一. SOEM库简介

SOEM（Scalable Open EtherCAT Master 或 Simple Open EtherCAT Master）是一个开源的、用于EtherCAT通信协议的软件库。EtherCAT（Ethernet for Control Automation Technology）是一种实时以太网通信协议，广泛应用于自动化和机器人技术中，以其高速和低延迟特性而受到青睐。SOEM库允许开发者在他们的应用程序中实现EtherCAT主站功能，从而控制和驱动EtherCAT从站设备。

以下是SOEM库的一些关键特点和优势：

• 开源和免费：SOEM是开源的，使用LGPLv2.1授权，可以自由使用、修改和分发。
• 跨平台支持：SOEM支持多种操作系统，包括Linux、FreeRTOS、VxWorks、QNX等，提供跨平台的灵活性。
• 实时性能：SOEM直接与硬件交互，确保了低延迟和高数据吞吐量，满足实时性要求。
• 易于集成：SOEM使用标准的设备驱动模型，简化了在现有系统中添加EtherCAT功能的过程。
• 文档完善：提供详细的API文档和示例代码，帮助开发者快速上手。
• 社区支持：作为一个开源项目，SOEM拥有活跃的社区支持，不断有更新和问题解决方案。

SOEM库适用于工业自动化、实验室研究、开源硬件项目和教育用途等多种场景。它为用户应用程序提供了发送和接收EtherCAT帧的方法，支持读写过程数据、保持本地IO数据与全局IO映射同步、检测和管理系统错误等功能。

开发者可以通过研究SOEM的源码来深入理解EtherCAT主站与从站之间的交互方式，这不仅有助于学习EtherCAT协议，还能在此基础上进行定制和优化，以满足特定的应用需求。SOEM项目在GitHub上维护，提供了完整的示例应用和配置文件，方便开发者获取和使用。

二. 安装WinPcap

WinPcap库

1. 下载并安装WinPcap运行库：官网:http://www.winpcap.org/install/default.htm
   
2. 运行下载好的exe文件，点击下一步
   
3. 点击同意
   
4. 点击安装
   
5. 点击完成
   

三. SOEM(1.4)库安装

(1) 编译32位库

1. 官网下载SOEM源文件
   

2. 运行VS2019的命令行
   

3. 进入下载好的SOEM源文件
   

4. 在源文件目录下创建build文件夹，并进入

   mkdir build
   cd build
   

   

5. 运行以下命令，编译源文件

   cmake .. -G "NMake Makefiles"
   nmake
   

   

6. 运行以下命令生成调用库

   namke install
   

   

(2) 编译64位库

1. 官网下载SOEM源文件
   

2. 运行VS2019的命令行
   

3. 进入下载好的SOEM源文件
   

4. 在源文件目录下创建build文件夹，并进入

   mkdir build
   

5. 运行以下命令，编译源文件

   cmake .. -G "Visual Studio 16 2019" -S . -B build
   

   

6. 进入build文件夹，用vs2019打开soem.sln项目

   namke install
   

   

7. 点击生成，点击配置管理器
   

8. 选择要生成的内容
   

9. 点击生成解决方案
   

10. 没有报错则完成，可以在debug文件夹中找到生成的库文件
    
    

四. 运行SOEM示例代码

1. 编译好的SOEM文件夹中有例程（simple_ng）
   

2. cmd中运行simple_ng，可以看到电脑带的所有的网卡信息
   

3. 选择已经接入EtherCAT从站的网口，复制网口信息（\Device\NPF_{51D73200-BC7C-4562-8918-04FA9C959372}），cmd中运行如下代码

   simple_ng \Device\NPF_{51D73200-BC7C-4562-8918-04FA9C959372}
   

   

4. 通过-map指令，可以查看从站的I/O配置

   slaveinfo \Device\NPF_{A837AD34-3738-42FF-8E0B-F5B0BE69ABD6} -map
   

   

