author | Florian Pose <fp@igh.de> |
Wed, 06 Dec 2017 10:09:50 +0100 | |
branch | stable-1.5 |
changeset 2692 | cb240525acb6 |
parent 2664 | 14a18eae7e3b |
child 2697 | 4f5ae7e0fbaa |
permissions | -rw-r--r-- |
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/***************************************************************************** |
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* |
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* $Id$ |
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* |
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* Copyright (C) 2007-2009 Florian Pose, Ingenieurgemeinschaft IgH |
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* |
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* This file is part of the IgH EtherCAT Master. |
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* |
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* The IgH EtherCAT Master is free software; you can redistribute it and/or |
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* modify it under the terms of the GNU General Public License version 2, as |
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* published by the Free Software Foundation. |
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* |
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* The IgH EtherCAT Master is distributed in the hope that it will be useful, |
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* but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General |
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* Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License along |
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* with the IgH EtherCAT Master; if not, write to the Free Software |
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
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* |
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* --- |
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* |
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* The license mentioned above concerns the source code only. Using the |
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* EtherCAT technology and brand is only permitted in compliance with the |
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* industrial property and similar rights of Beckhoff Automation GmbH. |
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* |
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****************************************************************************/ |
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#include <errno.h> |
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#include <signal.h> |
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#include <stdio.h> |
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#include <string.h> |
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#include <sys/resource.h> |
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#include <sys/time.h> |
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#include <sys/types.h> |
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#include <unistd.h> |
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#include <time.h> /* clock_gettime() */ |
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#include <sys/mman.h> /* mlockall() */ |
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/****************************************************************************/ |
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#include "ecrt.h" |
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/****************************************************************************/ |
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/** Task period in ns. */ |
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#define PERIOD_NS (1000000) |
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#define MAX_SAFE_STACK (8 * 1024) /* The maximum stack size which is |
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guranteed safe to access without |
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faulting */ |
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/****************************************************************************/ |
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/* Constants */ |
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#define NSEC_PER_SEC (1000000000) |
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#define FREQUENCY (NSEC_PER_SEC / PERIOD_NS) |
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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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static ec_slave_config_t *sc_ana_in = NULL; |
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static ec_slave_config_state_t sc_ana_in_state = {}; |
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/****************************************************************************/ |
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// process data |
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static uint8_t *domain1_pd = NULL; |
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#define BusCouplerPos 0, 0 |
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#define DigOutSlavePos 0, 2 |
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#define AnaInSlavePos 0, 3 |
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#define AnaOutSlavePos 0, 4 |
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#define Beckhoff_EK1100 0x00000002, 0x044c2c52 |
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#define Beckhoff_EL2004 0x00000002, 0x07d43052 |
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#define Beckhoff_EL2032 0x00000002, 0x07f03052 |
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#define Beckhoff_EL3152 0x00000002, 0x0c503052 |
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#define Beckhoff_EL3102 0x00000002, 0x0c1e3052 |
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#define Beckhoff_EL4102 0x00000002, 0x10063052 |
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// offsets for PDO entries |
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static unsigned int off_ana_in_status; |
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static unsigned int off_ana_in_value; |
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static unsigned int off_ana_out; |
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static unsigned int off_dig_out; |
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const static ec_pdo_entry_reg_t domain1_regs[] = { |
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{AnaInSlavePos, Beckhoff_EL3102, 0x3101, 1, &off_ana_in_status}, |
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{AnaInSlavePos, Beckhoff_EL3102, 0x3101, 2, &off_ana_in_value}, |
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{AnaOutSlavePos, Beckhoff_EL4102, 0x3001, 1, &off_ana_out}, |
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{DigOutSlavePos, Beckhoff_EL2032, 0x3001, 1, &off_dig_out}, |
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{} |
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}; |
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static unsigned int counter = 0; |
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static unsigned int blink = 0; |
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/*****************************************************************************/ |
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// Analog in -------------------------- |
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static ec_pdo_entry_info_t el3102_pdo_entries[] = { |
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{0x3101, 1, 8}, // channel 1 status |
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{0x3101, 2, 16}, // channel 1 value |
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{0x3102, 1, 8}, // channel 2 status |
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{0x3102, 2, 16}, // channel 2 value |
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{0x6401, 1, 16}, // channel 1 value (alt.) |
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{0x6401, 2, 16} // channel 2 value (alt.) |
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}; |
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static ec_pdo_info_t el3102_pdos[] = { |
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{0x1A00, 2, el3102_pdo_entries}, |
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{0x1A01, 2, el3102_pdo_entries + 2} |
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}; |
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static ec_sync_info_t el3102_syncs[] = { |
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{2, EC_DIR_OUTPUT}, |
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{3, EC_DIR_INPUT, 2, el3102_pdos}, |
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{0xff} |
