1

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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2007-2009  Florian Pose, Ingenieurgemeinschaft IgH

     6

 *

     7

 *  This file is part of the IgH EtherCAT Master.

     8

 *

     9

 *  The IgH EtherCAT Master is free software; you can redistribute it and/or

    10

 *  modify it under the terms of the GNU General Public License version 2, as

    11

 *  published by the Free Software Foundation.

    12

 *

    13

 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,

    14

 *  but WITHOUT ANY WARRANTY; without even the implied warranty of

    15

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General

    16

 *  Public License for more details.

    17

 *

    18

 *  You should have received a copy of the GNU General Public License along

    19

 *  with the IgH EtherCAT Master; if not, write to the Free Software

    20

 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

    21

 *

    22

 *  ---

    23

 *

    24

 *  The license mentioned above concerns the source code only. Using the

    25

 *  EtherCAT technology and brand is only permitted in compliance with the

    26

 *  industrial property and similar rights of Beckhoff Automation GmbH.

    27

 *

    28

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

    29

    30

#include <errno.h>

    31

#include <signal.h>

    32

#include <stdio.h>

    33

#include <string.h>

    34

#include <sys/resource.h>

    35

#include <sys/time.h>

    36

#include <sys/types.h>

    37

#include <unistd.h>

    38

    39

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

    40

    41

#include "ecrt.h"

    42

    43

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

    44

    45

// Application parameters

    46

#define FREQUENCY 100

    47

#define PRIORITY 0

    48

    49

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

    50

    51

// EtherCAT

    52

static ec_master_t *master = NULL;

    53

static ec_master_state_t master_state = {};

    54

    55

static ec_domain_t *domain1 = NULL;

    56

static ec_domain_state_t domain1_state = {};

    57

    58

static ec_slave_config_t *sc_ana_in = NULL;

    59

static ec_slave_config_state_t sc_ana_in_state = {};

    60

    61

// Timer

    62

static unsigned int sig_alarms = 0;

    63

static unsigned int user_alarms = 0;

    64

    65

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

    66

    67

// process data

    68

static uint8_t *domain1_pd = NULL;

    69

    70

#define BusCouplerPos  0, 3

    71

#define DigOutSlavePos 0, 0

    72

    73

//#define Beckhoff_EK1100 0x00000002, 0x044c2c52

    74

#define Beckhoff_EK1100 0x00000002, 0x04562c52

    75

#define Beckhoff_EL1008 0x00000002, 0x03f03052

    76

#define Beckhoff_EL2004 0x00000002, 0x07d43052

    77

#define Beckhoff_EL2008 0x00000002, 0x07d83052

    78

#define Beckhoff_EL2032 0x00000002, 0x07f03052

    79

#define Beckhoff_EL3152 0x00000002, 0x0c503052

    80

#define Beckhoff_EL3102 0x00000002, 0x0c1e3052

    81

#define Beckhoff_EL4102 0x00000002, 0x10063052

    82

    83

// offsets for PDO entries

    84

static unsigned int off_dig_in[1];

    85

static unsigned int off_dig_out[2];

    86

    87

    88

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

    89

// Digital in ------------------------

    90

static ec_pdo_entry_info_t el1008_channels[] = {

    91

    {0x6000, 1, 1},

    92

    {0x6010, 1, 1},

    93

    {0x6020, 1, 1},

    94

    {0x6030, 1, 1},

    95

    {0x6040, 1, 1},

    96

    {0x6050, 1, 1},

    97

    {0x6060, 1, 1},

    98

    {0x6070, 1, 1},

    99

};

   100

   101

static ec_pdo_info_t el1008_pdos[] = {

   102

    {0x1a00, 1, &el1008_channels[0]},

   103

    {0x1a01, 1, &el1008_channels[1]},

   104

    {0x1a02, 1, &el1008_channels[2]},

   105

    {0x1a03, 1, &el1008_channels[3]},

   106

    {0x1a04, 1, &el1008_channels[4]},

   107

    {0x1a05, 1, &el1008_channels[5]},

   108

    {0x1a06, 1, &el1008_channels[6]},

   109

    {0x1a07, 1, &el1008_channels[7]}

   110

};

   111

   112

static ec_sync_info_t el1008_syncs[] = {

   113

    {2, EC_DIR_OUTPUT},

   114

    {3, EC_DIR_INPUT, 8, el1008_pdos},

   115

    {0xff}

   116

};

   117

   118

// Digital out ------------------------

   119

static ec_pdo_entry_info_t el2008_channels[] = {

   120

    {0x7000, 1, 1},

   121

    {0x7010, 1, 1},

   122

    {0x7020, 1, 1},

   123

    {0x7030, 1, 1},

   124

    {0x7040, 1, 1},

   125

    {0x7050, 1, 1},

   126

    {0x7060, 1, 1},

   127

    {0x7070, 1, 1},

   128

};