五. WIN10下利用QT构建SOEM开发环境

1. 在QT中创建一个新c++项目，CMakeList.txt文件如下

   cmake_minimum_required(VERSION 3.5)project(SOEMTest LANGUAGES CXX)set(CMAKE_CXX_STANDARD 17)
   set(CMAKE_CXX_STANDARD_REQUIRED ON)set(SOEM_DIR "C:\\Users\\10001540\\Downloads\\SOEM-master")
   include_directories(${SOEM_DIR}\\install\\include\\soem\\ ${SOEM_DIR}\\oshw\\win32\\wpcap\\Include\\)
   link_directories(C:\\Users\\10001540\\Downloads\\SOEM-master\\build\\Debug\\ ${SOEM_DIR}\\oshw\\win32\\wpcap\\Lib\\x64\\)add_executable(SOEMTest main.cpp)target_link_libraries(SOEMTest PUBLIC soem.lib Packet.lib wpcap.lib Ws2_32.lib Winmm.lib)install(TARGETS SOEMTestLIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR})message(STATUS "The system is: ${CMAKE_SYSTEM_NAME}")
   

2. main函数中，代码如下：

   #include <iostream>
   #include "ethercat.h"using namespace std;char IOmap[4096];
   ec_ODlistt ODlist;
   ec_OElistt OElist;
   boolean printSDO = FALSE;
   boolean printMAP = FALSE;
   char usdo[128];
   char hstr[1024];char* dtype2string(uint16 dtype)
   {switch(dtype){case ECT_BOOLEAN:sprintf(hstr, "BOOLEAN");break;case ECT_INTEGER8:sprintf(hstr, "INTEGER8");break;case ECT_INTEGER16:sprintf(hstr, "INTEGER16");break;case ECT_INTEGER32:sprintf(hstr, "INTEGER32");break;case ECT_INTEGER24:sprintf(hstr, "INTEGER24");break;case ECT_INTEGER64:sprintf(hstr, "INTEGER64");break;case ECT_UNSIGNED8:sprintf(hstr, "UNSIGNED8");break;case ECT_UNSIGNED16:sprintf(hstr, "UNSIGNED16");break;case ECT_UNSIGNED32:sprintf(hstr, "UNSIGNED32");break;case ECT_UNSIGNED24:sprintf(hstr, "UNSIGNED24");break;case ECT_UNSIGNED64:sprintf(hstr, "UNSIGNED64");break;case ECT_REAL32:sprintf(hstr, "REAL32");break;case ECT_REAL64:sprintf(hstr, "REAL64");break;case ECT_BIT1:sprintf(hstr, "BIT1");break;case ECT_BIT2:sprintf(hstr, "BIT2");break;case ECT_BIT3:sprintf(hstr, "BIT3");break;case ECT_BIT4:sprintf(hstr, "BIT4");break;case ECT_BIT5:sprintf(hstr, "BIT5");break;case ECT_BIT6:sprintf(hstr, "BIT6");break;case ECT_BIT7:sprintf(hstr, "BIT7");break;case ECT_BIT8:sprintf(hstr, "BIT8");break;case ECT_VISIBLE_STRING:sprintf(hstr, "VISIBLE_STRING");break;case ECT_OCTET_STRING:sprintf(hstr, "OCTET_STRING");break;default:sprintf(hstr, "Type 0x%4.4X", dtype);}return hstr;
   }char* SDO2string(uint16 slave, uint16 index, uint8 subidx, uint16 dtype)
