examples/user/main.c
author Philipp Weyer <pw@igh-essen.com>
Fri, 18 Aug 2017 12:30:16 +0200
changeset 2679 33b922ec1871
parent 2649 717c331cc227
permissions -rw-r--r--
Fixed lib include paths
1242
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     1
/*****************************************************************************
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     2
 *
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
     3
 *  $Id$
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
     4
 *
1326
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1261
diff changeset
     5
 *  Copyright (C) 2007-2009  Florian Pose, Ingenieurgemeinschaft IgH
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
     6
 *
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
     7
 *  This file is part of the IgH EtherCAT Master.
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
     8
 *
1326
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1261
diff changeset
     9
 *  The IgH EtherCAT Master is free software; you can redistribute it and/or
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1261
diff changeset
    10
 *  modify it under the terms of the GNU General Public License version 2, as
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1261
diff changeset
    11
 *  published by the Free Software Foundation.
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1261
diff changeset
    12
 *
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1261
diff changeset
    13
 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1261
diff changeset
    14
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1261
diff changeset
    15
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1261
diff changeset
    16
 *  Public License for more details.
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1261
diff changeset
    17
 *
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1261
diff changeset
    18
 *  You should have received a copy of the GNU General Public License along
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1261
diff changeset
    19
 *  with the IgH EtherCAT Master; if not, write to the Free Software
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
    20
 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
    21
 *
1363
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1352
diff changeset
    22
 *  ---
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1352
diff changeset
    23
 *
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1352
diff changeset
    24
 *  The license mentioned above concerns the source code only. Using the
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1352
diff changeset
    25
 *  EtherCAT technology and brand is only permitted in compliance with the
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1352
diff changeset
    26
 *  industrial property and similar rights of Beckhoff Automation GmbH.
1242
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    27
 *
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    28
 ****************************************************************************/
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    29
1249
d64ed42e0d11 Userspace example with priority.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
    30
#include <errno.h>
d64ed42e0d11 Userspace example with priority.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
    31
#include <signal.h>
d64ed42e0d11 Userspace example with priority.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
    32
#include <stdio.h>
d64ed42e0d11 Userspace example with priority.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
    33
#include <string.h>
d64ed42e0d11 Userspace example with priority.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
    34
#include <sys/resource.h>
d64ed42e0d11 Userspace example with priority.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
    35
#include <sys/time.h>
d64ed42e0d11 Userspace example with priority.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
    36
#include <sys/types.h>
1247
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
    37
#include <unistd.h>
2649
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
    38
#include <time.h> /* clock_gettime() */
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
    39
#include <sys/mman.h> /* mlockall() */
1247
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
    40
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
    41
/****************************************************************************/
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
    42
1242
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    43
#include "ecrt.h"
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    44
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
    45
/****************************************************************************/
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
    46
2649
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
    47
/** Task period in ns. */
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
    48
#define PERIOD_NS   (1000000)
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
    49
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
    50
#define MAX_SAFE_STACK (8 * 1024) /* The maximum stack size which is
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
    51
                                     guranteed safe to access without
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
    52
                                     faulting */
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
    53
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
    54
/****************************************************************************/
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
    55
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
    56
/* Constants */
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
    57
#define NSEC_PER_SEC (1000000000)
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
    58
#define FREQUENCY (NSEC_PER_SEC / PERIOD_NS)
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
    59
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
    60
/****************************************************************************/
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
    61
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
    62
// EtherCAT
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
    63
static ec_master_t *master = NULL;
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
    64
static ec_master_state_t master_state = {};
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
    65
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
    66
static ec_domain_t *domain1 = NULL;
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
    67
static ec_domain_state_t domain1_state = {};
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
    68
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
    69
static ec_slave_config_t *sc_ana_in = NULL;
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
    70
static ec_slave_config_state_t sc_ana_in_state = {};
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
    71
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
    72
/****************************************************************************/
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
    73
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
    74
// process data
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
    75
static uint8_t *domain1_pd = NULL;
1249
d64ed42e0d11 Userspace example with priority.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
    76
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
    77
#define BusCouplerPos  0, 0
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
    78
#define DigOutSlavePos 0, 2
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
    79
#define AnaInSlavePos  0, 3
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
    80
#define AnaOutSlavePos 0, 4
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
    81
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
    82
#define Beckhoff_EK1100 0x00000002, 0x044c2c52
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
    83
#define Beckhoff_EL2004 0x00000002, 0x07d43052
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
    84
#define Beckhoff_EL2032 0x00000002, 0x07f03052
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
    85
#define Beckhoff_EL3152 0x00000002, 0x0c503052
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
    86
#define Beckhoff_EL3102 0x00000002, 0x0c1e3052
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
    87
#define Beckhoff_EL4102 0x00000002, 0x10063052
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
    88
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
