[etherlab-users] Ethercat/ProfiNet - add correct slave configuration to program

Carlos Herkt ch at lessmueller.de
Tue Sep 9 13:33:26 CEST 2014


Hello,

Following setup:
Ethercat Bus Coupler EK1100 -> ProfiNet Master EL6631-> ProfiNet Slave
Hilscher CIFX 50 RE 1250.100 PCI card

According to this link
http://lists.etherlab.org/pipermail/etherlab-users/2012/001862.html i
was able to extract configuration of the ProfiNet Master configured in
TwinCat.
Adapting the ~/etherlab-hg/example/user/main.c program with the xml
extracted data i was able to get the ProfiNet Master up and running.

I don't understand how to add the CIFX slave to my program, though.
In TwinCat i added the slave box via a gsdml file configured it and
extracted the data to xml an put the related data in my
/ec_pdo_entry_info_t/ array as described in the link/documentation.

But i can't get master<-> slave communicating; the 'PN Err' LED on the
EL6631 terminal won't even be activated (neither red blinking, nor green) .

What have i missed? Is it by chance the entry in line 339-344 of the xml
file?

Attached you'll find the adapted main.c, and the exported xml files.

Best regards
Carlos Herkt





 

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/*****************************************************************************
 *
 *  $Id$
 *
 *  Copyright (C) 2007-2009  Florian Pose, Ingenieurgemeinschaft IgH
 *
 *  This file is part of the IgH EtherCAT Master.
 *
 *  The IgH EtherCAT Master is free software; you can redistribute it and/or
 *  modify it under the terms of the GNU General Public License version 2, as
 *  published by the Free Software Foundation.
 *
 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
 *  Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License along
 *  with the IgH EtherCAT Master; if not, write to the Free Software
 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
 *
 *  ---
 *
 *  The license mentioned above concerns the source code only. Using the
 *  EtherCAT technology and brand is only permitted in compliance with the
 *  industrial property and similar rights of Beckhoff Automation GmbH.
 *
 ****************************************************************************/

#include <errno.h>
#include <signal.h>
#include <stdio.h>
#include <string.h>
#include <sys/resource.h>
#include <sys/time.h>
#include <sys/types.h>
#include <unistd.h>

/****************************************************************************/

#include "ecrt.h"

/****************************************************************************/

// Application parameters
#define FREQUENCY 100
#define PRIORITY 1

// Optional features
#define CONFIGURE_PDOS  1
#define SDO_ACCESS      0

/****************************************************************************/

// EtherCAT
static ec_master_t *master = NULL;
static ec_master_state_t master_state = {};

static ec_domain_t *domain1 = NULL;
static ec_domain_state_t domain1_state = {};

static ec_slave_config_t *sc_in = NULL;
//static ec_slave_config_t *sc_out = NULL;
static ec_slave_config_state_t sc_state = {};

// Timer
static unsigned int sig_alarms = 0;
static unsigned int user_alarms = 0;

/****************************************************************************/

// process data
static uint8_t *domain1_pd = NULL;

#define BusCouplerPos  0, 0
#define ProfiNetPos    0, 4

#define Beckhoff_EK1100 0x00000002, 0x044c2c52
#define ProfiNetTerm 0x00000002, 0x19e73052

// Configuration from XML file

const char *pn_config_master_0xf800 = 
"0f000100656c363633312d706e636f6e74726f6c6c657200000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000002500200160ea48eec0a80101ffffff00c0a80101c0a8b2fd0501ffff000000000100000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000";

const char *pn_config_master_0xf820 = "0200c0a8b2fd01012203";

const char *pn_config_master_0x8000 = "3a00636966787265706e7300000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000003014c0200000810c0a8b2fd050120000100c0a80109ffffff00c0a8010100c001000000010001000100050008000200000000000000000000000000000000000000200004000100030000000000020000000000000000000000000000000000000000000000000000000000000000000000";

