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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 * main.c Copyright (C) 2011 IgH Andreas Stewering-Bone |
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6 * |
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7 * This file is part of ethercatrtdm interface to IgH EtherCAT master |
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8 * |
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9 * The IgH EtherCAT master is free software; you can |
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10 * redistribute it and/or modify it under the terms of the GNU Lesser General |
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11 * Public License as published by the Free Software Foundation; version 2.1 |
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12 * of the License. |
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13 * |
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14 * The IgH EtherCAT Master is free software; you can redistribute it and/or |
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15 * modify it under the terms of the GNU General Public License version 2, as |
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16 * published by the Free Software Foundation. |
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17 * |
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18 * The IgH EtherCAT master userspace library is distributed in the hope that |
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19 * it will be useful, but WITHOUT ANY WARRANTY; without even the implied |
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20 * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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21 * GNU Lesser General Public License for more details. |
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22 * |
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23 * You should have received a copy of the GNU Lesser General Public License |
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24 * along with the IgH EtherCAT master userspace library. If not, see |
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25 * <http://www.gnu.org/licenses/>. |
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26 * |
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27 * The license mentioned above concerns the source code only. Using the |
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28 * EtherCAT technology and brand is only permitted in compliance with the |
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29 * industrial property and similar rights of Beckhoff Automation GmbH. |
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30 * |
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31 *****************************************************************************/ |
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32 |
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33 |
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34 |
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35 |
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36 #include <sched.h> |
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37 #include <stdio.h> |
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38 #include <stdlib.h> |
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39 #include <fcntl.h> |
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40 #include <signal.h> |
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41 |
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42 #include <rtai_lxrt.h> |
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43 #include <rtdm/rtdm.h> |
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44 |
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45 #include "../../include/ecrt.h" |
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46 #include "../../include/ec_rtdm.h" |
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47 |
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48 |
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49 |
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50 #define rt_printf(X,Y) |
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51 |
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52 #define NSEC_PER_SEC 1000000000 |
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53 |
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54 RT_TASK* task; // Stores a handle. |
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55 int priority=0; // Highest |
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56 int stack_size=0; // Use default (512) |
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57 int msg_size=0; // Use default (256) |
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58 |
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59 static unsigned int cycle = 1000; /* 1 ms */ |
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60 |
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61 int rt_fd = -1; |
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62 int run=0; |
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63 |
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64 unsigned int sync_ref_counter = 0; |
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65 |
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66 CstructMstrAttach MstrAttach; |
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67 |
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68 /****************************************************************************/ |
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69 |
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70 |
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71 |
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72 |
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73 // Optional features |
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74 #define CONFIGURE_PDOS 1 |
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75 |
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76 |
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77 /****************************************************************************/ |
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78 |
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79 // EtherCAT |
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80 static ec_master_t *master = NULL; |
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81 static ec_master_state_t master_state = {}; |
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82 |
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83 static ec_domain_t *domain1 = NULL; |
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84 static ec_domain_state_t domain1_state = {}; |
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85 |
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86 |
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87 /****************************************************************************/ |
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88 static uint8_t *domain1_pd = NULL; |
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89 |
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90 // process data |
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91 |
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92 #define BusCoupler01_Pos 0, 0 |
