examples/user/main.c
author Florian Pose <fp@igh-essen.com>
Tue, 14 Oct 2008 08:39:42 +0000
changeset 1262 3c462a0dbf3c
parent 1261 72e04173691f
child 1326 ef907b0b5125
permissions -rw-r--r--
Added e100 for kernel 2.6.24, provided by Mathias Weber.
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/*****************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006  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
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 *  and/or modify it under the terms of the GNU General Public License
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 *  as published by the Free Software Foundation; either version 2 of the
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 *  License, or (at your option) any later version.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be
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 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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 *  GNU General 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
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 *  along 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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 *  The right to use EtherCAT Technology is granted and comes free of
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 *  charge under condition of compatibility of product made by
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 *  Licensee. People intending to distribute/sell products based on the
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 *  code, have to sign an agreement to guarantee that products using
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 *  software based on IgH EtherCAT master stay compatible with the actual
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 *  EtherCAT specification (which are released themselves as an open
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 *  standard) as the (only) precondition to have the right to use EtherCAT
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 *  Technology, IP and trade marks.
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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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static ec_slave_config_t *sc_ana_in = NULL;
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static ec_slave_config_state_t sc_ana_in_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 AnaOutSlavePos 0, 1
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#define AnaInSlavePos  0, 2
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#define DigOutSlavePos 0, 3
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#define Beckhoff_EK1100 0x00000002, 0x044c2c52
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#define Beckhoff_EL2004 0x00000002, 0x07d43052
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#define Beckhoff_EL2032 0x00000002, 0x07f03052
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#define Beckhoff_EL3152 0x00000002, 0x0c503052
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#define Beckhoff_EL4102 0x00000002, 0x10063052
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// offsets for Pdo entries
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static unsigned int off_ana_in_status;
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static unsigned int off_ana_in_value;
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static unsigned int off_ana_out;
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static unsigned int off_dig_out;
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const static ec_pdo_entry_reg_t domain1_regs[] = {
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    {AnaInSlavePos,  Beckhoff_EL3152, 0x3101, 1, &off_ana_in_status},
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    {AnaInSlavePos,  Beckhoff_EL3152, 0x3101, 2, &off_ana_in_value},
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	{AnaOutSlavePos, Beckhoff_EL4102, 0x3001, 1, &off_ana_out},
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	{DigOutSlavePos, Beckhoff_EL2032, 0x3001, 1, &off_dig_out},
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	{}
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};
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static unsigned int counter = 0;
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static unsigned int blink = 0;
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/*****************************************************************************/
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#if CONFIGURE_PDOS
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// Analog in --------------------------
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static ec_pdo_entry_info_t el3152_pdo_entries[] = {
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    {0x3101, 1,  8}, // channel 1 status
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    {0x3101, 2, 16}, // channel 1 value
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    {0x3102, 1,  8}, // channel 2 status
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    {0x3102, 2, 16}, // channel 2 value
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    {0x6401, 1, 16}, // channel 1 value (alt.)
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    {0x6401, 2, 16}  // channel 2 value (alt.)
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};
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static ec_pdo_info_t el3152_pdos[] = {
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    {0x1A00, 2, el3152_pdo_entries},
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    {0x1A01, 2, el3152_pdo_entries + 2}
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};
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static ec_sync_info_t el3152_syncs[] = {
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    {2, EC_DIR_OUTPUT},
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    {3, EC_DIR_INPUT, 2, el3152_pdos},
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    {0xff}
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};
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// Analog out -------------------------
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static ec_pdo_entry_info_t el4102_pdo_entries[] = {
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    {0x3001, 1, 16}, // channel 1 value
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    {0x3002, 1, 16}, // channel 2 value
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};
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static ec_pdo_info_t el4102_pdos[] = {
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    {0x1600, 1, el4102_pdo_entries},
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    {0x1601, 1, el4102_pdo_entries + 1}
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};
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static ec_sync_info_t el4102_syncs[] = {
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    {2, EC_DIR_OUTPUT, 2, el4102_pdos},
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    {3, EC_DIR_INPUT},
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    {0xff}
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};
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// Digital out ------------------------
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static ec_pdo_entry_info_t el2004_channels[] = {
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    {0x3001, 1, 1}, // Value 1
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    {0x3001, 2, 1}, // Value 2
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    {0x3001, 3, 1}, // Value 3
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    {0x3001, 4, 1}  // Value 4
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};
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static ec_pdo_info_t el2004_pdos[] = {
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    {0x1600, 1, &el2004_channels[0]},
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    {0x1601, 1, &el2004_channels[1]},
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    {0x1602, 1, &el2004_channels[2]},
