[etherlab-users] Beginner: Modifying the example code "user"
Justin Hunt
jphunt3 at asu.edu
Tue Apr 4 03:50:25 CEST 2017
Hello all,
I have an force sensor with ethercat communication. I got EtherCAT Master
installed on my system (thanks to this form's help) and have been using the
terminal commands included in the PDF manual to collect data, which has
been working great.
I would now like to try to implement the equivalent commands in C++ so that
I can stream the data and sample at a higher rate. However I am struggling
to do so. I have tried to modify the example code "user" with the pdo entry
info I get from the "ethercat cstruct" Konsole command, which outputs:
ec_pdo_entry_info_t slave_0_pdo_entries[] = {
{0x7010, 0x01, 32}, /* Control 1 */
{0x7010, 0x02, 32}, /* Control 2 */
{0x6000, 0x01, 32}, /* Fx/Gage0 */
{0x6000, 0x02, 32}, /* Fy/Gage1 */
{0x6000, 0x03, 32}, /* Fz/Gage2 */
{0x6000, 0x04, 32}, /* Tx/Gage3 */
{0x6000, 0x05, 32}, /* Ty/Gage3 */
{0x6000, 0x06, 32}, /* Tz/Gage3 */
{0x6010, 0x00, 32}, /* SubIndex 000 */
{0x6020, 0x00, 32}, /* SubIndex 000 */
};
ec_pdo_info_t slave_0_pdos[] = {
{0x1601, 2, slave_0_pdo_entries + 0}, /* DO RxPDO-Map */
{0x1a00, 8, slave_0_pdo_entries + 2}, /* DI TxPDO-Map */
};
ec_sync_info_t slave_0_syncs[] = {
{0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
{1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
{2, EC_DIR_OUTPUT, 1, slave_0_pdos + 0, EC_WD_ENABLE},
{3, EC_DIR_INPUT, 1, slave_0_pdos + 1, EC_WD_DISABLE},
{0xff}
};
Since I am working with an analog force sensor, I replaced the analog input
of the example code "user" with the above info and compiled the code. It
compiles fine but when I try to run it I get the following error:
Configuring PDOs...
Failed to register PDO entry: No such file or directory
PDO entry registration failed!
Any ideas why it can't register the PDO entry? I included my complete code
below in case having a look helps. Thank you for your time all.
/*****************************************************************************
*
* $Id: main.c,v 6a6dec6fc806 2012/09/19 17:46:58 fp $
*
* 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_ana_in = NULL;
static ec_slave_config_state_t sc_ana_in_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 assigns 0, 0 to the name BusCouplerPos
#define DigOutSlavePos 0, 2
#define AnaInSlavePos 0, 3
#define AnaOutSlavePos 0, 4
#define Beckhoff_EK1100 0x00000002, 0x044c2c52
//#define Beckhoff_EL2004 0x00000002, 0x07d43052
#define Beckhoff_EL2032 0x00000002, 0x07f03052
#define Beckhoff_EL3152 0x00000002, 0x0c503052
#define Beckhoff_EL3102 0x00000002, 0x0c1e3052
#define Beckhoff_EL4102 0x00000002, 0x10063052
//test
// offsets for PDO entries
static unsigned int off_ana_in_status;
static unsigned int off_ana_in_value;
static unsigned int off_ana_out;
static unsigned int off_dig_out;
const static ec_pdo_entry_reg_t domain1_regs[] = {
{AnaInSlavePos, Beckhoff_EL3102, 0x6000, 1, &off_ana_in_status},
{AnaInSlavePos, Beckhoff_EL3102, 0x6000, 2, &off_ana_in_value},
{AnaOutSlavePos, Beckhoff_EL4102, 0x6000, 1, &off_ana_out},
{DigOutSlavePos, Beckhoff_EL2032, 0x6000, 1, &off_dig_out},
{}
};
static unsigned int counter = 0;
static unsigned int blink = 0;
/*****************************************************************************/
#if CONFIGURE_PDOS
// Analog in --------------------------
// static ec_pdo_entry_info_t el3102_pdo_entries[] = {
// {0x3101, 1, 8}, // channel 1 status
// {0x3101, 2, 16}, // channel 1 value
// {0x3102, 1, 8}, // channel 2 status
// {0x3102, 2, 16}, // channel 2 value
// {0x6401, 1, 16}, // channel 1 value (alt.)
// {0x6401, 2, 16} // channel 2 value (alt.)