// offsets for PDO entries
static unsigned int off_in0;
static unsigned int off_in1;
static unsigned int off_out0;
static unsigned int off_out1;

const static ec_pdo_entry_reg_t domain1_regs[] = {
	{ProfiNetPos,  ProfiNetTerm, 0x6001, 1, &off_in0},
	{ProfiNetPos,  ProfiNetTerm, 0x6001, 2, &off_in1},
	{ProfiNetPos,  ProfiNetTerm, 0x7001, 1, &off_out0},
	{ProfiNetPos,  ProfiNetTerm, 0x7001, 2, &off_out1},
	{}
};

static unsigned int counter = 0;
static unsigned int blink = 0;

/*****************************************************************************/

#if CONFIGURE_PDOS

/* Master 0, Slave 4, "EL6631"
 * Vendor ID:       0x00000002
 * Product code:    0x19e73052
 * Revision number: 0x00120000
 */

ec_pdo_entry_info_t profinet_pdo_entries[] = {
	{0x6000, 0x01, 16},
	{0x6000, 0x02, 16},
	{0x6001, 0x01, 160},
	{0x6001, 0x02, 160},
	{0x7000, 0x02, 16},
	{0x7001, 0x01, 160},
	{0x7001, 0x02, 160},
};

ec_pdo_info_t profinet_pdos[] = {
	{0x1a00, 4, profinet_pdo_entries + 0},
	{0x1600, 3, profinet_pdo_entries + 4},
};
ec_sync_info_t profinet_syncs[] = {
	{0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
	{1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
	{2, EC_DIR_OUTPUT, 1, profinet_pdos + 1, EC_WD_ENABLE},
	{3, EC_DIR_INPUT, 1, profinet_pdos + 0, EC_WD_DISABLE},
	{0xff}
};

#endif

/*****************************************************************************/

#if SDO_ACCESS
static ec_sdo_request_t *sdo;
#endif

/*****************************************************************************/

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.wc_state != domain1_state.wc_state)
		printf("Domain1: State %u.\n", ds.wc_state);

	domain1_state = ds;
}

/*****************************************************************************/

void check_master_state(void)
{
	ec_master_state_t ms;

	ecrt_master_state(master, &ms);

	if (ms.slaves_responding != master_state.slaves_responding)
		printf("%u slave(s).\n", ms.slaves_responding);
	if (ms.al_states != master_state.al_states)
		printf("AL states: 0x%02X.\n", ms.al_states);
	if (ms.link_up != master_state.link_up)
		printf("Link is %s.\n", ms.link_up ? "up" : "down");

	master_state = ms;
}

/*****************************************************************************/

void check_slave_config_states(void)
{
	ec_slave_config_state_t s;

	ecrt_slave_config_state(sc_in, &s);

	if (s.al_state != sc_state.al_state)
		printf("DigIn: State 0x%02X.\n", s.al_state);
	if (s.online != sc_state.online)
		printf("DigIn: %s.\n", s.online ? "online" : "offline");
	if (s.operational != sc_state.operational)
		printf("DigIn: %soperational.\n",
				s.operational ? "" : "Not ");

	sc_state = s;
}

/*****************************************************************************/

#if SDO_ACCESS
void read_sdo(void)
{
	switch (ecrt_sdo_request_state(sdo)) {
		case EC_REQUEST_UNUSED: // request was not used yet
			ecrt_sdo_request_read(sdo); // trigger first read
			break;
		case EC_REQUEST_BUSY:
			fprintf(stderr, "Still busy...\n");
			break;
		case EC_REQUEST_SUCCESS:
			fprintf(stderr, "SDO value: 0x%04X\n",
					EC_READ_U16(ecrt_sdo_request_data(sdo)));
			ecrt_sdo_request_read(sdo); // trigger next read
			break;
		case EC_REQUEST_ERROR:
			fprintf(stderr, "Failed to read SDO!\n");
			ecrt_sdo_request_read(sdo); // retry reading
			break;
	}
}
#endif

/****************************************************************************/

void cyclic_task()
{
	// receive process data
	ecrt_master_receive(master);
	ecrt_domain_process(domain1);

