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https://git.rwth-aachen.de/acs/public/villas/node/
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ethercat: add ethercattest tool for testing the ethercat connection
This commit is contained in:
Niklas Eiling
parent
62a15894fe
commit
140bafc5f9
2 changed files with 560 additions and 0 deletions
25
lib/nodes/ethercat_test/Makefile
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25
lib/nodes/ethercat_test/Makefile
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@ -0,0 +1,25 @@
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BINARY=ethertest
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ETHERCAT_ROOT=/projects/ethercat/etherlab-master
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CC=gcc
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SRC=main.c
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INC_PATH=$(ETHERCAT_ROOT)/include
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LIB_PATH=$(ETHERCAT_ROOT)/lib/.libs
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LD_FLAGS=-lethercat -lrt
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C_FLAGS=-Wall
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OBJECTS=$(SRC:.c=.o)
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.PHONY: all clean
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all: $(BINARY)
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$(BINARY): $(OBJECTS)
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$(CC) -L$(LIB_PATH) $^ -o $@ $(LD_FLAGS)
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%.o : %.c
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$(CC) -I$(INC_PATH) $(C_FLAGS) -c -o $@ $<
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clean:
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rm -f *.o $(BINARY)
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535
lib/nodes/ethercat_test/main.c
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535
lib/nodes/ethercat_test/main.c
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@ -0,0 +1,535 @@
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/*****************************************************************************
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*
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* $Id$
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*
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* Copyright (C) 2007-2009 Florian Pose, Ingenieurgemeinschaft IgH
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*
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* This file is part of the IgH EtherCAT Master.
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*
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* The IgH EtherCAT Master is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License version 2, as
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* published by the Free Software Foundation.
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*
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* The IgH EtherCAT Master is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
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* Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with the IgH EtherCAT Master; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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*
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* ---
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*
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* The license mentioned above concerns the source code only. Using the
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* EtherCAT technology and brand is only permitted in compliance with the
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* industrial property and similar rights of Beckhoff Automation GmbH.
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*
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****************************************************************************/
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#include <errno.h>
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#include <signal.h>
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#include <stdio.h>
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#include <string.h>
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#include <sys/resource.h>
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#include <sys/time.h>
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#include <sys/types.h>
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#include <unistd.h>
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#include <time.h> /* clock_gettime() */
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#include <sys/mman.h> /* mlockall() */
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/****************************************************************************/
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#include "ecrt.h"
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/****************************************************************************/
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/** Task period in ns. */
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#define PERIOD_NS (1000000)
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#define MAX_SAFE_STACK (8 * 1024) /* The maximum stack size which is
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guranteed safe to access without
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faulting */
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/****************************************************************************/