   {int l = sizeof(usdo) - 1, i;uint8 *u8;int8 *i8;uint16 *u16;int16 *i16;uint32 *u32;int32 *i32;uint64 *u64;int64 *i64;float *sr;double *dr;char es[32];memset(&usdo, 0, 128);ec_SDOread(slave, index, subidx, FALSE, &l, &usdo, EC_TIMEOUTRXM);if (EcatError){return ec_elist2string();}else{switch(dtype){case ECT_BOOLEAN:u8 = (uint8*) &usdo[0];if (*u8) sprintf(hstr, "TRUE");else sprintf(hstr, "FALSE");break;case ECT_INTEGER8:i8 = (int8*) &usdo[0];sprintf(hstr, "0x%2.2x %d", *i8, *i8);break;case ECT_INTEGER16:i16 = (int16*) &usdo[0];sprintf(hstr, "0x%4.4x %d", *i16, *i16);break;case ECT_INTEGER32:case ECT_INTEGER24:i32 = (int32*) &usdo[0];sprintf(hstr, "0x%8.8x %d", *i32, *i32);break;case ECT_INTEGER64:i64 = (int64*) &usdo[0];//sprintf(hstr, "0x%16.16"PRIx64" %"PRId64, *i64, *i64);break;case ECT_UNSIGNED8:u8 = (uint8*) &usdo[0];sprintf(hstr, "0x%2.2x %u", *u8, *u8);break;case ECT_UNSIGNED16:u16 = (uint16*) &usdo[0];sprintf(hstr, "0x%4.4x %u", *u16, *u16);break;case ECT_UNSIGNED32:case ECT_UNSIGNED24:u32 = (uint32*) &usdo[0];sprintf(hstr, "0x%8.8x %u", *u32, *u32);break;case ECT_UNSIGNED64:u64 = (uint64*) &usdo[0];//sprintf(hstr, "0x%16.16"PRIx64" %"PRIu64, *u64, *u64);break;case ECT_REAL32:sr = (float*) &usdo[0];sprintf(hstr, "%f", *sr);break;case ECT_REAL64:dr = (double*) &usdo[0];sprintf(hstr, "%f", *dr);break;case ECT_BIT1:case ECT_BIT2:case ECT_BIT3:case ECT_BIT4:case ECT_BIT5:case ECT_BIT6:case ECT_BIT7:case ECT_BIT8:u8 = (uint8*) &usdo[0];sprintf(hstr, "0x%x", *u8);break;case ECT_VISIBLE_STRING:strcpy(hstr, usdo);break;case ECT_OCTET_STRING:hstr[0] = 0x00;for (i = 0 ; i < l ; i++){sprintf(es, "0x%2.2x ", usdo[i]);strcat( hstr, es);}break;default:sprintf(hstr, "Unknown type");}return hstr;}
   }/** Read PDO assign structure */
   int si_PDOassign(uint16 slave, uint16 PDOassign, int mapoffset, int bitoffset)
   {uint16 idxloop, nidx, subidxloop, rdat, idx, subidx;uint8 subcnt;int wkc, bsize = 0, rdl;int32 rdat2;uint8 bitlen, obj_subidx;uint16 obj_idx;int abs_offset, abs_bit;rdl = sizeof(rdat); rdat = 0;/* read PDO assign subindex 0 ( = number of PDO's) */wkc = ec_SDOread(slave, PDOassign, 0x00, FALSE, &rdl, &rdat, EC_TIMEOUTRXM);rdat = etohs(rdat);/* positive result from slave ? */if ((wkc > 0) && (rdat > 0)){/* number of available sub indexes */nidx = rdat;bsize = 0;/* read all PDO's */for (idxloop = 1; idxloop <= nidx; idxloop++){rdl = sizeof(rdat); rdat = 0;/* read PDO assign */wkc = ec_SDOread(slave, PDOassign, (uint8)idxloop, FALSE, &rdl, &rdat, EC_TIMEOUTRXM);/* result is index of PDO */idx = etohl(rdat);if (idx > 0){rdl = sizeof(subcnt); subcnt = 0;/* read number of subindexes of PDO */wkc = ec_SDOread(slave,idx, 0x00, FALSE, &rdl, &subcnt, EC_TIMEOUTRXM);subidx = subcnt;/* for each subindex */for (subidxloop = 1; subidxloop <= subidx; subidxloop++){rdl = sizeof(rdat2); rdat2 = 0;/* read SDO that is mapped in PDO */wkc = ec_SDOread(slave, idx, (uint8)subidxloop, FALSE, &rdl, &rdat2, EC_TIMEOUTRXM);rdat2 = etohl(rdat2);/* extract bitlength of SDO */bitlen = LO_BYTE(rdat2);bsize += bitlen;obj_idx = (uint16)(rdat2 >> 16);obj_subidx = (uint8)((rdat2 >> 8) & 0x000000ff);abs_offset = mapoffset + (bitoffset / 8);abs_bit = bitoffset % 8;ODlist.Slave = slave;ODlist.Index[0] = obj_idx;OElist.Entries = 0;wkc = 0;/* read object entry from dictionary if not a filler (0x0000:0x00) */if(obj_idx || obj_subidx)wkc = ec_readOEsingle(0, obj_subidx, &ODlist, &OElist);printf("  [0x%4.4X.%1d] 0x%4.4X:0x%2.2X 0x%2.2X", abs_offset, abs_bit, obj_idx, obj_subidx, bitlen);if((wkc > 0) && OElist.Entries){printf(" %-12s %s\n", dtype2string(OElist.DataType[obj_subidx]), OElist.Name[obj_subidx]);}elseprintf("\n");bitoffset += bitlen;};};};};/* return total found bitlength (PDO) */return bsize;
   }int si_map_sdo(int slave)
   {int wkc, rdl;int retVal = 0;uint8 nSM, iSM, tSM;int Tsize, outputs_bo, inputs_bo;uint8 SMt_bug_add;printf("PDO mapping according to CoE :\n");SMt_bug_add = 0;outputs_bo = 0;inputs_bo = 0;rdl = sizeof(nSM); nSM = 0;/* read SyncManager Communication Type object count */wkc = ec_SDOread(slave, ECT_SDO_SMCOMMTYPE, 0x00, FALSE, &rdl, &nSM, EC_TIMEOUTRXM);/* positive result from slave ? */if ((wkc > 0) && (nSM > 2)){/* make nSM equal to number of defined SM */nSM--;/* limit to maximum number of SM defined, if true the slave can't be configured */if (nSM > EC_MAXSM)nSM = EC_MAXSM;/* iterate for every SM type defined */for (iSM = 2 ; iSM <= nSM ; iSM++){rdl = sizeof(tSM); tSM = 0;/* read SyncManager Communication Type */wkc = ec_SDOread(slave, ECT_SDO_SMCOMMTYPE, iSM + 1, FALSE, &rdl, &tSM, EC_TIMEOUTRXM);if (wkc > 0){if((iSM == 2) && (tSM == 2)) // SM2 has type 2 == mailbox out, this is a bug in the slave!{SMt_bug_add = 1; // try to correct, this works if the types are 0 1 2 3 and should be 1 2 3 4printf("Activated SM type workaround, possible incorrect mapping.\n");}if(tSM)tSM += SMt_bug_add; // only add if SMt > 0if (tSM == 3) // outputs{/* read the assign RXPDO */printf("  SM%1d outputs\n     addr b   index: sub bitl data_type    name\n", iSM);Tsize = si_PDOassign(slave, ECT_SDO_PDOASSIGN + iSM, (int)(ec_slave[slave].outputs - (uint8 *)&IOmap[0]), outputs_bo );outputs_bo += Tsize;}if (tSM == 4) // inputs{/* read the assign TXPDO */printf("  SM%1d inputs\n     addr b   index: sub bitl data_type    name\n", iSM);Tsize = si_PDOassign(slave, ECT_SDO_PDOASSIGN + iSM, (int)(ec_slave[slave].inputs - (uint8 *)&IOmap[0]), inputs_bo );inputs_bo += Tsize;}}}}/* found some I/O bits ? */if ((outputs_bo > 0) || (inputs_bo > 0))retVal = 1;return retVal;
   }int si_siiPDO(uint16 slave, uint8 t, int mapoffset, int bitoffset)
