1 /*

     2  * Etherlab Asynchronous 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 // declaration of interface variables

    20 %(located_variables_declaration)s

    21 

    22 // Optional features

    23 #define CONFIGURE_PDOS  %(configure_pdos)d

    24 

    25 // process data

    26 static uint8_t *domain1_pd = NULL;

    27 %(used_pdo_entry_offset_variables_declaration)s

    28 

    29 const static ec_pdo_entry_reg_t domain1_regs[] = {

    30 %(used_pdo_entry_configuration)s

    31     {}

    32 };

    33 /*****************************************************************************/

    34 

    35 #if CONFIGURE_PDOS

    36 %(pdos_configuration_declaration)s

    37 #endif

    38 

    39 int rt_fd = -1;

    40 CstructMstrAttach MstrAttach;

    41 char rt_dev_file[64];

    42 long long wait_period_ns = 100000LL;

    43 

    44 // EtherCAT

    45 static ec_master_t *master = NULL;

    46 static ec_domain_t *domain1 = NULL;

    47 %(slaves_declaration)s

    48 

    49 /* Beremiz plugin functions */

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

    51 {

    52 	int rtstatus;

    53 

    54 	MstrAttach.masterindex = %(master_number)d;

    55 

    56 	master = ecrt_request_master(MstrAttach.masterindex);

    57 	if (!master) return -1;

    58 

    59 	domain1 = ecrt_master_create_domain(master);

    60 	if (!domain1) return -1;

    61 

    62 #if CONFIGURE_PDOS

    63 	%(slaves_configuration)s

    64 #endif

    65 

    66     if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {

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

    68         return -1;

    69     }

    70 

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

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

    73     if (rt_fd < 0) {

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

    75         return -1;

    76     }

    77 

    78     // attach the master over rtdm driver

    79     MstrAttach.domainindex = ecrt_domain_index(domain1);

    80     rtstatus = ecrt_rtdm_master_attach(rt_fd, &MstrAttach);

    81     if (rtstatus < 0) {

    82         printf("Cannot attach to master over rtdm\n");

    83         return -1;

    84     }

    85 

    86     if (ecrt_master_activate(master))

    87         return -1;

    88 

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

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

    91         return -1;

    92     }

    93 

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

    95     return 0;

    96 }

    97 

    98 void __cleanup_%(location)s(void)

    99 {

   100 	if (rt_fd >= 0) {

   101 		rt_dev_close(rt_fd);

   102 	}

   103 }

   104 

   105 void __retrieve_%(location)s(void)

   106 {

   107     // receive ethercat

   108     ecrt_rtdm_master_recieve(rt_fd);

   109     ecrt_rtdm_domain_process(rt_fd);

   110 

   111     rt_task_sleep(rt_timer_ns2tsc(wait_period_ns));

   112 

   113     // send process data

   114     ecrt_rtdm_domain_queque(rt_fd);

   115     ecrt_rtdm_master_send(rt_fd);

   116 

   117 %(retrieve_variables)s

   118 }

   119 

   120 void __publish_%(location)s(void)

   121 {

   122 %(publish_variables)s

   123 }