Dear All,
Kindly help me, I have trying a lot but not finding my answer, I am
writing SDO but it is not working, below is the code,
In this code with the help of state of the drive I am willing to set my
drive in operational state using state machine theory.
switch(state_of_the_drive)
{
case S_SWITCH_ON_DISABLED:
printf("S_SWITCH_ON_DISABLED\n");
//EC_WRITE_U8(ecrt_sdo_request_data(sdo_cnt), 0x06);
//EC_WRITE_U16(domain0_output +
off_epos3_cntlwd,device_control_commands[0]);
ecrt_slave_config_sdo16(sc_epos3, 0x6040, 0x00,0x0006);
// this command is the right command to send controlword data to change
the device state?
// EC_WRITE_U16(ecrt_sdo_request_data(sdo_cnt), 0x0006);
//ecrt_master_sdo_download_complete(master,0,0x6040,&a,8,0x00000000);
return;
case S_READY_TO_SWITCH_ON:
printf("S_READY_TO_SWITCH_ON\n");
ecrt_slave_config_sdo16(sc_epos3, 0x6040, 0x00,0x0007);
return;
case S_SWITCHED_ON:
printf("S_SWITCHED_ON\n");
ecrt_slave_config_sdo16(sc_epos3, 0x6040,
0x00,device_control_commands[6]);
return;
case S_FAULT:
printf("S_FAULT 1 send: %x\n",device_control_commands[7]);
//EC_WRITE_U16(ecrt_sdo_request_data(sdo_cnt),
device_control_commands[7]);
ecrt_slave_config_sdo8(sc_epos3, 0x6040,
0x00,device_control_commands[7]);
fault_flag = 1;
return;
case S_OPERATION_ENABLE:
printf("S_OPERATION_ENABLE\n");
flag_operation = 1;
return;
}
Above code is the small part of actual code used for setting the drive
in operational state. Below is the complete source code.
#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 1
/****************************************************************************/
// EtherCAT
static ec_master_t *master = NULL;
static ec_master_state_t master_state = {};
static ec_domain_t *domain0 = NULL;
static ec_domain_state_t domain_state = {};
static ec_slave_config_t *sc_epos3 = NULL;
static ec_slave_config_state_t sc_epos3_state = {};
// Timer
static unsigned int sig_alarms = 0;
static unsigned int user_alarms = 0;
/****************************************************************************/
// process data
static uint8_t *domain0_output = NULL;
#define SLAVE_DRIVE_0 0,0
#define MAXON_EPOS3 0x000000fb,0x64400000
//
// offsets for PDO entries
static unsigned int off_epos3_cntlwd;
static unsigned int off_epos3_tpos;
static unsigned int off_epos3_off_pos;
static unsigned int off_epos3_off_vel;
static unsigned int off_epos3_off_toq;
static unsigned int off_epos3_moo;
static unsigned int off_epos3_dof;
static unsigned int off_epos3_tpf;
static unsigned int off_epos3_status;
static unsigned int off_epos3_pos_val;
static unsigned int off_epos3_vel_val;
static unsigned int off_epos3_toq_val;
static unsigned int off_epos3_mood;
static unsigned int off_epos3_dif;
static unsigned int off_epos3_tps;
static unsigned int off_epos3_tpp1pv;
static unsigned int off_epos3_tpp1nv;
const static ec_pdo_entry_reg_t domain0_regs[] = {
{SLAVE_DRIVE_0, MAXON_EPOS3, 0x6040, 0, &off_epos3_cntlwd},
// U16
{SLAVE_DRIVE_0, MAXON_EPOS3, 0x607a, 0,
&off_epos3_tpos}, // S32
{SLAVE_DRIVE_0, MAXON_EPOS3, 0x60b0, 0,
&off_epos3_off_pos}, // S32
{SLAVE_DRIVE_0, MAXON_EPOS3, 0x60b1, 0,
&off_epos3_off_vel}, // S32
{SLAVE_DRIVE_0, MAXON_EPOS3, 0x60b2, 0,
&off_epos3_off_toq}, // S16
{SLAVE_DRIVE_0, MAXON_EPOS3, 0x6060, 0, &off_epos3_moo},
