hello everyone,
i have modified the example (NI9144 Chasis with NI9205 as EtherCAT
Slave),but when i run the application,the slave doesn't goto OP
state.could anyone help me?thank you
dmesg | grep EtherCAT are:
********************************************************+++++
[19883.535896] EtherCAT: Requesting master 0...
[19883.535904] EtherCAT: Successfully requested master 0.
[19883.536135] EtherCAT 0: Domain0: Logical address 0x00000000, 65 byte,
expected working counter 1.
[19883.536140] EtherCAT 0: Datagram domain0-0-main: Logical offset
0x00000000, 65 byte, type LRD.
[19883.536183] EtherCAT 0: Master thread exited.
[19883.536191] EtherCAT 0: Starting EtherCAT-OP thread.
[19883.537965] EtherCAT WARNING 0: No app_time received up to now, but
master already active.
********************************************************************************+
////////////////////////////////////////////////////////////////////////////////////////////////
root@zhang-P55A-UD3:/home/zhang/ethercat-1.5.2/examples/user# ./main
Configuring PDOs...
Configuring PDOs success
Activating master lalala...
creating Domain...
creating Domain end...
Starting timer...
Started.
1 slave(s).
AL states: 0x02.
Link is up.
AnaIn: State 0x02.
AnaIn: online.
^C
my source code are following:
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
#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 DigOutSlavePos 0, 0
#define NI9144 0x000001f9, 0x000023b8
// offsets for PDO entries
static unsigned int off_ana_in_status;
static unsigned int off_ana_in_value;
const static ec_pdo_entry_reg_t domain1_regs[] = {
{DigOutSlavePos, NI9144, 0x6000, 0x01, &off_ana_in_value},
{DigOutSlavePos, NI9144, 0x6010, 0x01, &off_ana_in_status},
{}
};
static unsigned int counter = 0;
#if CONFIGURE_PDOS
/* PDO configuration for NI 9144
*/
/* Master 0, Slave 0, "NI 9144"
* Vendor ID: 0x000001f9
* Product code: 0x000023b8
* Revision number: 0x00000001
*/
static ec_pdo_entry_info_t slave_0_pdo_entries[] = {
{0x7010, 0x01, 8}, /* Subindex 001 */
{0x6000, 0x01, 16}, /* Subindex 001 */ // PIN AI0 // (AI0 connect
to signalgenerator)
{0x6000, 0x02, 16}, /* Subindex 002 */
{0x6000, 0x03, 16}, /* Subindex 003 */
{0x6000, 0x04, 16}, /* Subindex 004 */
{0x6000, 0x05, 16}, /* Subindex 005 */
{0x6000, 0x06, 16}, /* Subindex 006 */
{0x6000, 0x07, 16}, /* Subindex 007 */
{0x6000, 0x08, 16}, /* Subindex 008 */
{0x6000, 0x09, 16}, /* Subindex 009 */
{0x6000, 0x0a, 16}, /* Subindex 010 */
{0x6000, 0x0b, 16}, /* Subindex 011 */
{0x6000, 0x0c, 16}, /* Subindex 012 */
{0x6000, 0x0d, 16}, /* Subindex 013 */
{0x6000, 0x0e, 16}, /* Subindex 014 */
{0x6000, 0x0f, 16}, /* Subindex 015 */
{0x6000, 0x10, 16}, /* Subindex 016 */
{0x6000, 0x11, 16}, /* Subindex 017 */
{0x6000, 0x12, 16}, /* Subindex 018 */
{0x6000, 0x13, 16}, /* Subindex 019 */
{0x6000, 0x14, 16}, /* Subindex 020 */
{0x6000, 0x15, 16}, /* Subindex 021 */
{0x6000, 0x16, 16}, /* Subindex 022 */
{0x6000, 0x17, 16}, /* Subindex 023 */
{0x6000, 0x18, 16}, /* Subindex 024 */
{0x6000, 0x19, 16}, /* Subindex 025 */
{0x6000, 0x1a, 16}, /* Subindex 026 */
{0x6000, 0x1b, 16}, /* Subindex 027 */
{0x6000, 0x1c, 16}, /* Subindex 028 */
{0x6000, 0x1d, 16}, /* Subindex 029 */
{0x6000, 0x1e, 16}, /* Subindex 030 */
{0x6000, 0x1f, 16}, /* Subindex 031 */
{0x6000, 0x20, 16}, /* Subindex 032 */
{0x6010, 0x01, 8}, /* Subindex 001 */
};
static ec_pdo_info_t slave_0_pdos[] = {
{0x1601, 1, slave_0_pdo_entries + 0}, /* RxPDO Mapping 2 */
{0x1a00, 32, slave_0_pdo_entries + 1}, /* TxPDO Mapping 1 */
