[etherlab-users] Ethercat/ProfiNet - add correct slave configuration to program
Carlos Herkt
ch at lessmueller.de
Wed Sep 10 14:15:24 CEST 2014
Hello Richard,
thank you for your quick repsonse and your advice.
We modified our program to fit your remarks, but the
ecrt_slave_config_complete_sdo(...) function fails with the error
"Failed to configure SDO: Invalid argument" and a return code smaller
than zero.
Also some errors appear in dmesq log:
[ +0,359596] EtherCAT ERROR 0-4: SDO upload 0x1600:00 aborted.
[ +0,000010] EtherCAT ERROR 0-4: SDO abort message 0x06020000: "This
object does not exist in the object directory".
[ +0,000005] EtherCAT ERROR 0-4: Failed to read number of mapped PDO
entries.
[ +0,000005] EtherCAT WARNING 0-4: Failed to read PDO entries for PDO
0x1600.
After starting the program, the "Run" led of the EL6631 stays green, the
"Pn Run/Err" keeps blinking green and the "Pn Err" is off.
What am I missing?
Attached you find the whole C program source code, dmesg log, output of
the program and the XML definitions exported from TwinCAT.
Best regards,
Carlos Herkt
Am 10.09.2014 09:16, schrieb Richard Hacker:
> I don't see you using pn_config_master_0xf800 et al. anywhere in your
> proggie! Besides you're missing CoE 0x8002.
>
> Mit freundlichem Gruß
>
> Richard Hacker
>
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/* Dmesg output after starting program */
[ +10,975693] EtherCAT: Requesting master 0...
[ +0,000008] EtherCAT: Successfully requested master 0.
[ +3,000440] EtherCAT 0: Domain0: Logical address 0x00000000, 98 byte, expected working counter 3.
[ +0,000006] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 98 byte, type LRW.
[ +0,000129] EtherCAT 0: Master thread exited.
[ +0,000006] EtherCAT 0: Starting EtherCAT-OP thread.
[ +0,001573] EtherCAT WARNING 0: No app_time received up to now, but master already active.
[ +0,359596] EtherCAT ERROR 0-4: SDO upload 0x1600:00 aborted.
[ +0,000010] EtherCAT ERROR 0-4: SDO abort message 0x06020000: "This object does not exist in the object directory".
[ +0,000005] EtherCAT ERROR 0-4: Failed to read number of mapped PDO entries.
[ +0,000005] EtherCAT WARNING 0-4: Failed to read PDO entries for PDO 0x1600.
[ +0,579982] EtherCAT ERROR 0-4: SDO upload 0x1A00:00 aborted.
[ +0,000012] EtherCAT ERROR 0-4: SDO abort message 0x06020000: "This object does not exist in the object directory".
[ +0,000005] EtherCAT ERROR 0-4: Failed to read number of mapped PDO entries.
[ +0,000004] EtherCAT WARNING 0-4: Failed to read PDO entries for PDO 0x1A00.
[ +0,679983] EtherCAT 0: Domain 0: Working counter changed to 3/3.
[ +0,050383] EtherCAT 0: Slave states on main device: PREOP, OP.
[ +3,776881] EtherCAT 0: Releasing master...
[ +0,000063] EtherCAT 0: Master thread exited.
[ +0,000021] EtherCAT 0: Starting EtherCAT-IDLE thread.
[ +0,000702] EtherCAT 0: Released.
[ +0,138335] EtherCAT 0: Slave states on main device: PREOP.
