etherlabmaster: examples/user/main.c@717c331cc227 (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	*
1326 ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1261 diff changeset	5	* Copyright (C) 2007-2009 Florian Pose, Ingenieurgemeinschaft IgH
1255 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	*
1326 ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1261 diff changeset	9	* The IgH EtherCAT Master is free software; you can redistribute it and/or
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1261 diff changeset	10	* modify it under the terms of the GNU General Public License version 2, as
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1261 diff changeset	11	* published by the Free Software Foundation.
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1261 diff changeset	12	*
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1261 diff changeset	13	* The IgH EtherCAT Master is distributed in the hope that it will be useful,
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1261 diff changeset	14	* but WITHOUT ANY WARRANTY; without even the implied warranty of
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1261 diff changeset	15	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1261 diff changeset	16	* Public License for more details.
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1261 diff changeset	17	*
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1261 diff changeset	18	* You should have received a copy of the GNU General Public License along
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1261 diff changeset	19	* with the IgH EtherCAT Master; if not, write to the Free Software
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	20	* 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	21	*
1363 11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1352 diff changeset	22	* ---
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1352 diff changeset	23	*
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1352 diff changeset	24	* The license mentioned above concerns the source code only. Using the
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1352 diff changeset	25	* EtherCAT technology and brand is only permitted in compliance with the
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1352 diff changeset	26	* industrial property and similar rights of Beckhoff Automation GmbH.
1242 632a6b91f8e4 First version of userspace library with requesting/releasing. Florian Pose <fp@igh-essen.com> parents: diff changeset	27	*
632a6b91f8e4 First version of userspace library with requesting/releasing. Florian Pose <fp@igh-essen.com> parents: diff changeset	28	****************************************************************************/
632a6b91f8e4 First version of userspace library with requesting/releasing. Florian Pose <fp@igh-essen.com> parents: diff changeset	29
1249 d64ed42e0d11 Userspace example with priority. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	30	#include <errno.h>
d64ed42e0d11 Userspace example with priority. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	31	#include <signal.h>
d64ed42e0d11 Userspace example with priority. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	32	#include <stdio.h>
d64ed42e0d11 Userspace example with priority. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	33	#include <string.h>
d64ed42e0d11 Userspace example with priority. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	34	#include <sys/resource.h>
d64ed42e0d11 Userspace example with priority. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	35	#include <sys/time.h>
d64ed42e0d11 Userspace example with priority. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	36	#include <sys/types.h>
1247 5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer(). Florian Pose <fp@igh-essen.com> parents: 1246 diff changeset	37	#include <unistd.h>
2649 717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	38	#include <time.h> /* clock_gettime() */
717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	39	#include <sys/mman.h> /* mlockall() */
1247 5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer(). Florian Pose <fp@igh-essen.com> parents: 1246 diff changeset	40
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	41	/****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	42
1242 632a6b91f8e4 First version of userspace library with requesting/releasing. Florian Pose <fp@igh-essen.com> parents: diff changeset	43	#include "ecrt.h"
632a6b91f8e4 First version of userspace library with requesting/releasing. Florian Pose <fp@igh-essen.com> parents: diff changeset	44
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	45	/****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	46
2649 717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	47	/** Task period in ns. */
717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	48	#define PERIOD_NS (1000000)
717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	49
717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	50	#define MAX_SAFE_STACK (8 * 1024) /* The maximum stack size which is
717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	51	guranteed safe to access without
717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	52	faulting */
717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	53
717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	54	/****************************************************************************/
717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	55
717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	56	/* Constants */
717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	57	#define NSEC_PER_SEC (1000000000)
717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	58	#define FREQUENCY (NSEC_PER_SEC / PERIOD_NS)
1258 900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	59
900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	60	/****************************************************************************/
900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	61
900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	62	// EtherCAT
900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	63	static ec_master_t *master = NULL;
1259 5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	64	static ec_master_state_t master_state = {};
1258 900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	65
900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	66	static ec_domain_t *domain1 = NULL;
1259 5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	67	static ec_domain_state_t domain1_state = {};
1258 900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	68
900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	69	static ec_slave_config_t *sc_ana_in = NULL;
1259 5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	70	static ec_slave_config_state_t sc_ana_in_state = {};
1258 900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	71
900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	72	/****************************************************************************/
900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	73
900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	74	// process data
900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	75	static uint8_t *domain1_pd = NULL;
1249 d64ed42e0d11 Userspace example with priority. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	76
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	77	#define BusCouplerPos 0, 0
1352 275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	78	#define DigOutSlavePos 0, 2
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	79	#define AnaInSlavePos 0, 3
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	80	#define AnaOutSlavePos 0, 4
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	81
1259 5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	82	#define Beckhoff_EK1100 0x00000002, 0x044c2c52
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	83	#define Beckhoff_EL2004 0x00000002, 0x07d43052
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	84	#define Beckhoff_EL2032 0x00000002, 0x07f03052
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	85	#define Beckhoff_EL3152 0x00000002, 0x0c503052
1352 275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	86	#define Beckhoff_EL3102 0x00000002, 0x0c1e3052
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	87	#define Beckhoff_EL4102 0x00000002, 0x10063052
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	88
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	89	// offsets for PDO entries
1258 900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	90	static unsigned int off_ana_in_status;
