Windows10 利用QT搭建SOEM开发环境

一. SOEM库简介

SOEM(Scalable Open EtherCAT Master 或 Simple Open EtherCAT Master)是一个开源的、用于EtherCAT通信协议的软件库。EtherCAT(Ethernet for Control Automation Technology)是一种实时以太网通信协议,广泛应用于自动化和机器人技术中,以其高速和低延迟特性而受到青睐。SOEM库允许开发者在他们的应用程序中实现EtherCAT主站功能,从而控制和驱动EtherCAT从站设备。

以下是SOEM库的一些关键特点和优势:

  • 开源和免费:SOEM是开源的,使用LGPLv2.1授权,可以自由使用、修改和分发。
  • 跨平台支持:SOEM支持多种操作系统,包括Linux、FreeRTOS、VxWorks、QNX等,提供跨平台的灵活性。
  • 实时性能:SOEM直接与硬件交互,确保了低延迟和高数据吞吐量,满足实时性要求。
  • 易于集成:SOEM使用标准的设备驱动模型,简化了在现有系统中添加EtherCAT功能的过程。
  • 文档完善:提供详细的API文档和示例代码,帮助开发者快速上手。
  • 社区支持:作为一个开源项目,SOEM拥有活跃的社区支持,不断有更新和问题解决方案。

SOEM库适用于工业自动化、实验室研究、开源硬件项目和教育用途等多种场景。它为用户应用程序提供了发送和接收EtherCAT帧的方法,支持读写过程数据、保持本地IO数据与全局IO映射同步、检测和管理系统错误等功能。

开发者可以通过研究SOEM的源码来深入理解EtherCAT主站与从站之间的交互方式,这不仅有助于学习EtherCAT协议,还能在此基础上进行定制和优化,以满足特定的应用需求。SOEM项目在GitHub上维护,提供了完整的示例应用和配置文件,方便开发者获取和使用。

二. 安装WinPcap

WinPcap库

  1. 下载并安装WinPcap运行库:官网:http://www.winpcap.org/install/default.htm
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  2. 运行下载好的exe文件,点击下一步
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  3. 点击同意
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  4. 点击安装
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  5. 点击完成
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三. SOEM(1.4)库安装

(1) 编译32位库

  1. 官网下载SOEM源文件
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  2. 运行VS2019的命令行
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  3. 进入下载好的SOEM源文件
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  4. 在源文件目录下创建build文件夹,并进入

    mkdir build
    cd build
    

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  5. 运行以下命令,编译源文件

    cmake .. -G "NMake Makefiles"
    nmake
    

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  6. 运行以下命令生成调用库

    namke install
    

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(2) 编译64位库

  1. 官网下载SOEM源文件
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  2. 运行VS2019的命令行
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  3. 进入下载好的SOEM源文件
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  4. 在源文件目录下创建build文件夹,并进入

    mkdir build
    
  5. 运行以下命令,编译源文件

    cmake .. -G "Visual Studio 16 2019" -S . -B build
    

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  6. 进入build文件夹,用vs2019打开soem.sln项目

    namke install
    

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  7. 点击生成,点击配置管理器
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  8. 选择要生成的内容
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  9. 点击生成解决方案
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  10. 没有报错则完成,可以在debug文件夹中找到生成的库文件
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四. 运行SOEM示例代码

  1. 编译好的SOEM文件夹中有例程(simple_ng)
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  2. cmd中运行simple_ng,可以看到电脑带的所有的网卡信息
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  3. 选择已经接入EtherCAT从站的网口,复制网口信息(\Device\NPF_{51D73200-BC7C-4562-8918-04FA9C959372}),cmd中运行如下代码

    simple_ng \Device\NPF_{51D73200-BC7C-4562-8918-04FA9C959372}
    

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  4. 通过-map指令,可以查看从站的I/O配置

    slaveinfo \Device\NPF_{A837AD34-3738-42FF-8E0B-F5B0BE69ABD6} -map
    

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五. WIN10下利用QT构建SOEM开发环境

  1. 在QT中创建一个新c++项目,CMakeList.txt文件如下

    cmake_minimum_required(VERSION 3.5)
    
