[etherlab-users] Slaves in PREOP state
carlos_jimenez at encopim.com
carlos_jimenez at encopim.com
Fri Sep 23 16:42:00 CEST 2011
Hello everybody,
I've just started now with EtherCAT stuff and I'm having several
problems. I have some Beckhoff modules to make tests, but when I try
to run the example program, included in its code, I can't make it work
all of them correctly.
I have a digital outputs module (EL2004), another one of digital
inputs (EL1004). One module of analog outputs (EL41342) and an other
of analog inputs (EL3102). I also have the bus coupler (EK1101).
I've modified rtai example to make them work, but I found problems in
OP mode, not all of them get's slave status, and it doesn't work.
Does somebody knows what it happens? I can't find where is the error.
Thank you in advance.
Here there is my code and my modules configuration:
----------------------------------------------------------------
#define BusCouplerPos 0, 0
#define DigOutSlavePos 0, 1
#define DigInSlavePos 0, 2
#define AnaOutSlavePos 0, 3
#define AnaInSlavePos 0, 4
#define Beckhoff_EK1101 0x00000002, 0x044D2C52
#define Beckhoff_EL2004 0x00000002, 0x07D43052
#define Beckhoff_EL1004 0x00000002, 0x03EC3052
#define Beckhoff_EL4132 0x00000002, 0x10243052
#define Beckhoff_EL3102 0x00000002, 0x0C1E3052
static unsigned int off_dig_in; // offsets for PDO entries
static unsigned int off_dig_out;
static unsigned int off_ana_out;
static unsigned int off_ana_in_status;
static unsigned int off_ana_in_value;
const static ec_pdo_entry_reg_t domain1_regs[] = {
{DigOutSlavePos, Beckhoff_EL2004, 0x7000, 1, &off_dig_out},
{DigInSlavePos, Beckhoff_EL1004, 0x6000, 1, &off_dig_in},
{AnaOutSlavePos, Beckhoff_EL4132, 0x3001, 1, &off_ana_out},
{AnaInSlavePos, Beckhoff_EL3102, 0x3101, 1, &off_ana_in_status},
{AnaInSlavePos, Beckhoff_EL3102, 0x3101, 2, &off_ana_in_value},
{}
};
/* Analog Input ***************************/
static ec_pdo_entry_info_t el3102_pdo_entries[] = {
{0x3101, 1, 8}, // status
{0x3101, 2, 16}, // value
{0x3101, 2, 8}, // status
{0x3101, 2, 16} // value
};
static ec_pdo_info_t el3102_pdos[] = {
{0x1A00, 2, el3102_pdo_entries},
{0x1A01, 2, el3102_pdo_entries + 2}
};
static ec_sync_info_t el3102_syncs[] = {
{2, EC_DIR_OUTPUT},
{3, EC_DIR_INPUT, 2, el3102_pdos},
{0xff}
};
/* Digital Input ***************************/
static ec_pdo_entry_info_t el1004_channels[] = {
{0x6000, 1, 1},
{0x6010, 2, 1},
{0x6020, 3, 1},
{0x6030, 4, 1}
};
static ec_pdo_info_t el1004_pdos[] = {
{0x1a00, 1, &el1004_channels[0]},
{0x1a01, 1, &el1004_channels[1]},
{0x1a02, 1, &el1004_channels[2]},
{0x1a03, 1, &el1004_channels[3]}
};
static ec_sync_info_t el1004_syncs[] = {
{0, EC_DIR_INPUT, 4, el1004_pdos},
{0xff}
};
/* Digital Output *************************/
static ec_pdo_entry_info_t el2004_channels[] = {
{0x7000, 1, 1}, // Value 1
{0x7010, 2, 1}, // Value 2
{0x7020, 3, 1}, // Value 3
{0x7030, 4, 1} // Value 4
};
static ec_pdo_info_t el2004_pdos[] = {
{0x1600, 1, &el2004_channels[0]},
{0x1601, 1, &el2004_channels[1]},
{0x1602, 1, &el2004_channels[2]},
{0x1603, 1, &el2004_channels[3]}
};
static ec_sync_info_t el2004_syncs[] = {
{0, EC_DIR_OUTPUT, 4, el2004_pdos},
{1, EC_DIR_INPUT},
{0xff}
};
/* Analog out *****************************/
static ec_pdo_entry_info_t el4132_pdo_entries[] = {
{0x3001, 1, 16}, // channel 1 value
{0x3002, 1, 16}, // channel 2 value
};
static ec_pdo_info_t el4132_pdos[] = {
{0x1600, 1, el4132_pdo_entries},
{0x1601, 1, el4132_pdo_entries + 1}
};
static ec_sync_info_t el4132_syncs[] = {
{2, EC_DIR_OUTPUT, 2, el4132_pdos},
{3, EC_DIR_INPUT},
{0xff}
};
.....
void run(long data)
{
while (1) {
t_last_cycle = get_cycles();
// receive process data
rt_sem_wait(&master_sem);
ecrt_master_receive(master);
ecrt_domain_process(domain1);
rt_sem_signal(&master_sem);
// check process data state (optional)
check_domain1_state();
if (counter) {
counter--;
} else { // do this at 1 Hz
counter = FREQUENCY;
// calculate new process data
blink = !blink;
// check for master state (optional)
check_master_state();
// check for islave configuration state(s) (optional)
check_slave_config_states();
}
// write process data
EC_WRITE_S16(domain1_pd + off_ana_out, 0x6556);
printk("Valor Analogic: %d\n", EC_READ_S16(domain1_pd + off_ana_in_value));
EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x09 : 0x06);
printk("Valor Digital: %d\n", EC_READ_U8(domain1_pd + off_dig_in));
rt_sem_wait(&master_sem);
ecrt_domain_queue(domain1);
rt_sem_signal(&master_sem);
ecrt_master_send(master);
rt_task_wait_period();
}
}
...
