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ethercat: make ethercattest display more relevant information during startup

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This commit is contained in:
Niklas Eiling 2018-10-24 10:12:32 +02:00 • committed by Steffen Vogel
parent 140bafc5f9
commit f1911b89ae
1 changed files with 34 additions and 16 deletions
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50
lib/nodes/ethercat_test/main.c
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@ -82,7 +82,7 @@ static uint8_t *domain1_pd = NULL;
#define BusCouplerPos 0, 2
#define AnaOutSlavePos 0, 3
#define AnaInSlavePos 0, 4
#define PCISlave 0, 5
#define PCISlavePos 0, 5
#define Beckhoff_EK1100 0x00000002, 0x044c2c52
#define Beckhoff_EL2004 0x00000002, 0x07d43052
@ -98,7 +98,7 @@ static uint8_t *domain1_pd = NULL;
// offsets for PDO entries
static unsigned int off_ana_out_values[8] = {0};
static unsigned int off_ana_in_values[8];
static unsigned int off_ana_in_values[8] = {0};
const static ec_pdo_entry_reg_t domain1_regs[] = {
{AnaOutSlavePos, Beckhoff_EL4038, 0x7000, 0x01, off_ana_out_values},
@ -271,17 +271,22 @@ static ec_sync_info_t slave_4_syncs[] = {
/*****************************************************************************/
static const char* DOMAIN_STATES[] = {[0]="ZERO",
[1]="INCOMPLETE",
[2]="COMPLETE",
};
void check_domain1_state(void)
{
ec_domain_state_t ds;
ecrt_domain_state(domain1, &ds);
if (ds.working_counter != domain1_state.working_counter) {
printf("Domain1: WC %u.\n", ds.working_counter);
}
/*if (ds.working_counter != domain1_state.working_counter) {
printf("Domain1: new working counter %u.\n", ds.working_counter);
}*/
if (ds.wc_state != domain1_state.wc_state) {
printf("Domain1: State %u.\n", ds.wc_state);
printf("Domain1: State %s.\n", DOMAIN_STATES[ds.wc_state]);
}
domain1_state = ds;
@ -289,10 +294,10 @@ void check_domain1_state(void)
/*****************************************************************************/
static const char* MASTER_AL_STATES[] = {"INIT",
"PREOP",
"SAFEOP",
"OP"};
static const char* MASTER_AL_STATES[] = {[1]="INIT",
[2]="PREOP",
[4]="SAFEOP",
[8]="OP"};
void check_master_state(void)
{
@ -304,10 +309,16 @@ void check_master_state(void)
printf("%u slave(s).\n", ms.slaves_responding);
}
if (ms.al_states != master_state.al_states) {
if (ms.al_states > 3) {
if (ms.al_states >= (1<<4)) {
printf("AL states: unknown: 0x%02X\n", ms.al_states);
} else {
printf("AL states: %s.\n", MASTER_AL_STATES[ms.al_states]);
printf("AL states: ");
for (unsigned char i = 1; i < (1<<4); i <<= 1) {
if (ms.al_states & i) {
printf("%s, ", MASTER_AL_STATES[i]);
}
}
printf("\n");
}
}
if (ms.link_up != master_state.link_up) {
@ -402,15 +413,15 @@ 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], 0x7FFF);
EC_WRITE_U16(domain1_pd + off_ana_out_values[i], 0x8000);
}
//EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x06 : 0x09);
#endif
// send process data
printf("queue\n");
//printf("queue\n");
ecrt_domain_queue(domain1);
printf("send\n");
//printf("send\n");
ecrt_master_send(master);
}
@ -472,6 +483,13 @@ int main(int argc, char **argv)
return -1;
}
//Configure PCI Slave
/*sc = ecrt_master_slave_config(master, PCISlavePos, Beckhoff_FC1100);
if (!sc) {
fprintf(stderr, "failed to configure PCI Card (FC1100)\n");
return -1;
}*/
if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
fprintf(stderr, "PDO entry registration failed!\n");
@ -510,7 +528,7 @@ int main(int argc, char **argv)
wakeup_time.tv_sec += 1; /* start in future */
wakeup_time.tv_nsec = 0;
for (int i=0; i != 1000; ++i) {
for (int i=0; i != 10000; ++i) {
ret = clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME,
&wakeup_time, NULL);
if (ret) {