etherlab/plc_etherlab.c
author laurent
Tue, 07 Feb 2012 19:45:45 +0100
changeset 2031 c6f32810723e
parent 2028 5132c497918c
child 2032 766078d83e22
permissions -rw-r--r--
Fix some issues regarding arbitrary variable mapping
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/*
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 * Etherlab Asynchronous execution code
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 *
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 * */
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#include <rtdm/rtdm.h>
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#include <native/task.h>
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#include <native/timer.h>
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#include "ecrt.h"
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#include "ec_rtdm.h"
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#ifdef _WINDOWS_H
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  #include "iec_types.h"
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#else
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  #include "iec_std_lib.h"
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#endif
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// declaration of interface variables
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%(located_variables_declaration)s
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// Optional features
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#define CONFIGURE_PDOS  %(configure_pdos)d
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// process data
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static uint8_t *domain1_pd = NULL;
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%(used_pdo_entry_offset_variables_declaration)s
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const static ec_pdo_entry_reg_t domain1_regs[] = {
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%(used_pdo_entry_configuration)s
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    {}
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};
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/*****************************************************************************/
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#if CONFIGURE_PDOS
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%(pdos_configuration_declaration)s
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#endif
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int rt_fd = -1;
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CstructMstrAttach MstrAttach;
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char rt_dev_file[64];
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long long wait_period_ns = 100000LL;
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// EtherCAT
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static ec_master_t *master = NULL;
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static ec_domain_t *domain1 = NULL;
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%(slaves_declaration)s
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/* Beremiz plugin functions */
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int __init_%(location)s(int argc,char **argv)
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{
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	int rtstatus;
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	MstrAttach.masterindex = %(master_number)d;
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	master = ecrt_request_master(MstrAttach.masterindex);
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	if (!master) return -1;
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	domain1 = ecrt_master_create_domain(master);
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	if (!domain1) return -1;
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#if CONFIGURE_PDOS
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	%(slaves_configuration)s
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#endif
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    if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
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        fprintf(stderr, "PDO entry registration failed!\n");
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        return -1;
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    }
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    sprintf(&rt_dev_file[0],"%%s%%u",EC_RTDM_DEV_FILE_NAME,0);
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    rt_fd = rt_dev_open( &rt_dev_file[0], 0);
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    if (rt_fd < 0) {
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        printf("Can't open %%s\n", &rt_dev_file[0]);
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        return -1;
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    }
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    // attach the master over rtdm driver
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    MstrAttach.domainindex = ecrt_domain_index(domain1);
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    rtstatus = ecrt_rtdm_master_attach(rt_fd, &MstrAttach);
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    if (rtstatus < 0) {
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        printf("Cannot attach to master over rtdm\n");
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        return -1;
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    }
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    if (ecrt_master_activate(master))
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        return -1;
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    if (!(domain1_pd = ecrt_domain_data(domain1))) {
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        fprintf(stderr, "domain1_pd:  0x%%.6lx\n", (unsigned long)domain1_pd);
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        return -1;
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    }
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    fprintf(stdout, "Master %(master_number)d activated...\n");
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    return 0;
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}
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void __cleanup_%(location)s(void)
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{
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	if (rt_fd >= 0) {
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		rt_dev_close(rt_fd);
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	}
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	//release master
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	ecrt_release_master(master);
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}
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void __retrieve_%(location)s(void)
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{
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    // receive ethercat
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    ecrt_rtdm_master_recieve(rt_fd);
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    ecrt_rtdm_domain_process(rt_fd);
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    rt_task_sleep(rt_timer_ns2tsc(wait_period_ns));
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    // send process data
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    ecrt_rtdm_domain_queque(rt_fd);
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    ecrt_rtdm_master_send(rt_fd);
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%(retrieve_variables)s
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}
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void __publish_%(location)s(void)
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{
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%(publish_variables)s
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}