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}; |
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// Analog out ------------------------- |
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static ec_pdo_entry_info_t el4102_pdo_entries[] = { |
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{0x3001, 1, 16}, // channel 1 value |
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{0x3002, 1, 16}, // channel 2 value |
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}; |
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static ec_pdo_info_t el4102_pdos[] = { |
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{0x1600, 1, el4102_pdo_entries}, |
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{0x1601, 1, el4102_pdo_entries + 1} |
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}; |
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static ec_sync_info_t el4102_syncs[] = { |
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{2, EC_DIR_OUTPUT, 2, el4102_pdos}, |
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{3, EC_DIR_INPUT}, |
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{0xff} |
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}; |
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// Digital out ------------------------ |
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static ec_pdo_entry_info_t el2004_channels[] = { |
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{0x3001, 1, 1}, // Value 1 |
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{0x3001, 2, 1}, // Value 2 |
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{0x3001, 3, 1}, // Value 3 |
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{0x3001, 4, 1} // Value 4 |
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}; |
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static ec_pdo_info_t el2004_pdos[] = { |
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{0x1600, 1, &el2004_channels[0]}, |
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{0x1601, 1, &el2004_channels[1]}, |
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{0x1602, 1, &el2004_channels[2]}, |
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{0x1603, 1, &el2004_channels[3]} |
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}; |
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static ec_sync_info_t el2004_syncs[] = { |
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{0, EC_DIR_OUTPUT, 4, el2004_pdos}, |
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{1, EC_DIR_INPUT}, |
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{0xff} |
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}; |
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/*****************************************************************************/ |
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void check_domain1_state(void) |
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{ |
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ec_domain_state_t ds; |
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ecrt_domain_state(domain1, &ds); |
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if (ds.working_counter != domain1_state.working_counter) { |
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printf("Domain1: WC %u.\n", ds.working_counter); |
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} |
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if (ds.wc_state != domain1_state.wc_state) { |
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printf("Domain1: State %u.\n", ds.wc_state); |
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} |
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domain1_state = ds; |
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} |
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/*****************************************************************************/ |
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void check_master_state(void) |
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{ |
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ec_master_state_t ms; |
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ecrt_master_state(master, &ms); |
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if (ms.slaves_responding != master_state.slaves_responding) { |
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printf("%u slave(s).\n", ms.slaves_responding); |
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} |
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if (ms.al_states != master_state.al_states) { |
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printf("AL states: 0x%02X.\n", ms.al_states); |
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} |
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if (ms.link_up != master_state.link_up) { |
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printf("Link is %s.\n", ms.link_up ? "up" : "down"); |
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} |
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master_state = ms; |
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} |
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209 |
/*****************************************************************************/ |
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211 |
void check_slave_config_states(void) |
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{ |
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ec_slave_config_state_t s; |
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ecrt_slave_config_state(sc_ana_in, &s); |
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if (s.al_state != sc_ana_in_state.al_state) { |
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printf("AnaIn: State 0x%02X.\n", s.al_state); |
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} |
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if (s.online != sc_ana_in_state.online) { |
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printf("AnaIn: %s.\n", s.online ? "online" : "offline"); |
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} |
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if (s.operational != sc_ana_in_state.operational) { |
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printf("AnaIn: %soperational.\n", s.operational ? "" : "Not "); |
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} |
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sc_ana_in_state = s; |
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} |
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230 |
/*****************************************************************************/ |
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void cyclic_task() |
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{ |
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// receive process data |
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ecrt_master_receive(master); |
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ecrt_domain_process(domain1); |
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// check process data state |
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check_domain1_state(); |
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if (counter) { |
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counter--; |
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} else { // do this at 1 Hz |
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counter = FREQUENCY; |
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// calculate new process data |
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blink = !blink; |
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// check for master state (optional) |
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check_master_state(); |
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// check for slave configuration state(s) (optional) |
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check_slave_config_states(); |
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} |
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#if 0 |
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// read process data |
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printf("AnaIn: state %u value %u\n", |
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EC_READ_U8(domain1_pd + off_ana_in_status), |
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EC_READ_U16(domain1_pd + off_ana_in_value)); |
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#endif |
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#if 1 |
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// write process data |
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EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x06 : 0x09); |
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#endif |
