Hi list:
I should report that my earlier thread on "errors with make modules" is
SOLVED, and I thank Florian for his suggestion on use of boostrap.sh...I
now can use the mercurial repo for updates to the codebase pretty easily
now, it works great!
But now to a NEW set of problems...I'm trying a sort of kindergarten
version of the /examples/user application to just read and write to a pair
of digital i/o slaves on my bus. Relevant information for this --
The current hg parent is 1872:23d4e121faaf
I can't seem to exchange any data with the slaves, here is my program
output --
Activating master...pd: 0 <-- ?? stray print from ecrt_master_activate() ??
ok!
Domain data registered ok.
3 slave(s).
AL states: 0x02.
Link is up.
DigOut: State 0x02.
DigIn: State 0x02.
Output data: 0
Input data is: 0
DigOut: State 0x02.
DigIn: State 0x02.
Output data: 1
Input data is: 0
...Done. Releasing the master!
Clearly the slaves never reach OP state, so I must be missing something in
the bus configuration step (sync managers?).
And here is the dmesg output:
EtherCAT: Starting EtherCAT-IDLE thread.
EtherCAT: Link state changed to UP.
EtherCAT: 3 slave(s) responding.
EtherCAT: Slave states: PREOP.
EtherCAT: Scanning bus.
EtherCAT: Bus scanning completed in 300 ms.
EtherCAT: Master debug level set to 1.
EtherCAT: Requesting master 0...
EtherCAT DEBUG: IDLE -> OPERATION.
EtherCAT: Successfully requested master 0.
EtherCAT DEBUG: ecrt_master_create_domain(master = 0xc1092000)
EtherCAT DEBUG: Created domain 0.
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc1092000, alias = 0,
position = 0, vendor_id = 0x00000002, product_code = 0x044c2c52)
EtherCAT DEBUG: Creating slave configuration for 0:0, 0x00000002/0x044C2C52.
EtherCAT DEBUG: Attached slave 0 to config 0:0.
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc1092000, alias = 0,
position = 1, vendor_id = 0x00000002, product_code = 0x07d43052)
EtherCAT DEBUG: Creating slave configuration for 0:1, 0x00000002/0x07D43052.
EtherCAT DEBUG: Attached slave 1 to config 0:1.
EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xc6f08400, index =
0x7000, subindex = 0x01, domain = 0xe9c4f900, bit_position = 0xf39dfee4)
EtherCAT DEBUG: Domain 0: Added 1 bytes, total 1.
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc1092000, alias = 0,
position = 2, vendor_id = 0x00000002, product_code = 0x03f63052)
EtherCAT DEBUG: Creating slave configuration for 0:2, 0x00000002/0x03F63052.
EtherCAT DEBUG: Attached slave 2 to config 0:2.
EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xc6f09000, index =
0x6000, subindex = 0x01, domain = 0xe9c4f900, bit_position = 0xf39dfee4)
EtherCAT DEBUG: Domain 0: Added 1 bytes, total 2.
EtherCAT DEBUG: ecrt_domain_external_memory(domain = 0xe9c4f900, mem =
0xf7cf6000)
EtherCAT DEBUG: ecrt_master_callbacks(master = 0xc1092000, send_cb =
0xf9227e54, receive_cb = 0xf9227234, cb_data = 0xc1092000)
EtherCAT DEBUG: ecrt_master_activate(master = 0xc1092000)
EtherCAT: Domain0: Logical address 0x00000000, 2 byte, expected working
counter 3.
EtherCAT: Datagram domain0-0: Logical offset 0x00000000, 2 byte, type LRW.
EtherCAT DEBUG: Stopping master thread.
EtherCAT DEBUG: Master IDLE thread exiting...
EtherCAT: Master thread exited.
EtherCAT DEBUG: FSM datagram is c10923d0.
EtherCAT: Starting EtherCAT-OP thread.
EtherCAT DEBUG: Operation thread running with fsm interval = 1000 us, max
data size=11250
EtherCAT DEBUG: mmap()
EtherCAT DEBUG: Vma fault, virtual_address = b7838000, offset = 0, page =
c18913e0 ?? Why is there a fault reported here ??
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc1092000, alias = 0,
position = 1, vendor_id = 0x00000002, product_code = 0x07d43052)
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc1092000, alias = 0,
position = 2, vendor_id = 0x00000002, product_code = 0x03f63052)
EtherCAT DEBUG: Changing state of slave 0 from PREOP to OP.
EtherCAT DEBUG: Configuring slave 0...