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93 #define DigOutSlave01_Pos 0, 1 |
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94 #define DigOutSlave02_Pos 0, 2 |
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95 #define DigInSlave01_Pos 0, 3 |
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96 #define AnaOutSlave01_Pos 0, 4 |
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97 #define AnaInSlave01_Pos 0, 5 |
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98 #define BusCoupler02_Pos 0, 6 |
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99 #define AnaInSlave02_Pos 0, 7 |
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100 |
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101 |
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102 #define Beckhoff_EK1100 0x00000002, 0x044c2c52 |
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103 #define Beckhoff_EL1014 0x00000002, 0x03f63052 |
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104 #define Beckhoff_EL2004 0x00000002, 0x07d43052 |
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105 #define Beckhoff_EL4132 0x00000002, 0x10243052 |
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106 #define Beckhoff_EL3102 0x00000002, 0x0c1e3052 |
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107 #define Beckhoff_EL4102 0x00000002, 0x10063052 |
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108 #define Beckhoff_EL6731 0x00000002, 0x1a4b3052 |
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109 #define Beckhoff_EL6600 0x00000002, 0x19c93052 |
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110 #define Beckhoff_EL3602 0x00000002, 0x0e123052 |
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111 #define Beckhoff_EL5151 0x00000002, 0x141f3052 |
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112 |
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113 |
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114 // offsets for PDO entries |
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115 static unsigned int off_dig_out0 = 0; |
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116 static unsigned int off_dig_out1 = 0; |
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117 static unsigned int off_dig_out2 = 0; |
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118 static unsigned int off_dig_out3 = 0; |
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119 static unsigned int off_dig_in0 = 0; |
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120 static unsigned int off_ana_out0 = 0; |
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121 static unsigned int off_ana_out1 = 0; |
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122 static unsigned int off_ana_in0_status = 0; |
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123 static unsigned int off_ana_in0_value = 0; |
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124 static unsigned int off_ana_in1_status = 0; |
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125 static unsigned int off_ana_in1_value = 0; |
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126 |
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127 |
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128 // process data |
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129 unsigned int bit_position0=0; /* Pointer to a variable to store a bit */ |
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130 unsigned int bit_position1=0; /* Pointer to a variable to store a bit */ |
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131 unsigned int bit_position2=0; /* Pointer to a variable to store a bit */ |
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132 unsigned int bit_position3=0; /* Pointer to a variable to store a bit */ |
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133 |
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134 const static ec_pdo_entry_reg_t domain1_regs[] = { |
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135 {DigOutSlave01_Pos, Beckhoff_EL2004, 0x7000, 0x01, &off_dig_out0, &bit_position0}, |
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136 {DigOutSlave01_Pos, Beckhoff_EL2004, 0x7010, 0x01, &off_dig_out1, &bit_position1}, |
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137 {DigOutSlave01_Pos, Beckhoff_EL2004, 0x7020, 0x01, &off_dig_out2, &bit_position2}, |
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138 {DigOutSlave01_Pos, Beckhoff_EL2004, 0x7030, 0x01, &off_dig_out3, &bit_position3}, |
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139 {DigInSlave01_Pos, Beckhoff_EL1014, 0x6000, 0x01, &off_dig_in0}, |
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140 {AnaOutSlave01_Pos, Beckhoff_EL4132, 0x3001, 0x01, &off_ana_out0}, |
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141 {AnaOutSlave01_Pos, Beckhoff_EL4132, 0x3002, 0x01, &off_ana_out1}, |
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142 {AnaInSlave01_Pos, Beckhoff_EL3102, 0x3101, 0x01, &off_ana_in0_status}, |
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143 {AnaInSlave01_Pos, Beckhoff_EL3102, 0x3101, 0x02, &off_ana_in0_value}, |
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144 {AnaInSlave01_Pos, Beckhoff_EL3102, 0x3102, 0x01, &off_ana_in1_status}, |
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145 {AnaInSlave01_Pos, Beckhoff_EL3102, 0x3102, 0x02, &off_ana_in1_value}, |
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146 {} |
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147 }; |
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148 |
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149 char rt_dev_file[64]; |
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150 static unsigned int blink = 0; |
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151 |
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152 static ec_slave_config_t *sc_dig_out_01 = NULL; |
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153 |
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154 static ec_slave_config_t *sc_dig_out_02 = NULL; |
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155 |
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156 static ec_slave_config_t *sc_dig_in_01 = NULL; |
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157 |
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158 static ec_slave_config_t *sc_ana_out_01 = NULL; |
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159 |
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160 static ec_slave_config_t *sc_ana_in_01 = NULL; |
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161 |
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162 static ec_slave_config_t *sc_ana_in_02 = NULL; |
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163 |
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164 /*****************************************************************************/ |
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165 |
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166 /* Slave 1, "EL2004" |
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167 * Vendor ID: 0x00000002 |
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168 * Product code: 0x07d43052 |
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169 * Revision number: 0x00100000 |
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170 */ |
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171 |
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172 ec_pdo_entry_info_t slave_1_pdo_entries[] = { |
