1 /****************************************************************************** |
1 /****************************************************************************** |
2 * |
2 * |
3 * $Id$ |
3 * $Id$ |
4 * |
4 * |
5 * main.c Copyright (C) 2011 IgH Andreas Stewering-Bone |
5 * Copyright (C) 2011 IgH Andreas Stewering-Bone |
6 * |
6 * 2012 Florian Pose <fp@igh-essen.com> |
7 * This file is part of ethercatrtdm interface to IgH EtherCAT master |
7 * |
8 * |
8 * This file is part of the IgH EtherCAT master |
9 * The IgH EtherCAT master is free software; you can |
|
10 * redistribute it and/or modify it under the terms of the GNU Lesser General |
|
11 * Public License as published by the Free Software Foundation; version 2.1 |
|
12 * of the License. |
|
13 * |
9 * |
14 * The IgH EtherCAT Master is free software; you can redistribute it and/or |
10 * The IgH EtherCAT Master is free software; you can redistribute it and/or |
15 * modify it under the terms of the GNU General Public License version 2, as |
11 * modify it under the terms of the GNU General Public License version 2, as |
16 * published by the Free Software Foundation. |
12 * published by the Free Software Foundation. |
17 * |
13 * |
18 * The IgH EtherCAT master userspace library is distributed in the hope that |
14 * The IgH EtherCAT master is distributed in the hope that it will be useful, |
19 * it will be useful, but WITHOUT ANY WARRANTY; without even the implied |
15 * but WITHOUT ANY WARRANTY; without even the implied warranty of |
20 * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
16 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General |
21 * GNU Lesser General Public License for more details. |
17 * Public License for more details. |
22 * |
18 * |
23 * You should have received a copy of the GNU Lesser General Public License |
19 * You should have received a copy of the GNU General Public License along |
24 * along with the IgH EtherCAT master userspace library. If not, see |
20 * with the IgH EtherCAT master. If not, see <http://www.gnu.org/licenses/>. |
25 * <http://www.gnu.org/licenses/>. |
21 * |
26 * |
22 * --- |
|
23 * |
27 * The license mentioned above concerns the source code only. Using the |
24 * The license mentioned above concerns the source code only. Using the |
28 * EtherCAT technology and brand is only permitted in compliance with the |
25 * EtherCAT technology and brand is only permitted in compliance with the |
29 * industrial property and similar rights of Beckhoff Automation GmbH. |
26 * industrial property and similar rights of Beckhoff Automation GmbH. |
30 * |
27 * |
31 *****************************************************************************/ |
28 *****************************************************************************/ |
32 |
|
33 |
|
34 |
|
35 |
29 |
36 #include <sched.h> |
30 #include <sched.h> |
37 #include <stdio.h> |
31 #include <stdio.h> |
38 #include <stdlib.h> |
32 #include <stdlib.h> |
39 #include <fcntl.h> |
33 #include <fcntl.h> |
40 #include <signal.h> |
34 #include <signal.h> |
41 |
35 |
42 #include <rtai_lxrt.h> |
36 #include <rtai_lxrt.h> |
43 #include <rtdm/rtdm.h> |
37 #include <rtdm/rtdm.h> |
44 |
38 |
45 #include "../../include/ecrt.h" |
39 #include "ecrt.h" |
46 #include "../../include/ec_rtdm.h" |
40 |
47 |
41 #define rt_printf(X, Y) |
48 |
|
49 |
|
50 #define rt_printf(X,Y) |
|
51 |
42 |
52 #define NSEC_PER_SEC 1000000000 |
43 #define NSEC_PER_SEC 1000000000 |
53 |
44 |
54 RT_TASK* task; // Stores a handle. |
45 RT_TASK *task; |
55 int priority=0; // Highest |
46 |
56 int stack_size=0; // Use default (512) |
47 const static unsigned int cycle_us = 1000; /* 1 ms */ |
57 int msg_size=0; // Use default (256) |
48 |
58 |
49 static int run = 1; |
59 static unsigned int cycle = 1000; /* 1 ms */ |
|
60 |
|
61 int rt_fd = -1; |
|
