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Setup el2008

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This commit is contained in:
Nicolas Hiillos
2023-08-17 16:08:18 +03:00
parent dcd2d896bb
commit ff83011bb1
1 changed files with 23 additions and 131 deletions
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154
source/ec_test.cpp
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@@ -38,9 +38,6 @@ static ec_master_state_t master_state = {};
static ec_domain_t *domain1 = NULL; static ec_domain_t *domain1 = NULL;
static ec_domain_state_t domain1_state = {}; 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 // process data
@@ -52,23 +49,13 @@ static uint8_t *domain1_pd = NULL;
#define AnaOutSlavePos 0, 4 #define AnaOutSlavePos 0, 4
#define Beckhoff_EK1100 0x00000002, 0x044c2c52 #define Beckhoff_EK1100 0x00000002, 0x044c2c52
#define Beckhoff_EL2004 0x00000002, 0x07d43052 #define Beckhoff_EL2008 0x00000002, 0x07d43052
#define Beckhoff_EL2032 0x00000002, 0x07f03052
#define Beckhoff_EL3152 0x00000002, 0x0c503052
#define Beckhoff_EL3102 0x00000002, 0x0c1e3052
#define Beckhoff_EL4102 0x00000002, 0x10063052
// offsets for PDO entries // 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; static unsigned int off_dig_out;
const static ec_pdo_entry_reg_t domain1_regs[] = { const static ec_pdo_entry_reg_t domain1_regs[] = {
{AnaInSlavePos, Beckhoff_EL3102, 0x3101, 1, &off_ana_in_status}, {DigOutSlavePos, Beckhoff_EL2008, 0x3001, 1, &off_dig_out},
{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},
{} {}
}; };
@@ -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 ------------------------ // Digital out ------------------------
static ec_pdo_entry_info_t el2004_channels[] = { static ec_pdo_entry_info_t el2008_pdo_entries[] = {
{0x3001, 1, 1}, // Value 1 {0x7000, 0x01, 1}, /* Output */
{0x3001, 2, 1}, // Value 2 {0x7010, 0x01, 1}, /* Output */
{0x3001, 3, 1}, // Value 3 {0x7020, 0x01, 1}, /* Output */
{0x3001, 4, 1} // Value 4 {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[] = { static ec_pdo_info_t el2008_pdos[] = {
{0x1600, 1, &el2004_channels[0]}, {0x1600, 1, el2008_pdo_entries + 0}, /* Channel 1 */
{0x1601, 1, &el2004_channels[1]}, {0x1601, 1, el2008_pdo_entries + 1}, /* Channel 2 */
{0x1602, 1, &el2004_channels[2]}, {0x1602, 1, el2008_pdo_entries + 2}, /* Channel 3 */
{0x1603, 1, &el2004_channels[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[] = { static ec_sync_info_t el2008_syncs[] = {
{0, EC_DIR_OUTPUT, 4, el2004_pdos}, {0, EC_DIR_OUTPUT, 8, el2008_pdos + 0, EC_WD_ENABLE},
{1, EC_DIR_INPUT},
{0xff} {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() void cyclic_task()
{ {
// receive process data // receive process data
@@ -220,22 +153,10 @@ void cyclic_task()
// check for master state (optional) // check for master state (optional)
check_master_state(); 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 // write process data
EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x06 : 0x09); EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x06 : 0x09);
#endif
// send process data // send process data
ecrt_domain_queue(domain1); ecrt_domain_queue(domain1);
@@ -270,36 +191,7 @@ int main_loop()
return -1; return -1;
} }
if (!(sc_ana_in = ecrt_master_slave_config( if (ecrt_slave_config_pdos(sc, EC_END, el2008_syncs)) {
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)) {
fprintf(stderr, "Failed to configure PDOs.\n"); fprintf(stderr, "Failed to configure PDOs.\n");
return -1; return -1;
} }