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An example test file to drive to Elmo Gold DC Whistle drives using ethercat, based on https://github.com/OpenEtherCATsociety/SOEM/blob/master/test/linux/simple_test/simple_test.c
#include <stdio.h>
#include <string.h>
#include <sys/time.h>
#include <unistd.h>
#include <pthread.h>
#include <math.h>
#include <ethercattype.h>
#include <nicdrv.h>
#include <ethercatbase.h>
#include <ethercatmain.h>
#include <ethercatdc.h>
#include <ethercatcoe.h>
#include <ethercatfoe.h>
#include <ethercatconfig.h>
#include <ethercatprint.h>
#define EC_TIMEOUTMON 500
#define INITIAL_POS 0
char IOmap[4096];
pthread_t thread1;
int expectedWKC;
boolean needlf;
volatile int wkc;
boolean inOP;
uint8 currentgroup = 0;
struct TorqueOut {
uint16 torque;
uint16 status;
};
struct TorqueIn {
int32 position;
int16 torque;
uint16 status;
int8 profile;
};
/**
* helper macros
*/
#define READ(slaveId, idx, sub, buf, comment) \
{ \
buf=0; \
int __s = sizeof(buf); \
int __ret = ec_SDOread(slaveId, idx, sub, FALSE, &__s, &buf, EC_TIMEOUTRXM); \
printf("Slave: %d - Read at 0x%04x:%d => wkc: %d; data: 0x%.*x (%d)\t[%s]\n", slaveId, idx, sub, __ret, __s, (unsigned int)buf, (unsigned int)buf, comment); \
}
#define WRITE(slaveId, idx, sub, buf, value, comment) \
{ \
int __s = sizeof(buf); \
buf = value; \
int __ret = ec_SDOwrite(slaveId, idx, sub, FALSE, __s, &buf, EC_TIMEOUTRXM); \
printf("Slave: %d - Write at 0x%04x:%d => wkc: %d; data: 0x%.*x\t{%s}\n", slaveId, idx, sub, __ret, __s, (unsigned int)buf, comment); \
}
#define CHECKERROR(slaveId) \
{ \
ec_readstate();\
printf("EC> \"%s\" %x - %x [%s] \n", (char*)ec_elist2string(), ec_slave[slaveId].state, ec_slave[slaveId].ALstatuscode, (char*)ec_ALstatuscode2string(ec_slave[slaveId].ALstatuscode)); \
}
void simpletest(char *ifname)
{
int i, j, oloop, iloop, wkc_count, chk;
needlf = FALSE;
inOP = FALSE;
uint32 buf32;
uint16 buf16;
uint8 buf8;
struct TorqueIn *val;
struct TorqueOut *target;
struct TorqueIn *val2;
struct TorqueOut *target2;
printf("Starting simple test\n");
/* initialise SOEM, bind socket to ifname */
if (ec_init(ifname))
{
printf("ec_init on %s succeeded.\n",ifname);
/* find and auto-config slaves */
/** network discovery */
if ( ec_config_init(FALSE) > 0 )
{
printf("%d slaves found and configured.\n", ec_slavecount);
for (int i=1; i<=ec_slavecount; i++) {
printf("Slave %d has CA? %s\n", i, ec_slave[i].CoEdetails & ECT_COEDET_SDOCA ? "true":"false" );
/** CompleteAccess disabled for Elmo driver */
ec_slave[i].CoEdetails ^= ECT_COEDET_SDOCA;
}
ec_statecheck(0, EC_STATE_PRE_OP, EC_TIMEOUTSTATE);
/** set PDO mapping */
/** opMode: 8 => Position profile */
for (int i=1; i<=ec_slavecount; i++) {
WRITE(i, 0x6060, 0, buf8, 10, "OpMode");
READ(i, 0x6061, 0, buf8, "OpMode display");