62 int run=0; |
|
63 |
|
64 unsigned int sync_ref_counter = 0; |
|
65 |
|
66 CstructMstrAttach MstrAttach; |
|
67 |
|
68 /****************************************************************************/ |
|
69 |
|
70 |
|
71 |
|
72 |
|
73 // Optional features |
|
74 #define CONFIGURE_PDOS 1 |
|
75 |
|
76 |
50 |
77 /****************************************************************************/ |
51 /****************************************************************************/ |
78 |
52 |
79 // EtherCAT |
53 // EtherCAT |
80 static ec_master_t *master = NULL; |
54 static ec_master_t *master = NULL; |
81 static ec_master_state_t master_state = {}; |
55 static ec_master_state_t master_state = {}; |
82 |
56 |
83 static ec_domain_t *domain1 = NULL; |
57 static ec_domain_t *domain1 = NULL; |
84 static ec_domain_state_t domain1_state = {}; |
58 static ec_domain_state_t domain1_state = {}; |
85 |
59 |
86 |
|
87 /****************************************************************************/ |
|
88 static uint8_t *domain1_pd = NULL; |
60 static uint8_t *domain1_pd = NULL; |
89 |
61 |
|
62 static ec_slave_config_t *sc_dig_out_01 = NULL; |
|
63 |
|
64 /****************************************************************************/ |
|
65 |
90 // process data |
66 // process data |
91 |
67 |
92 #define BusCoupler01_Pos 0, 0 |
68 #define BusCoupler01_Pos 0, 0 |
93 #define DigOutSlave01_Pos 0, 1 |
69 #define DigOutSlave01_Pos 0, 1 |
94 #define DigOutSlave02_Pos 0, 2 |
|
95 #define DigInSlave01_Pos 0, 3 |
|
96 #define AnaOutSlave01_Pos 0, 4 |
|
97 #define AnaInSlave01_Pos 0, 5 |
|
98 #define BusCoupler02_Pos 0, 6 |
|
99 #define AnaInSlave02_Pos 0, 7 |
|
100 |
|
101 |
70 |
102 #define Beckhoff_EK1100 0x00000002, 0x044c2c52 |
71 #define Beckhoff_EK1100 0x00000002, 0x044c2c52 |
103 #define Beckhoff_EL1014 0x00000002, 0x03f63052 |
|
104 #define Beckhoff_EL2004 0x00000002, 0x07d43052 |
72 #define Beckhoff_EL2004 0x00000002, 0x07d43052 |
105 #define Beckhoff_EL4132 0x00000002, 0x10243052 |
|
106 #define Beckhoff_EL3102 0x00000002, 0x0c1e3052 |
|
107 #define Beckhoff_EL4102 0x00000002, 0x10063052 |
|
108 #define Beckhoff_EL6731 0x00000002, 0x1a4b3052 |
|
109 #define Beckhoff_EL6600 0x00000002, 0x19c93052 |
|
110 #define Beckhoff_EL3602 0x00000002, 0x0e123052 |
|
111 #define Beckhoff_EL5151 0x00000002, 0x141f3052 |
|
112 |
|
113 |
73 |
114 // offsets for PDO entries |
74 // offsets for PDO entries |
115 static unsigned int off_dig_out0 = 0; |
75 static unsigned int off_dig_out0 = 0; |
116 static unsigned int off_dig_out1 = 0; |
|
117 static unsigned int off_dig_out2 = 0; |
|
118 static unsigned int off_dig_out3 = 0; |
|
119 static unsigned int off_dig_in0 = 0; |
|
120 static unsigned int off_ana_out0 = 0; |
|
121 static unsigned int off_ana_out1 = 0; |
|
122 static unsigned int off_ana_in0_status = 0; |
|
123 static unsigned int off_ana_in0_value = 0; |
|
124 static unsigned int off_ana_in1_status = 0; |
|
125 static unsigned int off_ana_in1_value = 0; |
|
126 |
|
127 |
76 |
128 // process data |
77 // process data |
129 unsigned int bit_position0=0; /* Pointer to a variable to store a bit */ |
|
130 unsigned int bit_position1=0; /* Pointer to a variable to store a bit */ |
|
131 unsigned int bit_position2=0; /* Pointer to a variable to store a bit */ |
|
132 unsigned int bit_position3=0; /* Pointer to a variable to store a bit */ |
|
133 |
78 |
134 const static ec_pdo_entry_reg_t domain1_regs[] = { |
79 const static ec_pdo_entry_reg_t domain1_regs[] = { |
135 {DigOutSlave01_Pos, Beckhoff_EL2004, 0x7000, 0x01, &off_dig_out0, &bit_position0}, |
80 {DigOutSlave01_Pos, Beckhoff_EL2004, 0x7000, 0x01, &off_dig_out0, NULL}, |
136 {DigOutSlave01_Pos, Beckhoff_EL2004, 0x7010, 0x01, &off_dig_out1, &bit_position1}, |
|
137 {DigOutSlave01_Pos, Beckhoff_EL2004, 0x7020, 0x01, &off_dig_out2, &bit_position2}, |