900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	91	static unsigned int off_ana_in_value;
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	92	static unsigned int off_ana_out;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	93	static unsigned int off_dig_out;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	94
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	95	const static ec_pdo_entry_reg_t domain1_regs[] = {
1352 275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	96	{AnaInSlavePos, Beckhoff_EL3102, 0x3101, 1, &off_ana_in_status},
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	97	{AnaInSlavePos, Beckhoff_EL3102, 0x3101, 2, &off_ana_in_value},
1508 60a116ed3897 Removed more tabulators. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	98	{AnaOutSlavePos, Beckhoff_EL4102, 0x3001, 1, &off_ana_out},
60a116ed3897 Removed more tabulators. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	99	{DigOutSlavePos, Beckhoff_EL2032, 0x3001, 1, &off_dig_out},
60a116ed3897 Removed more tabulators. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	100	{}
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	101	};
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	102
1259 5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	103	static unsigned int counter = 0;
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	104	static unsigned int blink = 0;
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	105
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	106	/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	107
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	108	// Analog in --------------------------
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	109
1352 275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	110	static ec_pdo_entry_info_t el3102_pdo_entries[] = {
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	111	{0x3101, 1, 8}, // channel 1 status
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	112	{0x3101, 2, 16}, // channel 1 value
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	113	{0x3102, 1, 8}, // channel 2 status
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	114	{0x3102, 2, 16}, // channel 2 value
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	115	{0x6401, 1, 16}, // channel 1 value (alt.)
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	116	{0x6401, 2, 16} // channel 2 value (alt.)
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	117	};
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	118
1352 275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	119	static ec_pdo_info_t el3102_pdos[] = {
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	120	{0x1A00, 2, el3102_pdo_entries},
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	121	{0x1A01, 2, el3102_pdo_entries + 2}
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	122	};
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	123
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	124	static ec_sync_info_t el3102_syncs[] = {
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	125	{2, EC_DIR_OUTPUT},
1352 275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	126	{3, EC_DIR_INPUT, 2, el3102_pdos},
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	127	{0xff}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	128	};
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	// Analog out -------------------------
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	131
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	132	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	133	{0x3001, 1, 16}, // channel 1 value
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	134	{0x3002, 1, 16}, // channel 2 value
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	135	};
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	136
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	137	static ec_pdo_info_t el4102_pdos[] = {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	138	{0x1600, 1, el4102_pdo_entries},
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	139	{0x1601, 1, el4102_pdo_entries + 1}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	140	};
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	141
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	142	static ec_sync_info_t el4102_syncs[] = {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	143	{2, EC_DIR_OUTPUT, 2, el4102_pdos},
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	144	{3, EC_DIR_INPUT},
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	145	{0xff}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	146	};
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	// Digital out ------------------------
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	149
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	150	static ec_pdo_entry_info_t el2004_channels[] = {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	151	{0x3001, 1, 1}, // Value 1
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	152	{0x3001, 2, 1}, // Value 2
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	153	{0x3001, 3, 1}, // Value 3
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	154	{0x3001, 4, 1} // Value 4
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	155	};
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	156
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	157	static ec_pdo_info_t el2004_pdos[] = {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	158	{0x1600, 1, &el2004_channels[0]},
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	159	{0x1601, 1, &el2004_channels[1]},
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	160	{0x1602, 1, &el2004_channels[2]},
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	161	{0x1603, 1, &el2004_channels[3]}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	162	};
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	163
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	164	static ec_sync_info_t el2004_syncs[] = {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	165	{0, EC_DIR_OUTPUT, 4, el2004_pdos},
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	166	{1, EC_DIR_INPUT},
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	167	{0xff}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	168	};
1352 275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	169
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	170	/*****************************************************************************/
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	171
1259 5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	172	void check_domain1_state(void)
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	173	{
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	174	ec_domain_state_t ds;
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	175
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	176	ecrt_domain_state(domain1, &ds);
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	177
2649 717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	178	if (ds.working_counter != domain1_state.working_counter) {
1259 5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	179	printf("Domain1: WC %u.\n", ds.working_counter);
2649 717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	180	}
717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	181	if (ds.wc_state != domain1_state.wc_state) {
1259 5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	182	printf("Domain1: State %u.\n", ds.wc_state);
2649 717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	183	}
1259 5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	184
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	185	domain1_state = ds;
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	186	}
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	187
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	188	/*****************************************************************************/
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	189
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	190	void check_master_state(void)
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	191	{
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	192	ec_master_state_t ms;
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	193
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	194	ecrt_master_state(master, &ms);
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	195
2649 717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	196	if (ms.slaves_responding != master_state.slaves_responding) {
1259 5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	197	printf("%u slave(s).\n", ms.slaves_responding);