EtherCAT: Releasing master 0...
EtherCAT DEBUG: ecrt_master_deactivate(master = 0xc1092000)
EtherCAT DEBUG: Stopping master thread.
EtherCAT DEBUG: Master OP thread exiting...
EtherCAT: Master thread exited.
EtherCAT: Starting EtherCAT-IDLE thread.
EtherCAT DEBUG: OPERATION -> IDLE.
EtherCAT: Released master 0.
EtherCAT DEBUG: Idle thread running with send interval = 1000 us, max data
size=11250
EtherCAT DEBUG: Slave 0 is now in INIT.
EtherCAT DEBUG: Clearing FMMU configurations of slave 0...
EtherCAT DEBUG: Clearing sync manager configurations of slave 0...
EtherCAT DEBUG: Clearing DC assignment of slave 0...
EtherCAT DEBUG: Slave 0: DC system_time=98464183880
old_offset=18446733211451281926, app_time=0,
new_offset=18446733112987098046
EtherCAT DEBUG: Slave 0 does not support mailbox communication.
EtherCAT DEBUG: Slave 0 is now in PREOP.
EtherCAT DEBUG: Finished configuration of slave 0.
EtherCAT DEBUG: Changing state of slave 1 from PREOP to PREOP (forced).
EtherCAT DEBUG: Configuring slave 1...
EtherCAT DEBUG: Slave 1 is now in INIT.
EtherCAT DEBUG: Clearing FMMU configurations of slave 1...
EtherCAT DEBUG: Clearing sync manager configurations of slave 1...
EtherCAT DEBUG: Clearing DC assignment of slave 1...
EtherCAT DEBUG: Slave 1: DC system_time=98470246345
old_offset=18446733210763658096, app_time=0,
new_offset=18446733112293411751
EtherCAT DEBUG: Slave 1 does not support mailbox communication.
EtherCAT DEBUG: Slave 1 is now in PREOP.
EtherCAT DEBUG: Finished configuration of slave 1.
EtherCAT DEBUG: Changing state of slave 2 from PREOP to PREOP (forced).
EtherCAT DEBUG: Configuring slave 2...
EtherCAT DEBUG: Slave 2 is now in INIT.
EtherCAT DEBUG: Clearing FMMU configurations of slave 2...
EtherCAT DEBUG: Clearing sync manager configurations of slave 2...
EtherCAT DEBUG: Clearing DC assignment of slave 2...
EtherCAT DEBUG: Slave 2: DC system_time=98470342375
old_offset=18446733210755153406, app_time=0,
new_offset=18446733112284811031
EtherCAT DEBUG: Slave 2 does not support mailbox communication.
EtherCAT DEBUG: Slave 2 is now in PREOP.
EtherCAT DEBUG: Finished configuration of slave 2.
So it appears to me that the configuration got attached, but the slaves
never went to OP state, so data never can be exchanged -- what in the
world am I doing wrong?
I've attached the C source code for your review. Thanks!
--
/*****************************************************************************
*
* $Id$
*
* 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 <stdio.h>
#include <unistd.h>
/****************************************************************************/
//EtherCAT
#include "ecrt.h"
/****************************************************************************/
// Optional features
#define PRECONFIGURE_PDOS 1 //use configuration in build
#define CONFIGURE_PDOS 0 //configure at run-time
/****************************************************************************/
// 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_dig_out = NULL;
static ec_slave_config_t *sc_dig_in = NULL;
/****************************************************************************/
// process data
static uint8_t *domain1_pd = NULL;
//definitions for the bus connections and expected slave positions
#define BusCouplerPos 0, 0
#define DigOutSlavePos 0, 1
#define DigInSlavePos 0, 2
#define Beckhoff_EK1100 0x00000002, 0x044c2c52
#define Beckhoff_EL2004 0x00000002, 0x07d43052
#define Beckhoff_EL1014 0x00000002, 0x03f63052
// offsets for PDO entries
static unsigned int off_dig_out;
static unsigned int off_dig_in;
const static ec_pdo_entry_reg_t domain1_regs[] = {
{DigOutSlavePos, Beckhoff_EL2004, 0x7000, 1, &off_dig_out},
{DigInSlavePos, Beckhoff_EL1014, 0x6000, 1, &off_dig_in},
{}
};
