examples/dc_user/main.c
author Florian Pose <fp@igh-essen.com>
Wed, 09 Nov 2011 12:58:09 +0100
branchredundancy
changeset 2157 8fa0571f9996
parent 1971 ba8a75cb1c98
child 2421 bc2d4bf9cbe5
permissions -rw-r--r--
Poll both devices.
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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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#include <time.h>
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#include <sys/mman.h>
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#include <malloc.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 1000
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#define CLOCK_TO_USE CLOCK_REALTIME
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#define MEASURE_TIMING
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/****************************************************************************/
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#define NSEC_PER_SEC (1000000000L)
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#define PERIOD_NS (NSEC_PER_SEC / FREQUENCY)
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#define DIFF_NS(A, B) (((B).tv_sec - (A).tv_sec) * NSEC_PER_SEC + \
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	(B).tv_nsec - (A).tv_nsec)
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#define TIMESPEC2NS(T) ((uint64_t) (T).tv_sec * NSEC_PER_SEC + (T).tv_nsec)
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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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/****************************************************************************/
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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 = 0;
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static unsigned int sync_ref_counter = 0;
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const struct timespec cycletime = {0, PERIOD_NS};
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/*****************************************************************************/
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struct timespec timespec_add(struct timespec time1, struct timespec time2)
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{
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	struct timespec result;
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	if ((time1.tv_nsec + time2.tv_nsec) >= NSEC_PER_SEC) {
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		result.tv_sec = time1.tv_sec + time2.tv_sec + 1;
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		result.tv_nsec = time1.tv_nsec + time2.tv_nsec - NSEC_PER_SEC;
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	} else {
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		result.tv_sec = time1.tv_sec + time2.tv_sec;
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		result.tv_nsec = time1.tv_nsec + time2.tv_nsec;
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	}
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	return result;
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}
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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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    struct timespec wakeupTime, time;
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#ifdef MEASURE_TIMING
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    struct timespec startTime, endTime, lastStartTime = {};
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    uint32_t period_ns = 0, exec_ns = 0, latency_ns = 0,
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             latency_min_ns = 0, latency_max_ns = 0,
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             period_min_ns = 0, period_max_ns = 0,
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             exec_min_ns = 0, exec_max_ns = 0;
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#endif
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    // get current time
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    clock_gettime(CLOCK_TO_USE, &wakeupTime);
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	while(1) {
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		wakeupTime = timespec_add(wakeupTime, cycletime);
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        clock_nanosleep(CLOCK_TO_USE, TIMER_ABSTIME, &wakeupTime, NULL);
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00e18cef9fc8 Improved dc_user example.
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#ifdef MEASURE_TIMING
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        clock_gettime(CLOCK_TO_USE, &startTime);
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        latency_ns = DIFF_NS(wakeupTime, startTime);
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   169
        period_ns = DIFF_NS(lastStartTime, startTime);
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        exec_ns = DIFF_NS(lastStartTime, endTime);
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        lastStartTime = startTime;
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        if (latency_ns > latency_max_ns) {
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            latency_max_ns = latency_ns;
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   175
        }
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        if (latency_ns < latency_min_ns) {
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            latency_min_ns = latency_ns;
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   178
        }
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        if (period_ns > period_max_ns) {
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            period_max_ns = period_ns;
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   181
        }
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   182
        if (period_ns < period_min_ns) {
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            period_min_ns = period_ns;
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   184
        }
00e18cef9fc8 Improved dc_user example.
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   185
        if (exec_ns > exec_max_ns) {
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            exec_max_ns = exec_ns;
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   187
        }
00e18cef9fc8 Improved dc_user example.
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   188
        if (exec_ns < exec_min_ns) {
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   189
            exec_min_ns = exec_ns;
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   190
        }
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   191
#endif
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00e18cef9fc8 Improved dc_user example.
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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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			// check for master state (optional)
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			check_master_state();
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#ifdef MEASURE_TIMING
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            // output timing stats
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            printf("period     %10u ... %10u\n",
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                    period_min_ns, period_max_ns); 
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            printf("exec       %10u ... %10u\n",
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                    exec_min_ns, exec_max_ns); 
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            printf("latency    %10u ... %10u\n",
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                    latency_min_ns, latency_max_ns); 
00e18cef9fc8 Improved dc_user example.
