EtherCAT基于SOEM建立主站程序

EtherCAT基于SOEM建立主站程序

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simple_test.c解读
基于SOEM创建主站步骤
主要函数介绍
ecx_init函数
ecx_config_init函数
ecx_config_map_group函数
ecx_SDOwrite函数
ecx_SDOread函数
ecx_statecheck函数
simple_test.c文件
基于SOEM创建主站步骤
参照EtherCAT状态机,可以为如下步骤

1 初始化SOEM，将socket绑定到ifname，调用 ecx_init
2 枚举并初始化从站，调用ecx_config_init函数
3 建立从站pdo与IOMap映射，调用ecx_config_map_group函数
4 等待所有从站运行到安全状态（SAFE_OP），调用ec_statecheck函数
5 切换到运行状态（OP state），通过发送一个有效过程数据实现
//等待所有从站进入运行状态
         /* wait for all slaves to reach OP state */
         do
         {
            ec_send_processdata();
            ec_receive_processdata(EC_TIMEOUTRET);
            ec_statecheck(0, EC_STATE_OPERATIONAL, 50000);
         }
         while (chk-- && (ec_slave[0].state != EC_STATE_OPERATIONAL));
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主要函数介绍
ecx_init函数
功能：初始化SOEM，将socket绑定到ifname
ecx_init函数定义在ethercatmain.h文件，其有两种参数形式，由于大部分函数都是这两种格式，所以后文将不做区分处理。

int ec_init(const char * ifname);
int ecx_init(ecx_contextt *context, const char * ifname);
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函数方法在ethercatmain.c中定义如下

/** Initialise lib in single NIC mode
 * @param[in]  context = context struct
 * @param[in] ifname   = Dev name, f.e. "eth0"
 * @return >0 if OK
 */
int ecx_init(ecx_contextt *context, const char * ifname)
{
   return ecx_setupnic(context->port, ifname, FALSE);
}
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ecx_setupnic函数调用的oshw/linux/nicdrv.h文件,实现方法太长，本文不介绍。

/** Basic setup to connect NIC to socket.
 * @param[in] port        = port context struct
 * @param[in] ifname      = Name of NIC device, f.e. "eth0"
 * @param[in] secondary   = if >0 then use secondary stack instead of primary
 * @return >0 if succeeded
 */
int ecx_setupnic(ecx_portt *port, const char *ifname, int secondary)
{...}
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ecx_config_init函数
功能：枚举并初始化从站，返回发现从站的个数
定义在ethercatconfig.h文件，实现方法如下

/** Enumerate and init all slaves.
 *
 * @param[in] context      = context struct
 * @param[in] usetable     = TRUE when using configtable to init slaves, FALSE otherwise
 * @return Workcounter of slave discover datagram = number of slaves found
 */
int ecx_config_init(ecx_contextt *context, uint8 usetable)
{...}
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ecx_config_map_group函数
功能：将所有从站pdo映射到IOmap
定义在ethercatconfig.h文件，实现方法如下

/** Map all PDOs in one group of slaves to IOmap with Outputs/Inputs
* in sequential order (legacy SOEM way).
*
 *
 * @param[in]  context    = context struct
 * @param[out] pIOmap     = pointer to IOmap
 * @param[in]  group      = group to map, 0 = all groups
 * @return IOmap size
 */
int ecx_config_map_group(ecx_contextt *context, void *pIOmap, uint8 group)
{...}
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ecx_SDOwrite函数
功能：写入SDO数据
定义在ethercatcoe.h文件，实现方法如下

/** CoE SDO write, blocking. Single subindex or Complete Access.
 *
 * A "normal" download request is issued, unless we have
 * small data, then a "expedited" transfer is used. If the parameter is larger than
 * the mailbox size then the download is segmented. The function will split the
 * parameter data in segments and send them to the slave one by one.
 *
 * @param[in]  context    = context struct
 * @param[in]  Slave      = Slave number
 * @param[in]  Index      = Index to write
 * @param[in]  SubIndex   = Subindex to write, must be 0 or 1 if CA is used.
 * @param[in]  CA         = FALSE = single subindex. TRUE = Complete Access, all subindexes written.
 * @param[in]  psize      = Size in bytes of parameter buffer.
 * @param[out] p          = Pointer to parameter buffer
 * @param[in]  Timeout    = Timeout in us, standard is EC_TIMEOUTRXM
 * @return Workcounter from last slave response
 */
int ecx_SDOwrite(ecx_contextt *context, uint16 Slave, uint16 Index, uint8 SubIndex,
                boolean CA, int psize, void *p, int Timeout)
{...}
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ecx_SDOread函数
功能：读取SDO数据
定义在ethercatcoe.h文件，实现方法如下

