etherlabmaster: examples/user/main.c@38b7e05b20c1 (annotated)

1242 632a6b91f8e4 First version of userspace library with requesting/releasing. Florian Pose <fp@igh-essen.com> parents: diff changeset	1	/*****************************************************************************
632a6b91f8e4 First version of userspace library with requesting/releasing. Florian Pose <fp@igh-essen.com> parents: diff changeset	2	*
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	3	* $Id$
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	4	*
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	5	* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	6	*
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	7	* This file is part of the IgH EtherCAT Master.
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	8	*
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	9	* The IgH EtherCAT Master is free software; you can redistribute it
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	10	* and/or modify it under the terms of the GNU General Public License
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	11	* as published by the Free Software Foundation; either version 2 of the
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	12	* License, or (at your option) any later version.
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	13	*
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	14	* The IgH EtherCAT Master is distributed in the hope that it will be
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	15	* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	16	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	17	* GNU General Public License for more details.
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	18	*
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	19	* You should have received a copy of the GNU General Public License
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	20	* along with the IgH EtherCAT Master; if not, write to the Free Software
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	21	* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	22	*
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	23	* The right to use EtherCAT Technology is granted and comes free of
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	24	* charge under condition of compatibility of product made by
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	25	* Licensee. People intending to distribute/sell products based on the
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	26	* code, have to sign an agreement to guarantee that products using
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	27	* software based on IgH EtherCAT master stay compatible with the actual
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	28	* EtherCAT specification (which are released themselves as an open
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	29	* standard) as the (only) precondition to have the right to use EtherCAT
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	30	* Technology, IP and trade marks.
1242 632a6b91f8e4 First version of userspace library with requesting/releasing. Florian Pose <fp@igh-essen.com> parents: diff changeset	31	*
632a6b91f8e4 First version of userspace library with requesting/releasing. Florian Pose <fp@igh-essen.com> parents: diff changeset	32	****************************************************************************/
632a6b91f8e4 First version of userspace library with requesting/releasing. Florian Pose <fp@igh-essen.com> parents: diff changeset	33
1249 d64ed42e0d11 Userspace example with priority. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	34	#include <errno.h>
d64ed42e0d11 Userspace example with priority. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	35	#include <signal.h>
d64ed42e0d11 Userspace example with priority. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	36	#include <stdio.h>
d64ed42e0d11 Userspace example with priority. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	37	#include <string.h>
d64ed42e0d11 Userspace example with priority. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	38	#include <sys/resource.h>
d64ed42e0d11 Userspace example with priority. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	39	#include <sys/time.h>
d64ed42e0d11 Userspace example with priority. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	40	#include <sys/types.h>
1247 5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer(). Florian Pose <fp@igh-essen.com> parents: 1246 diff changeset	41	#include <unistd.h>
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer(). Florian Pose <fp@igh-essen.com> parents: 1246 diff changeset	42
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	43	/****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	44
1242 632a6b91f8e4 First version of userspace library with requesting/releasing. Florian Pose <fp@igh-essen.com> parents: diff changeset	45	#include "ecrt.h"
632a6b91f8e4 First version of userspace library with requesting/releasing. Florian Pose <fp@igh-essen.com> parents: diff changeset	46
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	47	/****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	48
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	49	// Optional features
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	50	#define CONFIGURE_PDOS 1
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	51	#define EL3152_ALT_PDOS 0
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	52	#define SDO_ACCESS 0
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	53	#define VOE_ACCESS 0
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	54
1249 d64ed42e0d11 Userspace example with priority. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	55	#define PRIORITY 1
d64ed42e0d11 Userspace example with priority. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	56
