1

/*****************************************************************************

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2007-2009  Florian Pose, Ingenieurgemeinschaft IgH

     6

 *

     7

 *  This file is part of the IgH EtherCAT Master.

     8

 *

     9

 *  The IgH EtherCAT Master is free software; you can redistribute it and/or

    10

 *  modify it under the terms of the GNU General Public License version 2, as

    11

 *  published by the Free Software Foundation.

    12

 *

    13

 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,

    14

 *  but WITHOUT ANY WARRANTY; without even the implied warranty of

    15

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General

    16

 *  Public License for more details.

    17

 *

    18

 *  You should have received a copy of the GNU General Public License along

    19

 *  with the IgH EtherCAT Master; if not, write to the Free Software

    20

 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

    21

 *

    22

 *  ---

    23

 *

    24

 *  The license mentioned above concerns the source code only. Using the

    25

 *  EtherCAT technology and brand is only permitted in compliance with the

    26

 *  industrial property and similar rights of Beckhoff Automation GmbH.

    27

 *

    28

 ****************************************************************************/

    29

    30

#include <errno.h>

    31

#include <signal.h>

    32

#include <stdio.h>

    33

#include <string.h>

    34

#include <sys/resource.h>

    35

#include <sys/time.h>

    36

#include <sys/types.h>

    37

#include <unistd.h>

    38

    39

/****************************************************************************/

    40

    41

#include "ecrt.h"

    42

    43

/****************************************************************************/

    44

    45

// Application parameters

    46

#define FREQUENCY 100

    47

#define PRIORITY 1

    48

    49

// Optional features

    50

#define CONFIGURE_PDOS  1

    51

    52

/****************************************************************************/

    53

    54

// EtherCAT

    55

static ec_master_t *master = NULL;

    56

static ec_master_state_t master_state = {};

    57

    58

static ec_domain_t *domain1 = NULL;

    59

static ec_domain_state_t domain1_state = {};

    60

    61

// Timer

    62

static unsigned int sig_alarms = 0;

    63

static unsigned int user_alarms = 0;

    64

    65

/****************************************************************************/

    66

    67

// process data

    68

static uint8_t *domain1_pd = NULL;

    69

    70

#define BusCouplerPos    0, 0

    71

#define DigOutSlavePos   0, 1

    72

#define CounterSlavePos  0, 2

    73

    74

#define Beckhoff_EK1100 0x00000002, 0x044c2c52

    75

#define Beckhoff_EL2008 0x00000002, 0x07d83052

    76

#define IDS_Counter     0x000012ad, 0x05de3052

    77

    78

// offsets for PDO entries

    79

static int off_dig_out;

    80

static int off_counter_in;

    81

static int off_counter_out;

    82

    83

static unsigned int counter = 0;

    84

static unsigned int blink_counter = 0;

    85

static unsigned int blink = 0;

    86

static unsigned int sync_ref_counter = 0;

    87

struct timeval app_time;

    88

    89

/*****************************************************************************/

    90

    91

void check_domain1_state(void)

    92

{

    93

    ec_domain_state_t ds;

    94

    95

    ecrt_domain_state(domain1, &ds);

    96

    97

    if (ds.working_counter != domain1_state.working_counter)

    98

        printf("Domain1: WC %u.\n", ds.working_counter);

    99

    if (ds.wc_state != domain1_state.wc_state)

   100

        printf("Domain1: State %u.\n", ds.wc_state);

   101

   102

    domain1_state = ds;

   103

}

   104

   105

/*****************************************************************************/

   106

   107

void check_master_state(void)

   108

{

   109

    ec_master_state_t ms;

   110

   111

    ecrt_master_state(master, &ms);

   112

   113

    if (ms.slaves_responding != master_state.slaves_responding)

   114

        printf("%u slave(s).\n", ms.slaves_responding);

   115

    if (ms.al_states != master_state.al_states)

   116

        printf("AL states: 0x%02X.\n", ms.al_states);

   117

    if (ms.link_up != master_state.link_up)

   118

        printf("Link is %s.\n", ms.link_up ? "up" : "down");

   119

   120

    master_state = ms;

   121

}

   122

   123

/****************************************************************************/

   124

   125

void cyclic_task()

   126

{

   127

    int i;

   128

   129

    // receive process data

   130

    ecrt_master_receive(master);

   131

    ecrt_domain_process(domain1);

   132

   133

    // check process data state (optional)

   134

    check_domain1_state();

   135

   136

    if (counter) {

   137

        counter--;

   138

    } else { // do this at 1 Hz

   139

        counter = FREQUENCY;

   140

   141

        // calculate new process data

   142

        blink = !blink;

   143

   144

        // check for master state (optional)

   145

        check_master_state();

   146

    }

   147

   148

    if (blink_counter) {

   149

        blink_counter--;

   150

    } else {

   151

        blink_counter = 9;

   152

   153

        // calculate new process data

   154

        blink = !blink;

   155

    }

   156

   157

    // write process data

   158

    EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x66 : 0x99);