    project(SOEMTest LANGUAGES CXX)
    
    set(CMAKE_CXX_STANDARD 17)
    set(CMAKE_CXX_STANDARD_REQUIRED ON)
    
    set(SOEM_DIR "C:\\Users\\10001540\\Downloads\\SOEM-master")
    include_directories(${SOEM_DIR}\\install\\include\\soem\\ ${SOEM_DIR}\\oshw\\win32\\wpcap\\Include\\)
    link_directories(C:\\Users\\10001540\\Downloads\\SOEM-master\\build\\Debug\\ ${SOEM_DIR}\\oshw\\win32\\wpcap\\Lib\\x64\\)
    
    add_executable(SOEMTest main.cpp)
    
    target_link_libraries(SOEMTest PUBLIC soem.lib Packet.lib wpcap.lib Ws2_32.lib Winmm.lib)
    
    install(TARGETS SOEMTest
        LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR})
    
    message(STATUS "The system is: ${CMAKE_SYSTEM_NAME}")
    
  2. main函数中,代码如下:

    #include <iostream>
    #include "ethercat.h"
    
    using namespace std;
    
    char IOmap[4096];
    ec_ODlistt ODlist;
    ec_OElistt OElist;
    boolean printSDO = FALSE;
    boolean printMAP = FALSE;
    char usdo[128];
    char hstr[1024];
    
    char* dtype2string(uint16 dtype)
    {
        switch(dtype)
        {
            case ECT_BOOLEAN:
                sprintf(hstr, "BOOLEAN");
                break;
            case ECT_INTEGER8:
                sprintf(hstr, "INTEGER8");
                break;
            case ECT_INTEGER16:
                sprintf(hstr, "INTEGER16");
                break;
            case ECT_INTEGER32:
                sprintf(hstr, "INTEGER32");
                break;
            case ECT_INTEGER24:
                sprintf(hstr, "INTEGER24");
                break;
            case ECT_INTEGER64:
                sprintf(hstr, "INTEGER64");
                break;
            case ECT_UNSIGNED8:
                sprintf(hstr, "UNSIGNED8");
                break;
            case ECT_UNSIGNED16:
                sprintf(hstr, "UNSIGNED16");
                break;
            case ECT_UNSIGNED32:
                sprintf(hstr, "UNSIGNED32");
                break;
            case ECT_UNSIGNED24:
                sprintf(hstr, "UNSIGNED24");
                break;
            case ECT_UNSIGNED64:
                sprintf(hstr, "UNSIGNED64");
                break;
            case ECT_REAL32:
                sprintf(hstr, "REAL32");
                break;
            case ECT_REAL64:
                sprintf(hstr, "REAL64");
                break;
            case ECT_BIT1:
                sprintf(hstr, "BIT1");
                break;
            case ECT_BIT2:
                sprintf(hstr, "BIT2");
                break;
            case ECT_BIT3:
                sprintf(hstr, "BIT3");
                break;
            case ECT_BIT4:
                sprintf(hstr, "BIT4");
                break;
            case ECT_BIT5:
                sprintf(hstr, "BIT5");
                break;
            case ECT_BIT6:
                sprintf(hstr, "BIT6");
                break;
            case ECT_BIT7:
                sprintf(hstr, "BIT7");
                break;
            case ECT_BIT8:
                sprintf(hstr, "BIT8");
                break;
            case ECT_VISIBLE_STRING:
                sprintf(hstr, "VISIBLE_STRING");
                break;
            case ECT_OCTET_STRING:
                sprintf(hstr, "OCTET_STRING");
                break;
            default:
                sprintf(hstr, "Type 0x%4.4X", dtype);
        }
        return hstr;
    }
    
