author | Florian Pose <fp@igh-essen.com> |
Thu, 22 Sep 2011 18:51:31 +0200 | |
changeset 2147 | af5c0ddbeb87 |
parent 2059 | ab0b96ac18bb |
child 2589 | 2b9c78543663 |
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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* main.c Copyright (C) 2011 IgH Andreas Stewering-Bone |
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* |
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* This file is part of ethercatrtdm interface to IgH EtherCAT master |
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* |
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* The IgH EtherCAT master is free software; you can |
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* redistribute it and/or modify it under the terms of the GNU Lesser General |
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* Public License as published by the Free Software Foundation; version 2.1 |
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* of the License. |
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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 userspace library is distributed in the hope that |
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* it will be useful, but WITHOUT ANY WARRANTY; without even the implied |
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* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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* GNU Lesser General Public License for more details. |
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* |
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* You should have received a copy of the GNU Lesser General Public License |
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* along with the IgH EtherCAT master userspace library. If not, see |
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* <http://www.gnu.org/licenses/>. |
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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 <sched.h> |
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#include <stdio.h> |
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#include <stdlib.h> |
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#include <fcntl.h> |
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#include <signal.h> |
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#include <rtai_lxrt.h> |
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#include <rtdm/rtdm.h> |
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#include "../../include/ecrt.h" |
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#include "../../include/ec_rtdm.h" |
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#define rt_printf(X,Y) |
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#define NSEC_PER_SEC 1000000000 |
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RT_TASK* task; // Stores a handle. |
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int priority=0; // Highest |
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int stack_size=0; // Use default (512) |
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int msg_size=0; // Use default (256) |
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static unsigned int cycle = 1000; /* 1 ms */ |
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int rt_fd = -1; |
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int run=0; |
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unsigned int sync_ref_counter = 0; |
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CstructMstrAttach MstrAttach; |
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/****************************************************************************/ |
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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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/****************************************************************************/ |
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static uint8_t *domain1_pd = NULL; |
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// process data |
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#define BusCoupler01_Pos 0, 0 |
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#define DigOutSlave01_Pos 0, 1 |
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#define DigOutSlave02_Pos 0, 2 |
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#define DigInSlave01_Pos 0, 3 |
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#define AnaOutSlave01_Pos 0, 4 |
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#define AnaInSlave01_Pos 0, 5 |
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#define BusCoupler02_Pos 0, 6 |
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#define AnaInSlave02_Pos 0, 7 |
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#define Beckhoff_EK1100 0x00000002, 0x044c2c52 |
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#define Beckhoff_EL1014 0x00000002, 0x03f63052 |
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#define Beckhoff_EL2004 0x00000002, 0x07d43052 |
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#define Beckhoff_EL4132 0x00000002, 0x10243052 |
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#define Beckhoff_EL3102 0x00000002, 0x0c1e3052 |
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#define Beckhoff_EL4102 0x00000002, 0x10063052 |
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#define Beckhoff_EL6731 0x00000002, 0x1a4b3052 |
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#define Beckhoff_EL6600 0x00000002, 0x19c93052 |
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#define Beckhoff_EL3602 0x00000002, 0x0e123052 |
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#define Beckhoff_EL5151 0x00000002, 0x141f3052 |
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// offsets for PDO entries |
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static unsigned int off_dig_out0 = 0; |
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static unsigned int off_dig_out1 = 0; |
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static unsigned int off_dig_out2 = 0; |
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static unsigned int off_dig_out3 = 0; |
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static unsigned int off_dig_in0 = 0; |
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static unsigned int off_ana_out0 = 0; |
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static unsigned int off_ana_out1 = 0; |
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static unsigned int off_ana_in0_status = 0; |
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static unsigned int off_ana_in0_value = 0; |
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static unsigned int off_ana_in1_status = 0; |
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static unsigned int off_ana_in1_value = 0; |
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126 |
|
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|
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// process data |
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unsigned int bit_position0=0; /* Pointer to a variable to store a bit */ |
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unsigned int bit_position1=0; /* Pointer to a variable to store a bit */ |
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unsigned int bit_position2=0; /* Pointer to a variable to store a bit */ |
