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1 /****************************************************************************** |
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2 * |
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3 * $Id$ |
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4 * |
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5 * Copyright (C) 2011 IgH Andreas Stewering-Bone |
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6 * 2012 Florian Pose <fp@igh-essen.com> |
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7 * |
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8 * This file is part of the IgH EtherCAT master |
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9 * |
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10 * The IgH EtherCAT Master is free software; you can redistribute it and/or |
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11 * modify it under the terms of the GNU General Public License version 2, as |
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12 * published by the Free Software Foundation. |
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13 * |
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14 * The IgH EtherCAT master is distributed in the hope that it will be useful, |
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15 * but WITHOUT ANY WARRANTY; without even the implied warranty of |
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16 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General |
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17 * 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 along |
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20 * with the IgH EtherCAT master. If not, see <http://www.gnu.org/licenses/>. |
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21 * |
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22 * --- |
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23 * |
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24 * The license mentioned above concerns the source code only. Using the |
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25 * EtherCAT technology and brand is only permitted in compliance with the |
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26 * industrial property and similar rights of Beckhoff Automation GmbH. |
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27 * |
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28 *****************************************************************************/ |
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29 |
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30 #include <errno.h> |
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31 #include <mqueue.h> |
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32 #include <signal.h> |
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33 #include <pthread.h> |
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34 #include <stdio.h> |
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35 #include <stdlib.h> |
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36 #include <string.h> |
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37 #include <unistd.h> |
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38 #include <limits.h> |
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39 #include <sys/ioctl.h> |
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40 #include <sys/mman.h> |
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41 #include <time.h> |
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42 |
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43 #include <rtdm/rtdm.h> |
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44 #include <rtdk.h> |
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45 |
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46 #include "ecrt.h" |
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47 |
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48 #define NSEC_PER_SEC 1000000000 |
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49 |
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50 static unsigned int cycle_us = 1000; /* 1 ms */ |
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51 |
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52 static pthread_t cyclic_thread; |
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53 |
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54 static int run = 1; |
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55 |
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56 /****************************************************************************/ |
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57 |
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58 // EtherCAT |
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59 static ec_master_t *master = NULL; |
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60 static ec_master_state_t master_state = {}; |
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61 |
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62 static ec_domain_t *domain1 = NULL; |
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63 static ec_domain_state_t domain1_state = {}; |
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64 |
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65 static uint8_t *domain1_pd = NULL; |
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66 |
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67 static ec_slave_config_t *sc_dig_out_01 = NULL; |
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68 |
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69 /****************************************************************************/ |
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70 |
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71 // process data |
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72 |
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73 #define BusCoupler01_Pos 0, 0 |
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74 #define DigOutSlave01_Pos 0, 1 |
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75 |
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76 #define Beckhoff_EK1100 0x00000002, 0x044c2c52 |
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77 #define Beckhoff_EL2004 0x00000002, 0x07d43052 |
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78 |
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79 // offsets for PDO entries |
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80 static unsigned int off_dig_out0 = 0; |
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81 |
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82 // process data |
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83 |
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84 const static ec_pdo_entry_reg_t domain1_regs[] = { |
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85 {DigOutSlave01_Pos, Beckhoff_EL2004, 0x7000, 0x01, &off_dig_out0, NULL}, |
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86 {} |
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87 }; |
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88 |
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89 /****************************************************************************/ |
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90 |
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91 /* Slave 1, "EL2004" |
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92 * Vendor ID: 0x00000002 |
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93 * Product code: 0x07d43052 |
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94 * Revision number: 0x00100000 |
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95 */ |
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96 |
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97 ec_pdo_entry_info_t slave_1_pdo_entries[] = { |
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98 {0x7000, 0x01, 1}, /* Output */ |
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99 {0x7010, 0x01, 1}, /* Output */ |
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100 {0x7020, 0x01, 1}, /* Output */ |
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101 {0x7030, 0x01, 1}, /* Output */ |
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102 }; |
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103 |
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104 ec_pdo_info_t slave_1_pdos[] = { |
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105 {0x1600, 1, slave_1_pdo_entries + 0}, /* Channel 1 */ |
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106 {0x1601, 1, slave_1_pdo_entries + 1}, /* Channel 2 */ |
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107 {0x1602, 1, slave_1_pdo_entries + 2}, /* Channel 3 */ |
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108 {0x1603, 1, slave_1_pdo_entries + 3}, /* Channel 4 */ |
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109 }; |
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110 |
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111 ec_sync_info_t slave_1_syncs[] = { |
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112 {0, EC_DIR_OUTPUT, 4, slave_1_pdos + 0, EC_WD_ENABLE}, |
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113 {0xff} |
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114 }; |
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115 |
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116 /***************************************************************************** |
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117 * Realtime task |
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118 ****************************************************************************/ |
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119 |
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120 void rt_check_domain_state(void) |
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121 { |
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122 ec_domain_state_t ds = {}; |
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123 |
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124 ecrt_domain_state(domain1, &ds); |
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125 |
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126 if (ds.working_counter != domain1_state.working_counter) { |
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127 rt_printf("Domain1: WC %u.\n", ds.working_counter); |
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128 } |
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129 |
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130 if (ds.wc_state != domain1_state.wc_state) { |
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131 rt_printf("Domain1: State %u.\n", ds.wc_state); |
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132 } |
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133 |
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134 domain1_state = ds; |
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135 } |
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136 |
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137 /****************************************************************************/ |
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138 |
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139 void rt_check_master_state(void) |
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140 { |
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141 ec_master_state_t ms; |
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142 |
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143 ecrt_master_state(master, &ms); |
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144 |
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145 if (ms.slaves_responding != master_state.slaves_responding) { |
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146 rt_printf("%u slave(s).\n", ms.slaves_responding); |
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147 } |
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148 |
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149 if (ms.al_states != master_state.al_states) { |
