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/*****************************************************************************
*
* $Id: is620n_dc.c,v bc2d4bf9cbe5 2012/09/06 18:22:24 fp $
*
* Copyright (C) 2007-2009 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT Master.
*
* The IgH EtherCAT Master is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License version 2, as
* published by the Free Software Foundation.
*
* The IgH EtherCAT Master is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
* Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
* ---
*
* The license mentioned above concerns the source code only. Using the
* EtherCAT technology and brand is only permitted in compliance with the
* industrial property and similar rights of Beckhoff Automation GmbH.
*
* 适用于汇川IS620N伺服(IS620N只有DC模式没有Free Run模式)
* compile: gcc -o is620n_dc_cst is620n_dc_cst.c -Wall -I/opt/etherlab/include -L/opt/etherlab/lib -Wl,--rpath=/opt/etherlab/lib -lethercat -lrt
* run: $sudo ./is620n_dc_cst
* 必须使用igh提供的实时网卡驱动，使用ec_generic.ko的话伺服会出现Er.E08(过程数据错)
****************************************************************************/
#include <errno.h>
#include <signal.h>
#include <stdio.h>
#include <string.h>
#include <sys/resource.h>
#include <sys/time.h>
#include <sys/types.h>
#include <unistd.h>
#include <time.h>
#include <sys/mman.h>
#include <malloc.h>
/*
#include <stdlib.h>
#include <math.h>
*/
/****************************************************************************/
#include "ecrt.h"
/****************************************************************************/
// Application parameters
#define FREQUENCY 1000//500
#define CLOCK_TO_USE CLOCK_REALTIME
#define CONFIGURE_PDOS 1
// Optional features
#define PDO_SETTING1 1
/****************************************************************************/
#define NSEC_PER_SEC (1000000000L)
#define PERIOD_NS (NSEC_PER_SEC / FREQUENCY)
#define DIFF_NS(A, B) (((B).tv_sec - (A).tv_sec) * NSEC_PER_SEC + \
(B).tv_nsec - (A).tv_nsec)
#define TIMESPEC2NS(T) ((uint64_t) (T).tv_sec * NSEC_PER_SEC + (T).tv_nsec)
/****************************************************************************/
// EtherCAT
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 ec_slave_config_state_t sc_state = {};
/****************************************************************************/
// process data
static uint8_t *domain1_pd = NULL;
//signal to turn off servo on state
static unsigned int servooff;
static unsigned int deactive;
static signed long temp[8]={};
float value = 0;
static unsigned int counter = 0;
static unsigned int blink = 0;
static unsigned int sync_ref_counter = 0;
const struct timespec cycletime = {0, PERIOD_NS};
/*****************************************************************************/
#define IS620NSlavePos 0,0 /*EtherCAT address on the bus*/
#define INOVANCE_IS620N 0x00100000, 0x000C0108 /*IS620N Vendor ID, product code*/
/*x86_64: char-1byte,int-4bytes,long-8bytes*/
struct IS620N_offset {
//RxPDO
unsigned int control_word_6040_0; //0x6040:控制字,subindex:0,bitlen:16
unsigned int target_position_607a_0;//0x607A:目标位置,subindex:0,bitlen:32
unsigned int touch_probe_60b8_0; //0x60B8:探针,subindex:0,bitlen:16
unsigned int pysical_outputs_60fe_1;//0x60FE:pysical_outputs,subindex:1,bitlen:32