READ(i, 0x1c12, 0, buf32, "rxPDO:0");
READ(i, 0x1c13, 0, buf32, "txPDO:0");
READ(i, 0x1c12, 1, buf32, "rxPDO:1");
READ(i, 0x1c13, 1, buf32, "txPDO:1");
}
int32 ob2;int os;
for (int i=1; i<=ec_slavecount; i++) {
os=sizeof(ob2); ob2 = 0x16020001;
ec_SDOwrite(i, 0x1c12, 0, TRUE, os, &ob2, EC_TIMEOUTRXM);
os=sizeof(ob2); ob2 = 0x1a020001;
ec_SDOwrite(i, 0x1c13, 0, TRUE, os, &ob2, EC_TIMEOUTRXM);
READ(i, 0x1c12, 0, buf32, "rxPDO:0");
READ(i, 0x1c13, 0, buf32, "txPDO:0");
READ(i, 0x1c12, 1, buf32, "rxPDO:1");
READ(i, 0x1c13, 1, buf32, "txPDO:1");
}
/** if CA disable => automapping works */
ec_config_map(&IOmap);
// show slave info
for (int i=1; i<=ec_slavecount; i++) {
printf("\nSlave:%d\n Name:%s\n Output size: %dbits\n Input size: %dbits\n State: %d\n Delay: %d[ns]\n Has DC: %d\n",
i, ec_slave[i].name, ec_slave[i].Obits, ec_slave[i].Ibits,
ec_slave[i].state, ec_slave[i].pdelay, ec_slave[i].hasdc);
}
/** disable heartbeat alarm */
for (int i=1; i<=ec_slavecount; i++) {
READ(i, 0x10F1, 2, buf32, "Heartbeat?");
WRITE(i, 0x10F1, 2, buf32, 1, "Heartbeat");
WRITE(i, 0x60c2, 1, buf8, 2, "Time period");
WRITE(i, 0x2f75, 0, buf16, 2, "Interpolation timeout");
}
printf("Slaves mapped, state to SAFE_OP.\n");
int timestep = 700;
/* wait for all slaves to reach SAFE_OP state */
ec_statecheck(0, EC_STATE_SAFE_OP, EC_TIMEOUTSTATE * 4);
/** old SOEM code, inactive */
oloop = ec_slave[0].Obytes;
if ((oloop == 0) && (ec_slave[0].Obits > 0)) oloop = 1;
if (oloop > 20) oloop = 8;
iloop = ec_slave[0].Ibytes;
if ((iloop == 0) && (ec_slave[0].Ibits > 0)) iloop = 1;
if (iloop > 20) iloop = 8;
printf("segments : %d : %d %d %d %d\n",ec_group[0].nsegments ,ec_group[0].IOsegment[0],ec_group[0].IOsegment[1],ec_group[0].IOsegment[2],ec_group[0].IOsegment[3]);
printf("Request operational state for all slaves\n");
expectedWKC = (ec_group[0].outputsWKC * 2) + ec_group[0].inputsWKC;
printf("Calculated workcounter %d\n", expectedWKC);
/** going operational */
ec_slave[0].state = EC_STATE_OPERATIONAL;
/* send one valid process data to make outputs in slaves happy*/
ec_send_processdata();
ec_receive_processdata(EC_TIMEOUTRET);
for (int i=1; i<=ec_slavecount; i++) {
READ(i, 0x6083, 0, buf32, "Profile acceleration");
READ(i, 0x6084, 0, buf32, "Profile deceleration");
READ(i, 0x6085, 0, buf32, "Quick stop deceleration");
}
/* request OP state for all slaves */
ec_writestate(0);
chk = 40;
/* wait for all slaves to reach OP state */
do
{
ec_send_processdata();
ec_receive_processdata(EC_TIMEOUTRET);
ec_statecheck(0, EC_STATE_OPERATIONAL, 50000);
}
while (chk-- && (ec_slave[0].state != EC_STATE_OPERATIONAL));
if (ec_slave[0].state == EC_STATE_OPERATIONAL )
{
printf("Operational state reached for all slaves.\n");
wkc_count = 0;
inOP = TRUE;
/**
* Drive state machine transistions
