igh ethercat雷赛556步进例程

以下是使用EtherCAT通信协议的雷塞（Leisai）556步进驱动器的示例程序：

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>
#include "ecrt.h"

#define REFRESH_RATE    1000    // 刷新率（单位：微秒）
#define PI              3.14159265358979323846

// EtherCAT配置
#define ECAT_TIMEOUT    5000    // 超时时间（单位：毫秒）
#define ECAT_SLAVE      0, 0    // 从站地址

// 雷塞556参数
#define MAX_SPEED       3000    // 最大速度（单位：rpm）
#define MAX_ACC         1000    // 最大加速度（单位：rpm/s）

// 定义PDO映射索引
#define PDO_INPUT_INDEX     0x1601
#define PDO_OUTPUT_INDEX    0x1A02

// 定义PDO映射子索引
#define PDO_INPUT_SUBINDEX_POSITION     0x00
#define PDO_INPUT_SUBINDEX_VELOCITY     0x02
#define PDO_INPUT_SUBINDEX_TORQUE       0x03
#define PDO_OUTPUT_SUBINDEX_CONTROL     0x00

// 定义命令码
#define CMD_SET_POSITION    0x02
#define CMD_SET_VELOCITY    0x03
#define CMD_SET_TORQUE      0x04
#define CMD_SET_BIT         0x06

// 定义状态码
#define STATE_NOT_READY_TO_SWITCH_ON     0x0000
#define STATE_SWITCH_ON_DISABLED        0x0040
#define STATE_READY_TO_SWITCH_ON         0x0021
#define STATE_SWITCHED_ON                0x0023
#define STATE_OPERATION_ENABLED          0x0027
#define STATE_QUICK_STOP_ACTIVE          0x0007
#define STATE_FAULT                       0x000F

// 定义常量
#define POSITION_FACTOR     (2 * PI / 65536.0)   // 位置因子（单位：弧度）
#define VELOCITY_FACTOR     (2 * PI / 60.0 / 65536.0) // 速度因子（单位：弧度/秒）
#define TORQUE_FACTOR       (2 * PI / 65536.0 / 0.001) // 力矩因子（单位：牛米）

// 定义全局变量
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 = NULL;
static ec_slave_config_state_t slave_state = {};
static uint8_t *domain_pd = NULL;
static ec_pdo_entry_reg_t domain_regs[] = {
    {ECAT_SLAVE, PDO_OUTPUT_INDEX, PDO_OUTPUT_SUBINDEX_CONTROL, 16, &control_word},
    {ECAT_SLAVE, PDO_INPUT_INDEX, PDO_INPUT_SUBINDEX_POSITION, 32, &position},
    {ECAT_SLAVE, PDO_INPUT_INDEX, PDO_INPUT_SUBINDEX_VELOCITY, 32, &velocity},
    {ECAT_SLAVE, PDO_INPUT_INDEX, PDO_INPUT_SUBINDEX_TORQUE, 16, &torque},
    {}
};
static uint16_t control_word = 0x0000;
static int32_t target_position = 0;
static int32_t actual_position = 0;
static int32_t actual_velocity = 0;
static int16_t actual_torque = 0;

// 定义函数
static void check_domain_state(void);
static void check_slave_config_states(void);

int main(int argc, char *argv[]) {
    // 初始化EtherCAT主站
    if (ecrt_init() != 0) {
        printf("Failed to initialize EtherCAT master!\n");
        return -1;
    }

    // 获取EtherCAT主站
    master = ecrt_request_master(0);
    if (master == NULL) {
        printf("Failed to get EtherCAT master!\n");
        return -1;
    }

    // 发现从站
    if (ecrt_master_scan(master, 0) <= 0) {
        printf("No EtherCAT slaves found!\n");
        return -1;
    }

    // 获取从站配置
    slave = ecrt_master_slave_config(master, ECAT_SLAVE);
    if (slave == NULL) {
        printf("Failed to get slave configuration!\n");
        return -1;
    }

    // 创建EtherCAT域
    domain = ecrt_master_create_domain(master);
    if (domain == NULL) {
        printf("Failed to create EtherCAT domain!\n");
        return -1;
    }

    // 注册PDO映射
    if (ecrt_domain_reg_pdo_entry_list(domain, domain_regs) < 0) {
        printf("Failed to register PDO entry list!\n");
        return -1;
    }

    // 计算PDO映射
    if (ecrt_master_application_time(master, REFRESH_RATE) != 0) {
        printf("Failed to set application time!\n");
        return -1;
    }
    if (ecrt_master_sync_reference_clock(master) != 0) {
        printf("Failed to sync reference clock!\n");
        return -1;
    }
    if (ecrt_domain_size(domain) > 0x1000) {
        printf("Domain size exceeds 4KB!\n");
        return -1;
    }
    domain_pd = ecrt_domain_data(domain);

    // 配置从站
    if (ecrt_slave_config_pdos(slave, EC_RT_MODE_3, 1, NULL, NULL) != EC_SUCCESS) {
        printf("Failed to configure PDOs!\n");
        return -1;
    }

    // 配置从站状态
    if (ecrt_slave_config_map(slave) < 0) {
        printf("Failed to configure slave state!\n");
        return -1;
    }

