author | Florian Pose <fp@igh-essen.com> |
Fri, 10 Oct 2008 08:34:15 +0000 | |
changeset 1258 | 900f1124e8f8 |
parent 1255 | 38b7e05b20c1 |
child 1259 | 5f9d1abbee71 |
permissions | -rw-r--r-- |
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/***************************************************************************** |
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* |
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* $Id$ |
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* |
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* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH |
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* |
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* This file is part of the IgH EtherCAT Master. |
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* |
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* The IgH EtherCAT Master is free software; you can redistribute it |
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* and/or modify it under the terms of the GNU General Public License |
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* as published by the Free Software Foundation; either version 2 of the |
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* License, or (at your option) any later version. |
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* |
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* The IgH EtherCAT Master is distributed in the hope that it will be |
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* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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* GNU General Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License |
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* along with the IgH EtherCAT Master; if not, write to the Free Software |
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
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* |
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* The right to use EtherCAT Technology is granted and comes free of |
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* charge under condition of compatibility of product made by |
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* Licensee. People intending to distribute/sell products based on the |
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* code, have to sign an agreement to guarantee that products using |
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* software based on IgH EtherCAT master stay compatible with the actual |
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* EtherCAT specification (which are released themselves as an open |
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* standard) as the (only) precondition to have the right to use EtherCAT |
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* Technology, IP and trade marks. |
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* |
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****************************************************************************/ |
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#include <errno.h> |
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#include <signal.h> |
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#include <stdio.h> |
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#include <string.h> |
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#include <sys/resource.h> |
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#include <sys/time.h> |
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#include <sys/types.h> |
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#include <unistd.h> |
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/****************************************************************************/ |
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#include "ecrt.h" |
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/****************************************************************************/ |
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// Application parameters |
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#define 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_domain_t *domain1 = NULL; |
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static ec_slave_config_t *sc_ana_in = NULL; |
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// Timer |
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static unsigned int sig_alarms = 0; |
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static unsigned int user_alarms = 0; |
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/****************************************************************************/ |
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// process data |
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static uint8_t *domain1_pd = NULL; |
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#define BusCouplerPos 0, 0 |
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#define AnaOutSlavePos 0, 1 |
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#define AnaInSlavePos 0, 2 |
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#define DigOutSlavePos 0, 3 |
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#define Beckhoff_EK1100 0x00000002, 0x044C2C52 |
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#define Beckhoff_EL2004 0x00000002, 0x07D43052 |
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#define Beckhoff_EL3152 0x00000002, 0x0c503052 |
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#define Beckhoff_EL4102 0x00000002, 0x10063052 |
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// offsets for Pdo entries |
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static unsigned int off_ana_in_status; |
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static unsigned int off_ana_in_value; |
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static unsigned int off_ana_out; |
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static unsigned int off_dig_out; |
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const static ec_pdo_entry_reg_t domain1_regs[] = { |
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{AnaInSlavePos, Beckhoff_EL3152, 0x3101, 1, &off_ana_in_status}, |
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{AnaInSlavePos, Beckhoff_EL3152, 0x3101, 2, &off_ana_in_value}, |
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{AnaOutSlavePos, Beckhoff_EL4102, 0x3001, 1, &off_ana_out}, |
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{DigOutSlavePos, Beckhoff_EL2004, 0x3001, 1, &off_dig_out}, |
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{} |
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}; |
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/*****************************************************************************/ |
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#if CONFIGURE_PDOS |
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// Analog in -------------------------- |
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static ec_pdo_entry_info_t el3152_pdo_entries[] = { |
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{0x3101, 1, 8}, // channel 1 status |
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{0x3101, 2, 16}, // channel 1 value |
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{0x3102, 1, 8}, // channel 2 status |
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{0x3102, 2, 16}, // channel 2 value |
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{0x6401, 1, 16}, // channel 1 value (alt.) |
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{0x6401, 2, 16} // channel 2 value (alt.) |
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}; |
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static ec_pdo_info_t el3152_pdos[] = { |
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{0x1A00, 2, el3152_pdo_entries}, |