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            period_max_ns = 0;
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            period_min_ns = 0xffffffff;
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            exec_max_ns = 0;
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            exec_min_ns = 0xffffffff;
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   220
            latency_max_ns = 0;
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            latency_min_ns = 0xffffffff;
00e18cef9fc8 Improved dc_user example.
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   222
#endif
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   223
00e18cef9fc8 Improved dc_user example.
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			// calculate new process data
00e18cef9fc8 Improved dc_user example.
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   225
			blink = !blink;
00e18cef9fc8 Improved dc_user example.
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   226
		}
00e18cef9fc8 Improved dc_user example.
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   227
00e18cef9fc8 Improved dc_user example.
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   228
		// write process data
00e18cef9fc8 Improved dc_user example.
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   229
		EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x66 : 0x99);
00e18cef9fc8 Improved dc_user example.
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   230
		EC_WRITE_U8(domain1_pd + off_counter_out, blink ? 0x00 : 0x02);
00e18cef9fc8 Improved dc_user example.
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   231
00e18cef9fc8 Improved dc_user example.
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   232
		// write application time to master
00e18cef9fc8 Improved dc_user example.
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   233
		clock_gettime(CLOCK_TO_USE, &time);
1971
ba8a75cb1c98 Fixed TIMESPEC2NS() macro use.
Florian Pose <fp@igh-essen.com>
parents: 1970
diff changeset
   234
		ecrt_master_application_time(master, TIMESPEC2NS(time));
1970
00e18cef9fc8 Improved dc_user example.
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   235
00e18cef9fc8 Improved dc_user example.
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   236
		if (sync_ref_counter) {
00e18cef9fc8 Improved dc_user example.
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   237
			sync_ref_counter--;
00e18cef9fc8 Improved dc_user example.
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diff changeset
   238
		} else {
00e18cef9fc8 Improved dc_user example.
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   239
			sync_ref_counter = 1; // sync every cycle
00e18cef9fc8 Improved dc_user example.
Florian Pose <fp@igh-essen.com>
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   240
			ecrt_master_sync_reference_clock(master);
00e18cef9fc8 Improved dc_user example.
Florian Pose <fp@igh-essen.com>
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diff changeset
   241
		}
00e18cef9fc8 Improved dc_user example.
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   242
		ecrt_master_sync_slave_clocks(master);
00e18cef9fc8 Improved dc_user example.
Florian Pose <fp@igh-essen.com>
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diff changeset
   243
00e18cef9fc8 Improved dc_user example.
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   244
		// send process data
00e18cef9fc8 Improved dc_user example.
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   245
		ecrt_domain_queue(domain1);
00e18cef9fc8 Improved dc_user example.
Florian Pose <fp@igh-essen.com>
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diff changeset
   246
		ecrt_master_send(master);
00e18cef9fc8 Improved dc_user example.
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diff changeset
   247
00e18cef9fc8 Improved dc_user example.
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diff changeset
   248
#ifdef MEASURE_TIMING
00e18cef9fc8 Improved dc_user example.
Florian Pose <fp@igh-essen.com>
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diff changeset
   249
        clock_gettime(CLOCK_TO_USE, &endTime);
00e18cef9fc8 Improved dc_user example.
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diff changeset
   250
#endif
00e18cef9fc8 Improved dc_user example.
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diff changeset
   251
	}
1414
0037a63d3cc5 DC example applications.
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diff changeset
   252
}
0037a63d3cc5 DC example applications.
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   253
0037a63d3cc5 DC example applications.
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diff changeset
   254
/****************************************************************************/
0037a63d3cc5 DC example applications.
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   255
0037a63d3cc5 DC example applications.
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   256
int main(int argc, char **argv)
0037a63d3cc5 DC example applications.
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   257
{
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1466
diff changeset
   258
    ec_slave_config_t *sc;
1970
00e18cef9fc8 Improved dc_user example.