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unsigned int bit_position3=0; /* Pointer to a variable to store a bit */ |
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133 |
|
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const static ec_pdo_entry_reg_t domain1_regs[] = { |
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{DigOutSlave01_Pos, Beckhoff_EL2004, 0x7000, 0x01, &off_dig_out0, &bit_position0}, |
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{DigOutSlave01_Pos, Beckhoff_EL2004, 0x7010, 0x01, &off_dig_out1, &bit_position1}, |
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{DigOutSlave01_Pos, Beckhoff_EL2004, 0x7020, 0x01, &off_dig_out2, &bit_position2}, |
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{DigOutSlave01_Pos, Beckhoff_EL2004, 0x7030, 0x01, &off_dig_out3, &bit_position3}, |
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{DigInSlave01_Pos, Beckhoff_EL1014, 0x6000, 0x01, &off_dig_in0}, |
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{AnaOutSlave01_Pos, Beckhoff_EL4132, 0x3001, 0x01, &off_ana_out0}, |
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{AnaOutSlave01_Pos, Beckhoff_EL4132, 0x3002, 0x01, &off_ana_out1}, |
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{AnaInSlave01_Pos, Beckhoff_EL3102, 0x3101, 0x01, &off_ana_in0_status}, |
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{AnaInSlave01_Pos, Beckhoff_EL3102, 0x3101, 0x02, &off_ana_in0_value}, |
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{AnaInSlave01_Pos, Beckhoff_EL3102, 0x3102, 0x01, &off_ana_in1_status}, |
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{AnaInSlave01_Pos, Beckhoff_EL3102, 0x3102, 0x02, &off_ana_in1_value}, |
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146 |
{} |
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147 |
}; |
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148 |
|
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char rt_dev_file[64]; |
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static unsigned int blink = 0; |
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151 |
|
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static ec_slave_config_t *sc_dig_out_01 = NULL; |
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153 |
|
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static ec_slave_config_t *sc_dig_out_02 = NULL; |
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155 |
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static ec_slave_config_t *sc_dig_in_01 = NULL; |
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static ec_slave_config_t *sc_ana_out_01 = NULL; |
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static ec_slave_config_t *sc_ana_in_01 = NULL; |
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161 |
|
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static ec_slave_config_t *sc_ana_in_02 = NULL; |
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163 |
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164 |
/*****************************************************************************/ |
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165 |
|
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166 |
/* Slave 1, "EL2004" |
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167 |
* Vendor ID: 0x00000002 |
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168 |
* Product code: 0x07d43052 |
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169 |
* Revision number: 0x00100000 |
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170 |
*/ |
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171 |
|
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ec_pdo_entry_info_t slave_1_pdo_entries[] = { |
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{0x7000, 0x01, 1}, /* Output */ |
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174 |
{0x7010, 0x01, 1}, /* Output */ |
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{0x7020, 0x01, 1}, /* Output */ |
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176 |
{0x7030, 0x01, 1}, /* Output */ |
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177 |
}; |
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178 |
|
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ec_pdo_info_t slave_1_pdos[] = { |
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{0x1600, 1, slave_1_pdo_entries + 0}, /* Channel 1 */ |
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{0x1601, 1, slave_1_pdo_entries + 1}, /* Channel 2 */ |
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182 |
{0x1602, 1, slave_1_pdo_entries + 2}, /* Channel 3 */ |
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183 |
{0x1603, 1, slave_1_pdo_entries + 3}, /* Channel 4 */ |
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184 |
}; |
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185 |
|
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186 |
ec_sync_info_t slave_1_syncs[] = { |
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{0, EC_DIR_OUTPUT, 4, slave_1_pdos + 0, EC_WD_ENABLE}, |
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188 |
{0xff} |
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189 |
}; |
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190 |
|
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191 |
/* Slave 2, "EL2004" |
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192 |
* Vendor ID: 0x00000002 |
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193 |
* Product code: 0x07d43052 |
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194 |
* Revision number: 0x00100000 |
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195 |
*/ |
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196 |
|
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197 |
ec_pdo_entry_info_t slave_2_pdo_entries[] = { |
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198 |
{0x7000, 0x01, 1}, /* Output */ |
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199 |
{0x7010, 0x01, 1}, /* Output */ |
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200 |
{0x7020, 0x01, 1}, /* Output */ |
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201 |
{0x7030, 0x01, 1}, /* Output */ |
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202 |
}; |
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203 |
|
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204 |
ec_pdo_info_t slave_2_pdos[] = { |
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205 |
{0x1600, 1, slave_2_pdo_entries + 0}, /* Channel 1 */ |
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206 |
{0x1601, 1, slave_2_pdo_entries + 1}, /* Channel 2 */ |
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207 |
{0x1602, 1, slave_2_pdo_entries + 2}, /* Channel 3 */ |
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208 |
{0x1603, 1, slave_2_pdo_entries + 3}, /* Channel 4 */ |
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209 |
}; |
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210 |
|
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211 |
ec_sync_info_t slave_2_syncs[] = { |
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{0, EC_DIR_OUTPUT, 4, slave_2_pdos + 0, EC_WD_ENABLE}, |
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213 |
{0xff} |
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214 |
}; |
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215 |