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{0x1A01, 2, el3152_pdo_entries + 2} |
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}; |
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static ec_sync_info_t el3152_syncs[] = { |
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{2, EC_DIR_OUTPUT}, |
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|
119 |
{3, EC_DIR_INPUT, 2, el3152_pdos}, |
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|
120 |
{0xff} |
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|
121 |
}; |
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|
122 |
|
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|
123 |
// Analog out ------------------------- |
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|
124 |
|
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|
125 |
static ec_pdo_entry_info_t el4102_pdo_entries[] = { |
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126 |
{0x3001, 1, 16}, // channel 1 value |
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|
127 |
{0x3002, 1, 16}, // channel 2 value |
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|
128 |
}; |
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|
129 |
|
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|
130 |
static ec_pdo_info_t el4102_pdos[] = { |
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|
131 |
{0x1600, 1, el4102_pdo_entries}, |
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|
132 |
{0x1601, 1, el4102_pdo_entries + 1} |
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|
133 |
}; |
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|
134 |
|
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|
135 |
static ec_sync_info_t el4102_syncs[] = { |
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|
136 |
{2, EC_DIR_OUTPUT, 2, el4102_pdos}, |
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|
137 |
{3, EC_DIR_INPUT}, |
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|
138 |
{0xff} |
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|
139 |
}; |
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|
140 |
|
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|
141 |
// Digital out ------------------------ |
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|
142 |
|
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|
143 |
static ec_pdo_entry_info_t el2004_channels[] = { |
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|
144 |
{0x3001, 1, 1}, // Value 1 |
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|
145 |
{0x3001, 2, 1}, // Value 2 |
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|
146 |
{0x3001, 3, 1}, // Value 3 |
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|
147 |
{0x3001, 4, 1} // Value 4 |
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|
148 |
}; |
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|
149 |
|
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|
150 |
static ec_pdo_info_t el2004_pdos[] = { |
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|
151 |
{0x1600, 1, &el2004_channels[0]}, |
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|
152 |
{0x1601, 1, &el2004_channels[1]}, |
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|
153 |
{0x1602, 1, &el2004_channels[2]}, |
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|
154 |
{0x1603, 1, &el2004_channels[3]} |
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|
155 |
}; |
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|
156 |
|
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|
157 |
static ec_sync_info_t el2004_syncs[] = { |
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|
158 |
{0, EC_DIR_OUTPUT, 4, el2004_pdos}, |
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|
159 |
{1, EC_DIR_INPUT}, |
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|
160 |
{0xff} |
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|
161 |
}; |
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|
162 |
#endif |
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|
163 |
|
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|
164 |
/****************************************************************************/ |
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|
165 |
|
1258
900f1124e8f8
Memory-mapped process data.
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|
166 |
void cyclic_task() |
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|
167 |
{ |
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|
168 |
ecrt_master_receive(master); |
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|
169 |
ecrt_domain_process(domain1); |
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|
170 |
|
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|
171 |
#if 0 |
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|
172 |
#if EL3152_ALT_PDOS |
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|
173 |
printf("AnaIn: value %u\n", |
900f1124e8f8
Memory-mapped process data.
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|
174 |
EC_READ_U16(domain1_pd + off_ana_in_value)); |
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Memory-mapped process data.
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|
175 |
#else |
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|
176 |
printf("AnaIn: state %u value %u\n", |
900f1124e8f8
Memory-mapped process data.
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|
177 |
EC_READ_U8(domain1_pd + off_ana_in_status), |
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Memory-mapped process data.
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|
178 |
EC_READ_U16(domain1_pd + off_ana_in_value)); |
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Memory-mapped process data.
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|
179 |
#endif |
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Memory-mapped process data.
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|
180 |
#endif |
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|
181 |
|
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|
182 |
ecrt_domain_queue(domain1); |
900f1124e8f8
Memory-mapped process data.
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|
183 |
ecrt_master_send(master); |
900f1124e8f8
Memory-mapped process data.
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|
184 |
} |
900f1124e8f8
Memory-mapped process data.
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changeset
|
185 |
|
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Memory-mapped process data.
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|
186 |
/****************************************************************************/ |
900f1124e8f8
Memory-mapped process data.
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|
187 |
|
1247
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Activate, Send and received; cyclic timer with setitimer().
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|
188 |
void signal_handler(int signum) { |
5f1f1a3e6636
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|
189 |
switch (signum) { |
5f1f1a3e6636
Activate, Send and received; cyclic timer with setitimer().
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|
190 |
case SIGALRM: |
5f1f1a3e6636
Activate, Send and received; cyclic timer with setitimer().
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|
191 |
sig_alarms++; |
5f1f1a3e6636
Activate, Send and received; cyclic timer with setitimer().
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|
192 |
break; |
5f1f1a3e6636
Activate, Send and received; cyclic timer with setitimer().
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|
193 |
} |
5f1f1a3e6636
Activate, Send and received; cyclic timer with setitimer().
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|
194 |
} |
5f1f1a3e6636
Activate, Send and received; cyclic timer with setitimer().