|
138 {DigOutSlave01_Pos, Beckhoff_EL2004, 0x7030, 0x01, &off_dig_out3, &bit_position3}, |
|
139 {DigInSlave01_Pos, Beckhoff_EL1014, 0x6000, 0x01, &off_dig_in0}, |
|
140 {AnaOutSlave01_Pos, Beckhoff_EL4132, 0x3001, 0x01, &off_ana_out0}, |
|
141 {AnaOutSlave01_Pos, Beckhoff_EL4132, 0x3002, 0x01, &off_ana_out1}, |
|
142 {AnaInSlave01_Pos, Beckhoff_EL3102, 0x3101, 0x01, &off_ana_in0_status}, |
|
143 {AnaInSlave01_Pos, Beckhoff_EL3102, 0x3101, 0x02, &off_ana_in0_value}, |
|
144 {AnaInSlave01_Pos, Beckhoff_EL3102, 0x3102, 0x01, &off_ana_in1_status}, |
|
145 {AnaInSlave01_Pos, Beckhoff_EL3102, 0x3102, 0x02, &off_ana_in1_value}, |
|
146 {} |
81 {} |
147 }; |
82 }; |
148 |
83 |
149 char rt_dev_file[64]; |
84 /****************************************************************************/ |
150 static unsigned int blink = 0; |
|
151 |
|
152 static ec_slave_config_t *sc_dig_out_01 = NULL; |
|
153 |
|
154 static ec_slave_config_t *sc_dig_out_02 = NULL; |
|
155 |
|
156 static ec_slave_config_t *sc_dig_in_01 = NULL; |
|
157 |
|
158 static ec_slave_config_t *sc_ana_out_01 = NULL; |
|
159 |
|
160 static ec_slave_config_t *sc_ana_in_01 = NULL; |
|
161 |
|
162 static ec_slave_config_t *sc_ana_in_02 = NULL; |
|
163 |
|
164 /*****************************************************************************/ |
|
165 |
85 |
166 /* Slave 1, "EL2004" |
86 /* Slave 1, "EL2004" |
167 * Vendor ID: 0x00000002 |
87 * Vendor ID: 0x00000002 |
168 * Product code: 0x07d43052 |
88 * Product code: 0x07d43052 |
169 * Revision number: 0x00100000 |
89 * Revision number: 0x00100000 |
186 ec_sync_info_t slave_1_syncs[] = { |
106 ec_sync_info_t slave_1_syncs[] = { |
187 {0, EC_DIR_OUTPUT, 4, slave_1_pdos + 0, EC_WD_ENABLE}, |
107 {0, EC_DIR_OUTPUT, 4, slave_1_pdos + 0, EC_WD_ENABLE}, |
188 {0xff} |
108 {0xff} |
189 }; |
109 }; |
190 |
110 |
191 /* Slave 2, "EL2004" |
111 /***************************************************************************** |
192 * Vendor ID: 0x00000002 |
112 * Realtime task |
193 * Product code: 0x07d43052 |
113 ****************************************************************************/ |
194 * Revision number: 0x00100000 |
|
195 */ |
|
196 |
|
197 ec_pdo_entry_info_t slave_2_pdo_entries[] = { |
|
198 {0x7000, 0x01, 1}, /* Output */ |
|
199 {0x7010, 0x01, 1}, /* Output */ |
|
200 {0x7020, 0x01, 1}, /* Output */ |
|
201 {0x7030, 0x01, 1}, /* Output */ |
|
202 }; |
|
203 |
|
204 ec_pdo_info_t slave_2_pdos[] = { |
|
205 {0x1600, 1, slave_2_pdo_entries + 0}, /* Channel 1 */ |
|
206 {0x1601, 1, slave_2_pdo_entries + 1}, /* Channel 2 */ |
|
207 {0x1602, 1, slave_2_pdo_entries + 2}, /* Channel 3 */ |
|
208 {0x1603, 1, slave_2_pdo_entries + 3}, /* Channel 4 */ |
|
209 }; |
|
210 |
|
211 ec_sync_info_t slave_2_syncs[] = { |
|
212 {0, EC_DIR_OUTPUT, 4, slave_2_pdos + 0, EC_WD_ENABLE}, |
|
213 {0xff} |
|
214 }; |
|
215 |
|
216 /* Slave 3, "EL1014" |
|
217 * Vendor ID: 0x00000002 |
|
218 * Product code: 0x03f63052 |
|
219 * Revision number: 0x00100000 |
|
220 */ |
|
221 |
|
222 ec_pdo_entry_info_t slave_3_pdo_entries[] = { |
|
223 {0x6000, 0x01, 1}, /* Input */ |
|
224 {0x6010, 0x01, 1}, /* Input */ |
|
225 {0x6020, 0x01, 1}, /* Input */ |
|
226 {0x6030, 0x01, 1}, /* Input */ |
|
227 }; |
|
228 |
|
229 ec_pdo_info_t slave_3_pdos[] = { |
|
230 {0x1a00, 1, slave_3_pdo_entries + 0}, /* Channel 1 */ |
|
231 {0x1a01, 1, slave_3_pdo_entries + 1}, /* Channel 2 */ |
|
232 {0x1a02, 1, slave_3_pdo_entries + 2}, /* Channel 3 */ |
|
233 {0x1a03, 1, slave_3_pdo_entries + 3}, /* Channel 4 */ |
|
234 }; |
|
235 |
|
236 ec_sync_info_t slave_3_syncs[] = { |
|
237 {0, EC_DIR_INPUT, 4, slave_3_pdos + 0, EC_WD_DISABLE}, |
|
238 {0xff} |
|
239 }; |
|
240 |
|
241 /* Slave 4, "EL4132" |
|
242 * Vendor ID: 0x00000002 |
|
243 * Product code: 0x10243052 |
|
244 * Revision number: 0x03f90000 |
|
245 */ |
|