* 0 -> 6 -> 7 -> 15
*/
for (int i=1; i<=ec_slavecount; i++) {
READ(i, 0x6041, 0, buf16, "*status word*");
if(buf16 == 0x218)
{
WRITE(i, 0x6040, 0, buf16, 128, "*control word*"); usleep(100000);
READ(i, 0x6041, 0, buf16, "*status word*");
}
WRITE(i, 0x6040, 0, buf16, 0, "*control word*"); usleep(100000);
READ(i, 0x6041, 0, buf16, "*status word*");
WRITE(i, 0x6040, 0, buf16, 6, "*control word*"); usleep(100000);
READ(i, 0x6041, 0, buf16, "*status word*");
WRITE(i, 0x6040, 0, buf16, 7, "*control word*"); usleep(100000);
READ(i, 0x6041, 0, buf16, "*status word*");
WRITE(i, 0x6040, 0, buf16, 15, "*control word*"); usleep(100000);
READ(i, 0x6041, 0, buf16, "*status word*");
CHECKERROR(i);
READ(i, 0x1a0b, 0, buf8, "OpMode Display");
READ(i, 0x1001, 0, buf8, "Error");
}
int reachedInitial = 0;
int reachedInitial2 = 0;
/* cyclic loop for two slaves*/
target = (struct TorqueOut *)(ec_slave[1].outputs);
val = (struct TorqueIn *)(ec_slave[1].inputs);
target2 = (struct TorqueOut *)(ec_slave[2].outputs);
val2 = (struct TorqueIn *)(ec_slave[2].inputs);
for(i = 1; i <= 4000; i++)
{
/** PDO I/O refresh */
ec_send_processdata();
wkc = ec_receive_processdata(EC_TIMEOUTRET);
if(wkc >= expectedWKC) {
printf("Processdata cycle %4d, WKC %d,", i, wkc);
printf(" pos: 0x%x, tor: 0x%x, stat: 0x%x, mode: 0x%x", val->position, val->torque, val->status, val->profile);
/** if in fault or in the way to normal status, we update the state machine */
// slave 1
switch(target->status){
case 0:
target->status = 6;
break;
case 6:
target->status = 7;
break;
case 7:
target->status = 15;
break;
case 128:
target->status = 0;
break;
default:
if(val->status >> 3 & 0x01) {
READ(1, 0x1001, 0, buf8, "Error");
target->status = 128;
}
}
// Slave 2
switch(target2->status){
case 0:
target2->status = 6;
break;
case 6:
target2->status = 7;
break;
case 7:
target2->status = 15;
break;
case 128:
target2->status = 0;
break;
default:
if(val2->status >> 3 & 0x01) {
READ(2, 0x1001, 0, buf8, "Error");
target2->status = 128;
}
}
/** we wait to be in ready-to-run mode and with initial value reached */
if(reachedInitial == 0 /*&& val->position == INITIAL_POS */&& (val->status & 0x0fff) == 0x0237){
reachedInitial = 1;
}
if(reachedInitial2 == 0 /*&& val->position == INITIAL_POS */&& (val2->status & 0x0fff) == 0x0237){
reachedInitial2 = 1;
}
if((val->status & 0x0fff) == 0x0237 && reachedInitial){
target->torque = (int16) (sin(i/100.)*(1000));
}
if((val2->status & 0x0fff) == 0x0237 && reachedInitial2){
target2->torque = (int16) (sin(i/100.)*(1000));
}
printf(" Target: 0x%x, control: 0x%x", target->torque, target->status);
printf("\r");
needlf = TRUE;
}
usleep(timestep);
}
inOP = FALSE;
}
else
{
printf("Not all slaves reached operational state.\n");
ec_readstate();
for(i = 1; i<=ec_slavecount ; i++)