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173 {0x7000, 0x01, 1}, /* Output */ |
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174 {0x7010, 0x01, 1}, /* Output */ |
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175 {0x7020, 0x01, 1}, /* Output */ |
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176 {0x7030, 0x01, 1}, /* Output */ |
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177 }; |
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178 |
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179 ec_pdo_info_t slave_1_pdos[] = { |
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180 {0x1600, 1, slave_1_pdo_entries + 0}, /* Channel 1 */ |
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181 {0x1601, 1, slave_1_pdo_entries + 1}, /* Channel 2 */ |
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182 {0x1602, 1, slave_1_pdo_entries + 2}, /* Channel 3 */ |
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183 {0x1603, 1, slave_1_pdo_entries + 3}, /* Channel 4 */ |
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184 }; |
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185 |
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186 ec_sync_info_t slave_1_syncs[] = { |
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187 {0, EC_DIR_OUTPUT, 4, slave_1_pdos + 0, EC_WD_ENABLE}, |
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188 {0xff} |
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189 }; |
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190 |
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191 /* Slave 2, "EL2004" |
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192 * Vendor ID: 0x00000002 |
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193 * Product code: 0x07d43052 |
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194 * Revision number: 0x00100000 |
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195 */ |
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196 |
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197 ec_pdo_entry_info_t slave_2_pdo_entries[] = { |
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198 {0x7000, 0x01, 1}, /* Output */ |
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199 {0x7010, 0x01, 1}, /* Output */ |
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200 {0x7020, 0x01, 1}, /* Output */ |
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201 {0x7030, 0x01, 1}, /* Output */ |
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202 }; |
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203 |
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204 ec_pdo_info_t slave_2_pdos[] = { |
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205 {0x1600, 1, slave_2_pdo_entries + 0}, /* Channel 1 */ |
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206 {0x1601, 1, slave_2_pdo_entries + 1}, /* Channel 2 */ |
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207 {0x1602, 1, slave_2_pdo_entries + 2}, /* Channel 3 */ |
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208 {0x1603, 1, slave_2_pdo_entries + 3}, /* Channel 4 */ |
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209 }; |
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210 |
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211 ec_sync_info_t slave_2_syncs[] = { |
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212 {0, EC_DIR_OUTPUT, 4, slave_2_pdos + 0, EC_WD_ENABLE}, |
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213 {0xff} |
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214 }; |
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215 |
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216 /* Slave 3, "EL1014" |
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217 * Vendor ID: 0x00000002 |
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218 * Product code: 0x03f63052 |
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219 * Revision number: 0x00100000 |
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220 */ |
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221 |
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222 ec_pdo_entry_info_t slave_3_pdo_entries[] = { |
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223 {0x6000, 0x01, 1}, /* Input */ |
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224 {0x6010, 0x01, 1}, /* Input */ |
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225 {0x6020, 0x01, 1}, /* Input */ |
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226 {0x6030, 0x01, 1}, /* Input */ |
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227 }; |
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228 |
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229 ec_pdo_info_t slave_3_pdos[] = { |
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230 {0x1a00, 1, slave_3_pdo_entries + 0}, /* Channel 1 */ |
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231 {0x1a01, 1, slave_3_pdo_entries + 1}, /* Channel 2 */ |
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232 {0x1a02, 1, slave_3_pdo_entries + 2}, /* Channel 3 */ |
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233 {0x1a03, 1, slave_3_pdo_entries + 3}, /* Channel 4 */ |
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234 }; |
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235 |
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236 ec_sync_info_t slave_3_syncs[] = { |
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237 {0, EC_DIR_INPUT, 4, slave_3_pdos + 0, EC_WD_DISABLE}, |
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238 {0xff} |
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239 }; |
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240 |
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241 /* Slave 4, "EL4132" |
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242 * Vendor ID: 0x00000002 |
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243 * Product code: 0x10243052 |
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244 * Revision number: 0x03f90000 |
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245 */ |
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246 |
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247 ec_pdo_entry_info_t slave_4_pdo_entries[] = { |
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248 {0x3001, 0x01, 16}, /* Output */ |
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249 {0x3002, 0x01, 16}, /* Output */ |
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250 }; |
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251 |
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252 ec_pdo_info_t slave_4_pdos[] = { |
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253 {0x1600, 1, slave_4_pdo_entries + 0}, /* RxPDO 01 mapping */ |
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254 {0x1601, 1, slave_4_pdo_entries + 1}, /* RxPDO 02 mapping */ |
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255 }; |
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256 |
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257 ec_sync_info_t slave_4_syncs[] = { |
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258 {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, |
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259 {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, |
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260 {2, EC_DIR_OUTPUT, 2, slave_4_pdos + 0, EC_WD_DISABLE}, |