2649 717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	198	}
717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	199	if (ms.al_states != master_state.al_states) {
1259 5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	200	printf("AL states: 0x%02X.\n", ms.al_states);
2649 717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	201	}
717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	202	if (ms.link_up != master_state.link_up) {
1259 5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	203	printf("Link is %s.\n", ms.link_up ? "up" : "down");
2649 717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	204	}
1259 5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	205
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	206	master_state = ms;
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	207	}
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	208
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	209	/*****************************************************************************/
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	210
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	211	void check_slave_config_states(void)
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	212	{
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	213	ec_slave_config_state_t s;
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	214
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	215	ecrt_slave_config_state(sc_ana_in, &s);
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	216
2649 717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	217	if (s.al_state != sc_ana_in_state.al_state) {
1259 5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	218	printf("AnaIn: State 0x%02X.\n", s.al_state);
2649 717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	219	}
717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	220	if (s.online != sc_ana_in_state.online) {
1259 5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	221	printf("AnaIn: %s.\n", s.online ? "online" : "offline");
2649 717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	222	}
717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	223	if (s.operational != sc_ana_in_state.operational) {
717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	224	printf("AnaIn: %soperational.\n", s.operational ? "" : "Not ");
717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	225	}
1259 5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	226
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	227	sc_ana_in_state = s;
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	228	}
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	229
1352 275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	230	/*****************************************************************************/
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	231
1258 900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	232	void cyclic_task()
900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	233	{
1259 5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	234	// receive process data
1258 900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	235	ecrt_master_receive(master);
900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	236	ecrt_domain_process(domain1);
900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	237
2649 717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	238	// check process data state
1259 5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	239	check_domain1_state();
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	240
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	241	if (counter) {
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	242	counter--;
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	243	} else { // do this at 1 Hz
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	244	counter = FREQUENCY;
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	245
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	246	// calculate new process data
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	247	blink = !blink;
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	248
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	249	// check for master state (optional)
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	250	check_master_state();
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	251
2649 717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	252	// check for slave configuration state(s) (optional)
1259 5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	253	check_slave_config_states();
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	254	}
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	255
1258 900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	256	#if 0
1259 5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	257	// read process data
1258 900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	258	printf("AnaIn: state %u value %u\n",
900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	259	EC_READ_U8(domain1_pd + off_ana_in_status),
900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	260	EC_READ_U16(domain1_pd + off_ana_in_value));
900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	261	#endif
1259 5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	262
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	263	#if 1
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	264	// write process data
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	265	EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x06 : 0x09);
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	266	#endif
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	267
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	268	// send process data
1258 900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	269	ecrt_domain_queue(domain1);
900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	270	ecrt_master_send(master);
900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	271	}
900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	272
900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	273	/****************************************************************************/
900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	274
2649 717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	275	void stack_prefault(void)
717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	276	{
717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	277	unsigned char dummy[MAX_SAFE_STACK];
717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	278
717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	279	memset(dummy, 0, MAX_SAFE_STACK);
1247 5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer(). Florian Pose <fp@igh-essen.com> parents: 1246 diff changeset	280	}
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer(). Florian Pose <fp@igh-essen.com> parents: 1246 diff changeset	281
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer(). Florian Pose <fp@igh-essen.com> parents: 1246 diff changeset	282	/****************************************************************************/
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer(). Florian Pose <fp@igh-essen.com> parents: 1246 diff changeset	283
1242 632a6b91f8e4 First version of userspace library with requesting/releasing. Florian Pose <fp@igh-essen.com> parents: diff changeset	284	int main(int argc, char **argv)
632a6b91f8e4 First version of userspace library with requesting/releasing. Florian Pose <fp@igh-essen.com> parents: diff changeset	285	{
1508 60a116ed3897 Removed more tabulators. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	286	ec_slave_config_t *sc;
2649 717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	287	struct timespec wakeup_time;
717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	288	int ret = 0;
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	289
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: 1242 diff changeset	290	master = ecrt_request_master(0);
2649 717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	291	if (!master) {
717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	292	return -1;
717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	293	}
1242 632a6b91f8e4 First version of userspace library with requesting/releasing. Florian Pose <fp@igh-essen.com> parents: diff changeset	294
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	295	domain1 = ecrt_master_create_domain(master);
2649 717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	296	if (!domain1) {
717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	297	return -1;