246 |
|
247 ec_pdo_entry_info_t slave_4_pdo_entries[] = { |
|
248 {0x3001, 0x01, 16}, /* Output */ |
|
249 {0x3002, 0x01, 16}, /* Output */ |
|
250 }; |
|
251 |
|
252 ec_pdo_info_t slave_4_pdos[] = { |
|
253 {0x1600, 1, slave_4_pdo_entries + 0}, /* RxPDO 01 mapping */ |
|
254 {0x1601, 1, slave_4_pdo_entries + 1}, /* RxPDO 02 mapping */ |
|
255 }; |
|
256 |
|
257 ec_sync_info_t slave_4_syncs[] = { |
|
258 {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, |
|
259 {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, |
|
260 {2, EC_DIR_OUTPUT, 2, slave_4_pdos + 0, EC_WD_DISABLE}, |
|
261 {3, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, |
|
262 {0xff} |
|
263 }; |
|
264 |
|
265 /* Slave 5, "EL3102" |
|
266 * Vendor ID: 0x00000002 |
|
267 * Product code: 0x0c1e3052 |
|
268 * Revision number: 0x00000000 |
|
269 */ |
|
270 |
|
271 ec_pdo_entry_info_t slave_5_pdo_entries[] = { |
|
272 {0x3101, 0x01, 8}, /* Status */ |
|
273 {0x3101, 0x02, 16}, /* Value */ |
|
274 {0x3102, 0x01, 8}, /* Status */ |
|
275 {0x3102, 0x02, 16}, /* Value */ |
|
276 }; |
|
277 |
|
278 ec_pdo_info_t slave_5_pdos[] = { |
|
279 {0x1a00, 2, slave_5_pdo_entries + 0}, /* TxPDO 001 mapping */ |
|
280 {0x1a01, 2, slave_5_pdo_entries + 2}, /* TxPDO 002 mapping */ |
|
281 }; |
|
282 |
|
283 ec_sync_info_t slave_5_syncs[] = { |
|
284 {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, |
|
285 {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, |
|
286 {2, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, |
|
287 {3, EC_DIR_INPUT, 2, slave_5_pdos + 0, EC_WD_DISABLE}, |
|
288 {0xff} |
|
289 }; |
|
290 |
|
291 /* Slave 6, "EL6731-0010" |
|
292 * Vendor ID: 0x00000002 |
|
293 * Product code: 0x1a4b3052 |
|
294 * Revision number: 0x0011000a |
|
295 */ |
|
296 |
|
297 ec_sync_info_t slave_6_syncs[] = { |
|
298 {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, |
|
299 {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, |
|
300 {2, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, |
|
301 {3, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, |
|
302 }; |
|
303 |
|
304 |
|
305 /* Slave 7, "EL6601" |
|
306 * Vendor ID: 0x00000002 |
|
307 * Product code: 0x19c93052 |
|
308 * Revision number: 0x00110000 |
|
309 */ |
|
310 /* |
|
311 ec_sync_info_t slave_7_syncs[] = { |
|
312 {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, |
|
313 {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, |
|
314 {2, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, |
|
315 {3, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, |
|
316 {0xff} |
|
317 }; |
|
318 */ |
|
319 |
|
320 /* Master 0, Slave 7, "EL3602" |
|
321 * Vendor ID: 0x00000002 |
|
322 * Product code: 0x0e123052 |
|
323 * Revision number: 0x00100000 |
|
324 */ |
|
325 ec_pdo_entry_info_t slave_7_pdo_entries[] = { |
|
326 {0x6000, 0x01, 1}, /* Underrange */ |
|
327 {0x6000, 0x02, 1}, /* Overrange */ |
|
328 {0x6000, 0x03, 2}, /* Limit 1 */ |
|
329 {0x6000, 0x05, 2}, /* Limit 2 */ |
|
330 {0x6000, 0x07, 1}, /* Error */ |
|
331 {0x0000, 0x00, 7}, /* Gap */ |
|
332 {0x1800, 0x07, 1}, |
|
333 {0x1800, 0x09, 1}, |
|
334 {0x6000, 0x11, 32}, /* Value */ |
|
335 {0x6010, 0x01, 1}, /* Underrange */ |
|
336 {0x6010, 0x02, 1}, /* Overrange */ |
|
337 {0x6010, 0x03, 2}, /* Limit 1 */ |
|
338 {0x6010, 0x05, 2}, /* Limit 2 */ |
|
339 {0x6010, 0x07, 1}, /* Error */ |
|
340 {0x0000, 0x00, 7}, /* Gap */ |
|
341 {0x1801, 0x07, 1}, |
|
342 {0x1801, 0x09, 1}, |
|
343 {0x6010, 0x11, 32}, /* Value */ |
|
344 }; |
|
345 |
|
346 ec_pdo_info_t slave_7_pdos[] = { |
|
347 {0x1a00, 9, slave_7_pdo_entries + 0}, /* AI TxPDO-Map Inputs Ch.1 */ |
|
348 {0x1a01, 9, slave_7_pdo_entries + 9}, /* AI TxPDO-Map Inputs Ch.2 */ |
|
349 }; |
|
350 |
|
351 ec_sync_info_t slave_7_syncs[] = { |
|
352 {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, |