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261 {3, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, |
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262 {0xff} |
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263 }; |
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264 |
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265 /* Slave 5, "EL3102" |
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266 * Vendor ID: 0x00000002 |
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267 * Product code: 0x0c1e3052 |
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268 * Revision number: 0x00000000 |
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269 */ |
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270 |
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271 ec_pdo_entry_info_t slave_5_pdo_entries[] = { |
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272 {0x3101, 0x01, 8}, /* Status */ |
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273 {0x3101, 0x02, 16}, /* Value */ |
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274 {0x3102, 0x01, 8}, /* Status */ |
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275 {0x3102, 0x02, 16}, /* Value */ |
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276 }; |
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277 |
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278 ec_pdo_info_t slave_5_pdos[] = { |
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279 {0x1a00, 2, slave_5_pdo_entries + 0}, /* TxPDO 001 mapping */ |
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280 {0x1a01, 2, slave_5_pdo_entries + 2}, /* TxPDO 002 mapping */ |
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281 }; |
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282 |
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283 ec_sync_info_t slave_5_syncs[] = { |
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284 {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, |
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285 {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, |
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286 {2, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, |
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287 {3, EC_DIR_INPUT, 2, slave_5_pdos + 0, EC_WD_DISABLE}, |
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288 {0xff} |
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289 }; |
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290 |
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291 /* Slave 6, "EL6731-0010" |
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292 * Vendor ID: 0x00000002 |
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293 * Product code: 0x1a4b3052 |
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294 * Revision number: 0x0011000a |
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295 */ |
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296 |
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297 ec_sync_info_t slave_6_syncs[] = { |
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298 {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, |
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299 {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, |
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300 {2, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, |
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301 {3, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, |
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302 }; |
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303 |
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304 |
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305 /* Slave 7, "EL6601" |
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306 * Vendor ID: 0x00000002 |
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307 * Product code: 0x19c93052 |
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308 * Revision number: 0x00110000 |
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309 */ |
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310 /* |
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311 ec_sync_info_t slave_7_syncs[] = { |
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312 {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, |
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313 {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, |
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314 {2, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, |
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315 {3, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, |
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316 {0xff} |
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317 }; |
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318 */ |
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319 |
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320 /* Master 0, Slave 7, "EL3602" |
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321 * Vendor ID: 0x00000002 |
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322 * Product code: 0x0e123052 |
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323 * Revision number: 0x00100000 |
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324 */ |
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325 ec_pdo_entry_info_t slave_7_pdo_entries[] = { |
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326 {0x6000, 0x01, 1}, /* Underrange */ |
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327 {0x6000, 0x02, 1}, /* Overrange */ |
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328 {0x6000, 0x03, 2}, /* Limit 1 */ |
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329 {0x6000, 0x05, 2}, /* Limit 2 */ |
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330 {0x6000, 0x07, 1}, /* Error */ |
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331 {0x0000, 0x00, 7}, /* Gap */ |
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332 {0x1800, 0x07, 1}, |
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333 {0x1800, 0x09, 1}, |
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334 {0x6000, 0x11, 32}, /* Value */ |
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335 {0x6010, 0x01, 1}, /* Underrange */ |
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336 {0x6010, 0x02, 1}, /* Overrange */ |
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337 {0x6010, 0x03, 2}, /* Limit 1 */ |
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338 {0x6010, 0x05, 2}, /* Limit 2 */ |
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339 {0x6010, 0x07, 1}, /* Error */ |
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340 {0x0000, 0x00, 7}, /* Gap */ |
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341 {0x1801, 0x07, 1}, |
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342 {0x1801, 0x09, 1}, |
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343 {0x6010, 0x11, 32}, /* Value */ |
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344 }; |
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345 |
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346 ec_pdo_info_t slave_7_pdos[] = { |
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347 {0x1a00, 9, slave_7_pdo_entries + 0}, /* AI TxPDO-Map Inputs Ch.1 */ |
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348 {0x1a01, 9, slave_7_pdo_entries + 9}, /* AI TxPDO-Map Inputs Ch.2 */ |
