igh ethercat 雷赛L7EC程序代码示例

以下是一个简单的EtherCAT通信示例程序，使用雷赛L7EC EtherCAT模块：

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

#define ECAT_MASTER_IF "eth0"
#define VENDOR_ID 0x0000066F
#define PRODUCT_CODE 0x00000001
#define ALIAS 0x01
#define POSITION 0

int main()
{
    ec_master_t *master = NULL;
    ec_master_info_t master_info;
    ec_domain_t *domain = NULL;
    ec_slave_config_t *slave = NULL;
    ec_slave_config_state_t state = {};
    uint8_t *domain_pd = NULL;
    int ret;

    // 初始化EtherCAT主机
    ret = ecrt_master_init();
    if (ret) {
        printf("Failed to initialize EtherCAT master.\n");
        return ret;
    }

    // 获取主机信息
    ret = ecrt_master_info(0, &master_info);
    if (ret) {
        printf("Failed to get master info.\n");
        goto cleanup;
    }
    printf("Master: %s\n", master_info.name);

    // 创建EtherCAT主机接口
    ret = ecrt_master_open(&master, ECAT_MASTER_IF);
    if (ret) {
        printf("Failed to open master interface.\n");
        goto cleanup;
    }

    // 查找EtherCAT从站
    slave = ecrt_master_slave_config_search(master, VENDOR_ID, PRODUCT_CODE);
    if (!slave) {
        printf("Failed to find slave.\n");
        goto cleanup;
    }

    // 创建EtherCAT从站配置
    ret = ecrt_slave_config_create(slave, &state);
    if (ret) {
        printf("Failed to create slave configuration.\n");
        goto cleanup;
    }

    // 设置EtherCAT从站配置
    ecrt_slave_config_set_state(slave, &state);

    // 注册EtherCAT通信域
    domain = ecrt_master_create_domain(master, 0, EC_DOMAIN_FLAGS_DEFAULT);
    if (!domain) {
        printf("Failed to create domain.\n");
        goto cleanup;
    }

    // 启动EtherCAT主机
    ret = ecrt_master_activate(master);
    if (ret) {
        printf("Failed to activate master.\n");
        goto cleanup;
    }

    // 获取EtherCAT通信域数据指针
    domain_pd = ecrt_domain_data(domain);

    // 读取从站状态字
    uint16_t status_word = 0;
    ecrt_slave_config_pdos(slave, 0, NULL, 1);
    ecrt_domain_queue(domain);
    ecrt_master_receive(master);
    status_word = EC_READ_U16(domain_pd + slave->outputs[0].offset);

    // 输出从站状态字
    printf("Status word: 0x%04X\n", status_word);

cleanup:
    // 停止EtherCAT主机
    ecrt_master_deactivate(master);
    // 销毁EtherCAT通信域
    ecrt_master_drop(master);
    // 删除从站配置
    ecrt_slave_config_destroy(slave);
    // 关闭EtherCAT主机接口
    ecrt_master_close(master);
    // 反初始化EtherCAT主机
    ecrt_master_finalize();

    return ret;
}

该示例程序中包含了初始化EtherCAT主机、查找EtherCAT从站、创建EtherCAT从站配置、注册EtherCAT通信域、激活EtherCAT主机、读取从站状态字等步骤。需要根据具体的EtherCAT设备和应用场景进行相应的修改。