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/*****************************************************************************
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*
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* $Id$
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*
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* Copyright (C) 2007-2009 Florian Pose, Ingenieurgemeinschaft IgH
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*
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* This file is part of the IgH EtherCAT Master.
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*
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* The IgH EtherCAT Master is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License version 2, as
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* published by the Free Software Foundation.
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*
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* The IgH EtherCAT Master is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
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* Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with the IgH EtherCAT Master; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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*
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* ---
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*
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* The license mentioned above concerns the source code only. Using the
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* EtherCAT technology and brand is only permitted in compliance with the
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* industrial property and similar rights of Beckhoff Automation GmbH.
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*
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****************************************************************************/
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#include <errno.h>
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#include <signal.h>
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#include <stdio.h>
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#include <string.h>
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#include <sys/resource.h>
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#include <sys/time.h>
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#include <sys/types.h>
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#include <unistd.h>
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/****************************************************************************/
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#include "ecrt.h"
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/****************************************************************************/
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// Application parameters
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#define FREQUENCY 100
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#define PRIORITY 1
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// Optional features
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#define CONFIGURE_PDOS 1
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/****************************************************************************/
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// EtherCAT
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static ec_master_t *master = NULL;
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static ec_master_state_t master_state = {};
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static ec_domain_t *domain1 = NULL;
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static ec_domain_state_t domain1_state = {};
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// Timer
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static unsigned int sig_alarms = 0;
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static unsigned int user_alarms = 0;
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/****************************************************************************/
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// process data
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static uint8_t *domain1_pd = NULL;
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#define BusCouplerPos 0, 0
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#define DigOutSlavePos 0, 1
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#define CounterSlavePos 0, 2
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#define Beckhoff_EK1100 0x00000002, 0x044c2c52
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#define Beckhoff_EL2008 0x00000002, 0x07d83052
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#define IDS_Counter 0x000012ad, 0x05de3052
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// offsets for PDO entries
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static int off_dig_out;
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static int off_counter_in;
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static int off_counter_out;
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static unsigned int counter = 0;
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static unsigned int blink_counter = 0;
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static unsigned int blink = 0;
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static unsigned int sync_ref_counter = 0;
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struct timeval app_time;
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/*****************************************************************************/
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void check_domain1_state(void)
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{
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ec_domain_state_t ds;
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ecrt_domain_state(domain1, &ds);
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if (ds.working_counter != domain1_state.working_counter)
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printf("Domain1: WC %u.\n", ds.working_counter);
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if (ds.wc_state != domain1_state.wc_state)
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printf("Domain1: State %u.\n", ds.wc_state);
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domain1_state = ds;
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}
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/*****************************************************************************/
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void check_master_state(void)
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{
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ec_master_state_t ms;
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ecrt_master_state(master, &ms);
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if (ms.slaves_responding != master_state.slaves_responding)
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printf("%u slave(s).\n", ms.slaves_responding);
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if (ms.al_states != master_state.al_states)
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printf("AL states: 0x%02X.\n", ms.al_states);
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if (ms.link_up != master_state.link_up)
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printf("Link is %s.\n", ms.link_up ? "up" : "down");
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master_state = ms;
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}
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/****************************************************************************/
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void cyclic_task()
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{
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int i;
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// receive process data
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ecrt_master_receive(master);
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ecrt_domain_process(domain1);
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// check process data state (optional)
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check_domain1_state();
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if (counter) {
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counter--;
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} else { // do this at 1 Hz
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counter = FREQUENCY;
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// calculate new process data
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blink = !blink;
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// check for master state (optional)
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check_master_state();
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}
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if (blink_counter) {
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blink_counter--;
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} else {
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blink_counter = 9;