|
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216 |
/* Slave 3, "EL1014" |
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217 |
* Vendor ID: 0x00000002 |
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218 |
* Product code: 0x03f63052 |
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219 |
* Revision number: 0x00100000 |
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220 |
*/ |
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221 |
|
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222 |
ec_pdo_entry_info_t slave_3_pdo_entries[] = { |
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223 |
{0x6000, 0x01, 1}, /* Input */ |
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224 |
{0x6010, 0x01, 1}, /* Input */ |
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225 |
{0x6020, 0x01, 1}, /* Input */ |
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226 |
{0x6030, 0x01, 1}, /* Input */ |
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227 |
}; |
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228 |
|
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229 |
ec_pdo_info_t slave_3_pdos[] = { |
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230 |
{0x1a00, 1, slave_3_pdo_entries + 0}, /* Channel 1 */ |
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231 |
{0x1a01, 1, slave_3_pdo_entries + 1}, /* Channel 2 */ |
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{0x1a02, 1, slave_3_pdo_entries + 2}, /* Channel 3 */ |
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{0x1a03, 1, slave_3_pdo_entries + 3}, /* Channel 4 */ |
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234 |
}; |
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235 |
|
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ec_sync_info_t slave_3_syncs[] = { |
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{0, EC_DIR_INPUT, 4, slave_3_pdos + 0, EC_WD_DISABLE}, |
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238 |
{0xff} |
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239 |
}; |
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240 |
|
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/* Slave 4, "EL4132" |
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242 |
* Vendor ID: 0x00000002 |
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* Product code: 0x10243052 |
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* Revision number: 0x03f90000 |
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*/ |
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246 |
|
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ec_pdo_entry_info_t slave_4_pdo_entries[] = { |
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{0x3001, 0x01, 16}, /* Output */ |
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{0x3002, 0x01, 16}, /* Output */ |
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250 |
}; |
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251 |
|
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ec_pdo_info_t slave_4_pdos[] = { |
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{0x1600, 1, slave_4_pdo_entries + 0}, /* RxPDO 01 mapping */ |
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{0x1601, 1, slave_4_pdo_entries + 1}, /* RxPDO 02 mapping */ |
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255 |
}; |
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256 |
|
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ec_sync_info_t slave_4_syncs[] = { |
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{0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, |
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{1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, |
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{2, EC_DIR_OUTPUT, 2, slave_4_pdos + 0, EC_WD_DISABLE}, |
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{3, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, |
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262 |
{0xff} |
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263 |
}; |
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264 |
|
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/* Slave 5, "EL3102" |
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266 |
* Vendor ID: 0x00000002 |
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267 |
* Product code: 0x0c1e3052 |
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268 |
* Revision number: 0x00000000 |
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269 |
*/ |
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270 |
|
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ec_pdo_entry_info_t slave_5_pdo_entries[] = { |
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{0x3101, 0x01, 8}, /* Status */ |
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273 |
{0x3101, 0x02, 16}, /* Value */ |
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274 |
{0x3102, 0x01, 8}, /* Status */ |
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{0x3102, 0x02, 16}, /* Value */ |
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276 |
}; |
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277 |
|
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ec_pdo_info_t slave_5_pdos[] = { |
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279 |
{0x1a00, 2, slave_5_pdo_entries + 0}, /* TxPDO 001 mapping */ |
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280 |
{0x1a01, 2, slave_5_pdo_entries + 2}, /* TxPDO 002 mapping */ |
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281 |
}; |
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282 |
|
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283 |
ec_sync_info_t slave_5_syncs[] = { |
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284 |
{0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, |
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285 |
{1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, |
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286 |
{2, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, |
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287 |
{3, EC_DIR_INPUT, 2, slave_5_pdos + 0, EC_WD_DISABLE}, |
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288 |
{0xff} |
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289 |
}; |
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290 |
|
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291 |
/* Slave 6, "EL6731-0010" |
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292 |
* Vendor ID: 0x00000002 |
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293 |
* Product code: 0x1a4b3052 |
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294 |
* Revision number: 0x0011000a |
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295 |
*/ |
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296 |
|
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297 |
ec_sync_info_t slave_6_syncs[] = { |
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298 |
{0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, |
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299 |
{1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, |
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300 |
{2, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, |
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301 |
{3, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, |