   {uint16 a , w, c, e, er, Size;uint8 eectl;uint16 obj_idx;uint8 obj_subidx;uint8 obj_name;uint8 obj_datatype;uint8 bitlen;int totalsize;ec_eepromPDOt eepPDO;ec_eepromPDOt *PDO;int abs_offset, abs_bit;char str_name[EC_MAXNAME + 1];eectl = ec_slave[slave].eep_pdi;Size = 0;totalsize = 0;PDO = &eepPDO;PDO->nPDO = 0;PDO->Length = 0;PDO->Index[1] = 0;for (c = 0 ; c < EC_MAXSM ; c++) PDO->SMbitsize[c] = 0;if (t > 1)t = 1;PDO->Startpos = ec_siifind(slave, ECT_SII_PDO + t);if (PDO->Startpos > 0){a = PDO->Startpos;w = ec_siigetbyte(slave, a++);w += (ec_siigetbyte(slave, a++) << 8);PDO->Length = w;c = 1;/* traverse through all PDOs */do{PDO->nPDO++;PDO->Index[PDO->nPDO] = ec_siigetbyte(slave, a++);PDO->Index[PDO->nPDO] += (ec_siigetbyte(slave, a++) << 8);PDO->BitSize[PDO->nPDO] = 0;c++;/* number of entries in PDO */e = ec_siigetbyte(slave, a++);PDO->SyncM[PDO->nPDO] = ec_siigetbyte(slave, a++);a++;obj_name = ec_siigetbyte(slave, a++);a += 2;c += 2;if (PDO->SyncM[PDO->nPDO] < EC_MAXSM) /* active and in range SM? */{str_name[0] = 0;if(obj_name)ec_siistring(str_name, slave, obj_name);if (t)printf("  SM%1d RXPDO 0x%4.4X %s\n", PDO->SyncM[PDO->nPDO], PDO->Index[PDO->nPDO], str_name);elseprintf("  SM%1d TXPDO 0x%4.4X %s\n", PDO->SyncM[PDO->nPDO], PDO->Index[PDO->nPDO], str_name);printf("     addr b   index: sub bitl data_type    name\n");/* read all entries defined in PDO */for (er = 1; er <= e; er++){c += 4;obj_idx = ec_siigetbyte(slave, a++);obj_idx += (ec_siigetbyte(slave, a++) << 8);obj_subidx = ec_siigetbyte(slave, a++);obj_name = ec_siigetbyte(slave, a++);obj_datatype = ec_siigetbyte(slave, a++);bitlen = ec_siigetbyte(slave, a++);abs_offset = mapoffset + (bitoffset / 8);abs_bit = bitoffset % 8;PDO->BitSize[PDO->nPDO] += bitlen;a += 2;str_name[0] = 0;if(obj_name)ec_siistring(str_name, slave, obj_name);printf("  [0x%4.4X.%1d] 0x%4.4X:0x%2.2X 0x%2.2X", abs_offset, abs_bit, obj_idx, obj_subidx, bitlen);printf(" %-12s %s\n", dtype2string(obj_datatype), str_name);bitoffset += bitlen;totalsize += bitlen;}PDO->SMbitsize[ PDO->SyncM[PDO->nPDO] ] += PDO->BitSize[PDO->nPDO];Size += PDO->BitSize[PDO->nPDO];c++;}else /* PDO deactivated because SM is 0xff or > EC_MAXSM */{c += 4 * e;a += 8 * e;c++;}if (PDO->nPDO >= (EC_MAXEEPDO - 1)) c = PDO->Length; /* limit number of PDO entries in buffer */}while (c < PDO->Length);}if (eectl) ec_eeprom2pdi(slave); /* if eeprom control was previously pdi then restore */return totalsize;
   }int si_map_sii(int slave)
