C语言按照EtherCAT协议,扫描多个伺服电机程序。MACRAM收发略,不用EtherCAT库。用C语言构建和解析ethercat帧写出程序
时间: 2023-12-17 12:03:10 浏览: 103
由于EtherCAT协议的复杂性,编写EtherCAT通信程序需要对该协议有较深入的理解。以下是一个简单的示例程序,用于扫描多个伺服电机。
```c
#include <stdio.h>
#include <string.h>
#define ETHERCAT_FRAME_SIZE 1518
typedef struct {
unsigned int header[2];
unsigned char data[ETHERCAT_FRAME_SIZE];
} ethercat_frame_t;
typedef struct {
unsigned char ID;
unsigned char len;
unsigned short index;
unsigned char subindex;
unsigned char data[4];
} sdo_t;
void send_ethercat_frame(ethercat_frame_t *frame) {
// 发送EtherCAT帧的代码
}
void receive_ethercat_frame(ethercat_frame_t *frame) {
// 接收EtherCAT帧的代码
}
void send_sdo(unsigned char ID, unsigned short index, unsigned char subindex, unsigned char *data, unsigned char len) {
ethercat_frame_t frame;
sdo_t sdo;
memset(&frame, 0, sizeof(ethercat_frame_t));
memset(&sdo, 0, sizeof(sdo_t));
// 构建SDO帧
sdo.ID = ID;
sdo.len = len;
sdo.index = index;
sdo.subindex = subindex;
memcpy(sdo.data, data, len);
// 构建EtherCAT帧
frame.header[0] = 0x00000000;
frame.header[1] = 0x00000000;
frame.data[0] = 0x02;
frame.data[1] = 0x80 | (sdo.len > 4 ? 0x10 : 0x00) | ((6 + sdo.len) << 4);
frame.data[2] = sdo.ID;
frame.data[3] = sdo.index & 0xFF;
frame.data[4] = (sdo.index >> 8) & 0xFF;
frame.data[5] = sdo.subindex;
memcpy(&frame.data[6], sdo.data, sdo.len);
send_ethercat_frame(&frame);
}
void receive_sdo(unsigned char ID, unsigned short index, unsigned char subindex, unsigned char *data, unsigned char len) {
ethercat_frame_t frame;
sdo_t sdo;
memset(&frame, 0, sizeof(ethercat_frame_t));
memset(&sdo, 0, sizeof(sdo_t));
// 构建SDO帧
sdo.ID = ID;
sdo.len = len;
sdo.index = index;
sdo.subindex = subindex;
// 构建EtherCAT帧
frame.header[0] = 0x00000000;
frame.header[1] = 0x00000000;
frame.data[0] = 0x01;
frame.data[1] = 0x80 | (sdo.len > 4 ? 0x10 : 0x00) | ((6 + sdo.len) << 4);
frame.data[2] = sdo.ID;
frame.data[3] = sdo.index & 0xFF;
frame.data[4] = (sdo.index >> 8) & 0xFF;
frame.data[5] = sdo.subindex;
send_ethercat_frame(&frame);
// 接收EtherCAT帧并解析SDO数据
receive_ethercat_frame(&frame);
memcpy(data, &frame.data[6], len);
}
int main() {
unsigned char data[4];
// 扫描多个伺服电机
for (unsigned char ID = 1; ID <= 32; ID++) {
// 读取伺服电机的状态字
receive_sdo(ID, 0x6041, 0x00, data, sizeof(data));
printf("Motor %d status word: 0x%02X%02X%02X%02X\n", ID, data[3], data[2], data[1], data[0]);
// 设置伺服电机的目标位置
data[0] = 0x00;
data[1] = 0x00;
data[2] = 0x10;
data[3] = 0x00;
send_sdo(ID, 0x607A, 0x00, data, sizeof(data));
}
return 0;
}
```
该程序使用了ethercat_frame_t和sdo_t结构体来表示EtherCAT帧和SDO帧。send_ethercat_frame和receive_ethercat_frame函数用于发送和接收EtherCAT帧。send_sdo和receive_sdo函数则用于构建和解析SDO帧,并利用send_ethercat_frame和receive_ethercat_frame函数进行通信。程序主要通过循环扫描多个伺服电机,并读取其状态字,然后设置其目标位置。
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