    char* SDO2string(uint16 slave, uint16 index, uint8 subidx, uint16 dtype)
    {
       int l = sizeof(usdo) - 1, i;
       uint8 *u8;
       int8 *i8;
       uint16 *u16;
       int16 *i16;
       uint32 *u32;
       int32 *i32;
       uint64 *u64;
       int64 *i64;
       float *sr;
       double *dr;
       char es[32];
    
       memset(&usdo, 0, 128);
       ec_SDOread(slave, index, subidx, FALSE, &l, &usdo, EC_TIMEOUTRXM);
       if (EcatError)
       {
          return ec_elist2string();
       }
       else
       {
          switch(dtype)
          {
             case ECT_BOOLEAN:
                u8 = (uint8*) &usdo[0];
                if (*u8) sprintf(hstr, "TRUE");
                 else sprintf(hstr, "FALSE");
                break;
             case ECT_INTEGER8:
                i8 = (int8*) &usdo[0];
                sprintf(hstr, "0x%2.2x %d", *i8, *i8);
                break;
             case ECT_INTEGER16:
                i16 = (int16*) &usdo[0];
                sprintf(hstr, "0x%4.4x %d", *i16, *i16);
                break;
             case ECT_INTEGER32:
             case ECT_INTEGER24:
                i32 = (int32*) &usdo[0];
                sprintf(hstr, "0x%8.8x %d", *i32, *i32);
                break;
             case ECT_INTEGER64:
                i64 = (int64*) &usdo[0];
                //sprintf(hstr, "0x%16.16"PRIx64" %"PRId64, *i64, *i64);
                break;
             case ECT_UNSIGNED8:
                u8 = (uint8*) &usdo[0];
                sprintf(hstr, "0x%2.2x %u", *u8, *u8);
                break;
             case ECT_UNSIGNED16:
                u16 = (uint16*) &usdo[0];
                sprintf(hstr, "0x%4.4x %u", *u16, *u16);
                break;
             case ECT_UNSIGNED32:
             case ECT_UNSIGNED24:
                u32 = (uint32*) &usdo[0];
                sprintf(hstr, "0x%8.8x %u", *u32, *u32);
                break;
             case ECT_UNSIGNED64:
                u64 = (uint64*) &usdo[0];
                //sprintf(hstr, "0x%16.16"PRIx64" %"PRIu64, *u64, *u64);
                break;
             case ECT_REAL32:
                sr = (float*) &usdo[0];
                sprintf(hstr, "%f", *sr);
                break;
             case ECT_REAL64:
                dr = (double*) &usdo[0];
                sprintf(hstr, "%f", *dr);
                break;
             case ECT_BIT1:
             case ECT_BIT2:
             case ECT_BIT3:
             case ECT_BIT4:
             case ECT_BIT5:
             case ECT_BIT6:
             case ECT_BIT7:
             case ECT_BIT8:
                u8 = (uint8*) &usdo[0];
                sprintf(hstr, "0x%x", *u8);
                break;
             case ECT_VISIBLE_STRING:
                strcpy(hstr, usdo);
                break;
             case ECT_OCTET_STRING:
                hstr[0] = 0x00;
                for (i = 0 ; i < l ; i++)
                {
                   sprintf(es, "0x%2.2x ", usdo[i]);
                   strcat( hstr, es);
                }
                break;
             default:
                sprintf(hstr, "Unknown type");
          }
          return hstr;
       }
    }
    
    /** Read PDO assign structure */
    int si_PDOassign(uint16 slave, uint16 PDOassign, int mapoffset, int bitoffset)
    {
        uint16 idxloop, nidx, subidxloop, rdat, idx, subidx;
        uint8 subcnt;
        int wkc, bsize = 0, rdl;
        int32 rdat2;
        uint8 bitlen, obj_subidx;
        uint16 obj_idx;
        int abs_offset, abs_bit;
    