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/* Constants */
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#define NSEC_PER_SEC (1000000000)
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#define FREQUENCY (NSEC_PER_SEC / PERIOD_NS)
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/****************************************************************************/
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// EtherCAT
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static ec_master_t *master = NULL;
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static ec_master_state_t master_state = {};
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static ec_domain_t *domain1 = NULL;
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static ec_domain_state_t domain1_state = {};
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static ec_slave_config_t *sc_ana_in = NULL;
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static ec_slave_config_state_t sc_ana_in_state = {};
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static ec_slave_config_t *sc_ana_out = NULL;
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static ec_slave_config_state_t sc_ana_out_state = {};
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/****************************************************************************/
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// process data
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static uint8_t *domain1_pd = NULL;
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#define MediaConvACSPos 0, 0
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#define MediaConvCWDPos 0, 1
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#define BusCouplerPos 0, 2
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#define AnaOutSlavePos 0, 3
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#define AnaInSlavePos 0, 4
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#define PCISlave 0, 5
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#define Beckhoff_EK1100 0x00000002, 0x044c2c52
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#define Beckhoff_EL2004 0x00000002, 0x07d43052
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#define Beckhoff_EL2032 0x00000002, 0x07f03052
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#define Beckhoff_EL3152 0x00000002, 0x0c503052
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#define Beckhoff_EL3102 0x00000002, 0x0c1e3052
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#define Beckhoff_EL4102 0x00000002, 0x10063052
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//CWD Bus
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#define Beckhoff_EL4038 0x00000002, 0x0fc63052
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#define Beckhoff_EL3008 0x00000002, 0x0bc03052
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#define Beckhoff_FC1100 0x00000002, 0x044c0c62
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// offsets for PDO entries
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static unsigned int off_ana_out_values[8] = {0};
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static unsigned int off_ana_in_values[8];
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const static ec_pdo_entry_reg_t domain1_regs[] = {
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{AnaOutSlavePos, Beckhoff_EL4038, 0x7000, 0x01, off_ana_out_values},
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{AnaOutSlavePos, Beckhoff_EL4038, 0x7010, 0x01, off_ana_out_values+1},
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{AnaOutSlavePos, Beckhoff_EL4038, 0x7020, 0x01, off_ana_out_values+2},
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{AnaOutSlavePos, Beckhoff_EL4038, 0x7030, 0x01, off_ana_out_values+3},
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{AnaOutSlavePos, Beckhoff_EL4038, 0x7040, 0x01, off_ana_out_values+4},
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{AnaOutSlavePos, Beckhoff_EL4038, 0x7050, 0x01, off_ana_out_values+5},
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{AnaOutSlavePos, Beckhoff_EL4038, 0x7060, 0x01, off_ana_out_values+6},
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{AnaOutSlavePos, Beckhoff_EL4038, 0x7070, 0x01, off_ana_out_values+7},
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{AnaInSlavePos, Beckhoff_EL3008, 0x6000, 0x11, off_ana_in_values},
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{AnaInSlavePos, Beckhoff_EL3008, 0x6010, 0x11, off_ana_in_values+1},
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{AnaInSlavePos, Beckhoff_EL3008, 0x6020, 0x11, off_ana_in_values+2},
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{AnaInSlavePos, Beckhoff_EL3008, 0x6030, 0x11, off_ana_in_values+3},
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{AnaInSlavePos, Beckhoff_EL3008, 0x6040, 0x11, off_ana_in_values+4},
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{AnaInSlavePos, Beckhoff_EL3008, 0x6050, 0x11, off_ana_in_values+5},
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{AnaInSlavePos, Beckhoff_EL3008, 0x6060, 0x11, off_ana_in_values+6},
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{AnaInSlavePos, Beckhoff_EL3008, 0x6070, 0x11, off_ana_in_values+7},
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{}
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};
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static unsigned int counter = 0;
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//static unsigned int blink = 0;
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/*****************************************************************************/