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	57	#define BusCouplerPos 0, 0
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	58	#define AnaOutSlavePos 0, 1
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	59	#define AnaInSlavePos 0, 2
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	60	#define DigOutSlavePos 0, 3
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	61
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	62	#define Beckhoff_EK1100 0x00000002, 0x044C2C52
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	63	#define Beckhoff_EL2004 0x00000002, 0x07D43052
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	64	#define Beckhoff_EL3152 0x00000002, 0x0c503052
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	65	#define Beckhoff_EL4102 0x00000002, 0x10063052
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	66
1242 632a6b91f8e4 First version of userspace library with requesting/releasing. Florian Pose <fp@igh-essen.com> parents: diff changeset	67	/****************************************************************************/
632a6b91f8e4 First version of userspace library with requesting/releasing. Florian Pose <fp@igh-essen.com> parents: diff changeset	68
1247 5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer(). Florian Pose <fp@igh-essen.com> parents: 1246 diff changeset	69	static unsigned int sig_alarms = 0;
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer(). Florian Pose <fp@igh-essen.com> parents: 1246 diff changeset	70	static unsigned int user_alarms = 0;
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer(). Florian Pose <fp@igh-essen.com> parents: 1246 diff changeset	71
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	72	// offsets for Pdo entries
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	73	static unsigned int off_ana_in;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	74	static unsigned int off_ana_out;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	75	static unsigned int off_dig_out;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	76
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	77	const static ec_pdo_entry_reg_t domain1_regs[] = {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	78	#if EL3152_ALT_PDOS
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	79	{AnaInSlavePos, Beckhoff_EL3152, 0x6401, 1, &off_ana_in},
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	80	#else
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	81	{AnaInSlavePos, Beckhoff_EL3152, 0x3101, 2, &off_ana_in},
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	82	#endif
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	83	{AnaOutSlavePos, Beckhoff_EL4102, 0x3001, 1, &off_ana_out},
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	84	{DigOutSlavePos, Beckhoff_EL2004, 0x3001, 1, &off_dig_out},
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	85	{}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	86	};
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	87
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	88	static ec_slave_config_t *sc_ana_in = NULL;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	89
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	90	/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	91
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	92	#if CONFIGURE_PDOS
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	93
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	94	// Analog in --------------------------
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	95
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	96	static ec_pdo_entry_info_t el3152_pdo_entries[] = {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	97	{0x3101, 1, 8}, // channel 1 status
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	98	{0x3101, 2, 16}, // channel 1 value
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	99	{0x3102, 1, 8}, // channel 2 status
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	100	{0x3102, 2, 16}, // channel 2 value
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	101	{0x6401, 1, 16}, // channel 1 value (alt.)
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	102	{0x6401, 2, 16} // channel 2 value (alt.)
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	103	};
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	104
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	105	#if EL3152_ALT_PDOS
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	106	static ec_pdo_info_t el3152_pdos[] = {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	107	{0x1A10, 2, el3152_pdo_entries + 4},
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	108	};
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	109
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	110	static ec_sync_info_t el3152_syncs[] = {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	111	{2, EC_DIR_OUTPUT},
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	112	{3, EC_DIR_INPUT, 1, el3152_pdos},
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	113	{0xff}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	114	};
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	115	#else
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	116	static ec_pdo_info_t el3152_pdos[] = {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	117	{0x1A00, 2, el3152_pdo_entries},
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	118	{0x1A01, 2, el3152_pdo_entries + 2}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	119	};
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	120
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	121	static ec_sync_info_t el3152_syncs[] = {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	122	{2, EC_DIR_OUTPUT},
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	123	{3, EC_DIR_INPUT, 2, el3152_pdos},