        rdl = sizeof(rdat); rdat = 0;
        /* read PDO assign subindex 0 ( = number of PDO's) */
        wkc = ec_SDOread(slave, PDOassign, 0x00, FALSE, &rdl, &rdat, EC_TIMEOUTRXM);
        rdat = etohs(rdat);
        /* positive result from slave ? */
        if ((wkc > 0) && (rdat > 0))
        {
            /* number of available sub indexes */
            nidx = rdat;
            bsize = 0;
            /* read all PDO's */
            for (idxloop = 1; idxloop <= nidx; idxloop++)
            {
                rdl = sizeof(rdat); rdat = 0;
                /* read PDO assign */
                wkc = ec_SDOread(slave, PDOassign, (uint8)idxloop, FALSE, &rdl, &rdat, EC_TIMEOUTRXM);
                /* result is index of PDO */
                idx = etohl(rdat);
                if (idx > 0)
                {
                    rdl = sizeof(subcnt); subcnt = 0;
                    /* read number of subindexes of PDO */
                    wkc = ec_SDOread(slave,idx, 0x00, FALSE, &rdl, &subcnt, EC_TIMEOUTRXM);
                    subidx = subcnt;
                    /* for each subindex */
                    for (subidxloop = 1; subidxloop <= subidx; subidxloop++)
                    {
                        rdl = sizeof(rdat2); rdat2 = 0;
                        /* read SDO that is mapped in PDO */
                        wkc = ec_SDOread(slave, idx, (uint8)subidxloop, FALSE, &rdl, &rdat2, EC_TIMEOUTRXM);
                        rdat2 = etohl(rdat2);
                        /* extract bitlength of SDO */
                        bitlen = LO_BYTE(rdat2);
                        bsize += bitlen;
                        obj_idx = (uint16)(rdat2 >> 16);
                        obj_subidx = (uint8)((rdat2 >> 8) & 0x000000ff);
                        abs_offset = mapoffset + (bitoffset / 8);
                        abs_bit = bitoffset % 8;
                        ODlist.Slave = slave;
                        ODlist.Index[0] = obj_idx;
                        OElist.Entries = 0;
                        wkc = 0;
                        /* read object entry from dictionary if not a filler (0x0000:0x00) */
                        if(obj_idx || obj_subidx)
                            wkc = ec_readOEsingle(0, obj_subidx, &ODlist, &OElist);
                        printf("  [0x%4.4X.%1d] 0x%4.4X:0x%2.2X 0x%2.2X", abs_offset, abs_bit, obj_idx, obj_subidx, bitlen);
                        if((wkc > 0) && OElist.Entries)
                        {
                            printf(" %-12s %s\n", dtype2string(OElist.DataType[obj_subidx]), OElist.Name[obj_subidx]);
                        }
                        else
                            printf("\n");
                        bitoffset += bitlen;
                    };
                };
            };
        };
        /* return total found bitlength (PDO) */
        return bsize;
    }
    
    int si_map_sdo(int slave)
    {
        int wkc, rdl;
        int retVal = 0;
        uint8 nSM, iSM, tSM;
        int Tsize, outputs_bo, inputs_bo;
        uint8 SMt_bug_add;
    
        printf("PDO mapping according to CoE :\n");
        SMt_bug_add = 0;
        outputs_bo = 0;
        inputs_bo = 0;
        rdl = sizeof(nSM); nSM = 0;
        /* read SyncManager Communication Type object count */
        wkc = ec_SDOread(slave, ECT_SDO_SMCOMMTYPE, 0x00, FALSE, &rdl, &nSM, EC_TIMEOUTRXM);
        /* positive result from slave ? */
        if ((wkc > 0) && (nSM > 2))
        {
            /* make nSM equal to number of defined SM */
            nSM--;
            /* limit to maximum number of SM defined, if true the slave can't be configured */
            if (nSM > EC_MAXSM)
                nSM = EC_MAXSM;
            /* iterate for every SM type defined */
            for (iSM = 2 ; iSM <= nSM ; iSM++)
            {
                rdl = sizeof(tSM); tSM = 0;
                /* read SyncManager Communication Type */
                wkc = ec_SDOread(slave, ECT_SDO_SMCOMMTYPE, iSM + 1, FALSE, &rdl, &tSM, EC_TIMEOUTRXM);
                if (wkc > 0)
                {
                    if((iSM == 2) && (tSM == 2)) // SM2 has type 2 == mailbox out, this is a bug in the slave!
                    {
                        SMt_bug_add = 1; // try to correct, this works if the types are 0 1 2 3 and should be 1 2 3 4
                        printf("Activated SM type workaround, possible incorrect mapping.\n");
                    }
                    if(tSM)
                        tSM += SMt_bug_add; // only add if SMt > 0
    