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diff changeset
   259
00e18cef9fc8 Improved dc_user example.
Florian Pose <fp@igh-essen.com>
parents: 1941
diff changeset
   260
	if (mlockall(MCL_CURRENT | MCL_FUTURE) == -1) {
00e18cef9fc8 Improved dc_user example.
Florian Pose <fp@igh-essen.com>
parents: 1941
diff changeset
   261
		perror("mlockall failed");
00e18cef9fc8 Improved dc_user example.
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parents: 1941
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   262
		return -1;
00e18cef9fc8 Improved dc_user example.
Florian Pose <fp@igh-essen.com>
parents: 1941
diff changeset
   263
	}
1414
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   264
    
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
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diff changeset
   265
    master = ecrt_request_master(0);
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1466
diff changeset
   266
    if (!master)
742607c464c4 Removed tabulators.
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parents: 1466
diff changeset
   267
        return -1;
1414
0037a63d3cc5 DC example applications.
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parents:
diff changeset
   268
0037a63d3cc5 DC example applications.
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parents:
diff changeset
   269
    domain1 = ecrt_master_create_domain(master);
0037a63d3cc5 DC example applications.
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parents:
diff changeset
   270
    if (!domain1)
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   271
        return -1;
0037a63d3cc5 DC example applications.
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parents:
diff changeset
   272
0037a63d3cc5 DC example applications.
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diff changeset
   273
    // Create configuration for bus coupler
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   274
    sc = ecrt_master_slave_config(master, BusCouplerPos, Beckhoff_EK1100);
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   275
    if (!sc)
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   276
        return -1;
0037a63d3cc5 DC example applications.
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parents:
diff changeset
   277
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   278
    if (!(sc = ecrt_master_slave_config(master,
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   279
                    DigOutSlavePos, Beckhoff_EL2008))) {
0037a63d3cc5 DC example applications.
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parents:
diff changeset
   280
        fprintf(stderr, "Failed to get slave configuration.\n");
0037a63d3cc5 DC example applications.
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parents:
diff changeset
   281
        return -1;
0037a63d3cc5 DC example applications.
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parents:
diff changeset
   282
    }
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   283
0037a63d3cc5 DC example applications.
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   284
    off_dig_out = ecrt_slave_config_reg_pdo_entry(sc,
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   285
            0x7000, 1, domain1, NULL);
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   286
    if (off_dig_out < 0)
0037a63d3cc5 DC example applications.
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parents:
diff changeset
   287
        return -1;
0037a63d3cc5 DC example applications.
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parents:
diff changeset
   288
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   289
	if (!(sc = ecrt_master_slave_config(master,
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   290
					CounterSlavePos, IDS_Counter))) {
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   291
        fprintf(stderr, "Failed to get slave configuration.\n");
0037a63d3cc5 DC example applications.
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parents:
diff changeset
   292
        return -1;
0037a63d3cc5 DC example applications.
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parents:
diff changeset
   293
	}
0037a63d3cc5 DC example applications.
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parents:
diff changeset
   294
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   295
	off_counter_in = ecrt_slave_config_reg_pdo_entry(sc,
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   296
			0x6020, 0x11, domain1, NULL);
0037a63d3cc5 DC example applications.
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parents:
diff changeset
   297
	if (off_counter_in < 0)
0037a63d3cc5 DC example applications.
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parents:
diff changeset
   298
        return -1;
0037a63d3cc5 DC example applications.
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parents:
diff changeset
   299
0037a63d3cc5 DC example applications.
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diff changeset
   300
	off_counter_out = ecrt_slave_config_reg_pdo_entry(sc,
0037a63d3cc5 DC example applications.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   301
			0x7020, 1, domain1, NULL);
0037a63d3cc5 DC example applications.
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parents:
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	if (off_counter_out < 0)
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        return -1;
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    // configure SYNC signals for this slave
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	ecrt_slave_config_dc(sc, 0x0700, PERIOD_NS, 4400000, 0, 0);
1414
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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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    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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	printf("Starting cyclic function.\n");
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    cyclic_task();
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    return 0;
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}
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/****************************************************************************/