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	124	{0xff}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	125	};
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	126	#endif
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	127
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	128	// Analog out -------------------------
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	129
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	130	static ec_pdo_entry_info_t el4102_pdo_entries[] = {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	131	{0x3001, 1, 16}, // channel 1 value
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	132	{0x3002, 1, 16}, // channel 2 value
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	133	};
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	134
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	135	static ec_pdo_info_t el4102_pdos[] = {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	136	{0x1600, 1, el4102_pdo_entries},
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	137	{0x1601, 1, el4102_pdo_entries + 1}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	138	};
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	139
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	140	static ec_sync_info_t el4102_syncs[] = {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	141	{2, EC_DIR_OUTPUT, 2, el4102_pdos},
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	142	{3, EC_DIR_INPUT},
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	143	{0xff}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	144	};
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	145
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	146	// Digital out ------------------------
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	147
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	148	static ec_pdo_entry_info_t el2004_channels[] = {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	149	{0x3001, 1, 1}, // Value 1
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	150	{0x3001, 2, 1}, // Value 2
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	151	{0x3001, 3, 1}, // Value 3
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	152	{0x3001, 4, 1} // Value 4
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	153	};
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	154
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	155	static ec_pdo_info_t el2004_pdos[] = {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	156	{0x1600, 1, &el2004_channels[0]},
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	157	{0x1601, 1, &el2004_channels[1]},
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	158	{0x1602, 1, &el2004_channels[2]},
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	159	{0x1603, 1, &el2004_channels[3]}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	160	};
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	161
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	162	static ec_sync_info_t el2004_syncs[] = {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	163	{0, EC_DIR_OUTPUT, 4, el2004_pdos},
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	164	{1, EC_DIR_INPUT},
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	165	{0xff}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	166	};
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	167	#endif
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	168
1247 5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer(). Florian Pose <fp@igh-essen.com> parents: 1246 diff changeset	169	/****************************************************************************/
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer(). Florian Pose <fp@igh-essen.com> parents: 1246 diff changeset	170
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer(). Florian Pose <fp@igh-essen.com> parents: 1246 diff changeset	171	void signal_handler(int signum) {
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer(). Florian Pose <fp@igh-essen.com> parents: 1246 diff changeset	172	switch (signum) {
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer(). Florian Pose <fp@igh-essen.com> parents: 1246 diff changeset	173	case SIGALRM:
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer(). Florian Pose <fp@igh-essen.com> parents: 1246 diff changeset	174	sig_alarms++;
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer(). Florian Pose <fp@igh-essen.com> parents: 1246 diff changeset	175	break;
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer(). Florian Pose <fp@igh-essen.com> parents: 1246 diff changeset	176	}
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer(). Florian Pose <fp@igh-essen.com> parents: 1246 diff changeset	177	}
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer(). Florian Pose <fp@igh-essen.com> parents: 1246 diff changeset	178
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer(). Florian Pose <fp@igh-essen.com> parents: 1246 diff changeset	179	/****************************************************************************/
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer(). Florian Pose <fp@igh-essen.com> parents: 1246 diff changeset	180
1242 632a6b91f8e4 First version of userspace library with requesting/releasing. Florian Pose <fp@igh-essen.com> parents: diff changeset	181	int main(int argc, char **argv)
632a6b91f8e4 First version of userspace library with requesting/releasing. Florian Pose <fp@igh-essen.com> parents: diff changeset	182	{
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: 1242 diff changeset	183	ec_master_t *master;
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	184	ec_domain_t *domain1;
1246 4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	185	ec_slave_config_t *sc;
1247 5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer(). Florian Pose <fp@igh-essen.com> parents: 1246 diff changeset	186	struct sigaction sa;
