- printf("Finished.\n");
-
- return 0;
-}
-
-//---------------------------------------------------------------
-
-void write_data(unsigned char *data)
-{
- data[0] = write_value & 0xFF;
- data[1] = (write_value & 0xFF00) >> 8;
-
- data[14] = (write_value * 16 / 32767) & 0x0F;
-}
-
-//---------------------------------------------------------------
-
-void read_data(unsigned char *data)
-{
- read_value = data[5] | data[6] << 8;
- dig_value = data[15];
-}
-
-//---------------------------------------------------------------
-
-void slider_read_timeout(void *data)
-{
- slider_read->value((double) read_value / 65536 + 0.5);
- slider_read->redraw();
-
- check1->value(dig_value & 1);
- check2->value(dig_value & 2);
- check3->value(dig_value & 4);
- check4->value(dig_value & 8);
-
- if (max_cycle < master.last_cycle_time) max_cycle = master.last_cycle_time;
- if (max_jitter < master.last_jitter) max_jitter = master.last_jitter;
- if (max_work < master.last_cycle_work_time) max_work = master.last_cycle_work_time;
- if (max_busy < master.last_cycle_busy_rate) max_busy = master.last_cycle_busy_rate;
- if (max_bus < master.bus_time) max_bus = master.bus_time;
-
- repeat_timeout(SLIDER_UPDATE_CYCLE, slider_read_timeout, NULL);
-}
-
-//---------------------------------------------------------------
-
-void values_timeout(void *data)
-{
- output_cycle->value(max_cycle * 1000000.0);
- output_jitter->value(max_jitter);
- output_work->value(max_work * 1000000.0);
- output_busy->value(max_busy);
- output_bus->value(max_bus * 1000000.0);
-
- max_cycle = max_jitter = max_work = max_busy = max_bus = 0.0;
-
- repeat_timeout(VALUES_UPDATE_CYCLE, values_timeout, NULL);
-}
-
-//---------------------------------------------------------------
-
-void slider_write_callback(Widget *sender, void *data)
-{
- write_value = (short unsigned int) (32767 * slider_write->value() + 0.5);
-}
-
-//---------------------------------------------------------------