                    if (tSM == 3) // outputs
                    {
                        /* read the assign RXPDO */
                        printf("  SM%1d outputs\n     addr b   index: sub bitl data_type    name\n", iSM);
                        Tsize = si_PDOassign(slave, ECT_SDO_PDOASSIGN + iSM, (int)(ec_slave[slave].outputs - (uint8 *)&IOmap[0]), outputs_bo );
                        outputs_bo += Tsize;
                    }
                    if (tSM == 4) // inputs
                    {
                        /* read the assign TXPDO */
                        printf("  SM%1d inputs\n     addr b   index: sub bitl data_type    name\n", iSM);
                        Tsize = si_PDOassign(slave, ECT_SDO_PDOASSIGN + iSM, (int)(ec_slave[slave].inputs - (uint8 *)&IOmap[0]), inputs_bo );
                        inputs_bo += Tsize;
                    }
                }
            }
        }
    
        /* found some I/O bits ? */
        if ((outputs_bo > 0) || (inputs_bo > 0))
            retVal = 1;
        return retVal;
    }
    
    int si_siiPDO(uint16 slave, uint8 t, int mapoffset, int bitoffset)
    {
        uint16 a , w, c, e, er, Size;
        uint8 eectl;
        uint16 obj_idx;
        uint8 obj_subidx;
        uint8 obj_name;
        uint8 obj_datatype;
        uint8 bitlen;
        int totalsize;
        ec_eepromPDOt eepPDO;
        ec_eepromPDOt *PDO;
        int abs_offset, abs_bit;
        char str_name[EC_MAXNAME + 1];
    
        eectl = ec_slave[slave].eep_pdi;
        Size = 0;
        totalsize = 0;
        PDO = &eepPDO;
        PDO->nPDO = 0;
        PDO->Length = 0;
        PDO->Index[1] = 0;
        for (c = 0 ; c < EC_MAXSM ; c++) PDO->SMbitsize[c] = 0;
        if (t > 1)
            t = 1;
        PDO->Startpos = ec_siifind(slave, ECT_SII_PDO + t);
        if (PDO->Startpos > 0)
        {
            a = PDO->Startpos;
            w = ec_siigetbyte(slave, a++);
            w += (ec_siigetbyte(slave, a++) << 8);
            PDO->Length = w;
            c = 1;
            /* traverse through all PDOs */
            do
            {
                PDO->nPDO++;
                PDO->Index[PDO->nPDO] = ec_siigetbyte(slave, a++);
                PDO->Index[PDO->nPDO] += (ec_siigetbyte(slave, a++) << 8);
                PDO->BitSize[PDO->nPDO] = 0;
                c++;
                /* number of entries in PDO */
                e = ec_siigetbyte(slave, a++);
                PDO->SyncM[PDO->nPDO] = ec_siigetbyte(slave, a++);
                a++;
                obj_name = ec_siigetbyte(slave, a++);
                a += 2;
                c += 2;
                if (PDO->SyncM[PDO->nPDO] < EC_MAXSM) /* active and in range SM? */
                {
                    str_name[0] = 0;
                    if(obj_name)
                      ec_siistring(str_name, slave, obj_name);
                    if (t)
                      printf("  SM%1d RXPDO 0x%4.4X %s\n", PDO->SyncM[PDO->nPDO], PDO->Index[PDO->nPDO], str_name);
                    else
                      printf("  SM%1d TXPDO 0x%4.4X %s\n", PDO->SyncM[PDO->nPDO], PDO->Index[PDO->nPDO], str_name);
                    printf("     addr b   index: sub bitl data_type    name\n");
                    /* read all entries defined in PDO */
                    for (er = 1; er <= e; er++)
                    {
                        c += 4;
                        obj_idx = ec_siigetbyte(slave, a++);
                        obj_idx += (ec_siigetbyte(slave, a++) << 8);
                        obj_subidx = ec_siigetbyte(slave, a++);
                        obj_name = ec_siigetbyte(slave, a++);
                        obj_datatype = ec_siigetbyte(slave, a++);
                        bitlen = ec_siigetbyte(slave, a++);
                        abs_offset = mapoffset + (bitoffset / 8);
                        abs_bit = bitoffset % 8;
    