|
353 {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, |
|
354 {2, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, |
|
355 {3, EC_DIR_INPUT, 2, slave_7_pdos + 0, EC_WD_DISABLE}, |
|
356 {0xff} |
|
357 }; |
|
358 |
|
359 /* Master 0, Slave 8, "EL5151" |
|
360 * Vendor ID: 0x00000002 |
|
361 * Product code: 0x141f3052 |
|
362 * Revision number: 0x00130000 |
|
363 */ |
|
364 |
|
365 ec_pdo_entry_info_t slave_8_pdo_entries[] = { |
|
366 {0x6000, 0x01, 1}, |
|
367 {0x6000, 0x02, 1}, |
|
368 {0x6000, 0x03, 1}, |
|
369 {0x0000, 0x00, 4}, /* Gap */ |
|
370 {0x6000, 0x08, 1}, |
|
371 {0x6000, 0x09, 1}, |
|
372 {0x6000, 0x0a, 1}, |
|
373 {0x6000, 0x0b, 1}, |
|
374 {0x0000, 0x00, 1}, /* Gap */ |
|
375 {0x6000, 0x0d, 1}, |
|
376 {0x1c32, 0x20, 1}, |
|
377 {0x0000, 0x00, 1}, /* Gap */ |
|
378 {0x1800, 0x09, 1}, |
|
379 {0x6000, 0x11, 32}, |
|
380 {0x6000, 0x12, 32}, |
|
381 {0x6000, 0x14, 32}, |
|
382 }; |
|
383 |
|
384 ec_pdo_info_t slave_8_pdos[] = { |
|
385 {0x0000, 0, NULL}, |
|
386 {0x1a00, 15, slave_8_pdo_entries + 0}, |
|
387 {0x1a02, 1, slave_8_pdo_entries + 15}, |
|
388 }; |
|
389 |
|
390 ec_sync_info_t slave_8_syncs[] = { |
|
391 {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, |
|
392 {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, |
|
393 {2, EC_DIR_OUTPUT, 1, slave_8_pdos + 0, EC_WD_DISABLE}, |
|
394 {3, EC_DIR_INPUT, 2, slave_8_pdos + 1, EC_WD_DISABLE}, |
|
395 {0xff} |
|
396 }; |
|
397 |
|
398 |
|
399 /*****************************************************************************/ |
|
400 |
|
401 |
114 |
402 void rt_check_domain_state(void) |
115 void rt_check_domain_state(void) |
403 { |
116 { |
404 ec_domain_state_t ds; |
117 ec_domain_state_t ds = {}; |
405 |
118 |
406 if (rt_fd>=0) |
119 ecrt_domain_state(domain1, &ds); |
407 { |
120 |
408 ecrt_rtdm_domain_state(rt_fd,&ds); |
121 if (ds.working_counter != domain1_state.working_counter) { |
409 } |
|
410 |
|
411 if (ds.working_counter != domain1_state.working_counter) |
|
412 { |
|
413 rt_printf("Domain1: WC %u.\n", ds.working_counter); |
122 rt_printf("Domain1: WC %u.\n", ds.working_counter); |
414 } |
123 } |
415 if (ds.wc_state != domain1_state.wc_state) |
124 |
416 { |
125 if (ds.wc_state != domain1_state.wc_state) { |
417 rt_printf("Domain1: State %u.\n", ds.wc_state); |
126 rt_printf("Domain1: State %u.\n", ds.wc_state); |
418 } |
127 } |
419 |
128 |
420 domain1_state = ds; |
129 domain1_state = ds; |
421 } |
130 } |
422 |
131 |
|
132 /****************************************************************************/ |
|
133 |
423 void rt_check_master_state(void) |
134 void rt_check_master_state(void) |
424 { |
135 { |
425 ec_master_state_t ms; |
136 ec_master_state_t ms; |
426 |
137 |
427 if (rt_fd>=0) |
138 ecrt_master_state(master, &ms); |
428 { |
139 |
429 ecrt_rtdm_master_state(rt_fd,&ms); |
140 if (ms.slaves_responding != master_state.slaves_responding) { |
430 } |
|
431 |
|
432 if (ms.slaves_responding != master_state.slaves_responding) |
|
433 { |
|
434 rt_printf("%u slave(s).\n", ms.slaves_responding); |
141 rt_printf("%u slave(s).\n", ms.slaves_responding); |
435 } |
142 } |
436 if (ms.al_states != master_state.al_states) |
143 |
437 { |
144 if (ms.al_states != master_state.al_states) { |
438 rt_printf("AL states: 0x%02X.\n", ms.al_states); |
145 rt_printf("AL states: 0x%02X.\n", ms.al_states); |
439 } |
146 } |
440 if (ms.link_up != master_state.link_up) |
147 |
441 { |
148 if (ms.link_up != master_state.link_up) { |
442 rt_printf("Link is %s.\n", ms.link_up ? "up" : "down"); |
149 rt_printf("Link is %s.\n", ms.link_up ? "up" : "down"); |
443 } |
150 } |
|
151 |
444 master_state = ms; |
152 master_state = ms; |
445 } |
153 } |
446 |
154 |
447 |
155 /****************************************************************************/ |
448 |
|
449 |
|
450 void rt_sync(void) |