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349 }; |
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350 |
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351 ec_sync_info_t slave_7_syncs[] = { |
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352 {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, |
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353 {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, |
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354 {2, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, |
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355 {3, EC_DIR_INPUT, 2, slave_7_pdos + 0, EC_WD_DISABLE}, |
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356 {0xff} |
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357 }; |
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358 |
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359 /* Master 0, Slave 8, "EL5151" |
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360 * Vendor ID: 0x00000002 |
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361 * Product code: 0x141f3052 |
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362 * Revision number: 0x00130000 |
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363 */ |
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364 |
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365 ec_pdo_entry_info_t slave_8_pdo_entries[] = { |
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366 {0x6000, 0x01, 1}, |
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367 {0x6000, 0x02, 1}, |
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368 {0x6000, 0x03, 1}, |
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369 {0x0000, 0x00, 4}, /* Gap */ |
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370 {0x6000, 0x08, 1}, |
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371 {0x6000, 0x09, 1}, |
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372 {0x6000, 0x0a, 1}, |
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373 {0x6000, 0x0b, 1}, |
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374 {0x0000, 0x00, 1}, /* Gap */ |
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375 {0x6000, 0x0d, 1}, |
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376 {0x1c32, 0x20, 1}, |
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377 {0x0000, 0x00, 1}, /* Gap */ |
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378 {0x1800, 0x09, 1}, |
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379 {0x6000, 0x11, 32}, |
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380 {0x6000, 0x12, 32}, |
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381 {0x6000, 0x14, 32}, |
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382 }; |
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383 |
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384 ec_pdo_info_t slave_8_pdos[] = { |
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385 {0x0000, 0, NULL}, |
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386 {0x1a00, 15, slave_8_pdo_entries + 0}, |
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387 {0x1a02, 1, slave_8_pdo_entries + 15}, |
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388 }; |
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389 |
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390 ec_sync_info_t slave_8_syncs[] = { |
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391 {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, |
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392 {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, |
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393 {2, EC_DIR_OUTPUT, 1, slave_8_pdos + 0, EC_WD_DISABLE}, |
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394 {3, EC_DIR_INPUT, 2, slave_8_pdos + 1, EC_WD_DISABLE}, |
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395 {0xff} |
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396 }; |
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397 |
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398 |
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399 /*****************************************************************************/ |
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400 |
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401 |
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402 void rt_check_domain_state(void) |
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403 { |
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404 ec_domain_state_t ds; |
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405 |
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406 if (rt_fd>=0) |
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407 { |
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408 ecrt_rtdm_domain_state(rt_fd,&ds); |
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409 } |
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410 |
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411 if (ds.working_counter != domain1_state.working_counter) |
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412 { |
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413 rt_printf("Domain1: WC %u.\n", ds.working_counter); |
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414 } |
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415 if (ds.wc_state != domain1_state.wc_state) |
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416 { |
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417 rt_printf("Domain1: State %u.\n", ds.wc_state); |
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418 } |
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419 |
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420 domain1_state = ds; |
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421 } |
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422 |
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423 void rt_check_master_state(void) |
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424 { |
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425 ec_master_state_t ms; |
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426 |
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427 if (rt_fd>=0) |
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428 { |
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429 ecrt_rtdm_master_state(rt_fd,&ms); |
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430 } |
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431 |
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432 if (ms.slaves_responding != master_state.slaves_responding) |
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433 { |
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434 rt_printf("%u slave(s).\n", ms.slaves_responding); |
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435 } |
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436 if (ms.al_states != master_state.al_states) |
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437 { |
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438 rt_printf("AL states: 0x%02X.\n", ms.al_states); |
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439 } |
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440 if (ms.link_up != master_state.link_up) |
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441 { |
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442 rt_printf("Link is %s.\n", ms.link_up ? "up" : "down"); |
