diff --git a/source/ec_test.cpp b/source/ec_test.cpp index c7c4539..7e51940 100644 --- a/source/ec_test.cpp +++ b/source/ec_test.cpp @@ -38,9 +38,6 @@ 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 = {}; - /****************************************************************************/ // process data @@ -52,23 +49,13 @@ static uint8_t *domain1_pd = NULL; #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 +#define Beckhoff_EL2008 0x00000002, 0x07d43052 // 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, 0x3101, 1, &off_ana_in_status}, - {AnaInSlavePos, Beckhoff_EL3102, 0x3101, 2, &off_ana_in_value}, - {AnaOutSlavePos, Beckhoff_EL4102, 0x3001, 1, &off_ana_out}, - {DigOutSlavePos, Beckhoff_EL2032, 0x3001, 1, &off_dig_out}, + {DigOutSlavePos, Beckhoff_EL2008, 0x3001, 1, &off_dig_out}, {} }; @@ -77,65 +64,32 @@ static unsigned int blink = 0; /*****************************************************************************/ -// 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} -}; - -// 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_entry_info_t el2008_pdo_entries[] = { + {0x7000, 0x01, 1}, /* Output */ + {0x7010, 0x01, 1}, /* Output */ + {0x7020, 0x01, 1}, /* Output */ + {0x7030, 0x01, 1}, /* Output */ + {0x7040, 0x01, 1}, /* Output */ + {0x7050, 0x01, 1}, /* Output */ + {0x7060, 0x01, 1}, /* Output */ + {0x7070, 0x01, 1}, /* Output */ }; -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_pdo_info_t el2008_pdos[] = { + {0x1600, 1, el2008_pdo_entries + 0}, /* Channel 1 */ + {0x1601, 1, el2008_pdo_entries + 1}, /* Channel 2 */ + {0x1602, 1, el2008_pdo_entries + 2}, /* Channel 3 */ + {0x1603, 1, el2008_pdo_entries + 3}, /* Channel 4 */ + {0x1604, 1, el2008_pdo_entries + 4}, /* Channel 5 */ + {0x1605, 1, el2008_pdo_entries + 5}, /* Channel 6 */ + {0x1606, 1, el2008_pdo_entries + 6}, /* Channel 7 */ + {0x1607, 1, el2008_pdo_entries + 7}, /* Channel 8 */ }; -static ec_sync_info_t el2004_syncs[] = { - {0, EC_DIR_OUTPUT, 4, el2004_pdos}, - {1, EC_DIR_INPUT}, +static ec_sync_info_t el2008_syncs[] = { + {0, EC_DIR_OUTPUT, 8, el2008_pdos + 0, EC_WD_ENABLE}, {0xff} }; @@ -180,27 +134,6 @@ void check_master_state(void) /*****************************************************************************/ -void check_slave_config_states(void) -{ - ec_slave_config_state_t s; - - ecrt_slave_config_state(sc_ana_in, &s); - - 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; -} - -/*****************************************************************************/ - void cyclic_task() { // receive process data @@ -220,22 +153,10 @@ void cyclic_task() // check for master state (optional) check_master_state(); - - // check for slave configuration state(s) (optional) - check_slave_config_states(); } -#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 - -#if 1 // write process data EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x06 : 0x09); -#endif // send process data ecrt_domain_queue(domain1); @@ -270,36 +191,7 @@ int main_loop() return -1; } - if (!(sc_ana_in = ecrt_master_slave_config( - master, AnaInSlavePos, Beckhoff_EL3102))) { - fprintf(stderr, "Failed to get slave configuration.\n"); - return -1; - } - - 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)) { + if (ecrt_slave_config_pdos(sc, EC_END, el2008_syncs)) { fprintf(stderr, "Failed to configure PDOs.\n"); return -1; }