	// 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();

#if SDO_ACCESS
		// read process data SDO
		read_sdo();
#endif

	}

#if 0
	// read process data
	printf("AnaIn: state %u value %u\n",
			EC_READ_U8(domain1_pd + off_ana_in_status),
			EC_READ_U16(domain1_pd + off_ana_in_value));
#endif
	printf("0:%x\n1:%x\n",
			EC_READ_U8(domain1_pd + off_in0), EC_READ_U8(domain1_pd + off_in1));

#if 1
	// write process data
//	EC_WRITE_U8(domain1_pd + off_out0, blink ? 0x06 : 0x09);
//	EC_WRITE_U8(domain1_pd + off_out1, blink ? 0x06 : 0x09);

#endif

	// send process data
	ecrt_domain_queue(domain1);
	ecrt_master_send(master);
}

/****************************************************************************/

void signal_handler(int signum) {
	switch (signum) {
		case SIGALRM:
			sig_alarms++;
			break;
	}
}

/****************************************************************************/

int main(int argc, char **argv)
{
	ec_slave_config_t *sc;
	struct sigaction sa;
	struct itimerval tv;

	master = ecrt_request_master(0);
	if (!master)
		return -1;

	domain1 = ecrt_master_create_domain(master);
	if (!domain1)
		return -1;

	if (!(sc_in = ecrt_master_slave_config(
					master, ProfiNetPos, ProfiNetTerm))) {
		fprintf(stderr, "Failed to get slave configuration.\n");
		return -1;
	}

#if CONFIGURE_PDOS

	printf("Configuring PDOs...\n");
	if (ecrt_slave_config_pdos(sc_in, EC_END, profinet_syncs)) {
		fprintf(stderr, "Failed to configure PDOs.\n");
		return -1;
	}

	if (!(sc = ecrt_master_slave_config(
					master, ProfiNetPos, ProfiNetTerm))) {
		fprintf(stderr, "Failed to get slave configuration.\n");
		return -1;
	}

#endif

	// Create configuration for bus coupler
	sc = ecrt_master_slave_config(master, BusCouplerPos, Beckhoff_EK1100);
	if (!sc) {
		fprintf(stderr, "Failed to get EK1100 configuration.\n");
		return -1;
	}

	sc_in = ecrt_master_slave_config(
			master, ProfiNetPos, ProfiNetTerm);

	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)){
		fprintf(stderr, "activation failed.\n");
		return -1;
	}
	printf("ok!\n");

	if (!(domain1_pd = ecrt_domain_data(domain1))) {
		fprintf(stderr, "Domain data initialization failed.\n");
		return -1;
	}
	printf("Domain data registered ok.\n");

#if PRIORITY
	pid_t pid = getpid();
	if (setpriority(PRIO_PROCESS, pid, -19))
		fprintf(stderr, "Warning: Failed to set priority: %s\n",
				strerror(errno));
#endif

	sa.sa_handler = signal_handler;
	sigemptyset(&sa.sa_mask);
	sa.sa_flags = 0;
	if (sigaction(SIGALRM, &sa, 0)) {
		fprintf(stderr, "Failed to install signal handler!\n");
		return -1;
	}

	printf("Starting timer...\n");
	tv.it_interval.tv_sec = 0;
	tv.it_interval.tv_usec = 1000000 / FREQUENCY;
	tv.it_value.tv_sec = 0;
	tv.it_value.tv_usec = 1000;
	if (setitimer(ITIMER_REAL, &tv, NULL)) {
		fprintf(stderr, "Failed to start timer: %s\n", strerror(errno));
		return 1;
	}

	printf("Started.\n");
	while (1) {
		pause();

#if 0
		struct timeval t;
		gettimeofday(&t, NULL);
		printf("%u.%06u\n", t.tv_sec, t.tv_usec);
#endif

		while (sig_alarms != user_alarms) {
			cyclic_task();
			user_alarms++;
		}
	}

	return 0;
}

/****************************************************************************/


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