    // 检查主站状态
    ecrt_master_receive(master);
    check_domain_state();
    if (master_state.al_states != 0) {
        printf("EtherCAT master is not in the AL state!\n");
        return -1;
    }

    // 检查从站状态
    ecrt_master_receive(master);
    check_slave_config_states();
    if (slave_state.al_state != 0) {
        printf("EtherCAT slave is not in the AL state!\n");
        return -1;
    }

    // 初始化从站
    control_word = 0x0006;  // 将控制字设置为“Switch On + Enable Operation”
    ecrt_domain_queue(domain);
    ecrt_master_send(master);
    ecrt_master_receive(master);
    check_domain_state();
    if (actual_position != 0) {
        printf("Failed to initialize the drive!\n");
        return -1;
    }

    // 设置驱动器参数
    control_word = 0x0007;  // 将控制字设置为“Switch On + Enable Operation + Quick Stop”
    ecrt_domain_queue(domain);
    ecrt_master_send(master);
    ecrt_master_receive(master);
    check_domain_state();
    if (actual_position != 0) {
        printf("Failed to set drive parameters!\n");
        return -1;
    }

    // 启动驱动器
    control_word = 0x000F;  // 将控制字设置为“Switch On + Enable Operation + Quick Stop + Enable Interpolated Position Mode”
    ecrt_domain_queue(domain);
    ecrt_master_send(master);
    ecrt_master_receive(master);
    check_domain_state();
    if (actual_position != 0) {
        printf("Failed to start the drive!\n");
        return -1;
    }

    // 循环运行
    while (1) {
        // 读取当前位置、速度和力矩
        ecrt_master_receive(master);
        actual_position = *((int32_t *)(domain_pd + ecrt_slave_config_reg_pdo_entry_offset(slave, PDO_INPUT_INDEX, PDO_INPUT_SUBINDEX_POSITION)));
        actual_velocity = *((int32_t *)(domain_pd + ecrt_slave_config_reg_pdo_entry_offset(slave, PDO_INPUT_INDEX, PDO_INPUT_SUBINDEX_VELOCITY)));
        actual_torque = *((int16_t *)(domain_pd + ecrt_slave_config_reg_pdo_entry_offset(slave, PDO_INPUT_INDEX, PDO_INPUT_SUBINDEX_TORQUE)));

        // 显示当前状态
        switch (control_word & 0x006F) {
        case STATE_NOT_READY_TO_SWITCH_ON:
            printf("Drive is in the Not Ready to Switch On state.\n");
            break;
        case STATE_SWITCH_ON_DISABLED:
            printf("Drive is in the Switch On Disabled state.\n");
            break;
        case STATE_READY_TO_SWITCH_ON:
            printf("Drive is in the Ready to Switch On state.\n");
            break;
        case STATE_SWITCHED_ON:
            printf("Drive is in the Switched On state.\n");
            break;
        case STATE_OPERATION_ENABLED:
            printf("Drive is in the Operation Enabled state.\n");
            break;
        case STATE_QUICK_STOP_ACTIVE:
            printf("Drive is in the Quick Stop Active state.\n");
            break;
        case STATE_FAULT:
            printf("Drive is in the Fault state.\n");
            break;
        default:
            printf("Drive is in an unknown state.\n");
            break;
        }

        // 设置目标位置
        if (control_word & 0x001F == STATE_OPERATION_ENABLED) {
            target_position += (int32_t)(MAX_SPEED * REFRESH_RATE / 1000000.0);
            if (target_position > 65536) {
                target_position -= 65536;
            }
            *((int32_t *)(domain_pd + ecrt_slave_config_reg_pdo_entry_offset(slave, PDO_OUTPUT_INDEX, PDO_OUTPUT_SUBINDEX_CONTROL))) = CMD_SET_POSITION | (target_position << 8);
        }

        // 刷新PDO
        ecrt_domain_queue(domain);
        ecrt_master_send(master);
        usleep(REFRESH_RATE);
    }

    // 停止驱动器
    control_word = 0x0007;  // 将控制字设置为“Switch On + Enable Operation + Quick Stop”
    ecrt_domain_queue(domain);
    ecrt_master_send(master);
    ecrt_master_receive(master);
    check_domain_state();
    if (actual_position != 0) {
        printf("Failed to stop the drive!\n");
        return -1;
    }

    // 释放EtherCAT主站
    ecrt_release_master(master);
    master = NULL;

    // 结束程序
    return 0;
}

static void check_domain_state(void) {
    ecrt_master_state(master, &master_state);
    ecrt_domain_state(domain, &domain_state);
}

static void check_slave_config_states(void) {
    ecrt_slave_config_state(slave, &slave_state);
}

这个示例程序使用了EtherCAT通信协议来控制雷塞（Leisai）556步进驱动器。程序中定义了一些常量和全局变量，包括刷新率、PDO映射、命令码、状态码等。程序首先初始化EtherCAT主站，并发现从站。然后，程序创建一个EtherCAT域，并注册PDO映射。接下来，程序配置从站和从站状态，并初始化驱动器。程序循环运行，读取当前位置、速度和力矩，并根据控制字设置目标位置。最后，程序停止驱动器并释放EtherCAT主站。

请注意，这只是一个示例程序，具体实现可能因驱动器型号和应用场景而异。在实际应用中，请根据实际情况进行调整。