    89
// offsets for PDO entries
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
    90
static unsigned int off_ana_in_status;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
    91
static unsigned int off_ana_in_value;
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
    92
static unsigned int off_ana_out;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
    93
static unsigned int off_dig_out;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
    94
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
    95
const static ec_pdo_entry_reg_t domain1_regs[] = {
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
    96
    {AnaInSlavePos,  Beckhoff_EL3102, 0x3101, 1, &off_ana_in_status},
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
    97
    {AnaInSlavePos,  Beckhoff_EL3102, 0x3101, 2, &off_ana_in_value},
1508
60a116ed3897 Removed more tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
    98
    {AnaOutSlavePos, Beckhoff_EL4102, 0x3001, 1, &off_ana_out},
60a116ed3897 Removed more tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
    99
    {DigOutSlavePos, Beckhoff_EL2032, 0x3001, 1, &off_dig_out},
60a116ed3897 Removed more tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   100
    {}
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   101
};
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   102
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   103
static unsigned int counter = 0;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   104
static unsigned int blink = 0;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   105
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   106
/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   107
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   108
// Analog in --------------------------
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   109
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   110
static ec_pdo_entry_info_t el3102_pdo_entries[] = {
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   111
    {0x3101, 1,  8}, // channel 1 status
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   112
    {0x3101, 2, 16}, // channel 1 value
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   113
    {0x3102, 1,  8}, // channel 2 status
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   114
    {0x3102, 2, 16}, // channel 2 value
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   115
    {0x6401, 1, 16}, // channel 1 value (alt.)
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   116
    {0x6401, 2, 16}  // channel 2 value (alt.)
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   117
};
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   118
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   119
static ec_pdo_info_t el3102_pdos[] = {
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   120
    {0x1A00, 2, el3102_pdo_entries},
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   121
    {0x1A01, 2, el3102_pdo_entries + 2}
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   122
};
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   123
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   124
static ec_sync_info_t el3102_syncs[] = {
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   125
    {2, EC_DIR_OUTPUT},
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   126
    {3, EC_DIR_INPUT, 2, el3102_pdos},
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   127
    {0xff}
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   128
};
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   129
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   130
// Analog out -------------------------
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   131
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   132
static ec_pdo_entry_info_t el4102_pdo_entries[] = {
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   133
    {0x3001, 1, 16}, // channel 1 value
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   134
    {0x3002, 1, 16}, // channel 2 value
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   135
};
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   136
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   137
static ec_pdo_info_t el4102_pdos[] = {
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   138
    {0x1600, 1, el4102_pdo_entries},
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   139
    {0x1601, 1, el4102_pdo_entries + 1}
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   140
};
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   141
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   142
static ec_sync_info_t el4102_syncs[] = {
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   143
    {2, EC_DIR_OUTPUT, 2, el4102_pdos},
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   144
    {3, EC_DIR_INPUT},
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   145
    {0xff}
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   146
};
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   147
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   148
// Digital out ------------------------
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   149
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   150
static ec_pdo_entry_info_t el2004_channels[] = {
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   151
    {0x3001, 1, 1}, // Value 1
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   152
    {0x3001, 2, 1}, // Value 2
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   153
    {0x3001, 3, 1}, // Value 3
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   154
    {0x3001, 4, 1}  // Value 4
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   155
};
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   156
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   157
static ec_pdo_info_t el2004_pdos[] = {
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   158
    {0x1600, 1, &el2004_channels[0]},
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   159
    {0x1601, 1, &el2004_channels[1]},
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   160
    {0x1602, 1, &el2004_channels[2]},
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   161
    {0x1603, 1, &el2004_channels[3]}
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   162
};
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   163
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   164
static ec_sync_info_t el2004_syncs[] = {
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   165
    {0, EC_DIR_OUTPUT, 4, el2004_pdos},
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   166
    {1, EC_DIR_INPUT},
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   167
    {0xff}
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   168
};
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   169
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   170
/*****************************************************************************/
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   171
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   172
void check_domain1_state(void)
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   173
{
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   174
    ec_domain_state_t ds;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   175
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   176
    ecrt_domain_state(domain1, &ds);
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   177
2649
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   178
    if (ds.working_counter != domain1_state.working_counter) {
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   179
        printf("Domain1: WC %u.\n", ds.working_counter);
2649
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   180
    }
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   181
    if (ds.wc_state != domain1_state.wc_state) {
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   182
        printf("Domain1: State %u.\n", ds.wc_state);
2649
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   183
    }
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   184
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   185
    domain1_state = ds;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   186
}
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   187
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   188
/*****************************************************************************/
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   189
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   190
void check_master_state(void)
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   191
{
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   192
    ec_master_state_t ms;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   193