/** CoE SDO read, blocking. Single subindex or Complete Access.
 *
 * Only a "normal" upload request is issued. If the requested parameter is <= 4bytes
 * then a "expedited" response is returned, otherwise a "normal" response. If a "normal"
 * response is larger than the mailbox size then the response is segmented. The function
 * will combine all segments and copy them to the parameter buffer.
 *
 * @param[in]  context    = context struct
 * @param[in]  slave      = Slave number
 * @param[in]  index      = Index to read
 * @param[in]  subindex   = Subindex to read, must be 0 or 1 if CA is used.
 * @param[in]  CA         = FALSE = single subindex. TRUE = Complete Access, all subindexes read.
 * @param[in,out] psize   = Size in bytes of parameter buffer, returns bytes read from SDO.
 * @param[out] p          = Pointer to parameter buffer
 * @param[in]  timeout    = Timeout in us, standard is EC_TIMEOUTRXM
 * @return Workcounter from last slave response
 */
int ecx_SDOread(ecx_contextt *context, uint16 slave, uint16 index, uint8 subindex,
               boolean CA, int *psize, void *p, int timeout)
{...}
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ecx_statecheck函数
功能：检测从站状态
定义在ethercatmain.h文件，实现方法如下

/** Check actual slave state.
 * This is a blocking function.
 * To refresh the state of all slaves ecx_readstate()should be called
 * @param[in] context     = context struct
 * @param[in] slave       = Slave number, 0 = all slaves (only the "slavelist[0].state" is refreshed)
 * @param[in] reqstate    = Requested state
 * @param[in] timeout     = Timeout value in us
 * @return Requested state, or found state after timeout.
 */
uint16 ecx_statecheck(ecx_contextt *context, uint16 slave, uint16 reqstate, int timeout)
{...}
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simple_test.c文件
/** \file
 * \brief Example code for Simple Open EtherCAT master
 *
 * Usage : simple_test [ifname1]
 * ifname is NIC interface, f.e. eth0
 *
 * This is a minimal test.
 *
 * (c)Arthur Ketels 2010 - 2011
 */

#include <stdio.h>
#include <string.h>
#include <inttypes.h>

#include "ethercat.h"

#define EC_TIMEOUTMON 500

char IOmap[4096];                                                        //映射空间
OSAL_THREAD_HANDLE thread1;
int expectedWKC;
boolean needlf;
volatile int wkc;
boolean inOP;
uint8 currentgroup = 0;

void simpletest(char *ifname)
{
    int i, j, oloop, iloop, chk;
    needlf = FALSE;
    inOP = FALSE;

   printf("Starting simple test\n");

   /* initialise SOEM, bind socket to ifname */
   if (ec_init(ifname))                                                //初始化soem,将主站绑定到网口
   {
      printf("ec_init on %s succeeded.\n",ifname);
      /* find and auto-config slaves */

       if ( ec_config_init(FALSE) > 0 )                                //配置从站
      {
         printf("%d slaves found and configured.\n",ec_slavecount);

         ec_config_map(&IOmap);                                        //主站内存空间与从站内存空间映射

         ec_configdc();                                                //配置

         printf("Slaves mapped, state to SAFE_OP.\n");
         /* wait for all slaves to reach SAFE_OP state */
         ec_statecheck(0, EC_STATE_SAFE_OP,  EC_TIMEOUTSTATE * 4);     //运行到安全运行状态
        
        //将主站输入输出字节上下限设置为1和8
         oloop = ec_slave[0].Obytes;
         if ((oloop == 0) && (ec_slave[0].Obits > 0)) oloop = 1;
         if (oloop > 8) oloop = 8;
         iloop = ec_slave[0].Ibytes;
         if ((iloop == 0) && (ec_slave[0].Ibits > 0)) iloop = 1;
         if (iloop > 8) iloop = 8;

         printf("segments : %d : %d %d %d %d\n",ec_group[0].nsegments ,ec_group[0].IOsegment[0],ec_group[0].IOsegment[1],ec_group[0].IOsegment[2],ec_group[0].IOsegment[3]);

         //工作计数
         printf("Request operational state for all slaves\n");
         expectedWKC = (ec_group[0].outputsWKC * 2) + ec_group[0].inputsWKC;
         printf("Calculated workcounter %d\n", expectedWKC);
         ec_slave[0].state = EC_STATE_OPERATIONAL;

         //激活从站输出
         /* send one valid process data to make outputs in slaves happy*/
         ec_send_processdata();

         //接收数据
         ec_receive_processdata(EC_TIMEOUTRET);
         /* request OP state for all slaves */

         //写入状态
         ec_writestate(0);
         chk = 200;

         //等待所有从站进入运行状态
         /* wait for all slaves to reach OP state */
         do
         {
            ec_send_processdata();
            ec_receive_processdata(EC_TIMEOUTRET);
            ec_statecheck(0, EC_STATE_OPERATIONAL, 50000);
         }
         while (chk-- && (ec_slave[0].state != EC_STATE_OPERATIONAL));

         //进入运行状态
         if (ec_slave[0].state == EC_STATE_OPERATIONAL )
         {
            printf("Operational state reached for all slaves.\n");
            inOP = TRUE;
                /* cyclic loop */
            for(i = 1; i <= 10000; i++)
            {
               ec_send_processdata();
               wkc = ec_receive_processdata(EC_TIMEOUTRET);

                    if(wkc >= expectedWKC)
                    {
                        printf("Processdata cycle %4d, WKC %d , O:", i, wkc);