unsigned int target_velocity_60ff_0;//0x60FF:target_velocity,subindex:0,bitlen:32
unsigned int target_torque_6071_0;//0x6071:int target_torque,subindex:0,bitlen:16
unsigned int modes_operation_6060_0;//0x6060:Modes of operation,subindex:0,bitlen:8
unsigned int max_profile_velocity_607f_0;//0x607F:max_profile_velocity,subindex:0,bitlen:32
unsigned int positive_torque_limit_value_60e0_0;//0x60E0:positive_torque_limit_value,subindex:0,bitlen:16
unsigned int negative_torque_limit_value_60e1_0;//0x60E1:negaitive_torque_limit_value,subindex:0,bitlen:16
unsigned int torque_offset_60b2_0;//0x60B2:torque offset,subindex:0,bitlen:16
unsigned int max_torque_6072_0;//0x6072:max torque,subindex:0,bitlen:16
//TxPDo
unsigned int status_word_6041_0;//0x6041:status_word,subindex:0,bitlen:16
unsigned int position_actual_value_6064_0;//0x6064:position_actual_value,subindex:0,bitlen:32
unsigned int touch_probe_status_60b9_0;//0x60B9,subindex:0,bitlen:16
unsigned int touch_probe_pos1_pos_value_60ba_0;//0x60BA,subindex:0,bitlen:32
unsigned int touch_probe_pos2_pos_value_60bc_0;//0x60BC ,subindex:0,bitlen:32
unsigned int error_code_603f_0;//0x603F,subindex:0,bitlen:16
unsigned int digital_inputs_60fd_0;//0x60FD,subindex:0,bitlen:32
unsigned int torque_actual_value_6077_0;//0x6077,subindex:0,bitlen:16
unsigned int following_error_actual_value_60f4_0;//0x60F4,subindex:0,bitlen:32
unsigned int modes_of_operation_display_6061_0;//0x6061,subindex:0,bitlen:8
unsigned int velocity_actual_value_606c_0;//0x606C,subindex:0,bitlen:32
};
static struct IS620N_offset offset;
const static ec_pdo_entry_reg_t domain1_regs[] = {
//RxPDO
{IS620NSlavePos, INOVANCE_IS620N, 0x6040, 0, &offset.control_word_6040_0},
//{IS620NSlavePos, INOVANCE_IS620N, 0x607A, 0, &offset.target_position_607a_0},
//{IS620NSlavePos, INOVANCE_IS620N, 0x60FF, 0, &offset.target_velocity_60ff_0},
{IS620NSlavePos, INOVANCE_IS620N, 0x6071, 0, &offset.target_torque_6071_0},
{IS620NSlavePos, INOVANCE_IS620N, 0x6060, 0, &offset.modes_operation_6060_0},
//{IS620NSlavePos, INOVANCE_IS620N, 0x60B8, 0, &offset.touch_probe_60b8_0},
//{IS620NSlavePos, INOVANCE_IS620N, 0x607F, 0, &offset.max_profile_velocity_607f_0},
//TxPDO
{IS620NSlavePos, INOVANCE_IS620N, 0x603F, 0, &offset.error_code_603f_0},
{IS620NSlavePos, INOVANCE_IS620N, 0x6041, 0, &offset.status_word_6041_0},
{IS620NSlavePos, INOVANCE_IS620N, 0x6064, 0, &offset.position_actual_value_6064_0},
{IS620NSlavePos, INOVANCE_IS620N, 0x6077, 0, &offset.torque_actual_value_6077_0},
{IS620NSlavePos, INOVANCE_IS620N, 0x6061, 0, &offset.modes_of_operation_display_6061_0},
{IS620NSlavePos, INOVANCE_IS620N, 0x60B9, 0, &offset.touch_probe_status_60b9_0},
{IS620NSlavePos, INOVANCE_IS620N, 0x60BA, 0, &offset.touch_probe_pos1_pos_value_60ba_0},
{IS620NSlavePos, INOVANCE_IS620N, 0x60BC, 0, &offset.touch_probe_pos2_pos_value_60bc_0},
{IS620NSlavePos, INOVANCE_IS620N, 0x60FD, 0, &offset.digital_inputs_60fd_0},
{}
};
/*重新映射PDO才需要定义下面这3个数组,如果使用servo的固定映射则不需要*/
#if PDO_SETTING1
/*Config PDOs*/
static ec_pdo_entry_info_t IS620N_pdo_entries[] = {
//RxPdo 0x1702
{0x6040, 0x00, 16},
//{0x607A, 0x00, 32},
//{0x60FF, 0x00, 32},
{0x6071, 0x00, 16},
{0x6060, 0x00, 8},
//{0x60B8, 0x00, 16},
//{0x607F, 0x00, 32},
//TxPdo 0x1B02
{0x603F, 0x00, 16},
{0x6041, 0x00, 16},
{0x6064, 0x00, 32},
{0x6077, 0x00, 16},
{0x6061, 0x00, 8},
{0x60B9, 0x00, 16},
