examples/dc_user/main.c
author Florian Pose <fp@igh-essen.com>
Thu, 07 Jan 2010 17:26:02 +0100
changeset 1593 fb8337e664fb
parent 1466 362147819ca1
child 1804 742607c464c4
permissions -rw-r--r--
Fixed string length constant bug.
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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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/****************************************************************************/
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#include "ecrt.h"
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/****************************************************************************/
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// Application parameters
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#define FREQUENCY 100
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#define PRIORITY 1
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// Optional features
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#define CONFIGURE_PDOS  1
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/****************************************************************************/
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// EtherCAT
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static ec_master_t *master = NULL;
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static ec_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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// Timer
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static unsigned int sig_alarms = 0;
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static unsigned int user_alarms = 0;
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/****************************************************************************/
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// process data
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static uint8_t *domain1_pd = NULL;
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#define BusCouplerPos    0, 0
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#define DigOutSlavePos   0, 1
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#define CounterSlavePos  0, 2
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#define Beckhoff_EK1100 0x00000002, 0x044c2c52
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#define Beckhoff_EL2008 0x00000002, 0x07d83052
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#define IDS_Counter     0x000012ad, 0x05de3052
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// offsets for PDO entries
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static int off_dig_out;
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static int off_counter_in;
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static int off_counter_out;
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static unsigned int counter = 0;
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static unsigned int blink_counter = 0;
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static unsigned int blink = 0;
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static unsigned int sync_ref_counter = 0;
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struct timeval app_time;
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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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    if (ds.wc_state != domain1_state.wc_state)
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        printf("Domain1: State %u.\n", ds.wc_state);
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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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    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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    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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    master_state = ms;
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}
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/****************************************************************************/
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void cyclic_task()
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{
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    int i;
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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 (optional)
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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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    }
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    if (blink_counter) {
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        blink_counter--;
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    } else {
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        blink_counter = 9;
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        // calculate new process data
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        blink = !blink;
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    }
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    // write process data
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    EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x66 : 0x99);
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    EC_WRITE_U8(domain1_pd + off_counter_out, blink ? 0x00 : 0x02);
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    app_time.tv_usec += 1000000 / FREQUENCY;
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    if (app_time.tv_usec >= 1000000)  {
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        app_time.tv_usec -= 1000000;
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        app_time.tv_sec++;
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    }
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362147819ca1 EC_TIMEVAL2NANO() takes no pointer argument any more.
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    ecrt_master_application_time(master, EC_TIMEVAL2NANO(app_time));
1414
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    if (sync_ref_counter) {
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        sync_ref_counter--;
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    } else {
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        sync_ref_counter = 9;
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4c6fe0ae37f1 Separated application time from synchronizing reference clock.
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        ecrt_master_sync_reference_clock(master);
1414
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    }
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    ecrt_master_sync_slave_clocks(master);
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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 signal_handler(int signum) {
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    switch (signum) {
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        case SIGALRM:
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            sig_alarms++;
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            break;
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    }
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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 sigaction sa;
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    struct itimerval tv;
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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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    domain1 = ecrt_master_create_domain(master);
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    if (!domain1)
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        return -1;
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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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    if (!(sc = ecrt_master_slave_config(master,
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                    DigOutSlavePos, Beckhoff_EL2008))) {
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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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    off_dig_out = ecrt_slave_config_reg_pdo_entry(sc,
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            0x7000, 1, domain1, NULL);
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    if (off_dig_out < 0)
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        return -1;
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	if (!(sc = ecrt_master_slave_config(master,
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					CounterSlavePos, IDS_Counter))) {
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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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	off_counter_in = ecrt_slave_config_reg_pdo_entry(sc,
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			0x6020, 0x11, domain1, NULL);
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	if (off_counter_in < 0)
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        return -1;
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0037a63d3cc5 DC example applications.
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	off_counter_out = ecrt_slave_config_reg_pdo_entry(sc,
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			0x7020, 1, domain1, NULL);
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	if (off_counter_out < 0)
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        return -1;
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    // configure SYNC signals for this slave
1449
6d1ef8afeaab Ported examples to new DC configuration function.