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443 } |
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444 master_state = ms; |
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445 } |
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446 |
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447 |
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448 |
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449 |
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450 void rt_sync() |
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451 { |
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452 |
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453 uint64_t now_ns; |
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454 now_ns = rt_get_real_time_ns(); |
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455 |
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456 |
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457 if (rt_fd>=0) |
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458 { |
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459 ecrt_rtdm_master_application_time(rt_fd, &now_ns); |
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460 } |
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461 |
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462 if (sync_ref_counter) { |
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463 sync_ref_counter--; |
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464 } else { |
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465 sync_ref_counter = 9; |
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466 if (rt_fd>=0) |
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467 { |
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468 ecrt_rtdm_master_sync_reference_clock(rt_fd); |
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469 } |
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470 } |
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471 if (rt_fd>=0) |
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472 { |
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473 ecrt_rtdm_master_sync_slave_clocks(rt_fd) ; |
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474 } |
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475 } |
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476 |
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477 /*****************************************************************************/ |
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478 |
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479 /**********************************************************/ |
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480 void cleanup_all(void) |
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481 { |
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482 run = 0; |
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483 } |
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484 |
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485 void catch_signal(int sig) |
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486 { |
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487 cleanup_all(); |
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488 } |
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489 |
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490 |
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491 |
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492 |
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493 |
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494 void my_cyclic(void) |
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495 { |
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496 |
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497 int counter = 0; |
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498 int divcounter = 0; |
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499 int divider = 10; |
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500 int period; |
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501 |
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502 rt_set_periodic_mode(); |
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503 period = (int) nano2count((RTIME)cycle*1000); |
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504 start_rt_timer(period); |
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505 rt_make_hard_real_time(); |
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506 |
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507 |
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508 while(1) { |
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509 |
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510 rt_task_wait_period(); |
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511 |
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512 |
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513 counter++; |
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514 if (counter>60000) { |
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515 run=0; |
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516 } |
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517 |
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518 if(run == 0) { |
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519 rt_make_soft_real_time(); |
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520 return; |
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521 } |
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522 |
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523 |
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524 // receive ethercat |
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525 ecrt_rtdm_master_recieve(rt_fd); |
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526 ecrt_rtdm_domain_process(rt_fd); |
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527 |
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528 rt_check_domain_state(); |
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529 |
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530 if (divcounter ==0) |
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531 { |
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532 divcounter=divider; |
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533 rt_check_master_state(); |
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534 } |
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535 divcounter--; |
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536 if ((counter % 200)==0) |
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537 { |
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538 blink = !blink; |
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539 |
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540 } |
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541 |
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542 |
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543 EC_WRITE_U8(domain1_pd + off_dig_out0, blink ? 0x0 : 0x0F); |
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544 EC_WRITE_U16(domain1_pd + off_ana_out0, blink ? 0x0: 0xfff); |
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545 |
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546 //sync DC |
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547 rt_sync(); |