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/* Master 0, Slave 3, "EL4038"
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* Vendor ID: 0x00000002
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* Product code: 0x0fc63052
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* Revision number: 0x00140000
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*/
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static ec_pdo_entry_info_t slave_3_pdo_entries[] = {
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{0x7000, 0x01, 16}, /* Analog output */
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{0x7010, 0x01, 16}, /* Analog output */
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{0x7020, 0x01, 16}, /* Analog output */
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{0x7030, 0x01, 16}, /* Analog output */
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{0x7040, 0x01, 16}, /* Analog output */
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{0x7050, 0x01, 16}, /* Analog output */
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{0x7060, 0x01, 16}, /* Analog output */
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{0x7070, 0x01, 16}, /* Analog output */
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};
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static ec_pdo_info_t slave_3_pdos[] = {
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{0x1600, 1, slave_3_pdo_entries + 0}, /* AO RxPDO-Map Outputs Ch.1 */
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{0x1601, 1, slave_3_pdo_entries + 1}, /* AO RxPDO-Map Outputs Ch.2 */
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{0x1602, 1, slave_3_pdo_entries + 2}, /* AO RxPDO-Map Outputs Ch.3 */
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{0x1603, 1, slave_3_pdo_entries + 3}, /* AO RxPDO-Map Outputs Ch.4 */
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{0x1604, 1, slave_3_pdo_entries + 4}, /* AO RxPDO-Map Outputs Ch.5 */
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{0x1605, 1, slave_3_pdo_entries + 5}, /* AO RxPDO-Map Outputs Ch.6 */
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{0x1606, 1, slave_3_pdo_entries + 6}, /* AO RxPDO-Map Outputs Ch.7 */
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{0x1607, 1, slave_3_pdo_entries + 7}, /* AO RxPDO-Map Outputs Ch.8 */
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};
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static ec_sync_info_t slave_3_syncs[] = {
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{0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
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{1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
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{2, EC_DIR_OUTPUT, 8, slave_3_pdos + 0, EC_WD_DISABLE},
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{3, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
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{0xff}
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};
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/* Master 0, Slave 4, "EL3008"
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* Vendor ID: 0x00000002
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* Product code: 0x0bc03052
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* Revision number: 0x00150000
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*/
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static ec_pdo_entry_info_t slave_4_pdo_entries[] = {
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{0x6000, 0x01, 1}, /* Underrange */
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{0x6000, 0x02, 1}, /* Overrange */
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{0x6000, 0x03, 2}, /* Limit 1 */
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{0x6000, 0x05, 2}, /* Limit 2 */
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{0x6000, 0x07, 1}, /* Error */
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{0x0000, 0x00, 1}, /* Gap */
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{0x0000, 0x00, 6}, /* Gap */
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{0x6000, 0x0f, 1}, /* TxPDO State */
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{0x6000, 0x10, 1}, /* TxPDO Toggle */
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{0x6000, 0x11, 16}, /* Value */
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{0x6010, 0x01, 1}, /* Underrange */
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{0x6010, 0x02, 1}, /* Overrange */
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{0x6010, 0x03, 2}, /* Limit 1 */
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{0x6010, 0x05, 2}, /* Limit 2 */
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{0x6010, 0x07, 1}, /* Error */
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{0x0000, 0x00, 1}, /* Gap */
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{0x0000, 0x00, 6}, /* Gap */
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{0x6010, 0x0f, 1}, /* TxPDO State */
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{0x6010, 0x10, 1}, /* TxPDO Toggle */
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{0x6010, 0x11, 16}, /* Value */
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{0x6020, 0x01, 1}, /* Underrange */
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{0x6020, 0x02, 1}, /* Overrange */
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{0x6020, 0x03, 2}, /* Limit 1 */
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{0x6020, 0x05, 2}, /* Limit 2 */
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{0x6020, 0x07, 1}, /* Error */
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{0x0000, 0x00, 1}, /* Gap */