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    {0x1603, 1, &el2004_channels[3]}
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};
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static ec_sync_info_t el2004_syncs[] = {
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    {0, EC_DIR_OUTPUT, 4, el2004_pdos},
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    {1, EC_DIR_INPUT},
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    {0xff}
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};
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#endif
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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 check_slave_config_states(void)
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{
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    ec_slave_config_state_t s;
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    ecrt_slave_config_state(sc_ana_in, &s);
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    if (s.al_state != sc_ana_in_state.al_state)
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        printf("AnaIn: State 0x%02X.\n", s.al_state);
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    if (s.online != sc_ana_in_state.online)
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        printf("AnaIn: %s.\n", s.online ? "online" : "offline");
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    if (s.operational != sc_ana_in_state.operational)
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        printf("AnaIn: %soperational.\n",
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                s.operational ? "" : "Not ");
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    sc_ana_in_state = s;
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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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        // check for islave configuration state(s) (optional)
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        check_slave_config_states();
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    }
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#if 0
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    // read process data
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    printf("AnaIn: state %u value %u\n",
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            EC_READ_U8(domain1_pd + off_ana_in_status),
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            EC_READ_U16(domain1_pd + off_ana_in_value));
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#endif
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#if 1
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    // write process data
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    EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x06 : 0x09);
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#endif
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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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   284
	ec_slave_config_t *sc;
1247
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    struct sigaction sa;
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   286
    struct itimerval tv;
1244
0b70040d3daa No kernel handles in userspace; Domain creation.
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   287
    
0b70040d3daa No kernel handles in userspace; Domain creation.
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   288
    master = ecrt_request_master(0);
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	if (!master)
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		return -1;
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   291
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   292
    domain1 = ecrt_master_create_domain(master);
38b7e05b20c1 Added some slave configuration methods.
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   293
    if (!domain1)
38b7e05b20c1 Added some slave configuration methods.
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   294
        return -1;
38b7e05b20c1 Added some slave configuration methods.
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   295
38b7e05b20c1 Added some slave configuration methods.
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   296
    if (!(sc_ana_in = ecrt_master_slave_config(
38b7e05b20c1 Added some slave configuration methods.
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   297
                    master, AnaInSlavePos, Beckhoff_EL3152))) {
38b7e05b20c1 Added some slave configuration methods.
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   298
        fprintf(stderr, "Failed to get slave configuration.\n");
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   299
        return -1;
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   300
    }
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   301
38b7e05b20c1 Added some slave configuration methods.
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   302
#if CONFIGURE_PDOS
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   303
    printf("Configuring Pdos...\n");
38b7e05b20c1 Added some slave configuration methods.
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   304
    if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3152_syncs)) {
38b7e05b20c1 Added some slave configuration methods.
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   305
        fprintf(stderr, "Failed to configure Pdos.\n");
38b7e05b20c1 Added some slave configuration methods.
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   306
        return -1;
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   307
    }
38b7e05b20c1 Added some slave configuration methods.
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   308
38b7e05b20c1 Added some slave configuration methods.
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   309
    if (!(sc = ecrt_master_slave_config(
38b7e05b20c1 Added some slave configuration methods.
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   310
                    master, AnaOutSlavePos, Beckhoff_EL4102))) {
38b7e05b20c1 Added some slave configuration methods.
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   311
        fprintf(stderr, "Failed to get slave configuration.\n");
38b7e05b20c1 Added some slave configuration methods.
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   312
        return -1;
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   313
    }
38b7e05b20c1 Added some slave configuration methods.
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   314
38b7e05b20c1 Added some slave configuration methods.
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   315
    if (ecrt_slave_config_pdos(sc, EC_END, el4102_syncs)) {
38b7e05b20c1 Added some slave configuration methods.
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   316
        fprintf(stderr, "Failed to configure Pdos.\n");
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   317
        return -1;
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diff changeset
   318
    }
38b7e05b20c1 Added some slave configuration methods.
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   319
38b7e05b20c1 Added some slave configuration methods.
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   320
    if (!(sc = ecrt_master_slave_config(
1259
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   321
                    master, DigOutSlavePos, Beckhoff_EL2032))) {
1255
38b7e05b20c1 Added some slave configuration methods.
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   322
        fprintf(stderr, "Failed to get slave configuration.\n");
38b7e05b20c1 Added some slave configuration methods.
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   323
        return -1;
38b7e05b20c1 Added some slave configuration methods.
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diff changeset
   324
    }
38b7e05b20c1 Added some slave configuration methods.
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   325
38b7e05b20c1 Added some slave configuration methods.