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// send process data |
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ecrt_domain_queue(domain1); |
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ecrt_master_send(master); |
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} |
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/****************************************************************************/ |
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void stack_prefault(void) |
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{ |
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unsigned char dummy[MAX_SAFE_STACK]; |
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memset(dummy, 0, MAX_SAFE_STACK); |
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} |
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/****************************************************************************/ |
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int main(int argc, char **argv) |
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{ |
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ec_slave_config_t *sc; |
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struct timespec wakeup_time; |
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int ret = 0; |
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master = ecrt_request_master(0); |
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if (!master) { |
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return -1; |
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} |
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domain1 = ecrt_master_create_domain(master); |
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if (!domain1) { |
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return -1; |
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} |
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if (!(sc_ana_in = ecrt_master_slave_config( |
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master, AnaInSlavePos, Beckhoff_EL3102))) { |
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fprintf(stderr, "Failed to get slave configuration.\n"); |
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return -1; |
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} |
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printf("Configuring PDOs...\n"); |
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if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3102_syncs)) { |
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fprintf(stderr, "Failed to configure PDOs.\n"); |
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return -1; |
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} |
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if (!(sc = ecrt_master_slave_config( |
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master, AnaOutSlavePos, Beckhoff_EL4102))) { |
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fprintf(stderr, "Failed to get slave configuration.\n"); |
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return -1; |
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} |
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|
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if (ecrt_slave_config_pdos(sc, EC_END, el4102_syncs)) { |
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fprintf(stderr, "Failed to configure PDOs.\n"); |
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return -1; |
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} |
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if (!(sc = ecrt_master_slave_config( |
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master, DigOutSlavePos, Beckhoff_EL2032))) { |
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fprintf(stderr, "Failed to get slave configuration.\n"); |
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return -1; |
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} |
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if (ecrt_slave_config_pdos(sc, EC_END, el2004_syncs)) { |
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fprintf(stderr, "Failed to configure PDOs.\n"); |
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return -1; |
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} |
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// Create configuration for bus coupler |
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sc = ecrt_master_slave_config(master, BusCouplerPos, Beckhoff_EK1100); |
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if (!sc) { |
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return -1; |
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} |
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if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) { |
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fprintf(stderr, "PDO entry registration failed!\n"); |
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return -1; |
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} |
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printf("Activating master...\n"); |
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if (ecrt_master_activate(master)) { |
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return -1; |
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} |
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if (!(domain1_pd = ecrt_domain_data(domain1))) { |
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351 |
return -1; |
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352 |
} |
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/* Set priority */ |
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pid_t pid = getpid(); |
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if (setpriority(PRIO_PROCESS, pid, -19)) { |
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fprintf(stderr, "Warning: Failed to set priority: %s\n", |
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strerror(errno)); |
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} |
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361 |
|
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/* Lock memory */ |
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|
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if (mlockall(MCL_CURRENT | MCL_FUTURE) == -1) { |
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fprintf(stderr, "Warning: Failed to lock memory: %s\n", |
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strerror(errno)); |
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} |
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|
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stack_prefault(); |
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|
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printf("Starting RT task with dt=%u ns.\n", PERIOD_NS); |
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372 |
|
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clock_gettime(CLOCK_MONOTONIC, &wakeup_time); |
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wakeup_time.tv_sec += 1; /* start in future */ |
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wakeup_time.tv_nsec = 0; |
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|
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while (1) { |
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ret = clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, |
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&wakeup_time, NULL); |
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if (ret) { |
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fprintf(stderr, "clock_nanosleep(): %s\n", strerror(ret)); |
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382 |
break; |
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383 |
} |
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384 |
|
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cyclic_task(); |
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386 |
|
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wakeup_time.tv_nsec += PERIOD_NS; |
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while (wakeup_time.tv_nsec >= NSEC_PER_SEC) { |
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wakeup_time.tv_nsec -= NSEC_PER_SEC; |
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wakeup_time.tv_sec++; |
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391 |
} |
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392 |
} |
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393 |
|
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394 |
return ret; |
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395 |
} |
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396 |
|
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397 |
/****************************************************************************/ |