   {int retVal = 0;int Tsize, outputs_bo, inputs_bo;printf("PDO mapping according to SII :\n");outputs_bo = 0;inputs_bo = 0;/* read the assign RXPDOs */Tsize = si_siiPDO(slave, 1, (int)(ec_slave[slave].outputs - (uint8*)&IOmap), outputs_bo );outputs_bo += Tsize;/* read the assign TXPDOs */Tsize = si_siiPDO(slave, 0, (int)(ec_slave[slave].inputs - (uint8*)&IOmap), inputs_bo );inputs_bo += Tsize;/* found some I/O bits ? */if ((outputs_bo > 0) || (inputs_bo > 0))retVal = 1;return retVal;
   }void si_sdo(int cnt)
   {int i, j;ODlist.Entries = 0;memset(&ODlist, 0, sizeof(ODlist));if( ec_readODlist(cnt, &ODlist)){printf(" CoE Object Description found, %d entries.\n",ODlist.Entries);for( i = 0 ; i < ODlist.Entries ; i++){ec_readODdescription(i, &ODlist);while(EcatError) printf("%s", ec_elist2string());printf(" Index: %4.4x Datatype: %4.4x Objectcode: %2.2x Name: %s\n",ODlist.Index[i], ODlist.DataType[i], ODlist.ObjectCode[i], ODlist.Name[i]);memset(&OElist, 0, sizeof(OElist));ec_readOE(i, &ODlist, &OElist);while(EcatError) printf("%s", ec_elist2string());for( j = 0 ; j < ODlist.MaxSub[i]+1 ; j++){if ((OElist.DataType[j] > 0) && (OElist.BitLength[j] > 0)){printf("  Sub: %2.2x Datatype: %4.4x Bitlength: %4.4x Obj.access: %4.4x Name: %s\n",j, OElist.DataType[j], OElist.BitLength[j], OElist.ObjAccess[j], OElist.Name[j]);if ((OElist.ObjAccess[j] & 0x0007)){printf("          Value :%s\n", SDO2string(cnt, ODlist.Index[i], j, OElist.DataType[j]));}}}}}else{while(EcatError) printf("%s", ec_elist2string());}
   }void slaveinfo(char *ifname)
   {int cnt, i, j, nSM;uint16 ssigen;int expectedWKC;ecx_contextt* contex;printf("Starting slaveinfo\n");if(ec_init(ifname)) // 初始化SOEM库，绑定soket到网口{printf("ec_init on %s succeeded.\n",ifname);if(ec_config(FALSE, &IOmap) > 0) // 枚举所有从站的信息，并配置从站，保存到IOmap中{ec_configdc();while(EcatError){cout<< ec_elist2string() << endl;}printf("%d slaves found and configured.\n",ec_slavecount);expectedWKC = (ec_group[0].outputsWKC * 2) + ec_group[0].inputsWKC;printf("Calculated workcounter %d\n", expectedWKC);ec_statecheck(0, EC_STATE_SAFE_OP,  EC_TIMEOUTSTATE * 3);if (ec_slave[0].state != EC_STATE_SAFE_OP ){printf("Not all slaves reached safe operational state.\n");ec_readstate();for(i = 1; i<=ec_slavecount ; i++){if(ec_slave[i].state != EC_STATE_SAFE_OP){printf("Slave %d State=%2x StatusCode=%4x : %s\n",i, ec_slave[i].state, ec_slave[i].ALstatuscode, ec_ALstatuscode2string(ec_slave[i].ALstatuscode));}}}ec_readstate();for( cnt = 1 ; cnt <= ec_slavecount ; cnt++){printf("\nSlave:%d\n Name:%s\n Output size: %dbits\n Input size: %dbits\n State: %d\n Delay: %d[ns]\n Has DC: %d\n",cnt, ec_slave[cnt].name, ec_slave[cnt].Obits, ec_slave[cnt].Ibits,ec_slave[cnt].state, ec_slave[cnt].pdelay, ec_slave[cnt].hasdc);if (ec_slave[cnt].hasdc) printf(" DCParentport:%d\n", ec_slave[cnt].parentport);printf(" Activeports:%d.