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{0x0000, 0x00, 6}, /* Gap */
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{0x6020, 0x0f, 1}, /* TxPDO State */
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{0x6020, 0x10, 1}, /* TxPDO Toggle */
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{0x6020, 0x11, 16}, /* Value */
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{0x6030, 0x01, 1}, /* Underrange */
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{0x6030, 0x02, 1}, /* Overrange */
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{0x6030, 0x03, 2}, /* Limit 1 */
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{0x6030, 0x05, 2}, /* Limit 2 */
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{0x6030, 0x07, 1}, /* Error */
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{0x0000, 0x00, 1}, /* Gap */
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{0x0000, 0x00, 6}, /* Gap */
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{0x6030, 0x0f, 1}, /* TxPDO State */
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{0x6030, 0x10, 1}, /* TxPDO Toggle */
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{0x6030, 0x11, 16}, /* Value */
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{0x6040, 0x01, 1}, /* Underrange */
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{0x6040, 0x02, 1}, /* Overrange */
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{0x6040, 0x03, 2}, /* Limit 1 */
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{0x6040, 0x05, 2}, /* Limit 2 */
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{0x6040, 0x07, 1}, /* Error */
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{0x0000, 0x00, 1}, /* Gap */
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{0x0000, 0x00, 6}, /* Gap */
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{0x6040, 0x0f, 1}, /* TxPDO State */
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{0x6040, 0x10, 1}, /* TxPDO Toggle */
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{0x6040, 0x11, 16}, /* Value */
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{0x6050, 0x01, 1}, /* Underrange */
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{0x6050, 0x02, 1}, /* Overrange */
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{0x6050, 0x03, 2}, /* Limit 1 */
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{0x6050, 0x05, 2}, /* Limit 2 */
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{0x6050, 0x07, 1}, /* Error */
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{0x0000, 0x00, 1}, /* Gap */
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{0x0000, 0x00, 6}, /* Gap */
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{0x6050, 0x0f, 1}, /* TxPDO State */
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{0x6050, 0x10, 1}, /* TxPDO Toggle */
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{0x6050, 0x11, 16}, /* Value */
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{0x6060, 0x01, 1}, /* Underrange */
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{0x6060, 0x02, 1}, /* Overrange */
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{0x6060, 0x03, 2}, /* Limit 1 */
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{0x6060, 0x05, 2}, /* Limit 2 */
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{0x6060, 0x07, 1}, /* Error */
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{0x0000, 0x00, 1}, /* Gap */
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{0x0000, 0x00, 6}, /* Gap */
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{0x6060, 0x0f, 1}, /* TxPDO State */
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{0x6060, 0x10, 1}, /* TxPDO Toggle */
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{0x6060, 0x11, 16}, /* Value */
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{0x6070, 0x01, 1}, /* Underrange */
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{0x6070, 0x02, 1}, /* Overrange */
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{0x6070, 0x03, 2}, /* Limit 1 */
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{0x6070, 0x05, 2}, /* Limit 2 */
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{0x6070, 0x07, 1}, /* Error */
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{0x0000, 0x00, 1}, /* Gap */
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{0x0000, 0x00, 6}, /* Gap */
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{0x6070, 0x0f, 1}, /* TxPDO State */
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{0x6070, 0x10, 1}, /* TxPDO Toggle */
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{0x6070, 0x11, 16}, /* Value */
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};
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static ec_pdo_info_t slave_4_pdos[] = {
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{0x1a00, 10, slave_4_pdo_entries + 0}, /* AI TxPDO-Map Standard Ch.1 */
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{0x1a02, 10, slave_4_pdo_entries + 10}, /* AI TxPDO-Map Standard Ch.2 */
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{0x1a04, 10, slave_4_pdo_entries + 20}, /* AI TxPDO-Map Standard Ch.3 */
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{0x1a06, 10, slave_4_pdo_entries + 30}, /* AI TxPDO-Map Standard Ch.4 */
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{0x1a08, 10, slave_4_pdo_entries + 40}, /* AI TxPDO-Map Standard Ch.5 */
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{0x1a0a, 10, slave_4_pdo_entries + 50}, /* AI TxPDO-Map Standard Ch.6 */
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{0x1a0c, 10, slave_4_pdo_entries + 60}, /* AI TxPDO-Map Standard Ch.7 */
