1 /***************************************************************************** |
1 /***************************************************************************** |
2 * |
2 * |
3 * $Id$ |
3 * $Id$ |
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4 * |
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5 * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH |
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6 * |
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7 * This file is part of the IgH EtherCAT Master. |
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8 * |
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9 * The IgH EtherCAT Master is free software; you can redistribute it |
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10 * and/or modify it under the terms of the GNU General Public License |
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11 * as published by the Free Software Foundation; either version 2 of the |
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12 * License, or (at your option) any later version. |
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13 * |
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14 * The IgH EtherCAT Master is distributed in the hope that it will be |
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15 * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of |
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16 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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17 * GNU General Public License for more details. |
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18 * |
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19 * You should have received a copy of the GNU General Public License |
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20 * along with the IgH EtherCAT Master; if not, write to the Free Software |
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21 * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
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22 * |
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23 * The right to use EtherCAT Technology is granted and comes free of |
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24 * charge under condition of compatibility of product made by |
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25 * Licensee. People intending to distribute/sell products based on the |
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26 * code, have to sign an agreement to guarantee that products using |
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27 * software based on IgH EtherCAT master stay compatible with the actual |
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28 * EtherCAT specification (which are released themselves as an open |
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29 * standard) as the (only) precondition to have the right to use EtherCAT |
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30 * Technology, IP and trade marks. |
4 * |
31 * |
5 ****************************************************************************/ |
32 ****************************************************************************/ |
6 |
33 |
7 #include <errno.h> |
34 #include <errno.h> |
8 #include <signal.h> |
35 #include <signal.h> |
11 #include <sys/resource.h> |
38 #include <sys/resource.h> |
12 #include <sys/time.h> |
39 #include <sys/time.h> |
13 #include <sys/types.h> |
40 #include <sys/types.h> |
14 #include <unistd.h> |
41 #include <unistd.h> |
15 |
42 |
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43 /****************************************************************************/ |
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44 |
16 #include "ecrt.h" |
45 #include "ecrt.h" |
17 |
46 |
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47 /****************************************************************************/ |
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48 |
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49 // Optional features |
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50 #define CONFIGURE_PDOS 1 |
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51 #define EL3152_ALT_PDOS 0 |
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52 #define SDO_ACCESS 0 |
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53 #define VOE_ACCESS 0 |
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54 |
18 #define PRIORITY 1 |
55 #define PRIORITY 1 |
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56 |
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57 #define BusCouplerPos 0, 0 |
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58 #define AnaOutSlavePos 0, 1 |
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59 #define AnaInSlavePos 0, 2 |
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60 #define DigOutSlavePos 0, 3 |
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61 |
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62 #define Beckhoff_EK1100 0x00000002, 0x044C2C52 |
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63 #define Beckhoff_EL2004 0x00000002, 0x07D43052 |
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64 #define Beckhoff_EL3152 0x00000002, 0x0c503052 |
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65 #define Beckhoff_EL4102 0x00000002, 0x10063052 |
19 |
66 |
20 /****************************************************************************/ |
67 /****************************************************************************/ |
21 |
68 |
22 static unsigned int sig_alarms = 0; |
69 static unsigned int sig_alarms = 0; |
23 static unsigned int user_alarms = 0; |
70 static unsigned int user_alarms = 0; |
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71 |
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72 // offsets for Pdo entries |
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73 static unsigned int off_ana_in; |
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74 static unsigned int off_ana_out; |
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75 static unsigned int off_dig_out; |
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76 |
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77 const static ec_pdo_entry_reg_t domain1_regs[] = { |
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78 #if EL3152_ALT_PDOS |
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79 {AnaInSlavePos, Beckhoff_EL3152, 0x6401, 1, &off_ana_in}, |
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80 #else |
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81 {AnaInSlavePos, Beckhoff_EL3152, 0x3101, 2, &off_ana_in}, |
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82 #endif |
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83 {AnaOutSlavePos, Beckhoff_EL4102, 0x3001, 1, &off_ana_out}, |
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84 {DigOutSlavePos, Beckhoff_EL2004, 0x3001, 1, &off_dig_out}, |
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85 {} |
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86 }; |
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87 |
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88 static ec_slave_config_t *sc_ana_in = NULL; |
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89 |
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90 /*****************************************************************************/ |
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91 |
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92 #if CONFIGURE_PDOS |
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93 |
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94 // Analog in -------------------------- |
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95 |
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96 static ec_pdo_entry_info_t el3152_pdo_entries[] = { |
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97 {0x3101, 1, 8}, // channel 1 status |
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98 {0x3101, 2, 16}, // channel 1 value |
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99 {0x3102, 1, 8}, // channel 2 status |
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100 {0x3102, 2, 16}, // channel 2 value |
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101 {0x6401, 1, 16}, // channel 1 value (alt.) |
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102 {0x6401, 2, 16} // channel 2 value (alt.) |
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103 }; |
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104 |
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105 #if EL3152_ALT_PDOS |
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106 static ec_pdo_info_t el3152_pdos[] = { |
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107 {0x1A10, 2, el3152_pdo_entries + 4}, |
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108 }; |
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109 |
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110 static ec_sync_info_t el3152_syncs[] = { |
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111 {2, EC_DIR_OUTPUT}, |
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112 {3, EC_DIR_INPUT, 1, el3152_pdos}, |
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113 {0xff} |