717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	298	}
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	299
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	300	if (!(sc_ana_in = ecrt_master_slave_config(
1352 275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	301	master, AnaInSlavePos, Beckhoff_EL3102))) {
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	302	fprintf(stderr, "Failed to get slave configuration.\n");
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	303	return -1;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	304	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	305
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	306	printf("Configuring PDOs...\n");
1352 275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	307	if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3102_syncs)) {
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	308	fprintf(stderr, "Failed to configure PDOs.\n");
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	309	return -1;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	310	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	311
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	312	if (!(sc = ecrt_master_slave_config(
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	313	master, AnaOutSlavePos, Beckhoff_EL4102))) {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	314	fprintf(stderr, "Failed to get slave configuration.\n");
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	315	return -1;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	316	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	317
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	318	if (ecrt_slave_config_pdos(sc, EC_END, el4102_syncs)) {
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	319	fprintf(stderr, "Failed to configure PDOs.\n");
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	320	return -1;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	321	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	322
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	323	if (!(sc = ecrt_master_slave_config(
1259 5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	324	master, DigOutSlavePos, Beckhoff_EL2032))) {
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	325	fprintf(stderr, "Failed to get slave configuration.\n");
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	326	return -1;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	327	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	328
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	329	if (ecrt_slave_config_pdos(sc, EC_END, el2004_syncs)) {
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	330	fprintf(stderr, "Failed to configure PDOs.\n");
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	331	return -1;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	332	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	333
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	334	// Create configuration for bus coupler
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	335	sc = ecrt_master_slave_config(master, BusCouplerPos, Beckhoff_EK1100);
2649 717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	336	if (!sc) {
717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	337	return -1;
717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	338	}
1246 4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	339
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	340	if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	341	fprintf(stderr, "PDO entry registration failed!\n");
1508 60a116ed3897 Removed more tabulators. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	342	return -1;
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	343	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1249 diff changeset	344
1249 d64ed42e0d11 Userspace example with priority. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	345	printf("Activating master...\n");
2649 717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	346	if (ecrt_master_activate(master)) {
717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	347	return -1;
717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	348	}
1247 5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer(). Florian Pose <fp@igh-essen.com> parents: 1246 diff changeset	349
1258 900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	350	if (!(domain1_pd = ecrt_domain_data(domain1))) {
900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	351	return -1;
900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	352	}
900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	353
2649 717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	354	/* Set priority */
717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	355
1249 d64ed42e0d11 Userspace example with priority. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	356	pid_t pid = getpid();
2649 717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	357	if (setpriority(PRIO_PROCESS, pid, -19)) {
1249 d64ed42e0d11 Userspace example with priority. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	358	fprintf(stderr, "Warning: Failed to set priority: %s\n",
d64ed42e0d11 Userspace example with priority. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	359	strerror(errno));
2649 717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	360	}
717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	361
717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	362	/* Lock memory */
717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	363
717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	364	if (mlockall(MCL_CURRENT \| MCL_FUTURE) == -1) {
717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	365	fprintf(stderr, "Warning: Failed to lock memory: %s\n",
717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	366	strerror(errno));
717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	367	}
717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	368
717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	369	stack_prefault();
717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	370
717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	371	printf("Starting RT task with dt=%u ns.\n", PERIOD_NS);
717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	372
717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	373	clock_gettime(CLOCK_MONOTONIC, &wakeup_time);
717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	374	wakeup_time.tv_sec += 1; /* start in future */
717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	375	wakeup_time.tv_nsec = 0;
717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	376
1508 60a116ed3897 Removed more tabulators. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	377	while (1) {
2649 717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	378	ret = clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME,
717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	379	&wakeup_time, NULL);
717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	380	if (ret) {
717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	381	fprintf(stderr, "clock_nanosleep(): %s\n", strerror(ret));
717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	382	break;
1247 5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer(). Florian Pose <fp@igh-essen.com> parents: 1246 diff changeset	383	}
2649 717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	384
717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	385	cyclic_task();
717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	386
717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	387	wakeup_time.tv_nsec += PERIOD_NS;
717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	388	while (wakeup_time.tv_nsec >= NSEC_PER_SEC) {
717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	389	wakeup_time.tv_nsec -= NSEC_PER_SEC;
717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	390	wakeup_time.tv_sec++;
717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	391	}
717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	392	}
717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	393
717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	394	return ret;
717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	395	}
717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	396
717c331cc227 Migrated user-space example to use clock_nanosleep(). Florian Pose <fp@igh-essen.com> parents: 2589 diff changeset	397	/****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Thu, 09 Jun 2016 13:52:22 +0200
changeset 2649	717c331cc227
parent 2589	2b9c78543663
permissions	-rw-r--r--