   129

   130

static ec_pdo_info_t el2008_pdos[] = {

   131

    {0x1600, 1, &el2008_channels[0]},

   132

    {0x1601, 1, &el2008_channels[1]},

   133

    {0x1602, 1, &el2008_channels[2]},

   134

    {0x1603, 1, &el2008_channels[3]},

   135

    {0x1604, 1, &el2008_channels[4]},

   136

    {0x1605, 1, &el2008_channels[5]},

   137

    {0x1606, 1, &el2008_channels[6]},

   138

    {0x1607, 1, &el2008_channels[7]}

   139

};

   140

   141

static ec_sync_info_t el2008_syncs[] = {

   142

    {0, EC_DIR_OUTPUT, 8, el2008_pdos},

   143

    {1, EC_DIR_INPUT},

   144

    {0xff}

   145

};

   146

   147

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

   148

   149

void check_domain1_state(void)

   150

{

   151

    ec_domain_state_t ds;

   152

   153

    ecrt_domain_state(domain1, &ds);

   154

   155

    if (ds.working_counter != domain1_state.working_counter)

   156

        printf("Domain1: WC %u.\n", ds.working_counter);

   157

    if (ds.wc_state != domain1_state.wc_state)

   158

        printf("Domain1: State %u.\n", ds.wc_state);

   159

   160

    domain1_state = ds;

   161

}

   162

   163

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

   164

   165

void check_master_state(void)

   166

{

   167

    ec_master_state_t ms;

   168

   169

    ecrt_master_state(master, &ms);

   170

   171

    if (ms.slaves_responding != master_state.slaves_responding)

   172

        printf("%u slave(s).\n", ms.slaves_responding);

   173

    if (ms.al_states != master_state.al_states)

   174

        printf("AL states: 0x%02X.\n", ms.al_states);

   175

    if (ms.link_up != master_state.link_up)

   176

        printf("Link is %s.\n", ms.link_up ? "up" : "down");

   177

   178

    master_state = ms;

   179

}

   180

   181

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

   182

   183

void check_slave_config_states(void)

   184

{

   185

    ec_slave_config_state_t s;

   186

   187

    ecrt_slave_config_state(sc_ana_in, &s);

   188

   189

    if (s.al_state != sc_ana_in_state.al_state)

   190

        printf("AnaIn: State 0x%02X.\n", s.al_state);

   191

    if (s.online != sc_ana_in_state.online)

   192

        printf("AnaIn: %s.\n", s.online ? "online" : "offline");

   193

    if (s.operational != sc_ana_in_state.operational)

   194

        printf("AnaIn: %soperational.\n",

   195

                s.operational ? "" : "Not ");

   196

   197

    sc_ana_in_state = s;

   198

}

   199

   200

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

   201

   202

void cyclic_task()

   203

{

   204

    static unsigned int counter = 10;

   205

    static uint8_t outputValue = 0;

   206

    static int numAsyncCycles = 0;

   207

    uint8_t inputValue = 0;

   208

    static uint8_t error = 0;

   209

   210

    // receive process data

   211

    ecrt_master_receive(master);

   212

    ecrt_domain_process(domain1);

   213

   214

    // check process data state (optional)

   215

    check_domain1_state();

   216

   217

   218

	inputValue = EC_READ_U8(domain1_pd + off_dig_in[0]);

   219

   220

	if(inputValue != outputValue) {

   221

		numAsyncCycles++;

   222

	} else {

   223

		numAsyncCycles = 0;

   224

	}

   225

   226

	if(numAsyncCycles > 2) {

   227

		if(error != 0xff) {

   228

			error++;

   229

		}

   230

	}

   231

   232

   233

    if (counter) {

   234

        counter--;

   235

    } else {

   236

        counter = 5; //update delay

   237

   238

   239

   240

        // calculate new process data

   241

        outputValue++;

   242

   243

        // check for master state (optional)

   244

        check_master_state();

   245

   246

        // check for islave configuration state(s) (optional)

   247

        check_slave_config_states();

   248

    }

   249

   250

    // write process data

   251

    EC_WRITE_U8(domain1_pd + off_dig_out[1], outputValue);

   252

    EC_WRITE_U8(domain1_pd + off_dig_out[0], error);

   253

   254

    // send process data

   255

    ecrt_domain_queue(domain1);

   256

    ecrt_master_send(master);

   257

}

   258

   259

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

   260

   261

void signal_handler(int signum) {

   262

    switch (signum) {

   263

        case SIGALRM:

