1

/*

     2

 * Etherlab execution code

     3

 *

     4

 * */

     5

     6

#include <rtdm/rtdm.h>

     7

#include <native/task.h>

     8

#include <native/timer.h>

     9

    10

#include "ecrt.h"

    11

#include "ec_rtdm.h"

    12

    13

#ifdef _WINDOWS_H

    14

  #include "iec_types.h"

    15

#else

    16

  #include "iec_std_lib.h"

    17

#endif

    18

    19

extern unsigned long long common_ticktime__;

    20

    21

// declaration of interface variables

    22

%(located_variables_declaration)s

    23

    24

// Optional features

    25

#define CONFIGURE_PDOS  %(configure_pdos)d

    26

    27

// process data

    28

uint8_t *domain1_pd = NULL;

    29

%(used_pdo_entry_offset_variables_declaration)s

    30

    31

const static ec_pdo_entry_reg_t domain1_regs[] = {

    32

%(used_pdo_entry_configuration)s

    33

    {}

    34

};

    35

/*****************************************************************************/

    36

    37

#if CONFIGURE_PDOS

    38

%(pdos_configuration_declaration)s

    39

#endif

    40

    41

int rt_fd = -1;

    42

CstructMstrAttach MstrAttach;

    43

char rt_dev_file[64];

    44

long long wait_period_ns = 100000LL;

    45

    46

// EtherCAT

    47

static ec_master_t *master = NULL;

    48

static ec_domain_t *domain1 = NULL;

    49

%(slaves_declaration)s

    50

    51

/* Beremiz plugin functions */

    52

int __init_%(location)s(int argc,char **argv)

    53

{

    54

    uint32_t abort_code;

    55

    size_t result_size;

    56

    int i, rtstatus;

    57

    58

	MstrAttach.masterindex = %(master_number)d;

    59

    60

	master = ecrt_request_master(MstrAttach.masterindex);

    61

	if (!master) return -1;

    62

    63

	domain1 = ecrt_master_create_domain(master);

    64

	if (!domain1) return -1;

    65

    66

#if CONFIGURE_PDOS

    67

    fprintf(stdout, "Configure PDOs...\n");

    68

	%(slaves_configuration)s

    69

#endif

    70

    71

    if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {

    72

        fprintf(stderr, "PDO entry registration failed!\n");

    73

        return -1;

    74

    }

    75

    76

	ecrt_master_set_send_interval(master, common_ticktime__);

    77

    78

%(slaves_initialization)s

    79

    80

%(slaves_output_pdos_default_values_extraction)s

    81

    82

    sprintf(&rt_dev_file[0],"%%s%%u",EC_RTDM_DEV_FILE_NAME,0);

    83

    rt_fd = rt_dev_open( &rt_dev_file[0], 0);

    84

    if (rt_fd < 0) {

    85

        fprintf(stderr, "Can't open %%s\n", &rt_dev_file[0]);

    86

        return -1;

    87

    }

    88

    89

    // attach the master over rtdm driver

    90

    MstrAttach.domainindex = ecrt_domain_index(domain1);

    91

    rtstatus = ecrt_rtdm_master_attach(rt_fd, &MstrAttach);

    92

    if (rtstatus < 0) {

    93

        fprintf(stderr, "Cannot attach to master over rtdm\n");

    94

        return -1;

    95

    }

    96

    97

    if (ecrt_master_activate(master))

    98

        return -1;

    99

   100

    if (!(domain1_pd = ecrt_domain_data(domain1))) {

   101

        fprintf(stderr, "domain1_pd:  0x%%.6lx\n", (unsigned long)domain1_pd);

   102

        return -1;

   103

    }

   104

   105

    fprintf(stdout, "Master %(master_number)d activated...\n");

   106

   107

    return 0;

   108

}

   109

   110

void __cleanup_%(location)s(void)

   111

{

   112

	if (rt_fd >= 0) {

   113

		rt_dev_close(rt_fd);

   114

	}

   115

	//release master

   116

	ecrt_release_master(master);

   117

}

   118

   119

void __retrieve_%(location)s(void)

   120

{

   121

    // send process data

   122

    ecrt_rtdm_domain_queque(rt_fd);

   123

    ecrt_rtdm_master_send(rt_fd);

   124

   125

    rt_task_sleep(rt_timer_ns2tsc(wait_period_ns));

   126

   127

    // receive ethercat

   128

    ecrt_rtdm_master_recieve(rt_fd);

   129

    ecrt_rtdm_domain_process(rt_fd);

   130

   131

%(retrieve_variables)s

   132

}

   133

   134

void __publish_%(location)s(void)

   135

{

   136

%(publish_variables)s

   137

}