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302 |
}; |
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303 |
|
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304 |
|
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305 |
/* Slave 7, "EL6601" |
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306 |
* Vendor ID: 0x00000002 |
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307 |
* Product code: 0x19c93052 |
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308 |
* Revision number: 0x00110000 |
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309 |
*/ |
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310 |
/* |
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311 |
ec_sync_info_t slave_7_syncs[] = { |
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312 |
{0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, |
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313 |
{1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, |
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314 |
{2, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, |
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315 |
{3, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, |
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316 |
{0xff} |
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317 |
}; |
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318 |
*/ |
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319 |
|
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320 |
/* Master 0, Slave 7, "EL3602" |
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321 |
* Vendor ID: 0x00000002 |
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322 |
* Product code: 0x0e123052 |
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323 |
* Revision number: 0x00100000 |
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324 |
*/ |
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325 |
ec_pdo_entry_info_t slave_7_pdo_entries[] = { |
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326 |
{0x6000, 0x01, 1}, /* Underrange */ |
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327 |
{0x6000, 0x02, 1}, /* Overrange */ |
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328 |
{0x6000, 0x03, 2}, /* Limit 1 */ |
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329 |
{0x6000, 0x05, 2}, /* Limit 2 */ |
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330 |
{0x6000, 0x07, 1}, /* Error */ |
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|
331 |
{0x0000, 0x00, 7}, /* Gap */ |
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332 |
{0x1800, 0x07, 1}, |
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333 |
{0x1800, 0x09, 1}, |
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334 |
{0x6000, 0x11, 32}, /* Value */ |
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335 |
{0x6010, 0x01, 1}, /* Underrange */ |
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336 |
{0x6010, 0x02, 1}, /* Overrange */ |
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337 |
{0x6010, 0x03, 2}, /* Limit 1 */ |
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338 |
{0x6010, 0x05, 2}, /* Limit 2 */ |
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339 |
{0x6010, 0x07, 1}, /* Error */ |
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340 |
{0x0000, 0x00, 7}, /* Gap */ |
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341 |
{0x1801, 0x07, 1}, |
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342 |
{0x1801, 0x09, 1}, |
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343 |
{0x6010, 0x11, 32}, /* Value */ |
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|
344 |
}; |
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345 |
|
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|
346 |
ec_pdo_info_t slave_7_pdos[] = { |
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parents:
diff
changeset
|
347 |
{0x1a00, 9, slave_7_pdo_entries + 0}, /* AI TxPDO-Map Inputs Ch.1 */ |
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parents:
diff
changeset
|
348 |
{0x1a01, 9, slave_7_pdo_entries + 9}, /* AI TxPDO-Map Inputs Ch.2 */ |
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parents:
diff
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|
349 |
}; |
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parents:
diff
changeset
|
350 |
|
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parents:
diff
changeset
|
351 |
ec_sync_info_t slave_7_syncs[] = { |
543c4ce9e86e
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Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
352 |
{0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, |
543c4ce9e86e
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parents:
diff
changeset
|
353 |
{1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, |
543c4ce9e86e
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parents:
diff
changeset
|
354 |
{2, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, |
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parents:
diff
changeset
|
355 |
{3, EC_DIR_INPUT, 2, slave_7_pdos + 0, EC_WD_DISABLE}, |
543c4ce9e86e
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parents:
diff
changeset
|
356 |
{0xff} |
543c4ce9e86e
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Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
357 |
}; |
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parents:
diff
changeset
|
358 |
|
543c4ce9e86e
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Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
359 |
/* Master 0, Slave 8, "EL5151" |
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parents:
diff
changeset
|
360 |
* Vendor ID: 0x00000002 |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
361 |
* Product code: 0x141f3052 |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
362 |
* Revision number: 0x00130000 |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
363 |
*/ |
543c4ce9e86e
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Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
364 |
|
543c4ce9e86e
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parents:
diff
changeset
|
365 |
ec_pdo_entry_info_t slave_8_pdo_entries[] = { |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
366 |
{0x6000, 0x01, 1}, |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
367 |
{0x6000, 0x02, 1}, |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
368 |
{0x6000, 0x03, 1}, |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
369 |
{0x0000, 0x00, 4}, /* Gap */ |
543c4ce9e86e
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Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
370 |
{0x6000, 0x08, 1}, |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
371 |
{0x6000, 0x09, 1}, |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
372 |
{0x6000, 0x0a, 1}, |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
373 |
{0x6000, 0x0b, 1}, |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
374 |
{0x0000, 0x00, 1}, /* Gap */ |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
375 |
{0x6000, 0x0d, 1}, |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
376 |
{0x1c32, 0x20, 1}, |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
377 |
{0x0000, 0x00, 1}, /* Gap */ |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
378 |
{0x1800, 0x09, 1}, |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