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// calculate new process data
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blink = !blink;
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}
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// write process data
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EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x66 : 0x99);
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EC_WRITE_U8(domain1_pd + off_counter_out, blink ? 0x00 : 0x02);
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app_time.tv_usec += 1000000 / FREQUENCY;
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if (app_time.tv_usec >= 1000000) {
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app_time.tv_usec -= 1000000;
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app_time.tv_sec++;
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}
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if (sync_ref_counter) {
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sync_ref_counter--;
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} else {
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sync_ref_counter = 9;
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ecrt_master_sync_reference_clock(master, &app_time);
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}
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ecrt_master_sync_slave_clocks(master);
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// send process data
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ecrt_domain_queue(domain1);
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ecrt_master_send(master);
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}
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/****************************************************************************/
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void signal_handler(int signum) {
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switch (signum) {
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case SIGALRM:
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sig_alarms++;
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break;
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}
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}
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/****************************************************************************/
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int main(int argc, char **argv)
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{
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ec_slave_config_t *sc;
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struct sigaction sa;
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struct itimerval tv;
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master = ecrt_request_master(0);
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if (!master)
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return -1;
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domain1 = ecrt_master_create_domain(master);
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if (!domain1)
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return -1;
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// Create configuration for bus coupler
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sc = ecrt_master_slave_config(master, BusCouplerPos, Beckhoff_EK1100);
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if (!sc)
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return -1;
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if (!(sc = ecrt_master_slave_config(master,
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DigOutSlavePos, Beckhoff_EL2008))) {
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fprintf(stderr, "Failed to get slave configuration.\n");
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return -1;
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}
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off_dig_out = ecrt_slave_config_reg_pdo_entry(sc,
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0x7000, 1, domain1, NULL);
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if (off_dig_out < 0)
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return -1;
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if (!(sc = ecrt_master_slave_config(master,
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CounterSlavePos, IDS_Counter))) {
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fprintf(stderr, "Failed to get slave configuration.\n");
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return -1;
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}
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off_counter_in = ecrt_slave_config_reg_pdo_entry(sc,
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0x6020, 0x11, domain1, NULL);
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if (off_counter_in < 0)
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return -1;
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off_counter_out = ecrt_slave_config_reg_pdo_entry(sc,
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0x7020, 1, domain1, NULL);
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if (off_counter_out < 0)
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return -1;
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#if 1
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// configure SYNC signals for this slave
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ecrt_slave_config_dc_assign_activate(sc, 0x0700);
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ecrt_slave_config_dc_sync_cycle_times(sc, 10000000, 0);
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ecrt_slave_config_dc_sync_shift_times(sc, 4400000, 0);
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#endif
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printf("Activating master...\n");
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if (ecrt_master_activate(master))
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return -1;
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if (!(domain1_pd = ecrt_domain_data(domain1))) {
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return -1;
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}
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#if PRIORITY
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pid_t pid = getpid();
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if (setpriority(PRIO_PROCESS, pid, -19))
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fprintf(stderr, "Warning: Failed to set priority: %s\n",
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strerror(errno));
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#endif
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sa.sa_handler = signal_handler;
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sigemptyset(&sa.sa_mask);
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sa.sa_flags = 0;
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if (sigaction(SIGALRM, &sa, 0)) {
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fprintf(stderr, "Failed to install signal handler!\n");
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return -1;
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}
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printf("Starting timer...\n");
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tv.it_interval.tv_sec = 0;
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tv.it_interval.tv_usec = 1000000 / FREQUENCY;
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tv.it_value.tv_sec = 0;
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tv.it_value.tv_usec = 1000;
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if (setitimer(ITIMER_REAL, &tv, NULL)) {
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fprintf(stderr, "Failed to start timer: %s\n", strerror(errno));
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return 1;
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}
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gettimeofday(&app_time, NULL);
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printf("Started.\n");
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while (1) {
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pause();
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#if 0
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struct timeval t;
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gettimeofday(&t, NULL);
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printf("%u.%06u\n", t.tv_sec, t.tv_usec);
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#endif
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while (sig_alarms != user_alarms) {
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cyclic_task();
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user_alarms++;
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}
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}
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return 0;
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}
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/****************************************************************************/
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