|
451 { |
|
452 |
|
453 RTIME now_ns; |
|
454 uint64_t now; |
|
455 now_ns = rt_get_cpu_time_ns(); |
|
456 now = (uint64_t)now_ns; |
|
457 |
|
458 if (rt_fd>=0) |
|
459 { |
|
460 ecrt_rtdm_master_application_time(rt_fd, &now); |
|
461 } |
|
462 |
|
463 if (sync_ref_counter) { |
|
464 sync_ref_counter--; |
|
465 } else { |
|
466 sync_ref_counter = 9; |
|
467 if (rt_fd>=0) |
|
468 { |
|
469 ecrt_rtdm_master_sync_reference_clock(rt_fd); |
|
470 } |
|
471 } |
|
472 if (rt_fd>=0) |
|
473 { |
|
474 ecrt_rtdm_master_sync_slave_clocks(rt_fd) ; |
|
475 } |
|
476 } |
|
477 |
|
478 /*****************************************************************************/ |
|
479 |
|
480 /**********************************************************/ |
|
481 void cleanup_all(void) |
|
482 { |
|
483 run = 0; |
|
484 } |
|
485 |
|
486 void catch_signal(int sig) |
|
487 { |
|
488 cleanup_all(); |
|
489 } |
|
490 |
|
491 |
|
492 |
|
493 |
|
494 |
156 |
495 void my_cyclic(void) |
157 void my_cyclic(void) |
496 { |
158 { |
497 |
159 int cycle_counter = 0; |
498 int counter = 0; |
|
499 int divcounter = 0; |
|
500 int divider = 10; |
|
501 int period; |
160 int period; |
|
161 unsigned int blink = 0; |
502 |
162 |
503 rt_set_periodic_mode(); |
163 rt_set_periodic_mode(); |
504 period = (int) nano2count((RTIME)cycle*1000); |
164 period = (int) nano2count((RTIME) cycle_us * 1000); |
505 start_rt_timer(period); |
165 start_rt_timer(period); |
506 rt_make_hard_real_time(); |
166 rt_make_hard_real_time(); |
507 rt_task_make_periodic(task, rt_get_time() + 10*period, period); |
167 rt_task_make_periodic(task, rt_get_time() + 10 * period, period); |
508 |
168 |
509 |
169 while (run) { |
510 |
|
511 while(1) { |
|
512 |
|
513 rt_task_wait_period(); |
170 rt_task_wait_period(); |
514 |
171 |
515 |
172 cycle_counter++; |
516 counter++; |
173 |
517 if (counter>60000) { |
174 // receive EtherCAT |
518 run=0; |
175 ecrt_master_receive(master); |
|
176 ecrt_domain_process(domain1); |
|
177 |
|
178 rt_check_domain_state(); |
|
179 |
|
180 if (!(cycle_counter % 1000)) { |
|
181 rt_check_master_state(); |
519 } |
182 } |
520 |
183 |
521 if(run == 0) { |
184 if (!(cycle_counter % 200)) { |
522 rt_make_soft_real_time(); |
185 blink = !blink; |
523 stop_rt_timer(); |
|
524 return; |
|
525 } |
186 } |
526 |
187 |
527 |
188 EC_WRITE_U8(domain1_pd + off_dig_out0, blink ? 0x00 : 0x0F); |
528 // receive ethercat |
189 |
529 ecrt_rtdm_master_recieve(rt_fd); |
|
530 ecrt_rtdm_domain_process(rt_fd); |
|
531 |
|
532 rt_check_domain_state(); |
|
533 |
|
534 if (divcounter ==0) |
|
535 { |
|
536 divcounter=divider; |
|
537 rt_check_master_state(); |
|
538 } |
|
539 divcounter--; |
|
540 if ((counter % 200)==0) |
|
541 { |
|
542 blink = !blink; |
|
543 |
|
544 } |
|
545 |
|
546 |
|
547 EC_WRITE_U8(domain1_pd + off_dig_out0, blink ? 0x0 : 0x0F); |
|
548 EC_WRITE_U16(domain1_pd + off_ana_out0, blink ? 0x0: 0xfff); |
|
549 |
|
550 //sync DC |
|
551 rt_sync(); |
|
552 |
|
553 // send process data |
190 // send process data |
554 ecrt_rtdm_domain_queque(rt_fd); |
191 ecrt_domain_queue(domain1); |
555 ecrt_rtdm_master_send(rt_fd); |
192 ecrt_master_send(master); |
556 } |
193 } |
557 return; |
194 |
558 } |
195 rt_make_soft_real_time(); |
559 |
196 stop_rt_timer(); |
560 |
197 } |
|
198 |
|
199 /**************************************************************************** |
|
200 * Signal handler |
|
201 ***************************************************************************/ |
|
202 |
|
203 void signal_handler(int sig) |
|
204 { |
|
205 run = 0; |
|
206 } |
|
207 |
|
208 /**************************************************************************** |
|
209 * Main function |
|
210 ***************************************************************************/ |
561 |
211 |
562 int main(int argc, char *argv[]) |