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer(). Florian Pose <fp@igh-essen.com> parents: 1246 diff changeset	187	struct itimerval tv;
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: 1242 diff changeset	188
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: 1242 diff changeset	189	master = ecrt_request_master(0);
1242 632a6b91f8e4 First version of userspace library with requesting/releasing. Florian Pose <fp@igh-essen.com> parents: diff changeset	190	if (!master)
632a6b91f8e4 First version of userspace library with requesting/releasing. Florian Pose <fp@igh-essen.com> parents: diff changeset	191	return -1;
632a6b91f8e4 First version of userspace library with requesting/releasing. Florian Pose <fp@igh-essen.com> parents: diff changeset	192
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	193	domain1 = ecrt_master_create_domain(master);
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	194	if (!domain1)
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	195	return -1;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	196
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	197	if (!(sc_ana_in = ecrt_master_slave_config(
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	198	master, AnaInSlavePos, Beckhoff_EL3152))) {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	199	fprintf(stderr, "Failed to get slave configuration.\n");
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	200	return -1;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	201	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	202
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	203	#if CONFIGURE_PDOS
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	204	printf("Configuring Pdos...\n");
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	205	if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3152_syncs)) {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	206	fprintf(stderr, "Failed to configure Pdos.\n");
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	207	return -1;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	208	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	209
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	210	if (!(sc = ecrt_master_slave_config(
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	211	master, AnaOutSlavePos, Beckhoff_EL4102))) {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	212	fprintf(stderr, "Failed to get slave configuration.\n");
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	213	return -1;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	214	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	215
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	216	if (ecrt_slave_config_pdos(sc, EC_END, el4102_syncs)) {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	217	fprintf(stderr, "Failed to configure Pdos.\n");
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	218	return -1;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	219	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	220
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	221	if (!(sc = ecrt_master_slave_config(
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	222	master, DigOutSlavePos, Beckhoff_EL2004))) {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	223	fprintf(stderr, "Failed to get slave configuration.\n");
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	224	return -1;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	225	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	226
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	227	if (ecrt_slave_config_pdos(sc, EC_END, el2004_syncs)) {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	228	fprintf(stderr, "Failed to configure Pdos.\n");
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	229	return -1;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	230	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	231	#endif
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	232
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	233	// Create configuration for bus coupler
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	234	sc = ecrt_master_slave_config(master, BusCouplerPos, Beckhoff_EK1100);
1246 4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	235	if (!sc)
4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	236	return -1;
4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	237
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	238	if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	239	fprintf(stderr, "Pdo entry registration failed!\n");
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	240	return -1;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	241	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	242
1249 d64ed42e0d11 Userspace example with priority. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	243	printf("Activating master...\n");
1247 5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer(). Florian Pose <fp@igh-essen.com> parents: 1246 diff changeset	244	if (ecrt_master_activate(master))
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer(). Florian Pose <fp@igh-essen.com> parents: 1246 diff changeset	245	return -1;
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer(). Florian Pose <fp@igh-essen.com> parents: 1246 diff changeset	246
1249 d64ed42e0d11 Userspace example with priority. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	247	#if PRIORITY
d64ed42e0d11 Userspace example with priority. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	248	pid_t pid = getpid();
d64ed42e0d11 Userspace example with priority. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	249	if (setpriority(PRIO_PROCESS, pid, -19))
d64ed42e0d11 Userspace example with priority. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	250	fprintf(stderr, "Warning: Failed to set priority: %s\n",
d64ed42e0d11 Userspace example with priority. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	251	strerror(errno));