// S8
{SLAVE_DRIVE_0, MAXON_EPOS3, 0x2078, 1, &off_epos3_dof},
// U16
{SLAVE_DRIVE_0, MAXON_EPOS3, 0x60b8, 0, &off_epos3_tpf},
// U16
{SLAVE_DRIVE_0, MAXON_EPOS3, 0x6041, 0,
&off_epos3_status}, //
{SLAVE_DRIVE_0, MAXON_EPOS3, 0x6064, 0,
&off_epos3_pos_val}, //
{SLAVE_DRIVE_0, MAXON_EPOS3, 0x606c, 0,
&off_epos3_vel_val}, //
{SLAVE_DRIVE_0, MAXON_EPOS3, 0x6077, 0,
&off_epos3_toq_val}, //
{SLAVE_DRIVE_0, MAXON_EPOS3, 0x6061, 0,
&off_epos3_mood}, //
{SLAVE_DRIVE_0, MAXON_EPOS3, 0x2071, 1,
&off_epos3_dif}, //
{SLAVE_DRIVE_0, MAXON_EPOS3, 0x60b9, 0, &off_epos3_tps}, //
{SLAVE_DRIVE_0, MAXON_EPOS3, 0x60ba, 0, &off_epos3_tpp1pv}, //
{SLAVE_DRIVE_0, MAXON_EPOS3, 0x60bb, 0, &off_epos3_tpp1nv}, //
{}
};
static unsigned int counter = 0;
static unsigned int fault_flag = 0;
static unsigned int state_of_the_drive = 0;
static unsigned int flag_operation = 0;
const static unsigned int state_table[12] = {
0x0000, // Start
0x0100, // Not Ready to Switch On
0x0140, // Switch On Disabled
0x0121, // Ready to Switch On
0x0123, // Switched On
0x4123, // Refresh
0x4133, // Measure Init
0x0137, // Operation Enable
0x0117, // Quickstop Active
0x010f, // Fault Reaction Active (disabled)
0x011f, // Fault Reaction Active (enabled)
0x0108 // Fault
};
#define S_START 0x0000
#define S_NOT_READY_TO_SWITCH_ON 0x0100
#define S_SWITCH_ON_DISABLED 0x0140
#define S_READY_TO_SWITCH_ON 0x0121
#define S_SWITCHED_ON 0x0123
#define S_REFRESH 0x4123
#define S_MEASURE_INIT 0x4133
#define S_OPERATION_ENABLE 0x0137
#define S_QUICKSTOP_ACTIVE 0x0117
#define S_FAULT_REACTION_ACTIVE_D 0x010f
#define S_FAULT_REACTION_ACTIVE_E 0x011f
#define S_FAULT 0x0108
const static unsigned int device_control_commands[9] ={
0x06, // Shutdown 0xxx x110 2, 6, 8
0x07, // Switch On 0xxx x111 3
0x0f, // Switch On & Enable Operation 0xxx 1111 3, 4
0x00, // Disable Voltage 0xxx xx0x 7, 9, 10, 12
0x02, // Quickstop 0xxx x01x 7, 10, 11
0x07, // Disable Operation 0xxx 0111 5
0x0f, // Enable Operation 0xxx 1111 4, 16
0x00, // Fault Reset 0xxx xxxx -> 1xxx
xxxx 15
0x80 // Fault Reset 0xxx xxxx -> 1xxx
xxxx 15
};
const uint8_t a=0x06;
/*****************************************************************************/
#if CONFIGURE_PDOS
/* Master 0, Slave 0, "EPOS3"
* Vendor ID: 0x000000fb
* Product code: 0x64400000
* Revision number: 0x22100000
*/
ec_pdo_entry_info_t slave_0_pdo_entries[] = {
{0x6040, 0x00, 16}, /* 0x6040:00 */
{0x607a, 0x00, 32}, /* 0x607A:00 */
{0x60b0, 0x00, 32}, /* 0x60B0:00 */
{0x60b1, 0x00, 32}, /* 0x60B1:00 */
{0x60b2, 0x00, 16}, /* 0x60B2:00 */
{0x6060, 0x00, 8}, /* 0x6060:00 */
{0x2078, 0x01, 16}, /* 0x2078:01 */
{0x60b8, 0x00, 16}, /* 0x60B8:00 */
{0x6041, 0x00, 16}, /* 0x6041:00 */
{0x6064, 0x00, 32}, /* 0x6064:00 */
{0x606c, 0x00, 32}, /* 0x606C:00 */
{0x6077, 0x00, 16}, /* 0x6077:00 */
{0x6061, 0x00, 8}, /* 0x6061:00 */
{0x2071, 0x01, 16}, /* 0x2071:01 */
{0x60b9, 0x00, 16}, /* 0x60B9:00 */
{0x60ba, 0x00, 32}, /* 0x60BA:00 */
{0x60bb, 0x00, 32}, /* 0x60BB:00 */
};
ec_pdo_info_t slave_0_pdos[] = {
{0x1600, 8, slave_0_pdo_entries + 0}, /* 1st receive PDO Mapping */
{0x1a00, 9, slave_0_pdo_entries + 8}, /* 1st transmit PDO Mapping */
};
ec_sync_info_t epos3_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}
};
#endif
