igh ethercat程序代码示例

以下是一个基本的EtherCAT主站程序示例，使用了IgH EtherCAT Master库：

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <signal.h>
#include <ecrt.h>

#define EC_TIMEOUTMON 500
#define MAX_SLAVES 10

static volatile int run = 1;
static ec_master_t *master = NULL;
static ec_master_state_t master_state = {};
static ec_domain_t *domain = NULL;
static ec_domain_state_t domain_state = {};
static ec_slave_config_t *slave_configs[MAX_SLAVES] = {};
static ec_slave_config_state_t slave_config_states[MAX_SLAVES] = {};

void signal_handler(int signum)
{
    run = 0;
}

int main(int argc, char **argv)
{
    if (argc < 2) {
        fprintf(stderr, "Usage: %s <config-file>\n", argv[0]);
        return -1;
    }

    if (signal(SIGINT, signal_handler) == SIG_ERR) {
        fprintf(stderr, "Failed to set signal handler\n");
        return -1;
    }

    if (ecrt_master_open(&master, EC_RTAI_MASTER_ID)) {
        fprintf(stderr, "Failed to open EtherCAT master\n");
        return -1;
    }

    if (ecrt_master_get_state(master, &master_state)) {
        fprintf(stderr, "Failed to get master state\n");
        goto cleanup;
    }

    if (master_state.slaves_responding == 0) {
        fprintf(stderr, "No slaves found\n");
        goto cleanup;
    }

    if (!(domain = ecrt_master_create_domain(master))) {
        fprintf(stderr, "Failed to create domain\n");
        goto cleanup;
    }

    if (ecrt_master_activate(master)) {
        fprintf(stderr, "Failed to activate master\n");
        goto cleanup;
    }

    if (ecrt_domain_reg_pdo_entry_list(domain, my_pdo_entries)) {
        fprintf(stderr, "Failed to register PDO entry list\n");
        goto cleanup;
    }

    if (ecrt_domain_activate(domain)) {
        fprintf(stderr, "Failed to activate domain\n");
        goto cleanup;
    }

    int num_slaves = ecrt_slave_config_count(master);
    if (num_slaves > MAX_SLAVES) {
        fprintf(stderr, "Too many slaves (%d > %d)\n", num_slaves, MAX_SLAVES);
        goto cleanup;
    }

    for (int i = 0; i < num_slaves; i++) {
        slave_configs[i] = ecrt_slave_config_create(master, i+1);
        if (!slave_configs[i]) {
            fprintf(stderr, "Failed to create slave configuration %d\n", i+1);
            goto cleanup;
        }

        if (ecrt_slave_config_pdos(slave_configs[i], EC_END, my_syncs)) {
            fprintf(stderr, "Failed to configure PDOs for slave %d\n", i+1);
            goto cleanup;
        }

        if (ecrt_slave_config_sdo8(slave_configs[i], 0x6060, 0x00, 0x01) ||
            ecrt_slave_config_sdo32(slave_configs[i], 0x6064, 0x00, 1000000)) {
            fprintf(stderr, "Failed to configure slave %d\n", i+1);
            goto cleanup;
        }

        if (ecrt_slave_config_map(slave_configs[i], my_pdo_entries)) {
            fprintf(stderr, "Failed to configure mapping for slave %d\n", i+1);
            goto cleanup;
        }

        if (ecrt_slave_config_dc(slave_configs[i], 0x0300, 1000000, 1000000, 0, 0)) {
            fprintf(stderr, "Failed to configure DC for slave %d\n", i+1);
            goto cleanup;
        }

        if (ecrt_slave_config_get_state(slave_configs[i], &slave_config_states[i])) {
            fprintf(stderr, "Failed to get slave configuration state for slave %d\n", i+1);
            goto cleanup;
        }

        if (slave_config_states[i].state != ECSC_PRE_OP) {
            fprintf(stderr, "Slave %d is not in PRE_OP state\n", i+1);
            goto cleanup;
        }

        if (ecrt_slave_config_enable(slave_configs[i])) {
            fprintf(stderr, "Failed to enable slave %d\n", i+1);
            goto cleanup;
        }

        if (ecrt_slave_config_get_state(slave_configs[i], &slave_config_states[i])) {
            fprintf(stderr, "Failed to get slave configuration state for slave %d\n", i+1);
            goto cleanup;
        }

        if (slave_config_states[i].state != ECSC_SAFE_OP) {
            fprintf(stderr, "Slave %d is not in SAFE_OP state\n", i+1);
            goto cleanup;
        }
    }

    while (run) {
        ecrt_master_receive(master);
        ecrt_domain_process(domain);
        ecrt_master_send(master);
        usleep(1000);
    }

cleanup:
    for (int i = 0; i < num_slaves; i++) {
        if (slave_configs[i]) {
            ecrt_slave_config_disable(slave_configs[i]);
            ecrt_slave_config_destroy(slave_configs[i]);
        }
    }

    if (domain) {
        ecrt_domain_deactivate(domain);
        ecrt_master_deactivate(master);
        ecrt_master_remove_domain(master, domain);
        ecrt_domain_free(domain);
    }

    if (master) {
        ecrt_master_close(master);
    }

    return 0;
}

请注意，此示例假设您已经定义了以下内容：

- `my_pdo_entries`：一个 `ec_pdo_entry_info_t` 数组，定义了您的PDO映射表。
- `my_syncs`：一个 `ec_sync_info_t` 数组，定义了您的同步对象。
- 每个从站的对象字典中，索引 0x6060 子索引 0x00 包含了一个 "Modes of Operation" 属性，索引 0x6064 子索引 0x00 包含了一个 "Target Velocity" 属性。

请注意，此示例还使用了一个 `MAX_SLAVES` 常量，限制了程序最多可以处理的从站数量。您可以根据需要调整此常量。