                        for(j = 0 ; j < oloop; j++)
                        {
                            printf(" %2.2x", *(ec_slave[0].outputs + j));
                        }

                        printf(" I:");
                        for(j = 0 ; j < iloop; j++)
                        {
                            printf(" %2.2x", *(ec_slave[0].inputs + j));
                        }
                        printf(" T:%"PRId64"\r",ec_DCtime);
                        needlf = TRUE;
                    }
                    osal_usleep(5000);

                }
                inOP = FALSE;
            }
            //未进入运行状态
            else
            {
                printf("Not all slaves reached operational state.\n");
                ec_readstate();                                                   //读取状态
                for(i = 1; i<=ec_slavecount ; i++)
                {
                    if(ec_slave[i].state != EC_STATE_OPERATIONAL)
                    {
                        printf("Slave %d State=0x%2.2x StatusCode=0x%4.4x : %s\n",
                            i, ec_slave[i].state, ec_slave[i].ALstatuscode, ec_ALstatuscode2string(ec_slave[i].ALstatuscode));
                    }
                }
            }
            printf("\nRequest init state for all slaves\n");
            ec_slave[0].state = EC_STATE_INIT;
            //初始化所有从站
            /* request INIT state for all slaves */
            ec_writestate(0);
        }
        else
        {
            printf("No slaves found!\n");
        }
        printf("End simple test, close socket\n");
        /* stop SOEM, close socket */
        ec_close();
    }
    else
    {
        printf("No socket connection on %s\nExecute as root\n",ifname);
    }
}

//检测
OSAL_THREAD_FUNC ecatcheck( void *ptr )
{
    int slave;
    (void)ptr;                  /* Not used */

    while(1)
    {
        if( inOP && ((wkc < expectedWKC) || ec_group[currentgroup].docheckstate))
        {
            if (needlf)
            {
               needlf = FALSE;
               printf("\n");
            }
            /* one ore more slaves are not responding */
            ec_group[currentgroup].docheckstate = FALSE;
            ec_readstate();
            for (slave = 1; slave <= ec_slavecount; slave++)
            {
               if ((ec_slave[slave].group == currentgroup) && (ec_slave[slave].state != EC_STATE_OPERATIONAL))
               {
                  ec_group[currentgroup].docheckstate = TRUE;
                  if (ec_slave[slave].state == (EC_STATE_SAFE_OP + EC_STATE_ERROR))
                  {
                     printf("ERROR : slave %d is in SAFE_OP + ERROR, attempting ack.\n", slave);
                     ec_slave[slave].state = (EC_STATE_SAFE_OP + EC_STATE_ACK);
                     ec_writestate(slave);
                  }
                  else if(ec_slave[slave].state == EC_STATE_SAFE_OP)
                  {
                     printf("WARNING : slave %d is in SAFE_OP, change to OPERATIONAL.\n", slave);
                     ec_slave[slave].state = EC_STATE_OPERATIONAL;
                     ec_writestate(slave);
                  }
                  else if(ec_slave[slave].state > EC_STATE_NONE)
                  {
                     if (ec_reconfig_slave(slave, EC_TIMEOUTMON))
                     {
                        ec_slave[slave].islost = FALSE;
                        printf("MESSAGE : slave %d reconfigured\n",slave);
                     }
                  }
                  else if(!ec_slave[slave].islost)
                  {
                     /* re-check state */
                     ec_statecheck(slave, EC_STATE_OPERATIONAL, EC_TIMEOUTRET);
                     if (ec_slave[slave].state == EC_STATE_NONE)
                     {
                        ec_slave[slave].islost = TRUE;
                        printf("ERROR : slave %d lost\n",slave);
                     }
                  }
               }
               if (ec_slave[slave].islost)
               {
                  if(ec_slave[slave].state == EC_STATE_NONE)
                  {
                     if (ec_recover_slave(slave, EC_TIMEOUTMON))
                     {
                        ec_slave[slave].islost = FALSE;
                        printf("MESSAGE : slave %d recovered\n",slave);
                     }
                  }
                  else
                  {
                     ec_slave[slave].islost = FALSE;
                     printf("MESSAGE : slave %d found\n",slave);
                  }
               }
            }
            if(!ec_group[currentgroup].docheckstate)
               printf("OK : all slaves resumed OPERATIONAL.\n");
        }
        osal_usleep(10000);
    }
}

int main(int argc, char *argv[])
{
   printf("SOEM (Simple Open EtherCAT Master)\nSimple test\n");

   if (argc > 1)
   {
      /* create thread to handle slave error handling in OP */
//      pthread_create( &thread1, NULL, (void *) &ecatcheck, (void*) &ctime);
      osal_thread_create(&thread1, 128000, &ecatcheck, (void*) &ctime);
      /* start cyclic part */
      simpletest(argv[1]);
   }
   else
   {
      printf("Usage: simple_test ifname1\nifname = eth0 for example\n");
   }

   printf("End program\n");
   return (0);

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原文链接：https://blog.csdn.net/weixin_43956732/article/details/106565370