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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 = 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";
const char *pn_config_slave_0x8002 = "7800000000000000008001110000011100000000000000000000000002000503240980003200e803000000000000000000000000000000000000000000000000000000000180011100000211000000000000000000000100040054015c000000000000000000010001000000000000000000000000000000000000000280011100000311000000000000000000000200040054015c000000000000000000000000000000000000000000000000000000000000000100011100000011000000000000000000000300080000000000000000000000000000000000000000000000000000000000000000000000010001001100000010000000000000001400000004000800000000000000000000000000000000000000000000000000000000000000000000000200010011000000100000000000000014000000050008000000000000000000000000000000000000000000000000000000000000000000000005000100100000000f0000001400000000000000060008000000000000000000000000000000000000000000000000000000000000000000000006000100100000000f000000140000000000000007000800000000000000000000000000000000000000000000000000000000000000";
// offsets for PDO entries
static unsigned int off_in0;
static unsigned int off_out0;
const static ec_pdo_entry_reg_t domain1_regs[] = {
{ProfiNetPos, ProfiNetTerm, 0x6001, 1, &off_in0},
{ProfiNetPos, ProfiNetTerm, 0x7001, 1, &off_out0},
{}
};
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[] = {
// TxPDO: cifxrepns_In
{0x6000, 0x01, 16}, // cifxrepns_BoxState
{0x6000, 0x02, 16}, // cifxrepns_BoxDiag
{0x6001, 0x01, 160}, // Input Data Submodule 1
{0x6001, 0x02, 160}, // Input Data Submodule 2
// RxPDO: cifxrepns_Out
{0x7000, 0x01, 16}, // cifxrepns_BoxCtrl
{0x7001, 0x01, 160}, // Output Data Submodule 1
{0x7001, 0x02, 160}, // Output Data Submodule 2
// TxPDO: PnIoProtocolState
{0xf100, 0x01, 16}, // DevState
{0xf100, 0x02, 16}, // PnIoError
{0xf100, 0x03, 16}, // PnIoDiag
// TxPDO: ECatState
{0xf101, 0x01, 16}, // ECatState
// RxPdo: PnIoProtocolCtrl
{0xf200, 0x01, 16}, // DevCtrl
// RxPdo: ECatCtrl
{0xf201, 0x01, 16}, // ECatCtrl
{}
};
ec_pdo_info_t profinet_pdos[] = {
{0x1a00, 4, profinet_pdo_entries + 0}, // TxPDO: cifxrepns_In
{0x1bfe, 3, profinet_pdo_entries + 7}, // TxPDO: PnIoProtocolState
{0x1bff, 1, profinet_pdo_entries + 10}, // TxPDO: ECatState
{0x1600, 3, profinet_pdo_entries + 4}, // RxPDO: cifxrepns_Out
{0x17fe, 1, profinet_pdo_entries + 11}, // RxPDO: PnIoProtocolCtrl
{0x17ff, 1, profinet_pdo_entries + 12}, // RxPDO: ECatCtrl
};
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, 3, profinet_pdos + 3, EC_WD_ENABLE},
{3, EC_DIR_INPUT, 3, profinet_pdos + 0, EC_WD_DISABLE},
{0xff}
};
#endif
/*****************************************************************************/
#if SDO_ACCESS
static ec_sdo_request_t *sdo;
#endif
/*****************************************************************************/
/* Helper funktion, buffer has be allocated and big enough */
unsigned int strToCharArray(const char *str,unsigned char *buffer)
{
unsigned int i;
unsigned char byteVal;
// const char *str = pb_config;
// unsigned char cf_data[256];
size_t size = strlen(str);
for (i = 0; i< size; i++) {
sscanf(str, "%2X",&byteVal);
str += 2;
buffer[i] = (uint8_t) byteVal;
}
return (size / 2);
}
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, &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;
// 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
}
printf("0:%x\n1:%x\n", EC_READ_U8(domain1_pd + off_in0), EC_READ_U8(domain1_pd + off_in0 + 1));
EC_WRITE_U8(domain1_pd + off_out0, 0x06);
// 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) {
int cnt;
unsigned char pb_config_buf[1024];
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;
/* ELK1100 BusCoupler */
sc = ecrt_master_slave_config(master, BusCouplerPos, Beckhoff_EK1100);
if (!sc) {
fprintf(stderr, "Failed to get EK1100 configuration of coupler.\n");
return -1;
}
/* EL6631 Master */
if (!(sc = ecrt_master_slave_config(master, ProfiNetPos, ProfiNetTerm))) {
fprintf(stderr, "Failed to get slave configuration.\n");
return -1;
}
cnt = strToCharArray(pn_config_master_0xf800, pb_config_buf);
ecrt_slave_config_complete_sdo(sc, 0xf800, pb_config_buf, cnt);
cnt = strToCharArray(pn_config_master_0xf820, pb_config_buf);
ecrt_slave_config_complete_sdo(sc, 0xf820, pb_config_buf, cnt);
cnt = strToCharArray(pn_config_master_0x8000 ,pb_config_buf);
ecrt_slave_config_complete_sdo(sc, 0x8000, pb_config_buf, cnt);
cnt = strToCharArray(pn_config_slave_0x8002, pb_config_buf);
ecrt_slave_config_complete_sdo(sc, 0x8002, pb_config_buf, cnt);
sleep(3); // Workaround from mailinglist: permalink.gmane.org/gmane.network.etherlab.devel/64
printf("Configuring PDOs...\n");
if (ecrt_slave_config_pdos(sc, EC_END, profinet_syncs)) {
fprintf(stderr, "Failed to configure PDOs.\n");
return -1;
}
if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
fprintf(stderr, "PDO entry registration failed!\n");
return -1;
}
/* Active Master */
printf("Activating master... ");
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;
}
/****************************************************************************/
-------------- next part --------------
/* Output of program */
Failed to configure SDO: Invalid argument
Failed to configure SDO: Invalid argument
Failed to configure SDO: Invalid argument
Failed to configure SDO: Invalid argument
Configuring PDOs...
Activating master... ok!
Domain data registered ok.
Starting timer...
Started.
6 slave(s).
AL states: 0x02.
Link is up.
DigIn: State 0x02.
DigIn: online.
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