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{0x1a0e, 10, slave_4_pdo_entries + 70}, /* AI TxPDO-Map Standard Ch.8 */
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};
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static ec_sync_info_t slave_4_syncs[] = {
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{0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
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{1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
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{2, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
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{3, EC_DIR_INPUT, 8, slave_4_pdos + 0, EC_WD_DISABLE},
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{0xff}
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};
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/*****************************************************************************/
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void check_domain1_state(void)
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{
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ec_domain_state_t ds;
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ecrt_domain_state(domain1, &ds);
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if (ds.working_counter != domain1_state.working_counter) {
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printf("Domain1: WC %u.\n", ds.working_counter);
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}
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if (ds.wc_state != domain1_state.wc_state) {
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printf("Domain1: State %u.\n", ds.wc_state);
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}
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domain1_state = ds;
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}
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/*****************************************************************************/
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static const char* MASTER_AL_STATES[] = {"INIT",
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"PREOP",
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"SAFEOP",
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"OP"};
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void check_master_state(void)
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{
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ec_master_state_t ms;
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ecrt_master_state(master, &ms);
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if (ms.slaves_responding != master_state.slaves_responding) {
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printf("%u slave(s).\n", ms.slaves_responding);
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}
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if (ms.al_states != master_state.al_states) {
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if (ms.al_states > 3) {
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printf("AL states: unknown: 0x%02X\n", ms.al_states);
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} else {
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printf("AL states: %s.\n", MASTER_AL_STATES[ms.al_states]);
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}
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}
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if (ms.link_up != master_state.link_up) {
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printf("Link is %s.\n", ms.link_up ? "up" : "down");
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}
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master_state = ms;
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}
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/*****************************************************************************/
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static const char* SLAVE_AL_STATES[] = {[1]="INIT",
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[2]="PREOP",
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[4]="SAFEOP",
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[8]="OP"};
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void check_slave_config_states(void)
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{
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ec_slave_config_state_t s;
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ecrt_slave_config_state(sc_ana_in, &s);
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if (s.al_state != sc_ana_in_state.al_state) {
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if (s.al_state > 8) {
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printf("AnaIn state: unknown: 0x%02X\n", s.al_state);
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} else {
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printf("AnaIn state: %s.\n", SLAVE_AL_STATES[s.al_state]);
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}
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}
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if (s.online != sc_ana_in_state.online) {
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printf("AnaIn: %s.\n", s.online ? "online" : "offline");
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}
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if (s.operational != sc_ana_in_state.operational) {
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printf("AnaIn: %soperational.\n", s.operational ? "" : "Not ");
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}
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sc_ana_in_state = s;