Florian Pose <fp@igh-essen.com>
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	ecrt_slave_config_dc(sc, 0x0700, 10000000, 4400000, 0, 0);
1414
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    printf("Activating master...\n");
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   244
    if (ecrt_master_activate(master))
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        return -1;
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   246
0037a63d3cc5 DC example applications.
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   247
    if (!(domain1_pd = ecrt_domain_data(domain1))) {
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   248
        return -1;
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   249
    }
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0037a63d3cc5 DC example applications.
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#if PRIORITY
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    pid_t pid = getpid();
0037a63d3cc5 DC example applications.
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    if (setpriority(PRIO_PROCESS, pid, -19))
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        fprintf(stderr, "Warning: Failed to set priority: %s\n",
0037a63d3cc5 DC example applications.
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   255
                strerror(errno));
0037a63d3cc5 DC example applications.
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   256
#endif
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   258
    sa.sa_handler = signal_handler;
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   259
    sigemptyset(&sa.sa_mask);
0037a63d3cc5 DC example applications.
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   260
    sa.sa_flags = 0;
0037a63d3cc5 DC example applications.
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   261
    if (sigaction(SIGALRM, &sa, 0)) {
0037a63d3cc5 DC example applications.
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   262
        fprintf(stderr, "Failed to install signal handler!\n");
0037a63d3cc5 DC example applications.
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   263
        return -1;
0037a63d3cc5 DC example applications.
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   264
    }
0037a63d3cc5 DC example applications.
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   265
0037a63d3cc5 DC example applications.
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   266
    printf("Starting timer...\n");
0037a63d3cc5 DC example applications.
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   267
    tv.it_interval.tv_sec = 0;
0037a63d3cc5 DC example applications.
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   268
    tv.it_interval.tv_usec = 1000000 / FREQUENCY;
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   269
    tv.it_value.tv_sec = 0;
0037a63d3cc5 DC example applications.
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   270
    tv.it_value.tv_usec = 1000;
0037a63d3cc5 DC example applications.
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   271
    if (setitimer(ITIMER_REAL, &tv, NULL)) {
0037a63d3cc5 DC example applications.
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   272
        fprintf(stderr, "Failed to start timer: %s\n", strerror(errno));
0037a63d3cc5 DC example applications.
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   273
        return 1;
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   274
    }
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   275
0037a63d3cc5 DC example applications.
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   276
    gettimeofday(&app_time, NULL);
0037a63d3cc5 DC example applications.
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   277
0037a63d3cc5 DC example applications.
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   278
    printf("Started.\n");
0037a63d3cc5 DC example applications.
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   279
	while (1) {
0037a63d3cc5 DC example applications.
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   280
        pause();
0037a63d3cc5 DC example applications.
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   281
0037a63d3cc5 DC example applications.
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   282
#if 0
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   283
        struct timeval t;
0037a63d3cc5 DC example applications.
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   284
        gettimeofday(&t, NULL);
0037a63d3cc5 DC example applications.
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   285
        printf("%u.%06u\n", t.tv_sec, t.tv_usec);
0037a63d3cc5 DC example applications.
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   286
#endif
0037a63d3cc5 DC example applications.
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diff changeset
   287
0037a63d3cc5 DC example applications.
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   288
        while (sig_alarms != user_alarms) {
0037a63d3cc5 DC example applications.
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   289
            cyclic_task();
0037a63d3cc5 DC example applications.
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   290
            user_alarms++;
0037a63d3cc5 DC example applications.
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diff changeset
   291
        }
0037a63d3cc5 DC example applications.
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   292
	}
0037a63d3cc5 DC example applications.
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   293
0037a63d3cc5 DC example applications.
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   294
	return 0;
0037a63d3cc5 DC example applications.
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   295
}
0037a63d3cc5 DC example applications.
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   296
0037a63d3cc5 DC example applications.
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   297
/****************************************************************************/