379 |
{0x6000, 0x11, 32}, |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
380 |
{0x6000, 0x12, 32}, |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
381 |
{0x6000, 0x14, 32}, |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
382 |
}; |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
383 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
384 |
ec_pdo_info_t slave_8_pdos[] = { |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
385 |
{0x0000, 0, NULL}, |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
386 |
{0x1a00, 15, slave_8_pdo_entries + 0}, |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
387 |
{0x1a02, 1, slave_8_pdo_entries + 15}, |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
388 |
}; |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
389 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
390 |
ec_sync_info_t slave_8_syncs[] = { |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
391 |
{0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
392 |
{1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
393 |
{2, EC_DIR_OUTPUT, 1, slave_8_pdos + 0, EC_WD_DISABLE}, |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
394 |
{3, EC_DIR_INPUT, 2, slave_8_pdos + 1, EC_WD_DISABLE}, |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
395 |
{0xff} |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
396 |
}; |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
397 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
398 |
|
543c4ce9e86e
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Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
399 |
/*****************************************************************************/ |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
400 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
401 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
402 |
void rt_check_domain_state(void) |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
403 |
{ |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
404 |
ec_domain_state_t ds; |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
405 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
406 |
if (rt_fd>=0) |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
407 |
{ |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
408 |
ecrt_rtdm_domain_state(rt_fd,&ds); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
409 |
} |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
410 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
411 |
if (ds.working_counter != domain1_state.working_counter) |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
412 |
{ |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
413 |
rt_printf("Domain1: WC %u.\n", ds.working_counter); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
414 |
} |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
415 |
if (ds.wc_state != domain1_state.wc_state) |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
416 |
{ |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
417 |
rt_printf("Domain1: State %u.\n", ds.wc_state); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
418 |
} |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
419 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
420 |
domain1_state = ds; |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
421 |
} |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
422 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
423 |
void rt_check_master_state(void) |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
424 |
{ |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
425 |
ec_master_state_t ms; |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
426 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
427 |
if (rt_fd>=0) |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
428 |
{ |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
429 |
ecrt_rtdm_master_state(rt_fd,&ms); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
430 |
} |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
431 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
432 |
if (ms.slaves_responding != master_state.slaves_responding) |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
433 |
{ |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
434 |
rt_printf("%u slave(s).\n", ms.slaves_responding); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
435 |
} |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
436 |
if (ms.al_states != master_state.al_states) |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
437 |
{ |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
438 |
rt_printf("AL states: 0x%02X.\n", ms.al_states); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
439 |
} |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
440 |
if (ms.link_up != master_state.link_up) |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
441 |
{ |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
442 |
rt_printf("Link is %s.\n", ms.link_up ? "up" : "down"); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
443 |
} |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
444 |
master_state = ms; |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
445 |
} |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
446 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
447 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
448 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
449 |
|
2059
ab0b96ac18bb
Working RTAI LXRT example
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
2058
diff
changeset
|
450 |
void rt_sync(void) |
2058
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
451 |
{ |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
452 |
|
2059
ab0b96ac18bb
Working RTAI LXRT example
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
2058
diff
changeset
|
453 |
RTIME now_ns; |
ab0b96ac18bb
Working RTAI LXRT example
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
2058
diff
changeset
|
454 |
uint64_t now; |
ab0b96ac18bb
Working RTAI LXRT example
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
2058
diff
changeset
|
455 |
now_ns = rt_get_cpu_time_ns(); |
ab0b96ac18bb
Working RTAI LXRT example
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
2058
diff
changeset
|
456 |
now = (uint64_t)now_ns; |
2058
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
457 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
458 |
if (rt_fd>=0) |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
459 |
{ |
2059
ab0b96ac18bb
Working RTAI LXRT example
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
2058
diff
changeset
|
460 |
ecrt_rtdm_master_application_time(rt_fd, &now); |
2058
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
461 |
} |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
462 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
463 |
if (sync_ref_counter) { |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
464 |
sync_ref_counter--; |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
465 |
} else { |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
466 |
sync_ref_counter = 9; |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
467 |
if (rt_fd>=0) |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
468 |
{ |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
469 |
ecrt_rtdm_master_sync_reference_clock(rt_fd); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