212 int main(int argc, char *argv[]) |
563 { |
213 { |
564 ec_slave_config_t *sc; |
214 ec_slave_config_t *sc; |
565 int rtstatus; |
215 |
566 |
216 signal(SIGTERM, signal_handler); |
567 |
217 signal(SIGINT, signal_handler); |
568 |
218 |
569 signal(SIGTERM, catch_signal); |
219 mlockall(MCL_CURRENT | MCL_FUTURE); |
570 signal(SIGINT, catch_signal); |
220 |
571 signal(SIGHUP, catch_signal); |
221 printf("Requesting master...\n"); |
572 |
222 master = ecrt_request_master(0); |
573 mlockall(MCL_CURRENT|MCL_FUTURE); |
223 if (!master) { |
574 |
224 return -1; |
575 |
225 } |
576 |
226 |
577 MstrAttach.masterindex = 0; |
|
578 |
|
579 printf("request master\n"); |
|
580 master = ecrt_request_master(MstrAttach.masterindex); |
|
581 if (!master) |
|
582 return -1; |
|
583 |
|
584 |
|
585 domain1 = ecrt_master_create_domain(master); |
227 domain1 = ecrt_master_create_domain(master); |
586 if (!domain1) |
228 if (!domain1) { |
587 return -1; |
229 return -1; |
588 |
230 } |
589 |
231 |
590 #ifdef CONFIGURE_PDOS |
232 printf("Creating slave configurations...\n"); |
591 |
233 |
592 printf("Configuring PDOs...\n"); |
234 // Create configuration for bus coupler |
593 |
235 sc = ecrt_master_slave_config(master, BusCoupler01_Pos, Beckhoff_EK1100); |
594 printf("Get Configuring el2004...\n"); |
236 if (!sc) { |
595 sc_dig_out_01 = ecrt_master_slave_config(master, DigOutSlave01_Pos, Beckhoff_EL2004); |
237 return -1; |
|
238 } |
|
239 |
|
240 sc_dig_out_01 = |
|
241 ecrt_master_slave_config(master, DigOutSlave01_Pos, Beckhoff_EL2004); |
596 if (!sc_dig_out_01) { |
242 if (!sc_dig_out_01) { |
597 fprintf(stderr, "Failed to get slave configuration.\n"); |
243 fprintf(stderr, "Failed to get slave configuration.\n"); |
598 return -1; |
244 return -1; |
599 } |
245 } |
600 |
246 |
601 printf("Configuring EL2004...\n"); |
247 if (ecrt_slave_config_pdos(sc_dig_out_01, EC_END, slave_1_syncs)) { |
602 if (ecrt_slave_config_pdos(sc_dig_out_01, EC_END, slave_1_syncs)) |
|
603 { |
|
604 fprintf(stderr, "Failed to configure PDOs.\n"); |
|
605 return -1; |
|
606 } |
|
607 |
|
608 printf("Get Configuring el2004...\n"); |
|
609 sc_dig_out_02 = ecrt_master_slave_config(master, DigOutSlave02_Pos, Beckhoff_EL2004); |
|
610 if (!sc_dig_out_02) { |
|
611 fprintf(stderr, "Failed to get slave configuration.\n"); |
|
612 return -1; |
|
613 } |
|
614 |
|
615 printf("Configuring EL2004...\n"); |
|
616 if (ecrt_slave_config_pdos(sc_dig_out_02, EC_END, slave_2_syncs)) { |
|
617 fprintf(stderr, "Failed to configure PDOs.\n"); |
248 fprintf(stderr, "Failed to configure PDOs.\n"); |
618 return -1; |
249 return -1; |
619 } |
250 } |
620 |
251 |
621 printf("Get Configuring el1014...\n"); |
|
622 sc_dig_in_01 = ecrt_master_slave_config(master, DigInSlave01_Pos, Beckhoff_EL1014); |
|
623 if (!sc_dig_in_01) { |
|
624 fprintf(stderr, "Failed to get slave configuration.\n"); |
|
625 return -1; |
|
626 } |
|
627 |
|
628 printf("Configuring EL1014...\n"); |
|
629 if (ecrt_slave_config_pdos(sc_dig_in_01, EC_END, slave_3_syncs)) { |
|
630 fprintf(stderr, "Failed to configure PDOs.\n"); |
|
631 return -1; |
|
632 } |
|
633 |
|
634 printf("Get Configuring EL4132...\n"); |
|
635 sc_ana_out_01 = ecrt_master_slave_config(master, AnaOutSlave01_Pos, Beckhoff_EL4132); |
|
636 if (!sc_ana_out_01) { |
|
637 fprintf(stderr, "Failed to get slave configuration.\n"); |
|
638 return -1; |
|
639 } |
|
640 |
|
641 printf("Configuring EL4132...\n"); |
|
642 if (ecrt_slave_config_pdos(sc_ana_out_01, EC_END, slave_4_syncs)) { |
|
643 fprintf(stderr, "Failed to configure PDOs.\n"); |
|
644 return -1; |
|
645 } |
|
646 |
|
647 printf("Get Configuring EL3102...\n"); |
|
648 sc_ana_in_01 = ecrt_master_slave_config(master, AnaInSlave01_Pos, Beckhoff_EL3102); |
|
649 if (!sc_ana_in_01) { |
|
650 fprintf(stderr, "Failed to get slave configuration.\n"); |
