igh ethercat程序汇川IO代码示例
时间: 2023-08-23 09:05:46 浏览: 244
以下是汇川EtherCAT主站程序中使用IO的代码示例:
```c
#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。
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