| author | Florian Pose <fp@igh-essen.com> |
| Tue, 05 May 2009 08:15:02 +0000 | |
| changeset 1441 | 27a8d6f97a95 |
| parent 1438 | 1d30b96bb04f |
| child 1449 | 6d1ef8afeaab |
| 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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/****************************************************************************/ |
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#include "ecrt.h" |
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/****************************************************************************/ |
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// Application parameters |
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#define FREQUENCY 100 |
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#define PRIORITY 1 |
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// Optional features |
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#define CONFIGURE_PDOS 1 |
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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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// Timer |
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static unsigned int sig_alarms = 0; |
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static unsigned int user_alarms = 0; |
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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_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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struct timeval app_time; |
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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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int i; |
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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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// calculate new process data |
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blink = !blink; |
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// check for master state (optional) |
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check_master_state(); |
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} |
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if (blink_counter) {
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blink_counter--; |
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} else {
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blink_counter = 9; |
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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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app_time.tv_usec += 1000000 / FREQUENCY; |
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if (app_time.tv_usec >= 1000000) {
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app_time.tv_usec -= 1000000; |
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app_time.tv_sec++; |
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} |
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1434
4c6fe0ae37f1
Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents:
1417
diff
changeset
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ecrt_master_application_time(master, EC_TIMEVAL2NANO(&app_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 = 9; |
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1434
4c6fe0ae37f1
Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents:
1417
diff
changeset
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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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} |
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/****************************************************************************/ |
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void signal_handler(int signum) {
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switch (signum) {
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case SIGALRM: |
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sig_alarms++; |
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break; |
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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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struct sigaction sa; |
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struct itimerval tv; |
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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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#if 1 |
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// configure SYNC signals for this slave |
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ecrt_slave_config_dc_assign_activate(sc, 0x0700); |
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1438
1d30b96bb04f
Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals().
Florian Pose <fp@igh-essen.com>
parents:
1434
diff
changeset
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ecrt_slave_config_dc_sync_signals(sc, 10000000, 4400000, 0, 0); |
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#endif |
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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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#if PRIORITY |
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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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#endif |
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sa.sa_handler = signal_handler; |
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sigemptyset(&sa.sa_mask); |
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sa.sa_flags = 0; |
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if (sigaction(SIGALRM, &sa, 0)) {
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fprintf(stderr, "Failed to install signal handler!\n"); |
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return -1; |
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} |
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printf("Starting timer...\n");
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tv.it_interval.tv_sec = 0; |
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tv.it_interval.tv_usec = 1000000 / FREQUENCY; |
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tv.it_value.tv_sec = 0; |
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tv.it_value.tv_usec = 1000; |
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if (setitimer(ITIMER_REAL, &tv, NULL)) {
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fprintf(stderr, "Failed to start timer: %s\n", strerror(errno)); |
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return 1; |
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} |
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gettimeofday(&app_time, NULL); |
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printf("Started.\n");
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while (1) {
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pause(); |
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#if 0 |
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struct timeval t; |
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gettimeofday(&t, NULL); |
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printf("%u.%06u\n", t.tv_sec, t.tv_usec);
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#endif |
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while (sig_alarms != user_alarms) {
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cyclic_task(); |
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user_alarms++; |
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} |
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} |
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return 0; |
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} |
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/****************************************************************************/ |