| author | Florian Pose <fp@igh-essen.com> |
| Thu, 21 Jul 2011 19:00:34 +0200 | |
| changeset 2086 | 1b4d140ecae5 |
| parent 1971 | ba8a75cb1c98 |
| child 2421 | bc2d4bf9cbe5 |
| permissions | -rw-r--r-- |
| 1414 | 1 |
/***************************************************************************** |
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* |
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* $Id$ |
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* |
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* Copyright (C) 2007-2009 Florian Pose, Ingenieurgemeinschaft IgH |
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* |
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* This file is part of the IgH EtherCAT Master. |
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* |
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* The IgH EtherCAT Master is free software; you can redistribute it and/or |
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* modify it under the terms of the GNU General Public License version 2, as |
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* published by the Free Software Foundation. |
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* |
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* The IgH EtherCAT Master is distributed in the hope that it will be useful, |
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* but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General |
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* Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License along |
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* with the IgH EtherCAT Master; if not, write to the Free Software |
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
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* |
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* --- |
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* |
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* The license mentioned above concerns the source code only. Using the |
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* EtherCAT technology and brand is only permitted in compliance with the |
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* industrial property and similar rights of Beckhoff Automation GmbH. |
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* |
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****************************************************************************/ |
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#include <errno.h> |
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#include <signal.h> |
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#include <stdio.h> |
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#include <string.h> |
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#include <sys/resource.h> |
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#include <sys/time.h> |
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#include <sys/types.h> |
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#include <unistd.h> |
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#include <time.h> |
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#include <sys/mman.h> |
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#include <malloc.h> |
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/****************************************************************************/ |
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#include "ecrt.h" |
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/****************************************************************************/ |
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// Application parameters |
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#define FREQUENCY 1000 |
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#define CLOCK_TO_USE CLOCK_REALTIME |
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#define MEASURE_TIMING |
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/****************************************************************************/ |
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#define NSEC_PER_SEC (1000000000L) |
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#define PERIOD_NS (NSEC_PER_SEC / FREQUENCY) |
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#define DIFF_NS(A, B) (((B).tv_sec - (A).tv_sec) * NSEC_PER_SEC + \ |
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(B).tv_nsec - (A).tv_nsec) |
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#define TIMESPEC2NS(T) ((uint64_t) (T).tv_sec * NSEC_PER_SEC + (T).tv_nsec) |
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/****************************************************************************/ |
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// EtherCAT |
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static ec_master_t *master = NULL; |
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static ec_master_state_t master_state = {};
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static ec_domain_t *domain1 = NULL; |
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static ec_domain_state_t domain1_state = {};
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/****************************************************************************/ |
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// process data |
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static uint8_t *domain1_pd = NULL; |
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#define BusCouplerPos 0, 0 |
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#define DigOutSlavePos 0, 1 |
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#define CounterSlavePos 0, 2 |
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#define Beckhoff_EK1100 0x00000002, 0x044c2c52 |
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#define Beckhoff_EL2008 0x00000002, 0x07d83052 |
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#define IDS_Counter 0x000012ad, 0x05de3052 |
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// offsets for PDO entries |
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static int off_dig_out; |
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static int off_counter_in; |
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static int off_counter_out; |
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static unsigned int counter = 0; |
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static unsigned int blink = 0; |
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static unsigned int sync_ref_counter = 0; |
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const struct timespec cycletime = {0, PERIOD_NS};
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/*****************************************************************************/ |
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struct timespec timespec_add(struct timespec time1, struct timespec time2) |
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{
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struct timespec result; |
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if ((time1.tv_nsec + time2.tv_nsec) >= NSEC_PER_SEC) {
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result.tv_sec = time1.tv_sec + time2.tv_sec + 1; |
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result.tv_nsec = time1.tv_nsec + time2.tv_nsec - NSEC_PER_SEC; |
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} else {
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result.tv_sec = time1.tv_sec + time2.tv_sec; |
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result.tv_nsec = time1.tv_nsec + time2.tv_nsec; |
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} |
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return result; |
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} |
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/*****************************************************************************/ |
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void check_domain1_state(void) |
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{
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ec_domain_state_t ds; |
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ecrt_domain_state(domain1, &ds); |
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if (ds.working_counter != domain1_state.working_counter) |
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printf("Domain1: WC %u.\n", ds.working_counter);
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if (ds.wc_state != domain1_state.wc_state) |
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printf("Domain1: State %u.\n", ds.wc_state);
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domain1_state = ds; |
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} |
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/*****************************************************************************/ |
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void check_master_state(void) |
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{
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ec_master_state_t ms; |
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ecrt_master_state(master, &ms); |
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if (ms.slaves_responding != master_state.slaves_responding) |
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printf("%u slave(s).\n", ms.slaves_responding);
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if (ms.al_states != master_state.al_states) |
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printf("AL states: 0x%02X.\n", ms.al_states);
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if (ms.link_up != master_state.link_up) |
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printf("Link is %s.\n", ms.link_up ? "up" : "down");
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master_state = ms; |
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} |
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/****************************************************************************/ |
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void cyclic_task() |
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{
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struct timespec wakeupTime, time; |
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#ifdef MEASURE_TIMING |
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struct timespec startTime, endTime, lastStartTime = {};
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uint32_t period_ns = 0, exec_ns = 0, latency_ns = 0, |
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latency_min_ns = 0, latency_max_ns = 0, |
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period_min_ns = 0, period_max_ns = 0, |
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exec_min_ns = 0, exec_max_ns = 0; |
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#endif |
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// get current time |
