igh ethercat程序代码示例

以下是一个基本的 EtherCAT 主站程序的示例代码，使用了 IgH EtherCAT Master 库：

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

#define EC_TIMEOUTMON 500

int run = 1;
static uint8_t *domain = NULL;
static ec_master_t *master = NULL;
static ec_master_state_t master_state;
static ec_domain_t *domain1 = NULL;
static ec_domain_state_t domain1_state;
static ec_slave_config_t *sc;

void signal_handler(int sig) {
    printf("Received signal %d\n", sig);
    run = 0;
}

int main(int argc, char **argv) {
    int i, j, chk;
    uint32_t oob_cnt = 0;

    signal(SIGINT, signal_handler);

    if (argc < 2) {
        printf("Usage: %s ifname1 [ifname2 ...]\n", argv[0]);
        exit(EXIT_FAILURE);
    }

    // Initialize EtherCAT master
    if (ec_init(argv[1])) {
        printf("Failed to initialize EtherCAT master\n");
        exit(EXIT_FAILURE);
    }

    master = ec_get_master();
    domain1 = ecrt_master_create_domain(master);
    if (!domain1) {
        printf("Failed to create domain\n");
        exit(EXIT_FAILURE);
    }

    // Create slave configuration
    sc = ecrt_master_slave_config(master, 0, 0x0001, 0, NULL, EC_FALSE);
    if (!sc) {
        printf("Failed to create slave configuration\n");
        exit(EXIT_FAILURE);
    }

    // Configure slave
    chk = ecrt_slave_config_pdos(sc, EC_END, pdo_entries_0x0001);
    if (chk < 0) {
        printf("Failed to configure PDOs\n");
        exit(EXIT_FAILURE);
    }

    // Configure slave watchdog
    chk = ecrt_slave_config_dc(sc, 0x0300, 1000000, 400000, 0, 0);
    if (chk < 0) {
        printf("Failed to configure slave watchdog\n");
        exit(EXIT_FAILURE);
    }

    // Configure the EtherCAT master to use DC sync
    chk = ecrt_master_set_sync_mode(master, EC_SYNC_DC);
    if (chk < 0) {
        printf("Failed to set DC sync mode\n");
        exit(EXIT_FAILURE);
    }

    // Configure the EtherCAT master to use distributed clocks
    chk = ecrt_master_set_master_state(master, EC_STATE_OPERATIONAL);
    if (chk < 0) {
        printf("Failed to set master state\n");
        exit(EXIT_FAILURE);
    }

    // Wait for the EtherCAT master to reach operational state
    ecrt_master_receive(master);
    ecrt_master_state(master, &master_state);
    while (master_state.slaves_responding < master_state.slaves_configured && run) {
        ecrt_master_receive(master);
        ecrt_master_state(master, &master_state);
        printf("Waiting for master to reach operational state (state=%d, slave_count=%d/%d)\n",
               master_state.state, master_state.slaves_responding, master_state.slaves_configured);
        usleep(EC_TIMEOUTMON);
    }
    if (!run) {
        printf("Aborting due to user request\n");
        exit(EXIT_FAILURE);
    }

    // Configure the domain to use distributed clocks
    chk = ecrt_domain_set_master(domain1, master);
    if (chk < 0) {
        printf("Failed to set domain master\n");
        exit(EXIT_FAILURE);
    }

    chk = ecrt_domain_set_slave_config(domain1, sc, domain1_state);
    if (chk < 0) {
        printf("Failed to set domain slave configuration\n");
        exit(EXIT_FAILURE);
    }

    chk = ecrt_domain_reg_pdo_entry_list(domain1, pdo_entry_list_0x0001);
    if (chk < 0) {
        printf("Failed to register PDO entry list\n");
        exit(EXIT_FAILURE);
    }

    // Allocate memory for the domain
    if (ecrt_domain_size(domain1) > 0) {
        domain = (uint8_t *)malloc(ecrt_domain_size(domain1));
        if (!domain) {
            printf("Failed to allocate domain memory\n");
            exit(EXIT_FAILURE);
        }
        memset(domain, 0, ecrt_domain_size(domain1));
        ecrt_domain_set_data_ptr(domain1, domain);
    }

    // Start distributed clocks
    chk = ecrt_master_activate(master);
    if (chk < 0) {
        printf("Failed to activate master\n");
        exit(EXIT_FAILURE);
    }

    // Main loop
    while (run) {
        ecrt_domain_process(domain1);
        if (++oob_cnt >= 1000) {
            printf("Slave 1 state=%d, AL=%d, EC=%d\n",
                   ecrt_slave_state(sc),
                   ecrt_slave_AL_state(sc),
                   ecrt_slave_EC_state(sc));
            oob_cnt = 0;
        }
        usleep(EC_TIMEOUTMON);
    }

    // Cleanup
    if (master) {
        ecrt_master_deactivate(master);
        ecrt_master_destroy(master);
    }
    if (domain) {
        free(domain);
    }

    return EXIT_SUCCESS;
}

注意：以上代码仅供参考，实际情况可能需要针对特定的硬件和应用场景进行修改。