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   194
    ecrt_master_state(master, &ms);
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   195
2649
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   196
    if (ms.slaves_responding != master_state.slaves_responding) {
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   197
        printf("%u slave(s).\n", ms.slaves_responding);
2649
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   198
    }
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   199
    if (ms.al_states != master_state.al_states) {
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   200
        printf("AL states: 0x%02X.\n", ms.al_states);
2649
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   201
    }
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   202
    if (ms.link_up != master_state.link_up) {
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   203
        printf("Link is %s.\n", ms.link_up ? "up" : "down");
2649
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   204
    }
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   205
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   206
    master_state = ms;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   207
}
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   208
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   209
/*****************************************************************************/
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   210
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   211
void check_slave_config_states(void)
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   212
{
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   213
    ec_slave_config_state_t s;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   214
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   215
    ecrt_slave_config_state(sc_ana_in, &s);
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   216
2649
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   217
    if (s.al_state != sc_ana_in_state.al_state) {
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   218
        printf("AnaIn: State 0x%02X.\n", s.al_state);
2649
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   219
    }
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   220
    if (s.online != sc_ana_in_state.online) {
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   221
        printf("AnaIn: %s.\n", s.online ? "online" : "offline");
2649
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   222
    }
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   223
    if (s.operational != sc_ana_in_state.operational) {
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   224
        printf("AnaIn: %soperational.\n", s.operational ? "" : "Not ");
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   225
    }
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   226
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   227
    sc_ana_in_state = s;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   228
}
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   229
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   230
/*****************************************************************************/
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   231
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   232
void cyclic_task()
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   233
{
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   234
    // receive process data
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   235
    ecrt_master_receive(master);
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   236
    ecrt_domain_process(domain1);
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   237
2649
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   238
    // check process data state
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   239
    check_domain1_state();
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   240
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   241
    if (counter) {
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   242
        counter--;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   243
    } else { // do this at 1 Hz
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   244
        counter = FREQUENCY;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   245
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   246
        // calculate new process data
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   247
        blink = !blink;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   248
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   249
        // check for master state (optional)
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   250
        check_master_state();
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   251
2649
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   252
        // check for slave configuration state(s) (optional)
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   253
        check_slave_config_states();
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   254
    }
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   255
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   256
#if 0
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   257
    // read process data
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   258
    printf("AnaIn: state %u value %u\n",
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   259
            EC_READ_U8(domain1_pd + off_ana_in_status),
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   260
            EC_READ_U16(domain1_pd + off_ana_in_value));
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   261
#endif
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   262
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   263
#if 1
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   264
    // write process data
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   265
    EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x06 : 0x09);
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   266
#endif
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   267
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   268
    // send process data
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   269
    ecrt_domain_queue(domain1);
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   270
    ecrt_master_send(master);
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   271
}
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   272
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   273
/****************************************************************************/
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   274
2649
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   275
void stack_prefault(void)
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   276
{
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   277
    unsigned char dummy[MAX_SAFE_STACK];
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   278
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   279
    memset(dummy, 0, MAX_SAFE_STACK);
1247
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
   280
}
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
   281
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
   282
/****************************************************************************/
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
   283
1242
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   284
int main(int argc, char **argv)
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   285
{
1508
60a116ed3897 Removed more tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   286
    ec_slave_config_t *sc;
2649
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   287
    struct timespec wakeup_time;
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   288
    int ret = 0;
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 1508
diff changeset
   289
1244
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
   290
    master = ecrt_request_master(0);
2649
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   291
    if (!master) {
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   292
        return -1;
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   293
    }
1242
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   294
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   295
    domain1 = ecrt_master_create_domain(master);
2649
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   296
    if (!domain1) {
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   297
        return -1;
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   298