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114 }; |
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115 #else |
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116 static ec_pdo_info_t el3152_pdos[] = { |
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117 {0x1A00, 2, el3152_pdo_entries}, |
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118 {0x1A01, 2, el3152_pdo_entries + 2} |
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119 }; |
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120 |
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121 static ec_sync_info_t el3152_syncs[] = { |
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122 {2, EC_DIR_OUTPUT}, |
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123 {3, EC_DIR_INPUT, 2, el3152_pdos}, |
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124 {0xff} |
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125 }; |
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126 #endif |
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127 |
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128 // Analog out ------------------------- |
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129 |
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130 static ec_pdo_entry_info_t el4102_pdo_entries[] = { |
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131 {0x3001, 1, 16}, // channel 1 value |
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132 {0x3002, 1, 16}, // channel 2 value |
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133 }; |
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134 |
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135 static ec_pdo_info_t el4102_pdos[] = { |
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136 {0x1600, 1, el4102_pdo_entries}, |
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137 {0x1601, 1, el4102_pdo_entries + 1} |
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138 }; |
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139 |
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140 static ec_sync_info_t el4102_syncs[] = { |
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141 {2, EC_DIR_OUTPUT, 2, el4102_pdos}, |
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142 {3, EC_DIR_INPUT}, |
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143 {0xff} |
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144 }; |
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145 |
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146 // Digital out ------------------------ |
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147 |
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148 static ec_pdo_entry_info_t el2004_channels[] = { |
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149 {0x3001, 1, 1}, // Value 1 |
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150 {0x3001, 2, 1}, // Value 2 |
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151 {0x3001, 3, 1}, // Value 3 |
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152 {0x3001, 4, 1} // Value 4 |
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153 }; |
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154 |
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155 static ec_pdo_info_t el2004_pdos[] = { |
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156 {0x1600, 1, &el2004_channels[0]}, |
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157 {0x1601, 1, &el2004_channels[1]}, |
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158 {0x1602, 1, &el2004_channels[2]}, |
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159 {0x1603, 1, &el2004_channels[3]} |
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160 }; |
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161 |
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162 static ec_sync_info_t el2004_syncs[] = { |
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163 {0, EC_DIR_OUTPUT, 4, el2004_pdos}, |
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164 {1, EC_DIR_INPUT}, |
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165 {0xff} |
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166 }; |
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167 #endif |
24 |
168 |
25 /****************************************************************************/ |
169 /****************************************************************************/ |
26 |
170 |
27 void signal_handler(int signum) { |
171 void signal_handler(int signum) { |
28 switch (signum) { |
172 switch (signum) { |
35 /****************************************************************************/ |
179 /****************************************************************************/ |
36 |
180 |
37 int main(int argc, char **argv) |
181 int main(int argc, char **argv) |
38 { |
182 { |
39 ec_master_t *master; |
183 ec_master_t *master; |
40 ec_domain_t *domain; |
184 ec_domain_t *domain1; |
41 ec_slave_config_t *sc; |
185 ec_slave_config_t *sc; |
42 struct sigaction sa; |
186 struct sigaction sa; |
43 struct itimerval tv; |
187 struct itimerval tv; |
44 |
188 |
45 master = ecrt_request_master(0); |
189 master = ecrt_request_master(0); |
46 if (!master) |
190 if (!master) |
47 return -1; |
191 return -1; |
48 |
192 |
49 domain = ecrt_master_create_domain(master); |
193 domain1 = ecrt_master_create_domain(master); |
50 if (!domain) |
194 if (!domain1) |
51 return -1; |
195 return -1; |
52 |
196 |
53 sc = ecrt_master_slave_config(master, 0, 0, 0x00000002, 0x044C2C52); |
197 if (!(sc_ana_in = ecrt_master_slave_config( |
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198 master, AnaInSlavePos, Beckhoff_EL3152))) { |
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199 fprintf(stderr, "Failed to get slave configuration.\n"); |
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200 return -1; |
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201 } |
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202 |
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203 #if CONFIGURE_PDOS |
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204 printf("Configuring Pdos...\n"); |
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205 if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3152_syncs)) { |
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206 fprintf(stderr, "Failed to configure Pdos.\n"); |
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207 return -1; |
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208 } |
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209 |
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210 if (!(sc = ecrt_master_slave_config( |
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211 master, AnaOutSlavePos, Beckhoff_EL4102))) { |
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212 fprintf(stderr, "Failed to get slave configuration.\n"); |
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213 return -1; |
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214 } |
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215 |
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216 if (ecrt_slave_config_pdos(sc, EC_END, el4102_syncs)) { |
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217 fprintf(stderr, "Failed to configure Pdos.\n"); |
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218 return -1; |
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219 } |
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220 |
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221 if (!(sc = ecrt_master_slave_config( |
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222 master, DigOutSlavePos, Beckhoff_EL2004))) { |
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223 fprintf(stderr, "Failed to get slave configuration.\n"); |
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224 return -1; |
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225 } |
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226 |
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227 if (ecrt_slave_config_pdos(sc, EC_END, el2004_syncs)) { |
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228 fprintf(stderr, "Failed to configure Pdos.\n"); |
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229 return -1; |
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230 } |
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231 #endif |
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232 |
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233 // Create configuration for bus coupler |
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234 sc = ecrt_master_slave_config(master, BusCouplerPos, Beckhoff_EK1100); |
54 if (!sc) |
235 if (!sc) |
55 return -1; |
236 return -1; |
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237 |
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238 if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) { |
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239 fprintf(stderr, "Pdo entry registration failed!\n"); |
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240 return -1; |
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241 } |
56 |
242 |
57 printf("Activating master...\n"); |
243 printf("Activating master...\n"); |
58 if (ecrt_master_activate(master)) |
244 if (ecrt_master_activate(master)) |
59 return -1; |
245 return -1; |
60 |
246 |