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clock_gettime(CLOCK_TO_USE, &wakeupTime); |
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while(1) {
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wakeupTime = timespec_add(wakeupTime, cycletime); |
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clock_nanosleep(CLOCK_TO_USE, TIMER_ABSTIME, &wakeupTime, NULL); |
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#ifdef MEASURE_TIMING |
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clock_gettime(CLOCK_TO_USE, &startTime); |
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latency_ns = DIFF_NS(wakeupTime, startTime); |
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period_ns = DIFF_NS(lastStartTime, startTime); |
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exec_ns = DIFF_NS(lastStartTime, endTime); |
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lastStartTime = startTime; |
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if (latency_ns > latency_max_ns) {
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latency_max_ns = latency_ns; |
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} |
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if (latency_ns < latency_min_ns) {
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latency_min_ns = latency_ns; |
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} |
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if (period_ns > period_max_ns) {
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period_max_ns = period_ns; |
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} |
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if (period_ns < period_min_ns) {
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period_min_ns = period_ns; |
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} |
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if (exec_ns > exec_max_ns) {
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exec_max_ns = exec_ns; |
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} |
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if (exec_ns < exec_min_ns) {
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exec_min_ns = exec_ns; |
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} |
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#endif |
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// receive process data |
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ecrt_master_receive(master); |
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ecrt_domain_process(domain1); |
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// check process data state (optional) |
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check_domain1_state(); |
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if (counter) {
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counter--; |
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} else { // do this at 1 Hz
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counter = FREQUENCY; |
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// check for master state (optional) |
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check_master_state(); |
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#ifdef MEASURE_TIMING |
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// output timing stats |
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printf("period %10u ... %10u\n",
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period_min_ns, period_max_ns); |
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printf("exec %10u ... %10u\n",
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exec_min_ns, exec_max_ns); |
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printf("latency %10u ... %10u\n",
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latency_min_ns, latency_max_ns); |
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period_max_ns = 0; |
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period_min_ns = 0xffffffff; |
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exec_max_ns = 0; |
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exec_min_ns = 0xffffffff; |
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latency_max_ns = 0; |
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latency_min_ns = 0xffffffff; |
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#endif |
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// calculate new process data |
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blink = !blink; |
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} |
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// write process data |
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EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x66 : 0x99); |
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EC_WRITE_U8(domain1_pd + off_counter_out, blink ? 0x00 : 0x02); |
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// write application time to master |
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clock_gettime(CLOCK_TO_USE, &time); |
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1971
ba8a75cb1c98
Fixed TIMESPEC2NS() macro use.
Florian Pose <fp@igh-essen.com>
parents:
1970
diff
changeset
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ecrt_master_application_time(master, TIMESPEC2NS(time)); |
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if (sync_ref_counter) {
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sync_ref_counter--; |
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} else {
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sync_ref_counter = 1; // sync every cycle |
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ecrt_master_sync_reference_clock(master); |
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} |
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ecrt_master_sync_slave_clocks(master); |
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// send process data |
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ecrt_domain_queue(domain1); |
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ecrt_master_send(master); |
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#ifdef MEASURE_TIMING |
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clock_gettime(CLOCK_TO_USE, &endTime); |
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#endif |
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} |
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} |
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/****************************************************************************/ |
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int main(int argc, char **argv) |
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{
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ec_slave_config_t *sc; |
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if (mlockall(MCL_CURRENT | MCL_FUTURE) == -1) {
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perror("mlockall failed");
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return -1; |
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} |
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master = ecrt_request_master(0); |
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if (!master) |
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return -1; |
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domain1 = ecrt_master_create_domain(master); |
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if (!domain1) |
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return -1; |
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// Create configuration for bus coupler |
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sc = ecrt_master_slave_config(master, BusCouplerPos, Beckhoff_EK1100); |
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if (!sc) |
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return -1; |
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if (!(sc = ecrt_master_slave_config(master, |
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DigOutSlavePos, Beckhoff_EL2008))) {
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fprintf(stderr, "Failed to get slave configuration.\n"); |
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return -1; |
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} |
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off_dig_out = ecrt_slave_config_reg_pdo_entry(sc, |
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0x7000, 1, domain1, NULL); |
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if (off_dig_out < 0) |
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return -1; |
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if (!(sc = ecrt_master_slave_config(master, |
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CounterSlavePos, IDS_Counter))) {
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fprintf(stderr, "Failed to get slave configuration.\n"); |
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return -1; |
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} |
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off_counter_in = ecrt_slave_config_reg_pdo_entry(sc, |
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0x6020, 0x11, domain1, NULL); |
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if (off_counter_in < 0) |
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return -1; |
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off_counter_out = ecrt_slave_config_reg_pdo_entry(sc, |
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0x7020, 1, domain1, NULL); |
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if (off_counter_out < 0) |
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return -1; |
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// configure SYNC signals for this slave |
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ecrt_slave_config_dc(sc, 0x0700, PERIOD_NS, 4400000, 0, 0); |
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printf("Activating master...\n");
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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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return -1; |
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} |
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pid_t pid = getpid(); |
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if (setpriority(PRIO_PROCESS, pid, -19)) |
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fprintf(stderr, "Warning: Failed to set priority: %s\n", |
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strerror(errno)); |
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printf("Starting cyclic function.\n");
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cyclic_task(); |
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return 0; |
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} |
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/****************************************************************************/ |