                        PDO->BitSize[PDO->nPDO] += bitlen;
                        a += 2;
    
                        str_name[0] = 0;
                        if(obj_name)
                          ec_siistring(str_name, slave, obj_name);
    
                        printf("  [0x%4.4X.%1d] 0x%4.4X:0x%2.2X 0x%2.2X", abs_offset, abs_bit, obj_idx, obj_subidx, bitlen);
                        printf(" %-12s %s\n", dtype2string(obj_datatype), str_name);
                        bitoffset += bitlen;
                        totalsize += bitlen;
                    }
                    PDO->SMbitsize[ PDO->SyncM[PDO->nPDO] ] += PDO->BitSize[PDO->nPDO];
                    Size += PDO->BitSize[PDO->nPDO];
                    c++;
                }
                else /* PDO deactivated because SM is 0xff or > EC_MAXSM */
                {
                    c += 4 * e;
                    a += 8 * e;
                    c++;
                }
                if (PDO->nPDO >= (EC_MAXEEPDO - 1)) c = PDO->Length; /* limit number of PDO entries in buffer */
            }
            while (c < PDO->Length);
        }
        if (eectl) ec_eeprom2pdi(slave); /* if eeprom control was previously pdi then restore */
        return totalsize;
    }
    
    int si_map_sii(int slave)
    {
        int retVal = 0;
        int Tsize, outputs_bo, inputs_bo;
    
        printf("PDO mapping according to SII :\n");
    
        outputs_bo = 0;
        inputs_bo = 0;
        /* read the assign RXPDOs */
        Tsize = si_siiPDO(slave, 1, (int)(ec_slave[slave].outputs - (uint8*)&IOmap), outputs_bo );
        outputs_bo += Tsize;
        /* read the assign TXPDOs */
        Tsize = si_siiPDO(slave, 0, (int)(ec_slave[slave].inputs - (uint8*)&IOmap), inputs_bo );
        inputs_bo += Tsize;
        /* found some I/O bits ? */
        if ((outputs_bo > 0) || (inputs_bo > 0))
            retVal = 1;
        return retVal;
    }
    
    void si_sdo(int cnt)
    {
        int i, j;
    
        ODlist.Entries = 0;
        memset(&ODlist, 0, sizeof(ODlist));
        if( ec_readODlist(cnt, &ODlist))
        {
            printf(" CoE Object Description found, %d entries.\n",ODlist.Entries);
            for( i = 0 ; i < ODlist.Entries ; i++)
            {
                ec_readODdescription(i, &ODlist);
                while(EcatError) printf("%s", ec_elist2string());
                printf(" Index: %4.4x Datatype: %4.4x Objectcode: %2.2x Name: %s\n",
                    ODlist.Index[i], ODlist.DataType[i], ODlist.ObjectCode[i], ODlist.Name[i]);
                memset(&OElist, 0, sizeof(OElist));
                ec_readOE(i, &ODlist, &OElist);
                while(EcatError) printf("%s", ec_elist2string());
                for( j = 0 ; j < ODlist.MaxSub[i]+1 ; j++)
                {
                    if ((OElist.DataType[j] > 0) && (OElist.BitLength[j] > 0))
                    {
                        printf("  Sub: %2.2x Datatype: %4.4x Bitlength: %4.4x Obj.access: %4.4x Name: %s\n",
                            j, OElist.DataType[j], OElist.BitLength[j], OElist.ObjAccess[j], OElist.Name[j]);
                        if ((OElist.ObjAccess[j] & 0x0007))
                        {
                            printf("          Value :%s\n", SDO2string(cnt, ODlist.Index[i], j, OElist.DataType[j]));
                        }
                    }
                }
            }
        }
        else
        {
            while(EcatError) printf("%s", ec_elist2string());
        }
    }
    