470 |
} |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
471 |
} |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
472 |
if (rt_fd>=0) |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
473 |
{ |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
474 |
ecrt_rtdm_master_sync_slave_clocks(rt_fd) ; |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
475 |
} |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
476 |
} |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
477 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
478 |
/*****************************************************************************/ |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
479 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
480 |
/**********************************************************/ |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
481 |
void cleanup_all(void) |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
482 |
{ |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
483 |
run = 0; |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
484 |
} |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
485 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
486 |
void catch_signal(int sig) |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
487 |
{ |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
488 |
cleanup_all(); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
489 |
} |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
490 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
491 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
492 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
493 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
494 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
495 |
void my_cyclic(void) |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
496 |
{ |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
497 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
498 |
int counter = 0; |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
499 |
int divcounter = 0; |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
500 |
int divider = 10; |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
501 |
int period; |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
502 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
503 |
rt_set_periodic_mode(); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
504 |
period = (int) nano2count((RTIME)cycle*1000); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
505 |
start_rt_timer(period); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
506 |
rt_make_hard_real_time(); |
2059
ab0b96ac18bb
Working RTAI LXRT example
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
2058
diff
changeset
|
507 |
rt_task_make_periodic(task, rt_get_time() + 10*period, period); |
ab0b96ac18bb
Working RTAI LXRT example
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
2058
diff
changeset
|
508 |
|
2058
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
509 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
510 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
511 |
while(1) { |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
512 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
513 |
rt_task_wait_period(); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
514 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
515 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
516 |
counter++; |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
517 |
if (counter>60000) { |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
518 |
run=0; |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
519 |
} |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
520 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
521 |
if(run == 0) { |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
522 |
rt_make_soft_real_time(); |
2059
ab0b96ac18bb
Working RTAI LXRT example
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
2058
diff
changeset
|
523 |
stop_rt_timer(); |
2058
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
524 |
return; |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
525 |
} |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
526 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
527 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
528 |
// receive ethercat |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
529 |
ecrt_rtdm_master_recieve(rt_fd); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
530 |
ecrt_rtdm_domain_process(rt_fd); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
531 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
532 |
rt_check_domain_state(); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
533 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
534 |
if (divcounter ==0) |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
535 |
{ |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
536 |
divcounter=divider; |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
537 |
rt_check_master_state(); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
538 |
} |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
539 |
divcounter--; |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
540 |
if ((counter % 200)==0) |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
541 |
{ |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
542 |
blink = !blink; |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
543 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
544 |
} |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
545 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
546 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
547 |
EC_WRITE_U8(domain1_pd + off_dig_out0, blink ? 0x0 : 0x0F); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
548 |
EC_WRITE_U16(domain1_pd + off_ana_out0, blink ? 0x0: 0xfff); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
549 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
550 |
//sync DC |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
551 |
rt_sync(); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
552 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
553 |
// send process data |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
554 |
ecrt_rtdm_domain_queque(rt_fd); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
555 |
ecrt_rtdm_master_send(rt_fd); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
556 |
} |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
557 |
return; |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
558 |
} |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
559 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
560 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
561 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
562 |
int main(int argc, char *argv[]) |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
563 |
{ |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
564 |
ec_slave_config_t *sc; |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
565 |
int rtstatus; |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
566 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
567 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
568 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
569 |
signal(SIGTERM, catch_signal); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