{0x60BA, 0x00, 32},
{0x60BC, 0x00, 32},
{0x60FD, 0x00, 32},
};
static ec_pdo_info_t IS620N_pdos[] = {
//RxPdo
{0x1600, 3, IS620N_pdo_entries + 0 },
//TxPdo
{0x1A00, 9, IS620N_pdo_entries + 3 }
};
static ec_sync_info_t IS620N_syncs[] = {
/*{ 0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE },
{ 1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE },*/
{ 2, EC_DIR_OUTPUT, 1, IS620N_pdos + 0/*,EC_WD_ENABLE*//*, EC_WD_DISABLE*/ },
{ 3, EC_DIR_INPUT, 1, IS620N_pdos + 1/*,EC_WD_DISABLE*//*, EC_WD_DISABLE*/ },
{ 0xFF}
};
#endif
/*****************************************************************************/
struct timespec timespec_add(struct timespec time1, struct timespec time2)
{
struct timespec result;
if ((time1.tv_nsec + time2.tv_nsec) >= NSEC_PER_SEC) {
result.tv_sec = time1.tv_sec + time2.tv_sec + 1;
result.tv_nsec = time1.tv_nsec + time2.tv_nsec - NSEC_PER_SEC;
} else {
result.tv_sec = time1.tv_sec + time2.tv_sec;
result.tv_nsec = time1.tv_nsec + time2.tv_nsec;
}
return result;
}
/*****************************************************************************/
void endsignal(int sig)
{
servooff = 1;
signal( SIGINT , SIG_DFL );
}
/*****************************************************************************/
void check_domain1_state(void)
{
ec_domain_state_t ds;
ecrt_domain_state(domain1, &ds);
//struct timespec time_wc1,time_wc2;
if (ds.working_counter != domain1_state.working_counter)
printf("Domain1: WC %u.\n", ds.working_counter);
if (ds.wc_state != domain1_state.wc_state)
printf("Domain1: State %u.\n", ds.wc_state);
domain1_state = ds;
}
/*****************************************************************************/
void check_master_state(void)
{
ec_master_state_t ms;
ecrt_master_state(master, &ms);
if (ms.slaves_responding != master_state.slaves_responding)
printf("%u slave(s).\n", ms.slaves_responding);
if (ms.al_states != master_state.al_states)
printf("AL states: 0x%02X.\n", ms.al_states);
if (ms.link_up != master_state.link_up)
printf("Link is %s.\n", ms.link_up ? "up" : "down");
master_state = ms;
}
/****************************************************************************/
void cyclic_task()
{
uint32_t target_position = 0xfffff;
struct timespec wakeupTime, time;
// get current time
clock_gettime(CLOCK_TO_USE, &wakeupTime);
while(1) {
/*if(deactive==1){
break;
}*/
wakeupTime = timespec_add(wakeupTime, cycletime);
clock_nanosleep(CLOCK_TO_USE, TIMER_ABSTIME, &wakeupTime, NULL);
ecrt_master_application_time(master,TIMESPEC2NS(wakeupTime)); //added by me
ecrt_master_receive(master);
ecrt_domain_process(domain1);
//printf("\r%6f \t ",((float)temp[1]/1000) );
if(counter) {
counter--;
} else { // do this at 1 Hz
counter = FREQUENCY;
blink = !blink;
}
/*if(servooff==1)
value=0;
else if(value<=6.28)
value=value+0.000628;
else
value=0;*/
temp[0]=EC_READ_U16(domain1_pd + offset.status_word_6041_0);
temp[1]=EC_READ_U32(domain1_pd + offset.position_actual_value_6064_0);
//printf("after value = %x\n",temp[0]);
// write process data
/*if(servooff==1){//servo off
EC_WRITE_U16(domain1_pd+offset.control_word_6040_0, 0x0006 );
//deactive++;
}
else*/if(temp[0] == 0x218){
EC_WRITE_U16(domain1_pd+offset.control_word_6040_0, 0x0080 );
}
else if( (temp[0]&0x004f) == 0x0040 ){ //temp[0]==0x250
EC_WRITE_U16(domain1_pd+offset.control_word_6040_0, 0x0006 );