    void slaveinfo(char *ifname)
    {
        int cnt, i, j, nSM;
        uint16 ssigen;
        int expectedWKC;
        ecx_contextt* contex;
    
        printf("Starting slaveinfo\n");
    
        if(ec_init(ifname)) // 初始化SOEM库,绑定soket到网口
        {
            printf("ec_init on %s succeeded.\n",ifname);
            if(ec_config(FALSE, &IOmap) > 0) // 枚举所有从站的信息,并配置从站,保存到IOmap中
            {
                ec_configdc();
                while(EcatError)
                {
                    cout<< ec_elist2string() << endl;
                }
                printf("%d slaves found and configured.\n",ec_slavecount);
                expectedWKC = (ec_group[0].outputsWKC * 2) + ec_group[0].inputsWKC;
                printf("Calculated workcounter %d\n", expectedWKC);
                ec_statecheck(0, EC_STATE_SAFE_OP,  EC_TIMEOUTSTATE * 3);
                if (ec_slave[0].state != EC_STATE_SAFE_OP )
                {
                    printf("Not all slaves reached safe operational state.\n");
                    ec_readstate();
                    for(i = 1; i<=ec_slavecount ; i++)
                    {
                       if(ec_slave[i].state != EC_STATE_SAFE_OP)
                       {
                           printf("Slave %d State=%2x StatusCode=%4x : %s\n",
                                                i, ec_slave[i].state, ec_slave[i].ALstatuscode, ec_ALstatuscode2string(ec_slave[i].ALstatuscode));
                       }
                    }
                }
    