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|
195 |
|
5f1f1a3e6636
Activate, Send and received; cyclic timer with setitimer().
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changeset
|
196 |
/****************************************************************************/ |
5f1f1a3e6636
Activate, Send and received; cyclic timer with setitimer().
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changeset
|
197 |
|
1242
632a6b91f8e4
First version of userspace library with requesting/releasing.
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diff
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|
198 |
int main(int argc, char **argv) |
632a6b91f8e4
First version of userspace library with requesting/releasing.
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changeset
|
199 |
{ |
1246
4042bda8c980
Creating slave configurations.
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|
200 |
ec_slave_config_t *sc; |
1247
5f1f1a3e6636
Activate, Send and received; cyclic timer with setitimer().
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|
201 |
struct sigaction sa; |
5f1f1a3e6636
Activate, Send and received; cyclic timer with setitimer().
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|
202 |
struct itimerval tv; |
1244
0b70040d3daa
No kernel handles in userspace; Domain creation.
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diff
changeset
|
203 |
|
0b70040d3daa
No kernel handles in userspace; Domain creation.
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changeset
|
204 |
master = ecrt_request_master(0); |
1242
632a6b91f8e4
First version of userspace library with requesting/releasing.
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|
205 |
if (!master) |
632a6b91f8e4
First version of userspace library with requesting/releasing.
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|
206 |
return -1; |
632a6b91f8e4
First version of userspace library with requesting/releasing.
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diff
changeset
|
207 |
|
1255
38b7e05b20c1
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|
208 |
domain1 = ecrt_master_create_domain(master); |
38b7e05b20c1
Added some slave configuration methods.
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|
209 |
if (!domain1) |
38b7e05b20c1
Added some slave configuration methods.
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|
210 |
return -1; |
38b7e05b20c1
Added some slave configuration methods.
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changeset
|
211 |
|
38b7e05b20c1
Added some slave configuration methods.
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changeset
|
212 |
if (!(sc_ana_in = ecrt_master_slave_config( |
38b7e05b20c1
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|
213 |
master, AnaInSlavePos, Beckhoff_EL3152))) { |
38b7e05b20c1
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|
214 |
fprintf(stderr, "Failed to get slave configuration.\n"); |
38b7e05b20c1
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changeset
|
215 |
return -1; |
38b7e05b20c1
Added some slave configuration methods.
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changeset
|
216 |
} |
38b7e05b20c1
Added some slave configuration methods.
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changeset
|
217 |
|
38b7e05b20c1
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changeset
|
218 |
#if CONFIGURE_PDOS |
38b7e05b20c1
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|
219 |
printf("Configuring Pdos...\n"); |
38b7e05b20c1
Added some slave configuration methods.
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|
220 |
if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3152_syncs)) { |
38b7e05b20c1
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|
221 |
fprintf(stderr, "Failed to configure Pdos.\n"); |
38b7e05b20c1
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|
222 |
return -1; |
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changeset
|
223 |
} |
38b7e05b20c1
Added some slave configuration methods.
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changeset
|
224 |
|
38b7e05b20c1
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changeset
|
225 |
if (!(sc = ecrt_master_slave_config( |
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|
226 |
master, AnaOutSlavePos, Beckhoff_EL4102))) { |
38b7e05b20c1
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|
227 |
fprintf(stderr, "Failed to get slave configuration.\n"); |
38b7e05b20c1
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changeset
|
228 |
return -1; |
38b7e05b20c1
Added some slave configuration methods.
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changeset
|
229 |
} |
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Added some slave configuration methods.
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changeset
|
230 |
|
38b7e05b20c1
Added some slave configuration methods.
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changeset
|
231 |
if (ecrt_slave_config_pdos(sc, EC_END, el4102_syncs)) { |
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Added some slave configuration methods.
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|
232 |
fprintf(stderr, "Failed to configure Pdos.\n"); |
38b7e05b20c1
Added some slave configuration methods.
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changeset
|
233 |
return -1; |
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Added some slave configuration methods.
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diff
changeset
|
234 |
} |
38b7e05b20c1
Added some slave configuration methods.
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diff
changeset
|
235 |
|
38b7e05b20c1
Added some slave configuration methods.
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changeset
|
236 |
if (!(sc = ecrt_master_slave_config( |
38b7e05b20c1
Added some slave configuration methods.
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changeset
|
237 |
master, DigOutSlavePos, Beckhoff_EL2004))) { |
38b7e05b20c1
Added some slave configuration methods.