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150 rt_printf("AL states: 0x%02X.\n", ms.al_states); |
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151 } |
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152 |
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153 if (ms.link_up != master_state.link_up) { |
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154 rt_printf("Link is %s.\n", ms.link_up ? "up" : "down"); |
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155 } |
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156 |
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157 master_state = ms; |
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158 } |
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159 |
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160 /****************************************************************************/ |
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161 |
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162 void *my_thread(void *arg) |
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163 { |
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164 struct timespec next_period; |
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165 int cycle_counter = 0; |
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166 unsigned int blink = 0; |
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167 |
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168 clock_gettime(CLOCK_REALTIME, &next_period); |
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169 |
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170 while (run) { |
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171 next_period.tv_nsec += cycle_us * 1000; |
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172 while (next_period.tv_nsec >= NSEC_PER_SEC) { |
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173 next_period.tv_nsec -= NSEC_PER_SEC; |
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174 next_period.tv_sec++; |
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175 } |
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176 |
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177 clock_nanosleep(CLOCK_REALTIME, TIMER_ABSTIME, &next_period, NULL); |
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178 |
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179 cycle_counter++; |
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180 |
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181 // receive EtherCAT |
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182 ecrt_master_receive(master); |
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183 ecrt_domain_process(domain1); |
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184 |
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185 rt_check_domain_state(); |
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186 |
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187 if (!(cycle_counter % 1000)) { |
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188 rt_check_master_state(); |
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189 } |
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190 |
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191 if (!(cycle_counter % 200)) { |
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192 blink = !blink; |
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193 } |
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194 |
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195 EC_WRITE_U8(domain1_pd + off_dig_out0, blink ? 0x0 : 0x0F); |
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196 |
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197 // send process data |
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198 ecrt_domain_queue(domain1); |
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199 ecrt_master_send(master); |
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200 } |
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201 |
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202 return NULL; |
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203 } |
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204 |
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205 /**************************************************************************** |
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206 * Signal handler |
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207 ***************************************************************************/ |
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208 |
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209 void signal_handler(int sig) |
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210 { |
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211 run = 0; |
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212 } |
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213 |
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214 /**************************************************************************** |
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215 * Main function |
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216 ***************************************************************************/ |
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217 |
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218 int main(int argc, char *argv[]) |
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219 { |
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220 ec_slave_config_t *sc; |
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221 int ret; |
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222 |
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223 signal(SIGTERM, signal_handler); |
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224 signal(SIGINT, signal_handler); |
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225 |
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226 mlockall(MCL_CURRENT | MCL_FUTURE); |
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227 |
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228 printf("Requesting master...\n"); |
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229 master = ecrt_request_master(0); |
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230 if (!master) { |
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231 return -1; |
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232 } |
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233 |
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234 domain1 = ecrt_master_create_domain(master); |
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235 if (!domain1) { |
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236 return -1; |
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237 } |
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238 |
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239 printf("Creating slave configurations...\n"); |
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240 |
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241 // Create configuration for bus coupler |
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242 sc = ecrt_master_slave_config(master, BusCoupler01_Pos, Beckhoff_EK1100); |
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243 if (!sc) { |
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244 return -1; |
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245 } |
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246 |
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247 sc_dig_out_01 = |
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248 ecrt_master_slave_config(master, DigOutSlave01_Pos, Beckhoff_EL2004); |
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249 if (!sc_dig_out_01) { |
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250 fprintf(stderr, "Failed to get slave configuration.\n"); |
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251 return -1; |
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252 } |
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253 |
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254 if (ecrt_slave_config_pdos(sc_dig_out_01, EC_END, slave_1_syncs)) { |
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255 fprintf(stderr, "Failed to configure PDOs.\n"); |
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256 return -1; |
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257 } |
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258 |
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259 if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) { |
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260 fprintf(stderr, "PDO entry registration failed!\n"); |
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261 return -1; |
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262 } |
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263 |
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264 printf("Activating master...\n"); |
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265 if (ecrt_master_activate(master)) { |
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266 return -1; |
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267 } |
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268 |
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269 if (!(domain1_pd = ecrt_domain_data(domain1))) { |
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270 fprintf(stderr, "Failed to get domain data pointer.\n"); |
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271 return -1; |
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272 } |
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273 |
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274 /* Create cyclic RT-thread */ |
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275 struct sched_param param = { .sched_priority = 82 }; |
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276 |
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277 pthread_attr_t thattr; |
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278 pthread_attr_init(&thattr); |
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279 pthread_attr_setdetachstate(&thattr, PTHREAD_CREATE_JOINABLE); |
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280 pthread_attr_setinheritsched(&thattr, PTHREAD_EXPLICIT_SCHED); |
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281 pthread_attr_setschedpolicy(&thattr, SCHED_FIFO); |
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282 pthread_setschedparam(cyclic_thread, SCHED_FIFO, ¶m); |
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283 |
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284 ret = pthread_create(&cyclic_thread, &thattr, &my_thread, NULL); |
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285 if (ret) { |
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286 fprintf(stderr, "%s: pthread_create cyclic task failed\n", |
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287 strerror(-ret)); |
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288 return 1; |
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289 } |
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290 |
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291 while (run) { |
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292 sched_yield(); |
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293 } |
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294 |
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295 pthread_join(cyclic_thread, NULL); |
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296 |
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297 printf("End of Program\n"); |
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298 ecrt_release_master(master); |
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299 |
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300 return 0; |
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301 } |
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302 |
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303 /****************************************************************************/ |