//printf("1.state = %x\n",temp[0]);
}
else if( (temp[0]&0x006f) == 0x0021){ //temp[0]==0x231
EC_WRITE_U16(domain1_pd+offset.control_word_6040_0, 0x0007 );
//printf("2.state = %x\n",temp[0]);
}
else if( (temp[0]&0x06f) == 0x0023){ //temp[0]==0x233
//EC_WRITE_U16(domain1_pd+offset.control_word_6040_0, 0x000f);
//EC_WRITE_S32(domain1_pd+interpolateddata, 0);
//EC_WRITE_S32(domain1_pd+tar_velo, 0xfffff);
//EC_WRITE_S32(domain1_pd+max_torq, 0xf00);
EC_WRITE_S8(domain1_pd+offset.modes_operation_6060_0, 0x0a);//cst mode
//EC_WRITE_S32(domain1_pd+offset.target_position_607a_0,target_position);
//EC_WRITE_S32(domain1_pd+offset.target_velocity_60ff_0, 0x1000000);
EC_WRITE_U16(domain1_pd+offset.control_word_6040_0, 0x000f);
//printf("3.state = %x\n",temp[0]);
}
else if( (temp[0]&0x06f) == 0x0027){//600 800 //temp[0]=0x237
//EC_WRITE_S32(domain1_pd+interpolateddata,( value+=1000 ));
//EC_WRITE_U32(domain1_pd+offset.target_velocity_60ff_0, 0x1000000);
//EC_WRITE_U16(domain1_pd+offset.target_position_607a_0,(target_position+=0xfff)); ///////
EC_WRITE_S16(domain1_pd+offset.target_torque_6071_0, 1000);
EC_WRITE_U16(domain1_pd+offset.control_word_6040_0, 0x001f);
//printf("4.state = %x\n",temp[0]);
}
// write application time to master
//clock_gettime(CLOCK_TO_USE, &time);
//ecrt_master_application_time(master, TIMESPEC2NS(time));
if (sync_ref_counter) {
sync_ref_counter--;
}
else {
sync_ref_counter = 1; // sync every cycle
clock_gettime(CLOCK_TO_USE,&time); //added by me
//ecrt_master_sync_reference_clock(master);
ecrt_master_sync_reference_clock_to(master, TIMESPEC2NS(time));
}
ecrt_master_sync_slave_clocks(master);
//send process data
ecrt_domain_queue(domain1);
//ecrt_domain_queue(domain2);
ecrt_master_send(master);
}
}
/****************************************************************************/
int main(int argc, char **argv)
{
ec_slave_config_t *sc;
if (mlockall(MCL_CURRENT | MCL_FUTURE) == -1) {
perror("mlockall failed");
return -1;
}
master = ecrt_request_master(0);
if (!master)
return -1;
domain1 = ecrt_master_create_domain(master);
if (!domain1)
return -1;
//配置IS620
if (!(sc = ecrt_master_slave_config(
master, IS620NSlavePos, INOVANCE_IS620N))) {
fprintf(stderr, "Failed to get slave1 configuration.\n");
return -1;
}
#if CONFIGURE_PDOS
printf("Configuring PDOs...\n");
if (ecrt_slave_config_pdos(sc, EC_END, IS620N_syncs)) {
fprintf(stderr, "Failed to configure 1st PDOs.\n");
return -1;
}
#endif
/****************motor1馬達domain註冊到domain_process data *******************/
if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
fprintf(stderr, "1st motor RX_PDO entry registration failed!\n");
return -1;
}
//配置IS620结束
//ecrt_slave_config_dc(sc, 0x0300, 4000000, 125000, 0, 0);
//ecrt_slave_config_dc(sc, 0x0300, 4000000, 4000000/2, 0, 0);
ecrt_slave_config_dc(sc, 0x0300, 2000000, 2000000/2, 0, 0);//不行
printf("Activating master...\n");
if (ecrt_master_activate(master))
return -1;
if (!(domain1_pd = ecrt_domain_data(domain1))) {
return -1;
}
pid_t pid = getpid();
if (setpriority(PRIO_PROCESS, pid, -20))
fprintf(stderr, "Warning: Failed to set priority: %s\n",
strerror(errno));
signal( SIGINT , endsignal ); //按CTRL+C 利用中斷結束程式
printf("Starting cyclic function.\n");
cyclic_task();
ecrt_release_master(master);
return 0;
}
//no more
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