#include #include #include #define ECM2_EVENT_MASK (ECM_EVENT_LOCAL | ECM_EVENT_CFG | \ ECM_EVENT_WCNT | ECM_EVENT_STATE_CHANGE | \ ECM_EVENT_SLV) /* Reference to process variables */ static uint8_t * pucDo = NULL; static uint8_t ucData[8] = {0x01,0x02,0x04,0x08,0x10,0x20,0x40,0x80}; static uint8_t i = 0; static uint8_t j = 0; static uint8_t inop = 0; static int ecmEventHandler(ECM_EVENT *pEvent) { switch(pEvent->ulEvent) { case ECM_EVENT_STATE_CHANGE: printf("ECM_EVENT_STATE_CHANGE: Master state change to "); switch(pEvent->ulArg1) { case ECM_DEVICE_STATE_UNKNOWN: printf("UNKNOWN\n"); break; case ECM_DEVICE_STATE_INIT: printf("INIT\n"); break; case ECM_DEVICE_STATE_PREOP: printf("PREOP\n"); break; case ECM_DEVICE_STATE_SAFEOP: printf("SAFEOP\n"); break; case ECM_DEVICE_STATE_OP: printf("OP\n"); inop = 1; break; default: printf("???\n"); break; } break; case ECM_EVENT_SLV: printf("ECM_EVENT_SLV: Slave address %d state change to ", pEvent->ulArg2 & 0x0000FFFF); switch(pEvent->ulArg1) { case ECM_ESC_AL_STATUS_INIT: printf("INIT\n"); break; case ECM_ESC_AL_STATUS_PREOP: printf("PREOP\n"); break; case ECM_ESC_AL_STATUS_BOOTSTRAP: printf("BOOTSTRAP\n"); break; case ECM_ESC_AL_STATUS_SAFEOP: printf("SAFEOP\n"); break; case ECM_ESC_AL_STATUS_OP: printf("OP\n"); break; default: printf("???\n"); break; } break; } return(0); } static int CycleHandler(ECM_HANDLE hndDevice, int error){ if(!inop) return 0; if (i==8) { *pucDo = 0; i=0; j++; if(j<3) pucDo++; else{ pucDo-=2; j=0; } } *pucDo = ucData[i]; i++; return 0; } int main(int argc, char *argv[]) { int result; ECM_LIB_INIT libInitData; ECM_CFG_INIT cfgInitData; ECM_HANDLE hndDevice =NULL; ECM_HANDLE hndMaster =NULL; ECM_PROC_CTRL ProcCtrl; ECM_NIC *pNicList = NULL; uint32_t numAdapter; ECM_ETHERNET_ADDRESS macPrimary, macRedundant; ECM_INIT(libInitData); libInitData.ulEventMask = ECM2_EVENT_MASK; libInitData.pfnEventHandler = ecmEventHandler; result = ecmInitLibrary(&libInitData); if (result != 0) { printf("ecmInitLibrary() returned with %d\n", result); return(-1); } ECM_INIT(cfgInitData); cfgInitData.Config.File.pszEniFile = "./cable_redundancy_three_ecxdio8.xml"; cfgInitData.ulFlags |= ECM_FLAG_CFG_IGNORE_SRC_MAC; cfgInitData.cfgDataDevice.ulFlags |= ECM_FLAG_DEVICE_REDUNDANCY; pNicList = calloc(2, sizeof(ECM_NIC)); //Intel ethernet adapter as primary adapter pNicList[0].macAddr.b[0] = 0x74; pNicList[0].macAddr.b[1] = 0x46; pNicList[0].macAddr.b[2] = 0xa0; pNicList[0].macAddr.b[3] = 0xab; pNicList[0].macAddr.b[4] = 0xd2; pNicList[0].macAddr.b[5] = 0x30; ECM_INIT_MAC(macPrimary, pNicList[0].macAddr); //Realtek ethernet adapter as redundant adapter pNicList[1].macAddr.b[0] = 0x08; pNicList[1].macAddr.b[1] = 0x57; pNicList[1].macAddr.b[2] = 0x00; pNicList[1].macAddr.b[3] = 0xe9; pNicList[1].macAddr.b[4] = 0x5b; pNicList[1].macAddr.b[5] = 0xc9; ECM_INIT_MAC(macRedundant,pNicList[1].macAddr); cfgInitData.cfgDataDevice.macAddr[0]=macPrimary; cfgInitData.cfgDataDevice.macAddr[1]=macRedundant; result = ecmReadConfiguration(&cfgInitData, &hndDevice, &hndMaster); if (result != ECM_SUCCESS) { printf("Reading configuration failed with %s\n", ecmResultToString(result)); ecmInitLibrary(NULL); return(result); } result = ecmGetDataReference(hndMaster, ECM_OUTPUT_DATA, 26, 1, (void **)&pucDo); if (result != ECM_SUCCESS) { printf("Failed to get reference to pucDO\n"); ecmDeleteMaster(hndMaster); ecmDeleteDevice(hndDevice); ecmInitLibrary(NULL); return(-1); } result = ecmAttachMaster(hndMaster); if (result != ECM_SUCCESS) { printf("Attaching master failed with %s\n", ecmResultToString(result)); ecmDeleteMaster(hndMaster); ecmDeleteDevice(hndDevice); ecmInitLibrary(NULL); return(-1); } ecmSleep(1000); ECM_INIT(ProcCtrl); ProcCtrl.ulAcyclicPeriod = 1000; ProcCtrl.ulAcyclicPrio = ECM_PRIO_DEFAULT; ProcCtrl.ulCyclicPeriod = 80000; ProcCtrl.ulCyclicPrio = ECM_PRIO_DEFAULT; ProcCtrl.pfnHandler = CycleHandler; result = ecmProcessControl(hndDevice, &ProcCtrl); if (result != ECM_SUCCESS) { printf("Creating background worker threads failed with %s\n", ecmResultToString(result)); ecmDetachMaster(hndMaster); ecmDeleteMaster(hndMaster); ecmDeleteDevice(hndDevice); ecmInitLibrary(NULL); return(-1); } result = ecmRequestState(hndMaster, ECM_DEVICE_STATE_OP, 60000); if (result != ECM_SUCCESS) { printf("Failed with %s to change network state into state %d !\n", ecmResultToString(result), ECM_DEVICE_STATE_OP); ecmDetachMaster(hndMaster); ecmDeleteMaster(hndMaster); ecmDeleteDevice(hndDevice); ecmInitLibrary(NULL); return(-1); } ecmSleep(100000); printf("Detaching master...\n"); result = ecmDetachMaster(hndMaster); if (result != ECM_SUCCESS) { printf("Failed with %s\n", ecmResultToString(result)); } printf("Deleting master...\n"); result = ecmDeleteMaster(hndMaster); if (result != ECM_SUCCESS) { printf("Failed with %s\n", ecmResultToString(result)); } printf("Deleting device...\n"); result = ecmDeleteDevice(hndDevice); if (result != ECM_SUCCESS) { printf("Failed with %s\n", ecmResultToString(result)); } ecmInitLibrary(NULL); return 0; } // result = ecmGetNicList(NULL, &numAdapter); // if (result != ECM_SUCCESS) { // printf("Failed to ecmGetNicList()\n"); // ecmInitLibrary(NULL); // return(-1); // } else { // pNicList = calloc(numAdapter, sizeof(ECM_NIC)); // if (pNicList != NULL) { // ecmGetNicList(pNicList, &numAdapter); // printf("\nAvailable NICs for EtherCAT\n"); // printf("---------------------------\n"); // for (i = 0; i < (int)numAdapter; i++) { // printf("%d. %s", i, pNicList[i].szName); // if(strstr(pNicList[i].szName, "lld") != NULL) { // printf(" (V %d.%d.%d)", // (pNicList[i].usReserved >> 12) & 0x0F, // (pNicList[i].usReserved >> 8) & 0x0F, // (pNicList[i].usReserved) & 0xFF); // } // printf("\n MAC: %02x.%02x.%02x.%02x.%02x.%02x\n", // pNicList[i].macAddr.b[0], pNicList[i].macAddr.b[1], // pNicList[i].macAddr.b[2], pNicList[i].macAddr.b[3], // pNicList[i].macAddr.b[4], pNicList[i].macAddr.b[5]); // // if (iPrimaryNic == i) { // // ECM_INIT_MAC(macPrimary, pNicList[i].macAddr); // // } // // if (iRedundantNic == i) { // // ECM_INIT_MAC(macRedundant, pNicList[i].macAddr); // // } // } // free(pNicList); // } // }