{
if(ec_slave[i].state != EC_STATE_OPERATIONAL)
{
printf("Slave %d State=0x%2.2x StatusCode=0x%4.4x : %s\n",
i, ec_slave[i].state, ec_slave[i].ALstatuscode, ec_ALstatuscode2string(ec_slave[i].ALstatuscode));
}
}
}
printf("\nRequest init state for all slaves\n");
for (int i=1; i<=ec_slavecount; i++) {
WRITE(i, 0x10F1, 2, buf32, 0, "Heartbeat");
}
ec_slave[0].state = EC_STATE_INIT;
/* request INIT state for all slaves */
ec_writestate(0);
}
else
{
printf("No slaves found!\n");
}
printf("End simple test, close socket\n");
/* stop SOEM, close socket */
ec_close();
}
else
{
printf("No socket connection on %s\nExcecute as root\n",ifname);
}
}
void *ecatcheck( void *ptr )
{
int slave;
while(1)
{
if( inOP && ((wkc < expectedWKC) || ec_group[currentgroup].docheckstate))
{
if (needlf)
{
needlf = FALSE;
printf("\n");
}
/* one ore more slaves are not responding */
ec_group[currentgroup].docheckstate = FALSE;
ec_readstate();
for (slave = 1; slave <= ec_slavecount; slave++)
{
if ((ec_slave[slave].group == currentgroup) && (ec_slave[slave].state != EC_STATE_OPERATIONAL))
{
ec_group[currentgroup].docheckstate = TRUE;
if (ec_slave[slave].state == (EC_STATE_SAFE_OP + EC_STATE_ERROR))
{
printf("ERROR : slave %d is in SAFE_OP + ERROR, attempting ack.\n", slave);
ec_slave[slave].state = (EC_STATE_SAFE_OP + EC_STATE_ACK);
ec_writestate(slave);
}
else if(ec_slave[slave].state == EC_STATE_SAFE_OP)
{
printf("WARNING : slave %d is in SAFE_OP, change to OPERATIONAL.\n", slave);
ec_slave[slave].state = EC_STATE_OPERATIONAL;
ec_writestate(slave);
}
else if(ec_slave[slave].state > 0)
{
if (ec_reconfig_slave(slave, EC_TIMEOUTMON))
{
ec_slave[slave].islost = FALSE;
printf("MESSAGE : slave %d reconfigured\n",slave);
}
}
else if(!ec_slave[slave].islost)
{
/* re-check state */
ec_statecheck(slave, EC_STATE_OPERATIONAL, EC_TIMEOUTRET);
if (!ec_slave[slave].state)
{
ec_slave[slave].islost = TRUE;
printf("ERROR : slave %d lost\n",slave);
}
}
}
if (ec_slave[slave].islost)
{
if(!ec_slave[slave].state)
{
if (ec_recover_slave(slave, EC_TIMEOUTMON))
{
ec_slave[slave].islost = FALSE;
printf("MESSAGE : slave %d recovered\n",slave);
}
}
else
{
ec_slave[slave].islost = FALSE;
printf("MESSAGE : slave %d found\n",slave);
}
}
}
if(!ec_group[currentgroup].docheckstate)
printf(".");
}
usleep(250);
}
}
int main(int argc, char *argv[])
{
int iret1;
printf("SOEM (Simple Open EtherCAT Master)\nSimple test\n");
if (argc > 1)
{
/* create thread to handle slave error handling in OP */
iret1 = pthread_create( &thread1, NULL, &ecatcheck, (void (*)) &ctime); // (void) &ctime
/* start cyclic part */
simpletest(argv[1]);
}
else
{
printf("Usage: simple_test ifname1\nifname = eth0 for example\n");
}
printf("End program\n");
return (0);
}
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