                ec_readstate();
                for( cnt = 1 ; cnt <= ec_slavecount ; cnt++)
                {
                   printf("\nSlave:%d\n Name:%s\n Output size: %dbits\n Input size: %dbits\n State: %d\n Delay: %d[ns]\n Has DC: %d\n",
                         cnt, ec_slave[cnt].name, ec_slave[cnt].Obits, ec_slave[cnt].Ibits,
                         ec_slave[cnt].state, ec_slave[cnt].pdelay, ec_slave[cnt].hasdc);
                   if (ec_slave[cnt].hasdc) printf(" DCParentport:%d\n", ec_slave[cnt].parentport);
                   printf(" Activeports:%d.%d.%d.%d\n", (ec_slave[cnt].activeports & 0x01) > 0 ,
                                                (ec_slave[cnt].activeports & 0x02) > 0 ,
                                                (ec_slave[cnt].activeports & 0x04) > 0 ,
                                                (ec_slave[cnt].activeports & 0x08) > 0 );
                   printf(" Configured address: %4.4x\n", ec_slave[cnt].configadr);
                   printf(" Man: %8.8x ID: %8.8x Rev: %8.8x\n", (int)ec_slave[cnt].eep_man, (int)ec_slave[cnt].eep_id, (int)ec_slave[cnt].eep_rev);
                   for(nSM = 0 ; nSM < EC_MAXSM ; nSM++)
                   {
                      if(ec_slave[cnt].SM[nSM].StartAddr > 0)
                         printf(" SM%1d A:%4.4x L:%4d F:%8.8x Type:%d\n",nSM, ec_slave[cnt].SM[nSM].StartAddr, ec_slave[cnt].SM[nSM].SMlength,
                                (int)ec_slave[cnt].SM[nSM].SMflags, ec_slave[cnt].SMtype[nSM]);
                   }
                   for(j = 0 ; j < ec_slave[cnt].FMMUunused ; j++)
                   {
                      printf(" FMMU%1d Ls:%8.8x Ll:%4d Lsb:%d Leb:%d Ps:%4.4x Psb:%d Ty:%2.2x Act:%2.2x\n", j,
                              (int)ec_slave[cnt].FMMU[j].LogStart, ec_slave[cnt].FMMU[j].LogLength, ec_slave[cnt].FMMU[j].LogStartbit,
                              ec_slave[cnt].FMMU[j].LogEndbit, ec_slave[cnt].FMMU[j].PhysStart, ec_slave[cnt].FMMU[j].PhysStartBit,
                              ec_slave[cnt].FMMU[j].FMMUtype, ec_slave[cnt].FMMU[j].FMMUactive);
                   }
                   printf(" FMMUfunc 0:%d 1:%d 2:%d 3:%d\n",
                            ec_slave[cnt].FMMU0func, ec_slave[cnt].FMMU1func, ec_slave[cnt].FMMU2func, ec_slave[cnt].FMMU3func);
                   printf(" MBX length wr: %d rd: %d MBX protocols : %2.2x\n", ec_slave[cnt].mbx_l, ec_slave[cnt].mbx_rl, ec_slave[cnt].mbx_proto);
                   ssigen = ec_siifind(cnt, ECT_SII_GENERAL);
                   /* SII general section */
                   if (ssigen)
                   {
                      ec_slave[cnt].CoEdetails = ec_siigetbyte(cnt, ssigen + 0x07);
                      ec_slave[cnt].FoEdetails = ec_siigetbyte(cnt, ssigen + 0x08);
                      ec_slave[cnt].EoEdetails = ec_siigetbyte(cnt, ssigen + 0x09);
                      ec_slave[cnt].SoEdetails = ec_siigetbyte(cnt, ssigen + 0x0a);
                      if((ec_siigetbyte(cnt, ssigen + 0x0d) & 0x02) > 0)
                      {
                         ec_slave[cnt].blockLRW = 1;
                         ec_slave[0].blockLRW++;
                      }
                      ec_slave[cnt].Ebuscurrent = ec_siigetbyte(cnt, ssigen + 0x0e);
                      ec_slave[cnt].Ebuscurrent += ec_siigetbyte(cnt, ssigen + 0x0f) << 8;
                      ec_slave[0].Ebuscurrent += ec_slave[cnt].Ebuscurrent;
                   }
                   printf(" CoE details: %2.2x FoE details: %2.2x EoE details: %2.2x SoE details: %2.2x\n",
                           ec_slave[cnt].CoEdetails, ec_slave[cnt].FoEdetails, ec_slave[cnt].EoEdetails, ec_slave[cnt].SoEdetails);
                   printf(" Ebus current: %d[mA]\n only LRD/LWR:%d\n",
                           ec_slave[cnt].Ebuscurrent, ec_slave[cnt].blockLRW);
                   if ((ec_slave[cnt].mbx_proto & ECT_MBXPROT_COE) && printSDO)
                   {
                           si_sdo(cnt);
                   }
    
                   if (ec_slave[cnt].mbx_proto & ECT_MBXPROT_COE)
                       si_map_sdo(cnt);
                   else
                       si_map_sii(cnt);
    
                }
    
            }
        }
        else
        {
        }
    }
    
    int main()
    {
        char* ifbuf = "\\Device\\NPF_{A837AD34-3738-42FF-8E0B-F5B0BE69ABD6}"; // 网口设备号
        printf("SOEM (Simple Open EtherCAT Master)\nSlaveinfo\n");
        slaveinfo(ifbuf);
        return 0;
    }
    

    在这里插入图片描述

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