igh ethercat程序汇川IO代码示例

以下是汇川EtherCAT主站程序中使用IO的代码示例：

#include "ecrt.h"

#define PDO_ENTRY_SIZE 2

struct pd_config {
    uint16_t index;
    uint8_t subindex;
    uint32_t mask;
};

struct pd_config pd_input[] = {
    {0x6000, 0x01, 0xFFFFFFFF}, /* Digital input */
    {0x6000, 0x02, 0xFFFFFFFF}, /* Digital input */
};

struct pd_config pd_output[] = {
    {0x7000, 0x01, 0xFFFFFFFF}, /* Digital output */
    {0x7000, 0x02, 0xFFFFFFFF}, /* Digital output */
};

int main(int argc, char **argv)
{
    ec_master_t *master = NULL;
    ec_master_info_t master_info;
    ec_domain_t *domain = NULL;
    ec_domain_info_t domain_info;
    ec_device_t *device = NULL;
    ec_slave_config_t *slave = NULL;
    int ret;
    uint8_t *domain_pd = NULL;

    /* Initialize EtherCAT master */
    master = ecrt_request_master(0);
    if (!master) {
        printf("Failed to get EtherCAT master.\n");
        return -1;
    }

    /* Get master information */
    ret = ecrt_master(master, &master_info);
    if (ret) {
        printf("Failed to get EtherCAT master information.\n");
        goto cleanup;
    }

    /* Initialize EtherCAT domain */
    domain = ecrt_master_create_domain(master);
    if (!domain) {
        printf("Failed to create EtherCAT domain.\n");
        goto cleanup;
    }

    /* Get domain information */
    ret = ecrt_domain(domain, &domain_info);
    if (ret) {
        printf("Failed to get EtherCAT domain information.\n");
        goto cleanup;
    }

    /* Configure and register EtherCAT slave */
    slave = ecrt_master_slave_config(master, 0, 0x0000, 0x0000, 0x00000000);
    if (!slave) {
        printf("Failed to configure EtherCAT slave.\n");
        goto cleanup;
    }

    /* Register PDO mapping for input */
    int i;
    for (i = 0; i < sizeof(pd_input) / sizeof(pd_input[0]); i++) {
        ret = ecrt_slave_config_pdos(slave, EC_DIR_INPUT, pd_input[i].index,
                                     PDO_ENTRY_SIZE, &pd_input[i].subindex,
                                     &pd_input[i].mask);
        if (ret) {
            printf("Failed to register PDO mapping for input.\n");
            goto cleanup;
        }
    }

    /* Register PDO mapping for output */
    for (i = 0; i < sizeof(pd_output) / sizeof(pd_output[0]); i++) {
        ret = ecrt_slave_config_pdos(slave, EC_DIR_OUTPUT, pd_output[i].index,
                                     PDO_ENTRY_SIZE, &pd_output[i].subindex,
                                     &pd_output[i].mask);
        if (ret) {
            printf("Failed to register PDO mapping for output.\n");
            goto cleanup;
        }
    }

    /* Register EtherCAT domain */
    ret = ecrt_domain_reg_pdo_entry_list(domain, domain_pd);
    if (ret) {
        printf("Failed to register EtherCAT domain.\n");
        goto cleanup;
    }

    /* Configure and enable EtherCAT domain */
    ret = ecrt_master_activate(master);
    if (ret) {
        printf("Failed to activate EtherCAT domain.\n");
        goto cleanup;
    }

    /* Get device information */
    device = ecrt_master_get_device(master, 0);
    if (!device) {
        printf("Failed to get EtherCAT device.\n");
        goto cleanup;
    }

    /* Read input data */
    ecrt_domain_process(domain);
    uint8_t *pd_input_data = ecrt_domain_data(domain);
    uint8_t input1 = ecrt_uint8(pd_input_data + pd_input[0].offset);
    uint8_t input2 = ecrt_uint8(pd_input_data + pd_input[1].offset);

    /* Write output data */
    uint8_t output1 = 1;
    uint8_t output2 = 0;
    uint8_t *pd_output_data = ecrt_domain_data(domain);
    ecrt_uint8(pd_output_data + pd_output[0].offset) = output1;
    ecrt_uint8(pd_output_data + pd_output[1].offset) = output2;
    ecrt_domain_queue(domain);

cleanup:
    /* Cleanup EtherCAT domain and master */
    if (domain) {
        ecrt_domain_remove(domain);
    }
    if (master) {
        ecrt_release_master(master);
    }

    return ret;
}

上述代码中使用了ecrt库提供的函数来进行EtherCAT主站的初始化、配置和使用IO数据的读取和写入。具体实现可以根据自己的需求进行修改和补充。