|
651 return -1; |
|
652 } |
|
653 |
|
654 printf("Configuring EL3102...\n"); |
|
655 if (ecrt_slave_config_pdos(sc_ana_in_01, EC_END, slave_5_syncs)) { |
|
656 fprintf(stderr, "Failed to configure PDOs.\n"); |
|
657 return -1; |
|
658 } |
|
659 |
|
660 printf("Get Configuring EL3602...\n"); |
|
661 sc_ana_in_02 = ecrt_master_slave_config(master, AnaInSlave02_Pos, Beckhoff_EL3602); |
|
662 if (!sc_ana_in_02) { |
|
663 fprintf(stderr, "Failed to get slave configuration.\n"); |
|
664 return -1; |
|
665 } |
|
666 |
|
667 |
|
668 printf("Configuring EL3602...\n"); |
|
669 if (ecrt_slave_config_pdos(sc_ana_in_02, EC_END, slave_7_syncs)) { |
|
670 fprintf(stderr, "Failed to configure PDOs.\n"); |
|
671 return -1; |
|
672 } |
|
673 |
|
674 #endif |
|
675 |
|
676 // Create configuration for bus coupler |
|
677 sc = ecrt_master_slave_config(master, BusCoupler01_Pos, Beckhoff_EK1100); |
|
678 if (!sc) |
|
679 return -1; |
|
680 |
|
681 #ifdef CONFIGURE_PDOS |
|
682 if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) { |
252 if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) { |
683 fprintf(stderr, "PDO entry registration failed!\n"); |
253 fprintf(stderr, "PDO entry registration failed!\n"); |
684 return -1; |
254 return -1; |
685 } |
255 } |
686 #endif |
256 |
687 |
|
688 |
|
689 |
|
690 sprintf(&rt_dev_file[0],"%s%u",EC_RTDM_DEV_FILE_NAME,0); |
|
691 |
|
692 |
|
693 rt_fd = rt_dev_open( &rt_dev_file[0], 0); |
|
694 if (rt_fd < 0) { |
|
695 printf("can't open %s\n", &rt_dev_file[0]); |
|
696 return -1; |
|
697 } |
|
698 |
|
699 MstrAttach.domainindex = ecrt_domain_index(domain1); |
|
700 |
|
701 // attach the master over rtdm driver |
|
702 rtstatus=ecrt_rtdm_master_attach(rt_fd, &MstrAttach); |
|
703 if (rtstatus < 0) |
|
704 { |
|
705 printf("cannot attach to master over rtdm\n"); |
|
706 return -1; |
|
707 } |
|
708 |
|
709 printf("Activating master...\n"); |
257 printf("Activating master...\n"); |
710 if (ecrt_master_activate(master)) |
258 if (ecrt_master_activate(master)) { |
711 return -1; |
259 return -1; |
712 |
260 } |
|
261 |
713 if (!(domain1_pd = ecrt_domain_data(domain1))) { |
262 if (!(domain1_pd = ecrt_domain_data(domain1))) { |
714 return -1; |
263 fprintf(stderr, "Failed to get domain data pointer.\n"); |
715 } |
264 return -1; |
716 fprintf(stderr, "domain1_pd: 0x%.6x\n", (unsigned int)domain1_pd); |
265 } |
717 |
|
718 |
|
719 |
|
720 run=1; |
|
721 |
266 |
722 /* Create cyclic RT-thread */ |
267 /* Create cyclic RT-thread */ |
723 struct sched_param param; |
268 struct sched_param param; |
724 param.sched_priority = sched_get_priority_max(SCHED_FIFO) - 1; |
269 param.sched_priority = sched_get_priority_max(SCHED_FIFO) - 1; |
725 if( sched_setscheduler( 0, SCHED_FIFO, ¶m ) == -1 ) { |
270 if (sched_setscheduler(0, SCHED_FIFO, ¶m) == -1) { |
726 puts("ERROR IN SETTING THE SCHEDULER"); |
271 puts("ERROR IN SETTING THE SCHEDULER"); |
727 perror("errno"); |
272 perror("errno"); |
728 exit(1); |
273 return -1; |
729 } |
274 } |
730 |
275 |
731 task = rt_task_init( nam2num("ec_rtai_rtdm_example"), priority, stack_size, msg_size); |
276 task = rt_task_init(nam2num("ec_rtai_rtdm_example"), |
732 |
277 0 /* priority */, 0 /* stack size */, 0 /* msg size */); |
733 |
278 |
734 my_cyclic(); |
279 my_cyclic(); |
735 |
280 |
736 rt_task_delete(task); |
281 rt_task_delete(task); |
737 |
282 |
738 if (rt_fd >= 0) |
|
739 { |
|
740 printf("closing rt device %s\n", &rt_dev_file[0]); |
|
741 |
|
742 rt_dev_close(rt_fd); |
|
743 |
|
744 } |
|
745 |
|
746 printf("End of Program\n"); |
283 printf("End of Program\n"); |
747 ecrt_release_master(master); |
284 ecrt_release_master(master); |
748 |
285 |
749 return 0; |
286 return 0; |
750 |
287 } |
751 } |
288 |
752 |
289 /****************************************************************************/ |