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548 |
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549 // send process data |
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550 ecrt_rtdm_domain_queque(rt_fd); |
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551 ecrt_rtdm_master_send(rt_fd); |
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552 } |
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553 return; |
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554 } |
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555 |
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556 |
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557 |
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558 int main(int argc, char *argv[]) |
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559 { |
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560 ec_slave_config_t *sc; |
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561 int rtstatus; |
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562 |
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563 |
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564 |
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565 signal(SIGTERM, catch_signal); |
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566 signal(SIGINT, catch_signal); |
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567 signal(SIGHUP, catch_signal); |
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568 |
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569 mlockall(MCL_CURRENT|MCL_FUTURE); |
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570 |
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571 |
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572 |
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573 MstrAttach.masterindex = 0; |
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574 |
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575 printf("request master\n"); |
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576 master = ecrt_request_master(MstrAttach.masterindex); |
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577 if (!master) |
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578 return -1; |
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579 |
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580 |
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581 domain1 = ecrt_master_create_domain(master); |
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582 if (!domain1) |
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583 return -1; |
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584 |
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585 |
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586 #ifdef CONFIGURE_PDOS |
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587 |
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588 printf("Configuring PDOs...\n"); |
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589 |
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590 printf("Get Configuring el2004...\n"); |
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591 sc_dig_out_01 = ecrt_master_slave_config(master, DigOutSlave01_Pos, Beckhoff_EL2004); |
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592 if (!sc_dig_out_01) { |
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593 fprintf(stderr, "Failed to get slave configuration.\n"); |
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594 return -1; |
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595 } |
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596 |
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597 printf("Configuring EL2004...\n"); |
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598 if (ecrt_slave_config_pdos(sc_dig_out_01, EC_END, slave_1_syncs)) |
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599 { |
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600 fprintf(stderr, "Failed to configure PDOs.\n"); |
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601 return -1; |
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602 } |
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603 |
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604 printf("Get Configuring el2004...\n"); |
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605 sc_dig_out_02 = ecrt_master_slave_config(master, DigOutSlave02_Pos, Beckhoff_EL2004); |
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606 if (!sc_dig_out_02) { |
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607 fprintf(stderr, "Failed to get slave configuration.\n"); |
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608 return -1; |
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609 } |
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610 |
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611 printf("Configuring EL2004...\n"); |
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612 if (ecrt_slave_config_pdos(sc_dig_out_02, EC_END, slave_2_syncs)) { |
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613 fprintf(stderr, "Failed to configure PDOs.\n"); |
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614 return -1; |
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615 } |
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616 |
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617 printf("Get Configuring el1014...\n"); |
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618 sc_dig_in_01 = ecrt_master_slave_config(master, DigInSlave01_Pos, Beckhoff_EL1014); |
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619 if (!sc_dig_in_01) { |
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620 fprintf(stderr, "Failed to get slave configuration.\n"); |
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621 return -1; |
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622 } |
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623 |
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624 printf("Configuring EL1014...\n"); |
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625 if (ecrt_slave_config_pdos(sc_dig_in_01, EC_END, slave_3_syncs)) { |
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626 fprintf(stderr, "Failed to configure PDOs.\n"); |
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627 return -1; |
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628 } |
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629 |
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630 printf("Get Configuring EL4132...\n"); |
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631 sc_ana_out_01 = ecrt_master_slave_config(master, AnaOutSlave01_Pos, Beckhoff_EL4132); |
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632 if (!sc_ana_out_01) { |
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633 fprintf(stderr, "Failed to get slave configuration.\n"); |
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634 return -1; |
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635 } |
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636 |
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637 printf("Configuring EL4132...\n"); |
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638 if (ecrt_slave_config_pdos(sc_ana_out_01, EC_END, slave_4_syncs)) { |
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639 fprintf(stderr, "Failed to configure PDOs.\n"); |
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640 return -1; |