/*****************************************************************************/
#if SDO_ACCESS
static ec_sdo_request_t *sdo;
static ec_sdo_request_t *sdo_cnt;
#endif
/*****************************************************************************/
void check_domain_state(ec_domain_t *domain)
{
ec_domain_state_t ds;
ecrt_domain_state(domain, &ds);
if (ds.working_counter != domain_state.working_counter)
printf("Domain: WC %u.\n", ds.working_counter);
if (ds.wc_state != domain_state.wc_state)
printf("Domain: State %u.\n", ds.wc_state);
domain_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_epos3, &s);
if (s.al_state != sc_epos3_state.al_state)
printf("EPOS3 slave 0 State 0x%02X.\n", s.al_state);
if (s.online != sc_epos3_state.online)
printf("EPOS3 slave 0: %s.\n", s.online ? "online" : "offline");
if (s.operational != sc_epos3_state.operational)
printf("EPOS3 slave 0: %soperational.\n",
s.operational ? "" : "Not ");
sc_epos3_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:
state_of_the_drive = EC_READ_U16(ecrt_sdo_request_data(sdo));
fprintf(stderr, "SDO value: 0x%04X\n",state_of_the_drive);
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
#if 1
void move_state_machine(void)
{
int i=0;
unsigned int abc = 0;
if (fault_flag == 1)
{
printf("S_FAULT 2 send: %x\n",device_control_commands[8]);
//EC_WRITE_U8(ecrt_sdo_request_data(sdo_cnt),
device_control_commands[8]);
ecrt_slave_config_sdo8(sc_epos3, 0x6040,
0x00,device_control_commands[7]);
ecrt_slave_config_sdo8(sc_epos3, 0x6040,
0x00,device_control_commands[8]);
fault_flag = 0;
return;
}
if (state_of_the_drive & 0x8000)
state_of_the_drive = state_of_the_drive ^ 0x8000;
if (state_of_the_drive & 0x0200)
state_of_the_drive = state_of_the_drive ^ 0x0200;
if (state_of_the_drive & 0x1000)
state_of_the_drive = state_of_the_drive ^ 0x1000;
if (state_of_the_drive & 0x0800)
state_of_the_drive = state_of_the_drive ^ 0x0800;
if (state_of_the_drive & 0x0400)
state_of_the_drive = state_of_the_drive ^ 0x0400;
if (state_of_the_drive & 0x0200)
state_of_the_drive = state_of_the_drive ^ 0x0200;
if (state_of_the_drive & 0x0080)
state_of_the_drive = state_of_the_drive ^ 0x0080;
//abc = state_of_the_drive & state_table[i];
printf("state_of_the_drive :%x\n",state_of_the_drive);
switch(state_of_the_drive)
{
case S_SWITCH_ON_DISABLED:
printf("S_SWITCH_ON_DISABLED\n");
//EC_WRITE_U8(ecrt_sdo_request_data(sdo_cnt), 0x06);
//EC_WRITE_U16(domain0_output +
off_epos3_cntlwd,device_control_commands[0]);
//
usleep(100);
//printf("%d",ecrt_slave_config_sdo16(sc_epos3, 0x6040,
0x00,0x0006));
//EC_WRITE_U1d6(ecrt_sdo_request_data(sdo_cnt), 0x0006);
//ecrt_master_sdo_download_complete(master,0,0x6040,&a,8,0x00000000);
ecrt_slave_config_sdo(sc_epos3, 0x6040, 0x00, &a,
sizeof(a));
return;
case S_READY_TO_SWITCH_ON:
printf("S_READY_TO_SWITCH_ON\n");
// ecrt_slave_config_sdo16(sc_epos3, 0x6040, 0x00,0x0007);
printf("%d",ecrt_slave_config_sdo(sc_epos3, 0x6040,
0x00,0x0007));
return;
case S_SWITCHED_ON:
printf("S_SWITCHED_ON\n");
ecrt_slave_config_sdo16(sc_epos3, 0x6040,
0x00,device_control_commands[6]);
return;
case S_FAULT:
printf("S_FAULT 1 send: %x\n",device_control_commands[7]);
//EC_WRITE_U16(ecrt_sdo_request_data(sdo_cnt),
device_control_commands[7]);
ecrt_slave_config_sdo8(sc_epos3, 0x6040,