    }
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   299
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   300
    if (!(sc_ana_in = ecrt_master_slave_config(
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   301
                    master, AnaInSlavePos, Beckhoff_EL3102))) {
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   302
        fprintf(stderr, "Failed to get slave configuration.\n");
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   303
        return -1;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   304
    }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   305
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   306
    printf("Configuring PDOs...\n");
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   307
    if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3102_syncs)) {
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   308
        fprintf(stderr, "Failed to configure PDOs.\n");
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   309
        return -1;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   310
    }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   311
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   312
    if (!(sc = ecrt_master_slave_config(
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   313
                    master, AnaOutSlavePos, Beckhoff_EL4102))) {
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   314
        fprintf(stderr, "Failed to get slave configuration.\n");
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   315
        return -1;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   316
    }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   317
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   318
    if (ecrt_slave_config_pdos(sc, EC_END, el4102_syncs)) {
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   319
        fprintf(stderr, "Failed to configure PDOs.\n");
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   320
        return -1;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   321
    }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   322
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   323
    if (!(sc = ecrt_master_slave_config(
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   324
                    master, DigOutSlavePos, Beckhoff_EL2032))) {
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   325
        fprintf(stderr, "Failed to get slave configuration.\n");
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   326
        return -1;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   327
    }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   328
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   329
    if (ecrt_slave_config_pdos(sc, EC_END, el2004_syncs)) {
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   330
        fprintf(stderr, "Failed to configure PDOs.\n");
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   331
        return -1;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   332
    }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   333
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   334
    // Create configuration for bus coupler
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   335
    sc = ecrt_master_slave_config(master, BusCouplerPos, Beckhoff_EK1100);
2649
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   336
    if (!sc) {
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   337
        return -1;
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   338
    }
1246
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
   339
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   340
    if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   341
        fprintf(stderr, "PDO entry registration failed!\n");
1508
60a116ed3897 Removed more tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   342
        return -1;
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   343
    }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1249
diff changeset
   344
1249
d64ed42e0d11 Userspace example with priority.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   345
    printf("Activating master...\n");
2649
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   346
    if (ecrt_master_activate(master)) {
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   347
        return -1;
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   348
    }
1247
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
   349
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   350
    if (!(domain1_pd = ecrt_domain_data(domain1))) {
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   351
        return -1;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   352
    }
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   353
2649
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   354
    /* Set priority */
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   355
1249
d64ed42e0d11 Userspace example with priority.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   356
    pid_t pid = getpid();
2649
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   357
    if (setpriority(PRIO_PROCESS, pid, -19)) {
1249
d64ed42e0d11 Userspace example with priority.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   358
        fprintf(stderr, "Warning: Failed to set priority: %s\n",
d64ed42e0d11 Userspace example with priority.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
   359
                strerror(errno));
2649
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   360
    }
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   361
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   362
    /* Lock memory */
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   363
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   364
    if (mlockall(MCL_CURRENT | MCL_FUTURE) == -1) {
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   365
        fprintf(stderr, "Warning: Failed to lock memory: %s\n",
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   366
                strerror(errno));
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   367
    }
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   368
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   369
    stack_prefault();
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   370
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   371
    printf("Starting RT task with dt=%u ns.\n", PERIOD_NS);
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   372
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   373
    clock_gettime(CLOCK_MONOTONIC, &wakeup_time);
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   374
    wakeup_time.tv_sec += 1; /* start in future */
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   375
    wakeup_time.tv_nsec = 0;
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   376
1508
60a116ed3897 Removed more tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   377
    while (1) {
2649
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   378
        ret = clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME,
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   379
                &wakeup_time, NULL);
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   380
        if (ret) {
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   381
            fprintf(stderr, "clock_nanosleep(): %s\n", strerror(ret));
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   382
            break;
1247
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
   383
        }
2649
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   384
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   385
        cyclic_task();
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   386
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   387
        wakeup_time.tv_nsec += PERIOD_NS;
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   388
        while (wakeup_time.tv_nsec >= NSEC_PER_SEC) {
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   389
            wakeup_time.tv_nsec -= NSEC_PER_SEC;
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   390
            wakeup_time.tv_sec++;
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   391
        }
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   392
    }
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   393
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   394
    return ret;
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   395
}
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   396
717c331cc227 Migrated user-space example to use clock_nanosleep().
Florian Pose <fp@igh-essen.com>
parents: 2589
diff changeset
   397
/****************************************************************************/