d64ed42e0d11 Userspace example with priority. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	252	#endif
d64ed42e0d11 Userspace example with priority. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	253
1247 5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer(). Florian Pose <fp@igh-essen.com> parents: 1246 diff changeset	254	sa.sa_handler = signal_handler;
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer(). Florian Pose <fp@igh-essen.com> parents: 1246 diff changeset	255	sigemptyset(&sa.sa_mask);
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer(). Florian Pose <fp@igh-essen.com> parents: 1246 diff changeset	256	sa.sa_flags = 0;
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer(). Florian Pose <fp@igh-essen.com> parents: 1246 diff changeset	257	if (sigaction(SIGALRM, &sa, 0)) {
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer(). Florian Pose <fp@igh-essen.com> parents: 1246 diff changeset	258	fprintf(stderr, "Failed to install signal handler!\n");
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer(). Florian Pose <fp@igh-essen.com> parents: 1246 diff changeset	259	return -1;
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer(). Florian Pose <fp@igh-essen.com> parents: 1246 diff changeset	260	}
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer(). Florian Pose <fp@igh-essen.com> parents: 1246 diff changeset	261
1249 d64ed42e0d11 Userspace example with priority. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	262	printf("Starting timer...\n");
1247 5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer(). Florian Pose <fp@igh-essen.com> parents: 1246 diff changeset	263	tv.it_interval.tv_sec = 0;
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	264	tv.it_interval.tv_usec = 10000;
1247 5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer(). Florian Pose <fp@igh-essen.com> parents: 1246 diff changeset	265	tv.it_value.tv_sec = 0;
1249 d64ed42e0d11 Userspace example with priority. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	266	tv.it_value.tv_usec = 1000;
1247 5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer(). Florian Pose <fp@igh-essen.com> parents: 1246 diff changeset	267	if (setitimer(ITIMER_REAL, &tv, NULL)) {
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer(). Florian Pose <fp@igh-essen.com> parents: 1246 diff changeset	268	fprintf(stderr, "Failed to start timer: %s\n", strerror(errno));
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer(). Florian Pose <fp@igh-essen.com> parents: 1246 diff changeset	269	return 1;
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer(). Florian Pose <fp@igh-essen.com> parents: 1246 diff changeset	270	}
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer(). Florian Pose <fp@igh-essen.com> parents: 1246 diff changeset	271
1249 d64ed42e0d11 Userspace example with priority. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	272	printf("Started.\n");
1242 632a6b91f8e4 First version of userspace library with requesting/releasing. Florian Pose <fp@igh-essen.com> parents: diff changeset	273	while (1) {
1247 5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer(). Florian Pose <fp@igh-essen.com> parents: 1246 diff changeset	274	sleep(1);
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer(). Florian Pose <fp@igh-essen.com> parents: 1246 diff changeset	275
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	276	#if 0
1249 d64ed42e0d11 Userspace example with priority. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	277	struct timeval t;
d64ed42e0d11 Userspace example with priority. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	278	gettimeofday(&t, NULL);
d64ed42e0d11 Userspace example with priority. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	279	printf("%u.%06u\n", t.tv_sec, t.tv_usec);
d64ed42e0d11 Userspace example with priority. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	280	#endif
d64ed42e0d11 Userspace example with priority. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	281
1247 5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer(). Florian Pose <fp@igh-essen.com> parents: 1246 diff changeset	282	while (sig_alarms != user_alarms) {
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer(). Florian Pose <fp@igh-essen.com> parents: 1246 diff changeset	283	ecrt_master_receive(master);
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer(). Florian Pose <fp@igh-essen.com> parents: 1246 diff changeset	284	ecrt_master_send(master);
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer(). Florian Pose <fp@igh-essen.com> parents: 1246 diff changeset	285
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer(). Florian Pose <fp@igh-essen.com> parents: 1246 diff changeset	286	user_alarms++;
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer(). Florian Pose <fp@igh-essen.com> parents: 1246 diff changeset	287	}
1242 632a6b91f8e4 First version of userspace library with requesting/releasing. Florian Pose <fp@igh-essen.com> parents: diff changeset	288	}
632a6b91f8e4 First version of userspace library with requesting/releasing. Florian Pose <fp@igh-essen.com> parents: diff changeset	289
632a6b91f8e4 First version of userspace library with requesting/releasing. Florian Pose <fp@igh-essen.com> parents: diff changeset	290	return 0;
632a6b91f8e4 First version of userspace library with requesting/releasing. Florian Pose <fp@igh-essen.com> parents: diff changeset	291	}
632a6b91f8e4 First version of userspace library with requesting/releasing. Florian Pose <fp@igh-essen.com> parents: diff changeset	292
632a6b91f8e4 First version of userspace library with requesting/releasing. Florian Pose <fp@igh-essen.com> parents: diff changeset	293	/****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Thu, 09 Oct 2008 13:31:50 +0000
changeset 1255	38b7e05b20c1
parent 1249	d64ed42e0d11
child 1258	900f1124e8f8
permissions	-rw-r--r--