/*****************************************************************************/
#if PRECONFIGURE_PDOS
/* Master 0, Slave 1, "EL2004"
* Vendor ID: 0x00000002
* Product code: 0x07d43052
* Revision number: 0x00100000
*/
ec_pdo_entry_info_t EL2004_pdo_entries[] = {
{0x7000, 0x01, 1}, /* Output */
{0x7010, 0x01, 1}, /* Output */
{0x7020, 0x01, 1}, /* Output */
{0x7030, 0x01, 1}, /* Output */
};
ec_pdo_info_t EL2004_pdos[] = {
{0x1600, 1, EL2004_pdo_entries + 0}, /* Channel 1 */
{0x1601, 1, EL2004_pdo_entries + 1}, /* Channel 2 */
{0x1602, 1, EL2004_pdo_entries + 2}, /* Channel 3 */
{0x1603, 1, EL2004_pdo_entries + 3}, /* Channel 4 */
};
ec_sync_info_t EL2004_syncs[] = {
{0, EC_DIR_OUTPUT, 4, EL2004_pdos + 0, EC_WD_ENABLE},
{0xff}
};
/* Master 0, Slave 2, "EL1014"
* Vendor ID: 0x00000002
* Product code: 0x03f63052
* Revision number: 0x00100000
*/
ec_pdo_entry_info_t EL1014_pdo_entries[] = {
{0x6000, 0x01, 1}, /* Input */
{0x6010, 0x01, 1}, /* Input */
{0x6020, 0x01, 1}, /* Input */
{0x6030, 0x01, 1}, /* Input */
};
ec_pdo_info_t EL1014_pdos[] = {
{0x1a00, 1, EL1014_pdo_entries + 0}, /* Channel 1 */
{0x1a01, 1, EL1014_pdo_entries + 1}, /* Channel 2 */
{0x1a02, 1, EL1014_pdo_entries + 2}, /* Channel 3 */
{0x1a03, 1, EL1014_pdo_entries + 3}, /* Channel 4 */
};
ec_sync_info_t EL1014_syncs[] = {
{0, EC_DIR_INPUT, 4, EL1014_pdos + 0, EC_WD_DISABLE},
{0xff}
};
#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()
{
ec_slave_config_state_t s;
ecrt_slave_config_state(sc_dig_out, &s);
printf("DigOut: State 0x%02X.\n", s.al_state);
ecrt_slave_config_state(sc_dig_in, &s);
printf("DigIn: State 0x%02X.\n", s.al_state);
}
/*****************************************************************************/
int main(void) //(int argc, char **argv)
{
unsigned int j;
ec_slave_config_t *sc;
ec_master_state_t ms;
master = ecrt_request_master(0);
if (!master)
{ fprintf(stderr, "Unable to get requested master.\n");
return -1;
}
domain1 = ecrt_master_create_domain(master);
if (!domain1)
{ fprintf(stderr, "Unable to create process data domain.\n");
return -1;
}
#if CONFIGURE_PDOS
printf("Configuring PDOs...\n");
if (!(sc = ecrt_master_slave_config(
master, DigOutSlavePos, Beckhoff_EL2004))) {
fprintf(stderr, "Failed to get EL2004 configuration.\n");
return -1;
}
if (!(sc = ecrt_master_slave_config(
master, DigInSlavePos, Beckhoff_EL1014))) {
fprintf(stderr, "Failed to get EL1014 configuration.\n");
return -1;
}
#endif
// Create configuration for the bus coupler
sc = ecrt_master_slave_config(master, BusCouplerPos, Beckhoff_EK1100);
if (!sc) {
fprintf(stderr, "Failed to get EK1100 configuration.\n");
return -1;
}
if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
fprintf(stderr, "PDO entry registration failed!\n");
return -1;
}
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");
sc_dig_out = ecrt_master_slave_config(
master, DigOutSlavePos, Beckhoff_EL2004);
sc_dig_in = ecrt_master_slave_config(
master, DigInSlavePos, Beckhoff_EL1014);
check_master_state();
check_domain1_state();
#if 1
for (j=0;j<2;j++)
{
ecrt_master_receive(master);
ecrt_domain_process(domain1);
check_slave_config_states();
sleep(1);
// write process data
printf("Output data: %x\n", j);
EC_WRITE_U8(domain1_pd + off_dig_out, j);
printf("Input data is: %x\n",
EC_READ_U8(domain1_pd + off_dig_in));
// send process data
ecrt_domain_queue(domain1);
ecrt_master_send(master);
}
//dummy to keep abrt from seeing the last datagram (which won't match)
ecrt_master_receive(master);
ecrt_domain_process(domain1);
#endif
printf("...Done. Releasing the master!\n");
ecrt_release_master(master);
return 0;
}
/****************************************************************************/_______________________________________________
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