igh ethercat 松下程序代码示例

以下是一个简单的 EtherCAT 应用示例程序，使用松下 EtherCAT 控制器和 I/O 模块：

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

#include "ecrt.h"

#define VENDOR_ID       0x0002
#define PRODUCT_CODE    0x0003

#define DOMAIN_IDX      0
#define PDO_IDX         0
#define PDO_ENTRY_IDX   0

#define SLAVE_POSITION  0

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 uint8_t *domain_pd = NULL;
static size_t domain_pd_size = 0;

static int init_ethercat(void)
{
    /* Initialize EtherCAT master */
    if (!(master = ecrt_request_master(0))) {
        fprintf(stderr, "Failed to request master!\n");
        return -1;
    }

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

    /* Check if master is operational */
    if (master_state.al_state != EC_AL_STATE_OPERATIONAL) {
        fprintf(stderr, "Master is not operational!\n");
        return -1;
    }

    /* Create domain */
    if (!(domain = ecrt_master_create_domain(master, DOMAIN_IDX))) {
        fprintf(stderr, "Failed to create domain!\n");
        return -1;
    }

    /* Configure slave */
    if (!(slave = ecrt_master_slave_config(master, SLAVE_POSITION, VENDOR_ID, PRODUCT_CODE))) {
        fprintf(stderr, "Failed to configure slave!\n");
        return -1;
    }

    /* Get PDO configuration */
    ec_pdo_entry_info_t pdo_entry_info = {};
    if (ecrt_slave_config_pdos(slave, EC_END, &pdo_entry_info)) {
        fprintf(stderr, "Failed to get PDO configuration!\n");
        return -1;
    }

    /* Check if PDO entry exists */
    if (!(pdo_entry_info.flags & EC_PDO_ENTRY_EXIST)) {
        fprintf(stderr, "PDO entry does not exist!\n");
        return -1;
    }

    /* Check if PDO entry is writeable */
    if (!(pdo_entry_info.flags & EC_PDO_ENTRY_WRITE)) {
        fprintf(stderr, "PDO entry is not writeable!\n");
        return -1;
    }

    /* Get domain size */
    if ((domain_pd_size = ecrt_slave_config_reg_pdo_entry(slave, PDO_IDX, PDO_ENTRY_IDX, NULL, EC_DIR_OUTPUT)) <= 0) {
        fprintf(stderr, "Failed to get domain size!\n");
        return -1;
    }

    /* Allocate domain memory */
    if (!(domain_pd = malloc(domain_pd_size))) {
        fprintf(stderr, "Failed to allocate domain memory!\n");
        return -1;
    }

    /* Activate master */
    if (ecrt_master_activate(master)) {
        fprintf(stderr, "Failed to activate master!\n");
        return -1;
    }

    return 0;
}

static int write_data(float data)
{
    /* Convert data to network byte order */
    uint32_t data_nbo = htonl(*((uint32_t*)&data));

    /* Copy data to domain */
    memcpy(domain_pd, &data_nbo, sizeof(data_nbo));

    /* Send domain */
    if (ecrt_master_send(master)) {
        fprintf(stderr, "Failed to send domain!\n");
        return -1;
    }

    return 0;
}

int main(int argc, char **argv)
{
    /* Initialize EtherCAT */
    if (init_ethercat()) {
        fprintf(stderr, "Failed to initialize EtherCAT!\n");
        return -1;
    }

    /* Write data */
    float data = 3.14;
    if (write_data(data)) {
        fprintf(stderr, "Failed to write data!\n");
        return -1;
    }

    return 0;
}

该示例程序初始化 EtherCAT 主控，配置从设备，获取 PDO 配置，激活主控并将数据写入输出 PDO。请注意，该程序只是一个示例程序，实际应用可能需要更复杂的逻辑。