570 |
signal(SIGINT, catch_signal); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
571 |
signal(SIGHUP, catch_signal); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
572 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
573 |
mlockall(MCL_CURRENT|MCL_FUTURE); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
574 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
575 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
576 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
577 |
MstrAttach.masterindex = 0; |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
578 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
579 |
printf("request master\n"); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
580 |
master = ecrt_request_master(MstrAttach.masterindex); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
581 |
if (!master) |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
582 |
return -1; |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
583 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
584 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
585 |
domain1 = ecrt_master_create_domain(master); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
586 |
if (!domain1) |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
587 |
return -1; |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
588 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
589 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
590 |
#ifdef CONFIGURE_PDOS |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
591 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
592 |
printf("Configuring PDOs...\n"); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
593 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
594 |
printf("Get Configuring el2004...\n"); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
595 |
sc_dig_out_01 = ecrt_master_slave_config(master, DigOutSlave01_Pos, Beckhoff_EL2004); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
596 |
if (!sc_dig_out_01) { |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
597 |
fprintf(stderr, "Failed to get slave configuration.\n"); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
598 |
return -1; |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
599 |
} |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
600 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
601 |
printf("Configuring EL2004...\n"); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
602 |
if (ecrt_slave_config_pdos(sc_dig_out_01, EC_END, slave_1_syncs)) |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
603 |
{ |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
604 |
fprintf(stderr, "Failed to configure PDOs.\n"); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
605 |
return -1; |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
606 |
} |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
607 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
608 |
printf("Get Configuring el2004...\n"); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
609 |
sc_dig_out_02 = ecrt_master_slave_config(master, DigOutSlave02_Pos, Beckhoff_EL2004); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
610 |
if (!sc_dig_out_02) { |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
611 |
fprintf(stderr, "Failed to get slave configuration.\n"); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
612 |
return -1; |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
613 |
} |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
614 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
615 |
printf("Configuring EL2004...\n"); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
616 |
if (ecrt_slave_config_pdos(sc_dig_out_02, EC_END, slave_2_syncs)) { |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
617 |
fprintf(stderr, "Failed to configure PDOs.\n"); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
618 |
return -1; |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
619 |
} |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
620 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
621 |
printf("Get Configuring el1014...\n"); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
622 |
sc_dig_in_01 = ecrt_master_slave_config(master, DigInSlave01_Pos, Beckhoff_EL1014); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
623 |
if (!sc_dig_in_01) { |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
624 |
fprintf(stderr, "Failed to get slave configuration.\n"); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
625 |
return -1; |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
626 |
} |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
627 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
628 |
printf("Configuring EL1014...\n"); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
629 |
if (ecrt_slave_config_pdos(sc_dig_in_01, EC_END, slave_3_syncs)) { |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
630 |
fprintf(stderr, "Failed to configure PDOs.\n"); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
631 |
return -1; |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
632 |
} |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
633 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
634 |
printf("Get Configuring EL4132...\n"); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
635 |
sc_ana_out_01 = ecrt_master_slave_config(master, AnaOutSlave01_Pos, Beckhoff_EL4132); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
636 |
if (!sc_ana_out_01) { |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
637 |
fprintf(stderr, "Failed to get slave configuration.\n"); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
638 |
return -1; |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
639 |
} |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
640 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
641 |
printf("Configuring EL4132...\n"); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
642 |
if (ecrt_slave_config_pdos(sc_ana_out_01, EC_END, slave_4_syncs)) { |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
643 |
fprintf(stderr, "Failed to configure PDOs.\n"); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
644 |
return -1; |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
645 |
} |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
646 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
647 |
printf("Get Configuring EL3102...\n"); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
648 |
sc_ana_in_01 = ecrt_master_slave_config(master, AnaInSlave01_Pos, Beckhoff_EL3102); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
649 |
if (!sc_ana_in_01) { |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
650 |
fprintf(stderr, "Failed to get slave configuration.\n"); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
651 |
return -1; |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
652 |
} |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
653 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
654 |
printf("Configuring EL3102...\n"); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
655 |
if (ecrt_slave_config_pdos(sc_ana_in_01, EC_END, slave_5_syncs)) { |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
656 |
fprintf(stderr, "Failed to configure PDOs.\n"); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
657 |
return -1; |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