int __init init_mod(void)
{
int ret = -1;
RTIME tick_period, requested_ticks, now;
ec_slave_config_t *sc;
printk(KERN_ERR PFX "Starting...\n");
rt_sem_init(&master_sem, 1);
t_critical = cpu_khz * 1000 / FREQUENCY - cpu_khz * INHIBIT_TIME / 1000;
master = ecrt_request_master(0);
if (!master) {
ret = -EBUSY;
printk(KERN_ERR PFX "Requesting master 0 failed!\n");
goto out_return;
}
ecrt_master_callbacks(master, request_lock_callback,
release_lock_callback, master);
printk(KERN_ERR PFX "Registering domain...\n");
if (!(domain1 = ecrt_master_create_domain(master))) {
printk(KERN_ERR PFX "Domain creation failed!\n");
goto out_release_master;
}
printk(KERN_ERR PFX "Configuring PDOs...\n");
printk(KERN_ERR PFX "Vamos a configurar Ana In.\n");
if (!(sc_ana_in = ecrt_master_slave_config(
master, AnaInSlavePos, Beckhoff_EL3102))) {
printk(KERN_ERR PFX "Failed to get slave configuration.\n");
return -1;
}
if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3102_syncs)) {
printk(KERN_ERR PFX "Failed to configure PDOs.\n");
return -1;
}
printk(KERN_ERR PFX "Vamos a configurar Dig In.\n");
if (!(sc = ecrt_master_slave_config(
master, DigInSlavePos, Beckhoff_EL1004))) {
printk(KERN_ERR PFX "Failed to get slave configuration.\n");
goto out_release_master;
}
if (ecrt_slave_config_pdos(sc, EC_END, el1004_syncs)) {
printk(KERN_ERR PFX "Failed to configure PDOs.\n");
goto out_release_master;
}
printk(KERN_ERR PFX "Vamos a configurar Dig Out.\n");
if (!(sc = ecrt_master_slave_config(master, DigOutSlavePos,
Beckhoff_EL2004))) {
printk(KERN_ERR PFX "Failed to get slave configuration.\n");
goto out_release_master;
}
if (ecrt_slave_config_pdos(sc, EC_END, el2004_syncs)) {
printk(KERN_ERR PFX "Failed to configure PDOs.\n");
goto out_release_master;
}
printk(KERN_ERR PFX "Vamos a configurar Ana Out.\n");
if (!(sc = ecrt_master_slave_config(
master, AnaOutSlavePos, Beckhoff_EL4132))) {
printk(KERN_ERR PFX "Failed to get slave configuration.\n");
goto out_release_master;
}
if (ecrt_slave_config_pdos(sc, EC_END, el4132_syncs)) {
printk(KERN_ERR PFX "Failed to configure PDOs.\n");
goto out_release_master;
}
printk(KERN_ERR PFX "Vamos a configurar el Coupler.\n");
if (!(sc = ecrt_master_slave_config(master, BusCouplerPos,
Beckhoff_EK1101))) {
printk(KERN_ERR PFX "Failed to get slave configuration.\n");
goto out_release_master;
}
printk(KERN_ERR PFX "Registering PDO entries...\n");
if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
printk(KERN_ERR PFX "PDO entry registration failed!\n");
goto out_release_master;
}
printk(KERN_ERR PFX "Activating master...\n");
if (ecrt_master_activate(master)) {
printk(KERN_ERR PFX "Failed to activate master!\n");
goto out_release_master;
}
// Get internal process data for domain
domain1_pd = ecrt_domain_data(domain1);
printk(KERN_ERR PFX "Starting cyclic sample thread...\n");
requested_ticks = nano2count(TIMERTICKS);
tick_period = start_rt_timer(requested_ticks);
printk(KERN_ERR PFX "RT timer started with %i/%i ticks.\n",
(int) tick_period, (int) requested_ticks);
if (rt_task_init(&task, run, 0, 2000, 0, 1, NULL)) {
printk(KERN_ERR PFX "Failed to init RTAI task!\n");
goto out_stop_timer;
}
now = rt_get_time();
if (rt_task_make_periodic(&task, now + tick_period, tick_period)) {
printk(KERN_ERR PFX "Failed to run RTAI task!\n");
goto out_stop_task;
}
printk(KERN_ERR PFX "Initialized.\n");
return 0;
out_stop_task:
rt_task_delete(&task);
out_stop_timer:
stop_rt_timer();
out_release_master:
printk(KERN_ERR PFX "Releasing master...\n");
ecrt_release_master(master);
out_return:
rt_sem_delete(&master_sem);
printk(KERN_ERR PFX "Failed to load. Aborting.\n");
return ret;
}
-----------------------------------------------------------------
ethercat slaves
0 0:0 OP + EK1101 EtherCAT-Koppler (2A E-Bus, ID-Switch)
1 0:1 PREOP + EL2004 4K. Dig. Ausgang 24V, 0.5A
2 0:2 PREOP + EL1004 4K. Dig. Eingang 24V, 3ms
3 0:3 PREOP + EL4132 2Ch. Ana. Ausgang +/-10V, 16bit
4 0:4 PREOP + EL3102 2K. Ana. Eingang +/-10V, Diff.
Thanks in advance
--
Carlos Jiménez
ENCOPIM S.L.
C/. del Parc 5 (nau 13), P.I. Els Pinetons
E-08291 RIPOLLET (Barcelona)
Tel: (+34) 935 94 23 47
Fax: (+34) 935 94 64 15
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