igh ethercat雷赛IO示例程序

以下是基于EtherCAT总线的雷赛IO示例程序，供参考：

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

#define VENDOR_ID       0x1BEEF
#define PRODUCT_CODE    0x0020
#define DEVICE_INDEX    0

#define IO_MAP_SIZE     32

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 = NULL;

static uint8_t *domain1_pd = NULL;

static unsigned int counter = 0;

int main(int argc, char **argv)
{
    int ret = 0;

    /* Initialize EtherCAT master */
    if (ecrt_master_open(&master))
    {
        printf("Failed to open EtherCAT master!\n");
        return -1;
    }

    /* Get the master state */
    if (ecrt_master_state(master, &master_state))
    {
        printf("Failed to get EtherCAT master state!\n");
        ecrt_master_close(master);
        return -1;
    }

    /* Check if the master is operational */
    if (master_state.slaves_responding != master_state.slaves)
    {
        printf("EtherCAT master is not operational!\n");
        ecrt_master_close(master);
        return -1;
    }

    /* Get the slave configuration */
    sc = ecrt_master_slave_config(master, VENDOR_ID, PRODUCT_CODE);

    /* Check if the slave is found */
    if (!sc)
    {
        printf("Failed to find EtherCAT slave!\n");
        ecrt_master_close(master);
        return -1;
    }

    /* Get the domain 1 */
    domain1 = ecrt_slave_config_domain(sc, 1);

    /* Check if the domain is found */
    if (!domain1)
    {
        printf("Failed to find domain 1!\n");
        ecrt_master_close(master);
        return -1;
    }

    /* Get the domain 1 state */
    if (ecrt_domain_state(domain1, &domain1_state))
    {
        printf("Failed to get domain 1 state!\n");
        ecrt_master_close(master);
        return -1;
    }

    /* Check if the domain is operational */
    if (domain1_state.working_counter != domain1_state.wc_state)
    {
        printf("Domain 1 is not operational!\n");
        ecrt_master_close(master);
        return -1;
    }

    /* Allocate memory for domain 1 process data */
    domain1_pd = ecrt_domain_data(domain1);

    /* Initialize the IO map with 0 */
    memset(domain1_pd, 0, IO_MAP_SIZE);

    /* Run the cyclic tasks */
    while (1)
    {
        /* Wait for the next frame */
        ecrt_master_receive(master);
        ecrt_domain_process(domain1);

        /* Write the output data to the IO map */
        domain1_pd[0] = (counter & 0xFF);
        domain1_pd[1] = ((counter >> 8) & 0xFF);

        /* Read the input data from the IO map */
        printf("Input data: %d\n", (domain1_pd[2] | (domain1_pd[3] << 8)));

        /* Increment the counter */
        counter++;

        /* Wait for the next frame */
        ecrt_domain_queue(domain1);
        ecrt_master_send(master);
    }

    /* Close the master */
    ecrt_master_close(master);

    return ret;
}

此示例程序使用了 EtherCAT 总线，通过读写 IO map 实现了简单的输入输出功能。需要注意的是，该示例程序仅供参考，实际使用时需要根据硬件配置和实际需求进行修改。