   159

    EC_WRITE_U8(domain1_pd + off_counter_out, blink ? 0x00 : 0x02);

   160

   161

    app_time.tv_usec += 1000000 / FREQUENCY;

   162

    if (app_time.tv_usec >= 1000000)  {

   163

        app_time.tv_usec -= 1000000;

   164

        app_time.tv_sec++;

   165

    }

   166

    ecrt_master_application_time(master, EC_TIMEVAL2NANO(app_time));

   167

   168

    if (sync_ref_counter) {

   169

        sync_ref_counter--;

   170

    } else {

   171

        sync_ref_counter = 9;

   172

        ecrt_master_sync_reference_clock(master);

   173

    }

   174

    ecrt_master_sync_slave_clocks(master);

   175

   176

    // send process data

   177

    ecrt_domain_queue(domain1);

   178

    ecrt_master_send(master);

   179

}

   180

   181

/****************************************************************************/

   182

   183

void signal_handler(int signum) {

   184

    switch (signum) {

   185

        case SIGALRM:

   186

            sig_alarms++;

   187

            break;

   188

    }

   189

}

   190

   191

/****************************************************************************/

   192

   193

int main(int argc, char **argv)

   194

{

   195

    ec_slave_config_t *sc;

   196

    struct sigaction sa;

   197

    struct itimerval tv;

   198

   199

    master = ecrt_request_master(0);

   200

    if (!master)

   201

        return -1;

   202

   203

    domain1 = ecrt_master_create_domain(master);

   204

    if (!domain1)

   205

        return -1;

   206

   207

    // Create configuration for bus coupler

   208

    sc = ecrt_master_slave_config(master, BusCouplerPos, Beckhoff_EK1100);

   209

    if (!sc)

   210

        return -1;

   211

   212

    if (!(sc = ecrt_master_slave_config(master,

   213

                    DigOutSlavePos, Beckhoff_EL2008))) {

   214

        fprintf(stderr, "Failed to get slave configuration.\n");

   215

        return -1;

   216

    }

   217

   218

    off_dig_out = ecrt_slave_config_reg_pdo_entry(sc,

   219

            0x7000, 1, domain1, NULL);

   220

    if (off_dig_out < 0)

   221

        return -1;

   222

   223

	if (!(sc = ecrt_master_slave_config(master,

   224

					CounterSlavePos, IDS_Counter))) {

   225

        fprintf(stderr, "Failed to get slave configuration.\n");

   226

        return -1;

   227

	}

   228

   229

	off_counter_in = ecrt_slave_config_reg_pdo_entry(sc,

   230

			0x6020, 0x11, domain1, NULL);

   231

	if (off_counter_in < 0)

   232

        return -1;

   233

   234

	off_counter_out = ecrt_slave_config_reg_pdo_entry(sc,

   235

			0x7020, 1, domain1, NULL);

   236

	if (off_counter_out < 0)

   237

        return -1;

   238

   239

    // configure SYNC signals for this slave

   240

	ecrt_slave_config_dc(sc, 0x0700, 10000000, 4400000, 0, 0);

   241

   242

    printf("Activating master...\n");

   243

    if (ecrt_master_activate(master))

   244

        return -1;

   245

   246

    if (!(domain1_pd = ecrt_domain_data(domain1))) {

   247

        return -1;

   248

    }

   249

   250

#if PRIORITY

   251

    pid_t pid = getpid();

   252

    if (setpriority(PRIO_PROCESS, pid, -19))

   253

        fprintf(stderr, "Warning: Failed to set priority: %s\n",

   254

                strerror(errno));

   255

#endif

   256

   257

    sa.sa_handler = signal_handler;

   258

    sigemptyset(&sa.sa_mask);

   259

    sa.sa_flags = 0;

   260

    if (sigaction(SIGALRM, &sa, 0)) {

   261

        fprintf(stderr, "Failed to install signal handler!\n");

   262

        return -1;

   263

    }

   264

   265

    printf("Starting timer...\n");

   266

    tv.it_interval.tv_sec = 0;

   267

    tv.it_interval.tv_usec = 1000000 / FREQUENCY;

   268

    tv.it_value.tv_sec = 0;

   269

    tv.it_value.tv_usec = 1000;

   270

    if (setitimer(ITIMER_REAL, &tv, NULL)) {

   271

        fprintf(stderr, "Failed to start timer: %s\n", strerror(errno));

   272

        return 1;

   273

    }

   274

   275

    gettimeofday(&app_time, NULL);

   276

   277

    printf("Started.\n");

   278

	while (1) {

   279

        pause();

   280

   281

#if 0

   282

        struct timeval t;

   283

        gettimeofday(&t, NULL);

   284

        printf("%u.%06u\n", t.tv_sec, t.tv_usec);

   285

#endif

   286

   287

        while (sig_alarms != user_alarms) {

   288

            cyclic_task();

   289

            user_alarms++;

   290

        }

   291

	}

   292

   293

	return 0;

   294

}

   295

   296

/****************************************************************************/