HiveCoreRD/hivecore_robot_drivers
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modify ethercat

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This commit is contained in:
NuoDaJia02
2025-10-21 17:49:44 +08:00
parent 295d77701b
commit 28f9f7edd7
2 changed files with 21 additions and 20 deletions
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2
.gitignore vendored
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@@ -8,3 +8,5 @@
**/log/
ethercat_dev/csp_log.csv
csp_log.csv

39
ethercat_dev/src/ethercat_control/src/ethercat_core.cpp
View File

@@ -287,7 +287,8 @@ void cyclic_task()
// 读取从站状态字、当前位置、速度、扭矩、运行模式
for (int i = 0; i < NUM_SLAVES; ++i)
{
if (i == 0)
if (i == 4)
// if (false)
{
uint16_t sw = EC_READ_U16(domain1_pd + zer_offsets[i].status_word);
int32_t pv = EC_READ_S32(domain1_pd + zer_offsets[i].position_actual_value);
@@ -668,10 +669,16 @@ bool start()
std::cout << "Configuring slave " << i << "..." << std::endl;
int position = i+1;
if (i == 0)
if (i > 3)
{
sc[i] = ecrt_master_slave_config(master, 0, i+1, ZER_VID_PID);
position = i+2;
}
if (i == 4)
{
sc[i] = ecrt_master_slave_config(master, 0, position, ZER_VID_PID);
if (!sc[i])
{
std::cout << "Failed slave cfg at pos " << i << std::endl;
@@ -683,17 +690,9 @@ bool start()
std::cout << "Failed PDO config " << i << std::endl;
// fprintf(stderr,"[S%02d] Failed PDO config\n", i); g_started.store(false); return false;
}
}
else{
int position = i+1;
if (i > 5)
{
position = i+3;
}
sc[i] = ecrt_master_slave_config(master, 0, position, MT_VID_PID);
if (!sc[i])
{
@@ -714,7 +713,14 @@ bool start()
// 注册 PDO entry 偏移
for (int i = 0; i < NUM_SLAVES; ++i) {
if (i == 0)
int position = i+1;
if (i > 3)
{
position = i+2;
}
if (i == 4)
{
// ---- CSP/CSV/CST PDO ----
const size_t N = sizeof(zer_domain1_regs)/sizeof(zer_domain1_regs[0]);
@@ -723,7 +729,7 @@ bool start()
for (size_t j = 0; j + 1 < N; ++j)
{
regs[j].alias = 0;
regs[j].position = i+1;
regs[j].position = position;
}
regs[0].offset = &zer_offsets[i].ctrl_word;
@@ -752,13 +758,6 @@ bool start()
memcpy(regs, mt_domain1_regs, sizeof(mt_domain1_regs));
for (size_t j = 0; j + 1 < N; ++j)
{
int position = i+1;
if (i > 5)
{
position = i+3;
}
regs[j].alias = 0;
regs[j].position = position;
}