0x00,device_control_commands[7]);
fault_flag = 1;
return;
case S_OPERATION_ENABLE:
printf("S_OPERATION_ENABLE\n");
flag_operation = 1;
return;
}
}
#endif
/****************************************************************************/
void cyclic_task(){
int i;
unsigned int data_input=0;
// receive process data
ecrt_master_receive(master);
ecrt_domain_process(domain0);
// check process data state (optional)
//check_domain_state(domain0);
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();
//printf("read_sdo\n");
printf("receive :%x ",state_of_the_drive);
// read process data
if (flag_operation == 1)
{
flag_operation = 0;
printf("e_Operation\n");
ecrt_slave_config_sdo16(sc_epos3, 0x607a, 0x00,0x00ff);
}else
{
move_state_machine();
}
*/
#endif
}
ecrt_slave_config_sdo16(sc_epos3, 0x607a, 0x00,0x0000);
// send process data
ecrt_domain_queue(domain0);
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);
printf("ecrt_request_master is called \n");
if (!master)
return -1;
domain0 = ecrt_master_create_domain(master);
if(!domain0)
return -1;
if(!(sc_epos3 = ecrt_master_slave_config(
master, SLAVE_DRIVE_0, MAXON_EPOS3))){
fprintf(stderr, "Failed to get slave configuration. \n");
return -1;
}
/*
ecrt_slave_config_sdo16(sc_epos3, 0x6040, 0x00,0x0006);
usleep(5000);
ecrt_slave_config_sdo16(sc_epos3, 0x6040, 0x00,0x0007);
usleep(5000);
ecrt_slave_config_sdo16(sc_epos3, 0x6040, 0x00,0x000f);
usleep(5000);
*/
//ecrt_slave_config_sdo16(sc_epos3, 0x6060, 0x00,0x0008);
//added by kbkbc
//if (ecrt_slave_config_sdo16(sc_epos3, 0x6040, 0x00,9 ) == 0)
//printf("change SDO : 0x6040 \n");
#if SDO_ACCESS
fprintf(stderr, "Creating SDO requests...\n");
if (!(sdo = ecrt_slave_config_create_sdo_request(sc_epos3, 0x6041,
0x00, 16))) {
fprintf(stderr, "Failed to create SDO request.\n");
return -1;
}
if (!(sdo_cnt = ecrt_slave_config_create_sdo_request(sc_epos3, 0x6040,
0x00, 8))) {
fprintf(stderr, "Failed to create SDO request.\n");
return -1;
}
ecrt_slave_config_sdo16(sc_epos3, 0x6060, 0x00,0x0008);
//usleep(5000);
ecrt_slave_config_sdo16(sc_epos3, 0x6040, 0x00,0x0006);
//usleep(5000);
ecrt_slave_config_sdo16(sc_epos3, 0x6040, 0x00,0x0007);
//usleep(5000);
ecrt_slave_config_sdo16(sc_epos3, 0x6040, 0x00,0x000f);
while(1)
{
read_sdo();
//printf("read_sdo\n");
printf("receive :%x ",state_of_the_drive);
// read process data
if (state_of_the_drive == state_table[8])
{
printf("e_Operation\n");
while(1);
}else
{
move_state_machine();
}
usleep(100000);
}
//ecrt_sdo_request_timeout(sdo, 10); // ms
#endif
#if CONFIGURE_PDOS
printf("Configuring PDOs...\n");
if (ecrt_slave_config_pdos(sc_epos3, EC_END, epos3_syncs)) {
fprintf(stderr, "Failed to configure PDOs.\n");
return -1;
}
printf("configureing PDO is completed!\n");
#endif
if( ecrt_domain_reg_pdo_entry_list(domain0, domain0_regs)){
fprintf(stderr, "PDO entty registration filed! \n");
return -1;
}
printf("Activating master...\n");
if (ecrt_master_activate(master))
return -1;
if( !(domain0_output = ecrt_domain_data(domain0))) {
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) {
//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;
}
_______________________________________________
etherlab-users mailing list
[email protected]
http://lists.etherlab.org/mailman/listinfo/etherlab-users
