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ethercat: fixes for test setup in lab

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This commit is contained in:
Divya Laxetti 2020-01-10 11:08:55 +01:00 • committed by Steffen Vogel
parent 142363a03f
commit 76cbaad2b9
2 changed files with 35 additions and 15 deletions
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5
lib/nodes/ethercat_test/Makefile
View file

@ -1,5 +1,6 @@
BINARY=ethertest
ETHERCAT_ROOT=/projects/ethercat/etherlab-master
#ETHERCAT_ROOT=/projects/ethercat/etherlab-master
ETHERCAT_ROOT=/home/laxetti/ethercat-1.5.2/
CC=gcc
SRC=main.c
@ -7,7 +8,7 @@ INC_PATH=$(ETHERCAT_ROOT)/include
LIB_PATH=$(ETHERCAT_ROOT)/lib/.libs
LD_FLAGS=-lethercat -lrt
C_FLAGS=-Wall
C_FLAGS=-Wall -std=c99
OBJECTS=$(SRC:.c=.o)

45
lib/nodes/ethercat_test/main.c
View file

@ -27,9 +27,12 @@
*
****************************************************************************/
#define _POSIX_C_SOURCE 200112L
#include <errno.h>
#include <signal.h>
#include <stdio.h>
#include <stdint.h>
#include <string.h>
#include <sys/resource.h>
#include <sys/time.h>
@ -74,15 +77,21 @@ static ec_slave_config_state_t sc_ana_out_state = {};
/****************************************************************************/
// process data
// Process data
static uint8_t *domain1_pd = NULL;
#if 0
#define MediaConvACSPos 0, 0
#define MediaConvCWDPos 0, 1
#define BusCouplerPos 0, 2
#define AnaOutSlavePos 0, 3
#define AnaInSlavePos 0, 4
#define PCISlavePos 0, 5
#else
#define BusCouplerPos 0, 0
#define AnaOutSlavePos 0, 1
#define AnaInSlavePos 0, 2
#endif
#define Beckhoff_EK1100 0x00000002, 0x044c2c52
#define Beckhoff_EL2004 0x00000002, 0x07d43052
@ -91,12 +100,12 @@ static uint8_t *domain1_pd = NULL;
#define Beckhoff_EL3102 0x00000002, 0x0c1e3052
#define Beckhoff_EL4102 0x00000002, 0x10063052
//CWD Bus
// CWD Bus
#define Beckhoff_EL4038 0x00000002, 0x0fc63052
#define Beckhoff_EL3008 0x00000002, 0x0bc03052
#define Beckhoff_FC1100 0x00000002, 0x044c0c62
// offsets for PDO entries
// Offsets for PDO entries
static unsigned int off_ana_out_values[8] = {0};
static unsigned int off_ana_in_values[8] = {0};
@ -271,7 +280,6 @@ static ec_sync_info_t slave_4_syncs[] = {
/*****************************************************************************/
static const char* DOMAIN_STATES[] = {[0]="ZERO",
[1]="INCOMPLETE",
[2]="COMPLETE",
@ -393,12 +401,14 @@ void cyclic_task()
} else { // do this at 1 Hz
counter = FREQUENCY;
#if 1
//read process data
// 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]));
int16_t ain_value = EC_READ_S16(domain1_pd + off_ana_in_values[i]);
float ain_voltage = 10.0 * (float) ain_value / INT16_MAX;
printf("AnaIn(%d): value=%f Volts\n", i, ain_voltage);
}
printf("\n");
#endif
@ -412,8 +422,15 @@ void cyclic_task()
#if 1
// write process data
for(int i=0; i<8; ++i) {
EC_WRITE_U16(domain1_pd + off_ana_out_values[i], 0x8000);
for (int i=0; i<8; ++i) {
float aout_voltage = i * 1.0;
int16_t aout_value = aout_voltage / 10.0 * INT16_MAX;
if (counter == 0)
printf("AnaOut(%d): value=%f Volts\n", i, aout_voltage);
EC_WRITE_U16(domain1_pd + off_ana_out_values[i], aout_value);
}
//EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x06 : 0x09);
#endif
@ -458,7 +475,7 @@ int main(int argc, char **argv)
return -1;
}
//Configure analog in
// Configure analog in
printf("Configuring PDOs...\n");
if (!(sc_ana_in = ecrt_master_slave_config(
master, AnaInSlavePos, Beckhoff_EL3008))) {
@ -471,7 +488,7 @@ int main(int argc, char **argv)
return -1;
}
//Configure analog out
// Configure analog out
if (!(sc_ana_out = ecrt_master_slave_config(
master, AnaOutSlavePos, Beckhoff_EL4038))) {
fprintf(stderr, "Failed to get slave configuration.\n");
@ -483,7 +500,7 @@ int main(int argc, char **argv)
return -1;
}
//Configure PCI Slave
// Configure PCI Slave
/*sc = ecrt_master_slave_config(master, PCISlavePos, Beckhoff_FC1100);
if (!sc) {
fprintf(stderr, "failed to configure PCI Card (FC1100)\n");
@ -537,7 +554,9 @@ int main(int argc, char **argv)
}
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++;