658 |
} |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
659 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
660 |
printf("Get Configuring EL3602...\n"); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
661 |
sc_ana_in_02 = ecrt_master_slave_config(master, AnaInSlave02_Pos, Beckhoff_EL3602); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
662 |
if (!sc_ana_in_02) { |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
663 |
fprintf(stderr, "Failed to get slave configuration.\n"); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
664 |
return -1; |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
665 |
} |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
666 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
667 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
668 |
printf("Configuring EL3602...\n"); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
669 |
if (ecrt_slave_config_pdos(sc_ana_in_02, EC_END, slave_7_syncs)) { |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
670 |
fprintf(stderr, "Failed to configure PDOs.\n"); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
671 |
return -1; |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
672 |
} |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
673 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
674 |
#endif |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
675 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
676 |
// Create configuration for bus coupler |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
677 |
sc = ecrt_master_slave_config(master, BusCoupler01_Pos, Beckhoff_EK1100); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
678 |
if (!sc) |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
679 |
return -1; |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
680 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
681 |
#ifdef CONFIGURE_PDOS |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
682 |
if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) { |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
683 |
fprintf(stderr, "PDO entry registration failed!\n"); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
684 |
return -1; |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
685 |
} |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
686 |
#endif |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
687 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
688 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
689 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
690 |
sprintf(&rt_dev_file[0],"%s%u",EC_RTDM_DEV_FILE_NAME,0); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
691 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
692 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
693 |
rt_fd = rt_dev_open( &rt_dev_file[0], 0); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
694 |
if (rt_fd < 0) { |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
695 |
printf("can't open %s\n", &rt_dev_file[0]); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
696 |
return -1; |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
697 |
} |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
698 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
699 |
MstrAttach.domainindex = ecrt_domain_index(domain1); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
700 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
701 |
// attach the master over rtdm driver |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
702 |
rtstatus=ecrt_rtdm_master_attach(rt_fd, &MstrAttach); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
703 |
if (rtstatus < 0) |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
704 |
{ |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
705 |
printf("cannot attach to master over rtdm\n"); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
706 |
return -1; |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
707 |
} |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
708 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
709 |
printf("Activating master...\n"); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
710 |
if (ecrt_master_activate(master)) |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
711 |
return -1; |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
712 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
713 |
if (!(domain1_pd = ecrt_domain_data(domain1))) { |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
714 |
return -1; |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
715 |
} |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
716 |
fprintf(stderr, "domain1_pd: 0x%.6x\n", (unsigned int)domain1_pd); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
717 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
718 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
719 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
720 |
run=1; |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
721 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
722 |
/* Create cyclic RT-thread */ |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
723 |
struct sched_param param; |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
724 |
param.sched_priority = sched_get_priority_max(SCHED_FIFO) - 1; |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
725 |
if( sched_setscheduler( 0, SCHED_FIFO, ¶m ) == -1 ) { |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
726 |
puts("ERROR IN SETTING THE SCHEDULER"); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
727 |
perror("errno"); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
728 |
exit(1); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
729 |
} |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
730 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
731 |
task = rt_task_init( nam2num("ec_rtai_rtdm_example"), priority, stack_size, msg_size); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
732 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
733 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
734 |
my_cyclic(); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
735 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
736 |
rt_task_delete(task); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
737 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
738 |
if (rt_fd >= 0) |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
739 |
{ |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
740 |
printf("closing rt device %s\n", &rt_dev_file[0]); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
741 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
742 |
rt_dev_close(rt_fd); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
743 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
744 |
} |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
745 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
746 |
printf("End of Program\n"); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
747 |
ecrt_release_master(master); |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
748 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
749 |
return 0; |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
750 |
|
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
751 |
} |
543c4ce9e86e
Working RTAI RTDM module
Andreas Stewering-Bone <ab@igh-essen.com>
parents:
diff
changeset
|
752 |