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ecrt_slave_config_state(sc_ana_out, &s);
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if (s.al_state != sc_ana_out_state.al_state) {
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if (s.al_state > 8) {
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printf("AnaOut state: unknown: 0x%02X\n", s.al_state);
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} else {
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printf("AnaOut state: %s.\n", SLAVE_AL_STATES[s.al_state]);
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}
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}
|
||||
if (s.online != sc_ana_out_state.online) {
|
||||
printf("AnaOut: %s.\n", s.online ? "online" : "offline");
|
||||
}
|
||||
if (s.operational != sc_ana_out_state.operational) {
|
||||
printf("AnaOut: %soperational.\n", s.operational ? "" : "Not ");
|
||||
}
|
||||
|
||||
sc_ana_out_state = s;
|
||||
}
|
||||
|
||||
/*****************************************************************************/
|
||||
|
||||
void cyclic_task()
|
||||
{
|
||||
// receive process data
|
||||
ecrt_master_receive(master);
|
||||
ecrt_domain_process(domain1);
|
||||
|
||||
// check process data state
|
||||
check_domain1_state();
|
||||
|
||||
if (counter) {
|
||||
counter--;
|
||||
} else { // do this at 1 Hz
|
||||
counter = FREQUENCY;
|
||||
|
||||
|
||||
#if 1
|
||||
//read process data
|
||||
for(int i=0; i<8; ++i) {
|
||||
printf("AnaIn(%d): value=%d\n",
|
||||
i, EC_READ_S16(domain1_pd + off_ana_in_values[i]));
|
||||
}
|
||||
printf("\n");
|
||||
#endif
|
||||
// check for master state (optional)
|
||||
check_master_state();
|
||||
|
||||
// check for slave configuration state(s) (optional)
|
||||
check_slave_config_states();
|
||||
}
|
||||
|
||||
|
||||
#if 1
|
||||
// write process data
|
||||
for(int i=0; i<8; ++i) {
|
||||
EC_WRITE_U16(domain1_pd + off_ana_out_values[i], 0x7FFF);
|
||||
}
|
||||
//EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x06 : 0x09);
|
||||
#endif
|
||||
|
||||
// send process data
|
||||
printf("queue\n");
|
||||
ecrt_domain_queue(domain1);
|
||||
printf("send\n");
|
||||
ecrt_master_send(master);
|
||||
}
|
||||
|
||||
/****************************************************************************/
|
||||
|
||||
void stack_prefault(void)
|
||||
{
|
||||
unsigned char dummy[MAX_SAFE_STACK];
|
||||
|
||||
memset(dummy, 0, MAX_SAFE_STACK);
|
||||
}
|
||||
|
||||
/****************************************************************************/
|
||||
|
||||
int main(int argc, char **argv)
|
||||
{
|
||||
ec_slave_config_t *sc;
|
||||
struct timespec wakeup_time;
|
||||
int ret = 0;
|
||||
|
||||
master = ecrt_request_master(0);
|
||||
if (!master) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
domain1 = ecrt_master_create_domain(master);
|
||||
if (!domain1) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
// Create configuration for bus coupler
|
||||
sc = ecrt_master_slave_config(master, BusCouplerPos, Beckhoff_EK1100);
|
||||
if (!sc) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
//Configure analog in
|
||||
printf("Configuring PDOs...\n");
|
||||
if (!(sc_ana_in = ecrt_master_slave_config(
|
||||
master, AnaInSlavePos, Beckhoff_EL3008))) {
|
||||
fprintf(stderr, "Failed to get slave configuration.\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
if (ecrt_slave_config_pdos(sc_ana_in, EC_END, slave_4_syncs)) {
|
||||
fprintf(stderr, "Failed to configure PDOs.\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
//Configure analog out
|
||||
if (!(sc_ana_out = ecrt_master_slave_config(
|
||||
master, AnaOutSlavePos, Beckhoff_EL4038))) {
|
||||
fprintf(stderr, "Failed to get slave configuration.\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
if (ecrt_slave_config_pdos(sc_ana_out, EC_END, slave_3_syncs)) {
|
||||
fprintf(stderr, "Failed to configure PDOs.\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
|
||||
if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
|
||||
fprintf(stderr, "PDO entry registration failed!\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
printf("Activating master...\n");
|
||||
if (ecrt_master_activate(master)) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
if (!(domain1_pd = ecrt_domain_data(domain1))) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
/* Set priority */
|
||||
|
||||
pid_t pid = getpid();
|
||||
if (setpriority(PRIO_PROCESS, pid, -19)) {
|
||||
fprintf(stderr, "Warning: Failed to set priority: %s\n",
|
||||
strerror(errno));
|
||||
}
|
||||
|
||||
/* Lock memory */
|
||||
|
||||
if (mlockall(MCL_CURRENT | MCL_FUTURE) == -1) {
|
||||
fprintf(stderr, "Warning: Failed to lock memory: %s\n",
|
||||
strerror(errno));
|
||||
}
|
||||
|
||||
stack_prefault();
|
||||
|
||||
printf("Starting RT task with dt=%u ns.\n", PERIOD_NS);
|
||||
|
||||
clock_gettime(CLOCK_MONOTONIC, &wakeup_time);
|
||||
wakeup_time.tv_sec += 1; /* start in future */
|
||||
wakeup_time.tv_nsec = 0;
|
||||
|
||||
for (int i=0; i != 1000; ++i) {
|
||||
ret = clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME,
|
||||
&wakeup_time, NULL);
|
||||
if (ret) {
|
||||
fprintf(stderr, "clock_nanosleep(): %s\n", strerror(ret));
|
||||
return -1;//break;
|
||||
}
|
||||
|
||||
cyclic_task();
|
||||
wakeup_time.tv_nsec += PERIOD_NS;
|
||||
while (wakeup_time.tv_nsec >= NSEC_PER_SEC) {
|
||||
wakeup_time.tv_nsec -= NSEC_PER_SEC;
|
||||
wakeup_time.tv_sec++;
|
||||
}
|
||||
}
|
||||
printf("releasing master\n");
|
||||
ecrt_release_master(master);
|
||||
printf("have a nice day!\n");
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
/****************************************************************************/
|
||||
Loading…
Add table
Reference in a new issue