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641 } |
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642 |
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643 printf("Get Configuring EL3102...\n"); |
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644 sc_ana_in_01 = ecrt_master_slave_config(master, AnaInSlave01_Pos, Beckhoff_EL3102); |
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645 if (!sc_ana_in_01) { |
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646 fprintf(stderr, "Failed to get slave configuration.\n"); |
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647 return -1; |
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648 } |
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649 |
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650 printf("Configuring EL3102...\n"); |
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651 if (ecrt_slave_config_pdos(sc_ana_in_01, EC_END, slave_5_syncs)) { |
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652 fprintf(stderr, "Failed to configure PDOs.\n"); |
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653 return -1; |
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654 } |
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655 |
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656 printf("Get Configuring EL3602...\n"); |
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657 sc_ana_in_02 = ecrt_master_slave_config(master, AnaInSlave02_Pos, Beckhoff_EL3602); |
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658 if (!sc_ana_in_02) { |
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659 fprintf(stderr, "Failed to get slave configuration.\n"); |
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660 return -1; |
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661 } |
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662 |
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663 |
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664 printf("Configuring EL3602...\n"); |
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665 if (ecrt_slave_config_pdos(sc_ana_in_02, EC_END, slave_7_syncs)) { |
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666 fprintf(stderr, "Failed to configure PDOs.\n"); |
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667 return -1; |
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668 } |
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669 |
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670 #endif |
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671 |
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672 // Create configuration for bus coupler |
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673 sc = ecrt_master_slave_config(master, BusCoupler01_Pos, Beckhoff_EK1100); |
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674 if (!sc) |
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675 return -1; |
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676 |
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677 #ifdef CONFIGURE_PDOS |
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678 if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) { |
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679 fprintf(stderr, "PDO entry registration failed!\n"); |
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680 return -1; |
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681 } |
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682 #endif |
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683 |
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684 |
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685 |
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686 sprintf(&rt_dev_file[0],"%s%u",EC_RTDM_DEV_FILE_NAME,0); |
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687 |
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688 |
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689 rt_fd = rt_dev_open( &rt_dev_file[0], 0); |
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690 if (rt_fd < 0) { |
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691 printf("can't open %s\n", &rt_dev_file[0]); |
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692 return -1; |
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693 } |
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694 |
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695 MstrAttach.domainindex = ecrt_domain_index(domain1); |
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696 |
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697 // attach the master over rtdm driver |
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698 rtstatus=ecrt_rtdm_master_attach(rt_fd, &MstrAttach); |
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699 if (rtstatus < 0) |
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700 { |
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701 printf("cannot attach to master over rtdm\n"); |
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702 return -1; |
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703 } |
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704 |
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705 printf("Activating master...\n"); |
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706 if (ecrt_master_activate(master)) |
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707 return -1; |
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708 |
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709 if (!(domain1_pd = ecrt_domain_data(domain1))) { |
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710 return -1; |
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711 } |
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712 fprintf(stderr, "domain1_pd: 0x%.6x\n", (unsigned int)domain1_pd); |
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713 |
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714 |
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715 |
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716 run=1; |
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717 |
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718 /* Create cyclic RT-thread */ |
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719 struct sched_param param; |
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720 param.sched_priority = sched_get_priority_max(SCHED_FIFO) - 1; |
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721 if( sched_setscheduler( 0, SCHED_FIFO, ¶m ) == -1 ) { |
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722 puts("ERROR IN SETTING THE SCHEDULER"); |
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723 perror("errno"); |
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724 exit(1); |
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725 } |
|
726 |
|
727 task = rt_task_init( nam2num("ec_rtai_rtdm_example"), priority, stack_size, msg_size); |
|
728 |
|
729 |
|
730 my_cyclic(); |
|
731 |
|
732 rt_task_delete(task); |
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733 |
|
734 if (rt_fd >= 0) |
|
735 { |
|
736 printf("closing rt device %s\n", &rt_dev_file[0]); |
|
737 |
|
738 rt_dev_close(rt_fd); |
|
739 |
|
740 } |
|
741 |
|
742 printf("End of Program\n"); |
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743 ecrt_release_master(master); |
|
744 |
|
745 return 0; |
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746 |
|
747 } |
|
748 |