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   326
    if (ecrt_slave_config_pdos(sc, EC_END, el2004_syncs)) {
38b7e05b20c1 Added some slave configuration methods.
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   327
        fprintf(stderr, "Failed to configure Pdos.\n");
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   328
        return -1;
38b7e05b20c1 Added some slave configuration methods.
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diff changeset
   329
    }
38b7e05b20c1 Added some slave configuration methods.
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   330
#endif
38b7e05b20c1 Added some slave configuration methods.
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   331
38b7e05b20c1 Added some slave configuration methods.
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   332
    // Create configuration for bus coupler
38b7e05b20c1 Added some slave configuration methods.
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diff changeset
   333
    sc = ecrt_master_slave_config(master, BusCouplerPos, Beckhoff_EK1100);
1246
4042bda8c980 Creating slave configurations.
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diff changeset
   334
    if (!sc)
4042bda8c980 Creating slave configurations.
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diff changeset
   335
        return -1;
4042bda8c980 Creating slave configurations.
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diff changeset
   336
1255
38b7e05b20c1 Added some slave configuration methods.
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diff changeset
   337
    if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
38b7e05b20c1 Added some slave configuration methods.
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diff changeset
   338
        fprintf(stderr, "Pdo entry registration failed!\n");
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
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diff changeset
   339
		return -1;
38b7e05b20c1 Added some slave configuration methods.
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diff changeset
   340
    }
38b7e05b20c1 Added some slave configuration methods.
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diff changeset
   341
1249
d64ed42e0d11 Userspace example with priority.
Florian Pose <fp@igh-essen.com>
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diff changeset
   342
    printf("Activating master...\n");
1247
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
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diff changeset
   343
    if (ecrt_master_activate(master))
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
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diff changeset
   344
        return -1;
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
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diff changeset
   345
1258
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Florian Pose <fp@igh-essen.com>
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diff changeset
   346
    if (!(domain1_pd = ecrt_domain_data(domain1))) {
900f1124e8f8 Memory-mapped process data.
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diff changeset
   347
        return -1;
900f1124e8f8 Memory-mapped process data.
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diff changeset
   348
    }
900f1124e8f8 Memory-mapped process data.
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diff changeset
   349
1249
d64ed42e0d11 Userspace example with priority.
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diff changeset
   350
#if PRIORITY
d64ed42e0d11 Userspace example with priority.
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diff changeset
   351
    pid_t pid = getpid();
d64ed42e0d11 Userspace example with priority.
Florian Pose <fp@igh-essen.com>
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diff changeset
   352
    if (setpriority(PRIO_PROCESS, pid, -19))
d64ed42e0d11 Userspace example with priority.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   353
        fprintf(stderr, "Warning: Failed to set priority: %s\n",
d64ed42e0d11 Userspace example with priority.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   354
                strerror(errno));
d64ed42e0d11 Userspace example with priority.
Florian Pose <fp@igh-essen.com>
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diff changeset
   355
#endif
d64ed42e0d11 Userspace example with priority.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   356
1247
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
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diff changeset
   357
    sa.sa_handler = signal_handler;
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
   358
    sigemptyset(&sa.sa_mask);
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
   359
    sa.sa_flags = 0;
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
   360
    if (sigaction(SIGALRM, &sa, 0)) {
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
   361
        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
   362
        return -1;
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
   363
    }
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
   364
1249
d64ed42e0d11 Userspace example with priority.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   365
    printf("Starting timer...\n");
1247
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
   366
    tv.it_interval.tv_sec = 0;
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   367
    tv.it_interval.tv_usec = 1000000 / FREQUENCY;
1247
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
   368
    tv.it_value.tv_sec = 0;
1249
d64ed42e0d11 Userspace example with priority.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   369
    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
   370
    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
   371
        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
   372
        return 1;
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
   373
    }
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
   374
1249
d64ed42e0d11 Userspace example with priority.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   375
    printf("Started.\n");
1242
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   376
	while (1) {
1261
72e04173691f Replaced sleep() with pause().
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   377
        pause();
1247
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
   378
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   379
#if 0
1249
d64ed42e0d11 Userspace example with priority.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   380
        struct timeval t;
d64ed42e0d11 Userspace example with priority.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   381
        gettimeofday(&t, NULL);
d64ed42e0d11 Userspace example with priority.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   382
        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
   383
#endif
d64ed42e0d11 Userspace example with priority.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   384
1247
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
   385
        while (sig_alarms != user_alarms) {
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   386
            cyclic_task();
1247
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
   387
            user_alarms++;
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
   388
        }
1242
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   389
	}
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   390
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   391
	return 0;
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   392
}
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   393
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   394
/****************************************************************************/