   264

            sig_alarms++;

   265

            break;

   266

    }

   267

}

   268

   269

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

   270

   271

int Init_EL2008(uint16_t position)

   272

{

   273

    ec_slave_config_t *sc;

   274

    if (!(sc = ecrt_master_slave_config(master, 0, position, Beckhoff_EL2008))) {

   275

        fprintf(stderr, "Failed to get EL2008 configuration #%u.\n", position);

   276

        return -1;

   277

    }

   278

    if (ecrt_slave_config_pdos(sc, EC_END, el2008_syncs)) {

   279

        fprintf(stderr, "Failed to configure PDOs #%u.\n", position);

   280

        return -1;

   281

    }

   282

    if (0 > (off_dig_out[position] = ecrt_slave_config_reg_pdo_entry(sc, 0x7000, 1, domain1, NULL))) {

   283

		fprintf(stderr, "Failed to configure reg PDOs #%u.\n", position);

   284

		return -1;

   285

	}

   286

    fprintf(stderr, "EL2008 #%u configured offset: %d.\n", position, off_dig_out[position]);

   287

    return 0;

   288

}

   289

   290

int main(int argc, char **argv)

   291

{

   292

    ec_slave_config_t *sc;

   293

    struct sigaction sa;

   294

    struct itimerval tv;

   295

    uint16_t i;

   296

   297

    master = ecrt_request_master(0);

   298

    if (!master)

   299

        return -1;

   300

   301

    domain1 = ecrt_master_create_domain(master);

   302

    if (!domain1)

   303

        return -1;

   304

   305

    printf("Configuring PDOs...\n");

   306

    if (!(sc_ana_in = ecrt_master_slave_config(master, 0, 2, Beckhoff_EL1008))) {

   307

        fprintf(stderr, "Failed to get digital in configuration.\n");

   308

        return -1;

   309

    }

   310

    if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el1008_syncs)) {

   311

        fprintf(stderr, "Failed to configure PDOs.\n");

   312

        return -1;

   313

    }

   314

    if (0 > (off_dig_in[0] = ecrt_slave_config_reg_pdo_entry(sc_ana_in, 0x6000, 1, domain1, NULL))) {

   315

		fprintf(stderr, "Failed to configure reg PDOs.\n");

   316

		return -1;

   317

	}

   318

    printf("EL1008 configured.\n");

   319

   320

    for(i = 0; i < 2; ++i) {

   321

        if(Init_EL2008(i)) {

   322

            fprintf(stderr, "Failed to initialize EL2008 #%u.\n", i);

   323

            return -1;

   324

        }

   325

    }

   326

   327

    // Create configuration for bus coupler

   328

    sc = ecrt_master_slave_config(master, BusCouplerPos, Beckhoff_EK1100);

   329

    if (!sc)

   330

        return -1;

   331

    fprintf(stderr, "EK1100 configured.\n");

   332

   333

    printf("Activating master...\n");

   334

    if (ecrt_master_activate(master))

   335

        return -1;

   336

   337

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

   338

        return -1;

   339

    }

   340

   341

#if PRIORITY

   342

    pid_t pid = getpid();

   343

    if (setpriority(PRIO_PROCESS, pid, -19))

   344

        fprintf(stderr, "Warning: Failed to set priority: %s\n",

   345

                strerror(errno));

   346

#endif

   347

   348

    sa.sa_handler = signal_handler;

   349

    sigemptyset(&sa.sa_mask);

   350

    sa.sa_flags = 0;

   351

    if (sigaction(SIGALRM, &sa, 0)) {

   352

        fprintf(stderr, "Failed to install signal handler!\n");

   353

        return -1;

   354

    }

   355

   356

    printf("Starting timer...\n");

   357

    tv.it_interval.tv_sec = 0;

   358

    tv.it_interval.tv_usec = 1000000 / FREQUENCY;

   359

    tv.it_value.tv_sec = 0;

   360

    tv.it_value.tv_usec = 1000;

   361

    if (setitimer(ITIMER_REAL, &tv, NULL)) {

   362

        fprintf(stderr, "Failed to start timer: %s\n", strerror(errno));

   363

        return 1;

   364

    }

   365

   366

    printf("Started.\n");

   367

    while (1) {

   368

        pause();

   369

   370

#if 0

   371

        struct timeval t;

   372

        gettimeofday(&t, NULL);

   373

        printf("%u.%06u\n", t.tv_sec, t.tv_usec);

   374

#endif

   375

   376

        while (sig_alarms != user_alarms) {

   377

            cyclic_task();

   378

            user_alarms++;

   379

        }

   380

    }

   381

   382

    return 0;

   383

}

   384

   385

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