// };
//
// 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}
// };
static ec_pdo_entry_info_t el3102_pdo_entries[] = {
{0x7010, 1, 32}, /* Control 1 */
{0x7010, 2, 32}, /* Control 2 */
{0x6000, 1, 32}, /* Fx/Gage0 */
{0x6000, 2, 32}, /* Fy/Gage1 */
{0x6000, 3, 32}, /* Fz/Gage2 */
{0x6000, 4, 32}, /* Tx/Gage3 */
{0x6000, 5, 32}, /* Ty/Gage3 */
{0x6000, 6, 32}, /* Tz/Gage3 */
{0x6010, 0, 32}, /* SubIndex 000 */
{0x6020, 0, 32}, /* SubIndex 000 */
};
static ec_pdo_info_t el3102_pdos[] = {
{0x1601, 2, el3102_pdo_entries + 0}, /* DO RxPDO-Map */
{0x1a00, 8, el3102_pdo_entries + 2}, /* DI TxPDO-Map */
};
ec_sync_info_t el3102_syncs[] = {
{0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
{1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
{2, EC_DIR_OUTPUT, 1, el3102_pdos + 0, EC_WD_ENABLE},
{3, EC_DIR_INPUT, 1, el3102_pdos + 1, EC_WD_DISABLE},
{0xff}
};
/*
// Analog out -------------------------
static ec_pdo_entry_info_t el4102_pdo_entries[] = {
{0x3001, 1, 16}, // channel 1 value
{0x3002, 1, 16}, // channel 2 value
};
static ec_pdo_info_t el4102_pdos[] = {
{0x1600, 1, el4102_pdo_entries},
{0x1601, 1, el4102_pdo_entries + 1}
};
static ec_sync_info_t el4102_syncs[] = {
{2, EC_DIR_OUTPUT, 2, el4102_pdos},
{3, EC_DIR_INPUT},
{0xff}
};
// Digital out ------------------------
static ec_pdo_entry_info_t el2004_channels[] = {
{0x3001, 1, 1}, // Value 1
{0x3001, 2, 1}, // Value 2
{0x3001, 3, 1}, // Value 3
{0x3001, 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}
};*/
#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;
//printf("test");
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("test");
printf("Link is %s.\n", ms.link_up ? "up" : "down");
master_state = ms;
}
/*****************************************************************************/
//printf("enter");
void check_slave_config_states(void)
{
ec_slave_config_state_t s;
ecrt_slave_config_state(sc_ana_in, &s);
printf("test");
if (s.al_state != sc_ana_in_state.al_state)
printf("AnaIn: State 0x%02X.\n", s.al_state);
if (s.online != sc_ana_in_state.online)
printf("AnaIn: %s.\n", s.online ? "online" : "offline");
if (s.operational != sc_ana_in_state.operational)
printf("AnaIn: %soperational.\n",
s.operational ? "" : "Not ");
sc_ana_in_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_U32(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;
//printf("test");
// check for master state (optional)
//check_master_state();
printf("test");
// 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_U32(domain1_pd + off_ana_in_value));
#endif
#if 1
// write process data
EC_WRITE_U8(domain1_pd + off_dig_out, 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_ana_in = ecrt_master_slave_config(
master, AnaInSlavePos, Beckhoff_EL3102))) {
fprintf(stderr, "Failed to get slave configuration.\n");
return -1;
}
#if SDO_ACCESS
fprintf(stderr, "Creating SDO requests...\n");
if (!(sdo = ecrt_slave_config_create_sdo_request(sc_ana_in, 0x3102, 2,
2))) {
fprintf(stderr, "Failed to create SDO request.\n");
return -1;
}
ecrt_sdo_request_timeout(sdo, 500); // ms
#endif
#if CONFIGURE_PDOS
printf("Configuring PDOs...\n");
if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3102_syncs)) {
fprintf(stderr, "Failed to configure PDOs.\n");
return -1;
}
// if (!(sc = ecrt_master_slave_config(
// master, AnaOutSlavePos, Beckhoff_EL4102))) {
// fprintf(stderr, "Failed to get slave configuration.\n");
// return -1;
// }
//
// if (ecrt_slave_config_pdos(sc, EC_END, el4102_syncs)) {
// fprintf(stderr, "Failed to configure PDOs.\n");
// return -1;
// }
//
// if (!(sc = ecrt_master_slave_config(
// master, DigOutSlavePos, Beckhoff_EL2032))) {
// fprintf(stderr, "Failed to get slave configuration.\n");
// return -1;
// }
// if (ecrt_slave_config_pdos(sc, EC_END, el2004_syncs)) {
// fprintf(stderr, "Failed to configure PDOs.\n");
// return -1;
// }
#endif
// Create configuration for bus coupler
sc = ecrt_master_slave_config(master, BusCouplerPos, Beckhoff_EK1100);
if (!sc)
return -1;
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))
return -1;
if (!(domain1_pd = ecrt_domain_data(domain1))) {
return -1;
}
#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) {
//printf("test");
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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