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changeset
|
238 |
fprintf(stderr, "Failed to get slave configuration.\n"); |
38b7e05b20c1
Added some slave configuration methods.
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239 |
return -1; |
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240 |
} |
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241 |
|
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242 |
if (ecrt_slave_config_pdos(sc, EC_END, el2004_syncs)) { |
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fprintf(stderr, "Failed to configure Pdos.\n"); |
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244 |
return -1; |
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245 |
} |
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246 |
#endif |
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247 |
|
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248 |
// Create configuration for bus coupler |
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sc = ecrt_master_slave_config(master, BusCouplerPos, Beckhoff_EK1100); |
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250 |
if (!sc) |
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251 |
return -1; |
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252 |
|
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253 |
if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) { |
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254 |
fprintf(stderr, "Pdo entry registration failed!\n"); |
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255 |
return -1; |
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256 |
} |
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257 |
|
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258 |
printf("Activating master...\n"); |
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if (ecrt_master_activate(master)) |
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return -1; |
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261 |
|
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if (!(domain1_pd = ecrt_domain_data(domain1))) { |
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263 |
return -1; |
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264 |
} |
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265 |
|
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266 |
#if PRIORITY |
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267 |
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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270 |
strerror(errno)); |
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271 |
#endif |
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272 |
|
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273 |
sa.sa_handler = signal_handler; |
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274 |
sigemptyset(&sa.sa_mask); |
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275 |
sa.sa_flags = 0; |
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276 |
if (sigaction(SIGALRM, &sa, 0)) { |
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277 |
fprintf(stderr, "Failed to install signal handler!\n"); |
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278 |
return -1; |
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Activate, Send and received; cyclic timer with setitimer().
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279 |
} |
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Activate, Send and received; cyclic timer with setitimer().
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|
280 |
|
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|
281 |
printf("Starting timer...\n"); |
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|
282 |
tv.it_interval.tv_sec = 0; |
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283 |
tv.it_interval.tv_usec = 10000; |
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284 |
tv.it_value.tv_sec = 0; |
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|
285 |
tv.it_value.tv_usec = 1000; |
1247
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Activate, Send and received; cyclic timer with setitimer().
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|
286 |
if (setitimer(ITIMER_REAL, &tv, NULL)) { |
5f1f1a3e6636
Activate, Send and received; cyclic timer with setitimer().
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|
287 |
fprintf(stderr, "Failed to start timer: %s\n", strerror(errno)); |
5f1f1a3e6636
Activate, Send and received; cyclic timer with setitimer().
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|
288 |
return 1; |
5f1f1a3e6636
Activate, Send and received; cyclic timer with setitimer().
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|
289 |
} |
5f1f1a3e6636
Activate, Send and received; cyclic timer with setitimer().
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|
290 |
|
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Userspace example with priority.
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|
291 |
printf("Started.\n"); |
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|
292 |
while (1) { |
1258
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|
293 |
sleep(1); // always interrupted by SIGALRM |
1247
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Activate, Send and received; cyclic timer with setitimer().
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|
294 |
|
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Added some slave configuration methods.
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|
295 |
#if 0 |
1249
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Userspace example with priority.
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|
296 |
struct timeval t; |
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Userspace example with priority.
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|
297 |
gettimeofday(&t, NULL); |
d64ed42e0d11
Userspace example with priority.
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|
298 |
printf("%u.%06u\n", t.tv_sec, t.tv_usec); |
d64ed42e0d11
Userspace example with priority.
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|
299 |
#endif |
d64ed42e0d11
Userspace example with priority.
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|
300 |
|
1247
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Activate, Send and received; cyclic timer with setitimer().
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|
301 |
while (sig_alarms != user_alarms) { |
1258
900f1124e8f8
Memory-mapped process data.
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|
302 |
cyclic_task(); |
1247
5f1f1a3e6636
Activate, Send and received; cyclic timer with setitimer().
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|
303 |
user_alarms++; |
5f1f1a3e6636
Activate, Send and received; cyclic timer with setitimer().
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|
304 |
} |
1242
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First version of userspace library with requesting/releasing.
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diff
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|
305 |
} |
632a6b91f8e4
First version of userspace library with requesting/releasing.
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diff
changeset
|
306 |
|
632a6b91f8e4
First version of userspace library with requesting/releasing.
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changeset
|
307 |
return 0; |
632a6b91f8e4
First version of userspace library with requesting/releasing.
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parents:
diff
changeset
|
308 |
} |
632a6b91f8e4
First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
309 |
|
632a6b91f8e4
First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
310 |
/****************************************************************************/ |