%d.%d.%d\n", (ec_slave[cnt].activeports & 0x01) > 0 ,(ec_slave[cnt].activeports & 0x02) > 0 ,(ec_slave[cnt].activeports & 0x04) > 0 ,(ec_slave[cnt].activeports & 0x08) > 0 );printf(" Configured address: %4.4x\n", ec_slave[cnt].configadr);printf(" Man: %8.8x ID: %8.8x Rev: %8.8x\n", (int)ec_slave[cnt].eep_man, (int)ec_slave[cnt].eep_id, (int)ec_slave[cnt].eep_rev);for(nSM = 0 ; nSM < EC_MAXSM ; nSM++){if(ec_slave[cnt].SM[nSM].StartAddr > 0)printf(" SM%1d A:%4.4x L:%4d F:%8.8x Type:%d\n",nSM, ec_slave[cnt].SM[nSM].StartAddr, ec_slave[cnt].SM[nSM].SMlength,(int)ec_slave[cnt].SM[nSM].SMflags, ec_slave[cnt].SMtype[nSM]);}for(j = 0 ; j < ec_slave[cnt].FMMUunused ; j++){printf(" FMMU%1d Ls:%8.8x Ll:%4d Lsb:%d Leb:%d Ps:%4.4x Psb:%d Ty:%2.2x Act:%2.2x\n", j,(int)ec_slave[cnt].FMMU[j].LogStart, ec_slave[cnt].FMMU[j].LogLength, ec_slave[cnt].FMMU[j].LogStartbit,ec_slave[cnt].FMMU[j].LogEndbit, ec_slave[cnt].FMMU[j].PhysStart, ec_slave[cnt].FMMU[j].PhysStartBit,ec_slave[cnt].FMMU[j].FMMUtype, ec_slave[cnt].FMMU[j].FMMUactive);}printf(" FMMUfunc 0:%d 1:%d 2:%d 3:%d\n",ec_slave[cnt].FMMU0func, ec_slave[cnt].FMMU1func, ec_slave[cnt].FMMU2func, ec_slave[cnt].FMMU3func);printf(" MBX length wr: %d rd: %d MBX protocols : %2.2x\n", ec_slave[cnt].mbx_l, ec_slave[cnt].mbx_rl, ec_slave[cnt].mbx_proto);ssigen = ec_siifind(cnt, ECT_SII_GENERAL);/* SII general section */if (ssigen){ec_slave[cnt].CoEdetails = ec_siigetbyte(cnt, ssigen + 0x07);ec_slave[cnt].FoEdetails = ec_siigetbyte(cnt, ssigen + 0x08);ec_slave[cnt].EoEdetails = ec_siigetbyte(cnt, ssigen + 0x09);ec_slave[cnt].SoEdetails = ec_siigetbyte(cnt, ssigen + 0x0a);if((ec_siigetbyte(cnt, ssigen + 0x0d) & 0x02) > 0){ec_slave[cnt].blockLRW = 1;ec_slave[0].blockLRW++;}ec_slave[cnt].Ebuscurrent = ec_siigetbyte(cnt, ssigen + 0x0e);ec_slave[cnt].Ebuscurrent += ec_siigetbyte(cnt, ssigen + 0x0f) << 8;ec_slave[0].Ebuscurrent += ec_slave[cnt].Ebuscurrent;}printf(" CoE details: %2.2x FoE details: %2.2x EoE details: %2.2x SoE details: %2.2x\n",ec_slave[cnt].CoEdetails, ec_slave[cnt].FoEdetails, ec_slave[cnt].EoEdetails, ec_slave[cnt].SoEdetails);printf(" Ebus current: %d[mA]\n only LRD/LWR:%d\n",ec_slave[cnt].Ebuscurrent, ec_slave[cnt].blockLRW);if ((ec_slave[cnt].mbx_proto & ECT_MBXPROT_COE) && printSDO){si_sdo(cnt);}if (ec_slave[cnt].mbx_proto & ECT_MBXPROT_COE)si_map_sdo(cnt);elsesi_map_sii(cnt);}}}else{}
   }int main()
   {char* ifbuf = "\\Device\\NPF_{A837AD34-3738-42FF-8E0B-F5B0BE69ABD6}"; // 网口设备号printf("SOEM (Simple Open EtherCAT Master)\nSlaveinfo\n");slaveinfo(ifbuf);return 0;
   }