{0x1a01, 1, slave_0_pdo_entries + 33}, /* TxPDO Mapping 2 */
};
static 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, 2, slave_0_pdos + 1, EC_WD_DISABLE},
{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;
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_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;
}
/*****************************************************************************/
#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_U16(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;
// check for master state (optional)
check_master_state();
// printf("AnaIn: value 0x%x\n", EC_READ_U8(domain1_pd
+off_dig_out_state));
// 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_U16(domain1_pd + off_ana_in_value));
#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, DigOutSlavePos,
NI9144))) {
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, slave_0_syncs)) {
fprintf(stderr, "Failed to configure PDOs.\n");
return -1;
}
// off_dig_out2 = ecrt_slave_config_reg_pdo_entry(sc,0x6000, 0x01,
domain1, NULL);
// if (off_dig_out2 < 0)
// return -1;
printf("Configuring PDOs success \n");
#endif
if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
fprintf(stderr, "PDO entry registration failed!\n");
return -1;
}
printf("Activating master lalala...\n");
if (ecrt_master_activate(master))
return -1;
printf("creating Domain...\n");
if (!(domain1_pd = ecrt_domain_data(domain1))) {
return -1;
}
printf("creating Domain end...\n");
#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;
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////
slaves configuration are:
zhang@zhang-P55A-UD3:~$ ethercat cstruct
/* Master 0, Slave 0, "NI 9144"
* Vendor ID: 0x000001f9
* Product code: 0x000023b8
* Revision number: 0x00000001
*/
ec_pdo_entry_info_t slave_0_pdo_entries[] = {
{0x7010, 0x01, 8}, /* Subindex 001 */
{0x6000, 0x01, 16}, /* Subindex 001 */
{0x6000, 0x02, 16}, /* Subindex 002 */
{0x6000, 0x03, 16}, /* Subindex 003 */
{0x6000, 0x04, 16}, /* Subindex 004 */
{0x6000, 0x05, 16}, /* Subindex 005 */
{0x6000, 0x06, 16}, /* Subindex 006 */
{0x6000, 0x07, 16}, /* Subindex 007 */
{0x6000, 0x08, 16}, /* Subindex 008 */
{0x6000, 0x09, 16}, /* Subindex 009 */
{0x6000, 0x0a, 16}, /* Subindex 010 */
{0x6000, 0x0b, 16}, /* Subindex 011 */
{0x6000, 0x0c, 16}, /* Subindex 012 */
{0x6000, 0x0d, 16}, /* Subindex 013 */
{0x6000, 0x0e, 16}, /* Subindex 014 */
{0x6000, 0x0f, 16}, /* Subindex 015 */
{0x6000, 0x10, 16}, /* Subindex 016 */
{0x6000, 0x11, 16}, /* Subindex 017 */
{0x6000, 0x12, 16}, /* Subindex 018 */
{0x6000, 0x13, 16}, /* Subindex 019 */
{0x6000, 0x14, 16}, /* Subindex 020 */
{0x6000, 0x15, 16}, /* Subindex 021 */
{0x6000, 0x16, 16}, /* Subindex 022 */
{0x6000, 0x17, 16}, /* Subindex 023 */
{0x6000, 0x18, 16}, /* Subindex 024 */
{0x6000, 0x19, 16}, /* Subindex 025 */
{0x6000, 0x1a, 16}, /* Subindex 026 */
{0x6000, 0x1b, 16}, /* Subindex 027 */
{0x6000, 0x1c, 16}, /* Subindex 028 */
{0x6000, 0x1d, 16}, /* Subindex 029 */
{0x6000, 0x1e, 16}, /* Subindex 030 */
{0x6000, 0x1f, 16}, /* Subindex 031 */
{0x6000, 0x20, 16}, /* Subindex 032 */
{0x6010, 0x01, 8}, /* Subindex 001 */
};
ec_pdo_info_t slave_0_pdos[] = {
{0x1601, 1, slave_0_pdo_entries + 0}, /* RxPDO Mapping 2 */
{0x1a00, 32, slave_0_pdo_entries + 1}, /* TxPDO Mapping 1 */
{0x1a01, 1, slave_0_pdo_entries + 33}, /* TxPDO Mapping 2 */
};
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, 2, slave_0_pdos + 1, EC_WD_DISABLE},
{0xff}
};
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