44 |
44 |
45 #include "ecrt.h" |
45 #include "ecrt.h" |
46 |
46 |
47 /****************************************************************************/ |
47 /****************************************************************************/ |
48 |
48 |
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49 // Application parameters |
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50 #define PRIORITY 1 |
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51 |
49 // Optional features |
52 // Optional features |
50 #define CONFIGURE_PDOS 1 |
53 #define CONFIGURE_PDOS 1 |
51 #define EL3152_ALT_PDOS 0 |
54 |
52 #define SDO_ACCESS 0 |
55 /****************************************************************************/ |
53 #define VOE_ACCESS 0 |
56 |
54 |
57 // EtherCAT |
55 #define PRIORITY 1 |
58 static ec_master_t *master = NULL; |
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59 |
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60 static ec_domain_t *domain1 = NULL; |
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61 |
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62 static ec_slave_config_t *sc_ana_in = NULL; |
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63 |
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64 // Timer |
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65 static unsigned int sig_alarms = 0; |
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66 static unsigned int user_alarms = 0; |
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67 |
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68 /****************************************************************************/ |
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69 |
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70 // process data |
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71 static uint8_t *domain1_pd = NULL; |
56 |
72 |
57 #define BusCouplerPos 0, 0 |
73 #define BusCouplerPos 0, 0 |
58 #define AnaOutSlavePos 0, 1 |
74 #define AnaOutSlavePos 0, 1 |
59 #define AnaInSlavePos 0, 2 |
75 #define AnaInSlavePos 0, 2 |
60 #define DigOutSlavePos 0, 3 |
76 #define DigOutSlavePos 0, 3 |
62 #define Beckhoff_EK1100 0x00000002, 0x044C2C52 |
78 #define Beckhoff_EK1100 0x00000002, 0x044C2C52 |
63 #define Beckhoff_EL2004 0x00000002, 0x07D43052 |
79 #define Beckhoff_EL2004 0x00000002, 0x07D43052 |
64 #define Beckhoff_EL3152 0x00000002, 0x0c503052 |
80 #define Beckhoff_EL3152 0x00000002, 0x0c503052 |
65 #define Beckhoff_EL4102 0x00000002, 0x10063052 |
81 #define Beckhoff_EL4102 0x00000002, 0x10063052 |
66 |
82 |
67 /****************************************************************************/ |
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68 |
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69 static unsigned int sig_alarms = 0; |
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70 static unsigned int user_alarms = 0; |
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71 |
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72 // offsets for Pdo entries |
83 // offsets for Pdo entries |
73 static unsigned int off_ana_in; |
84 static unsigned int off_ana_in_status; |
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85 static unsigned int off_ana_in_value; |
74 static unsigned int off_ana_out; |
86 static unsigned int off_ana_out; |
75 static unsigned int off_dig_out; |
87 static unsigned int off_dig_out; |
76 |
88 |
77 const static ec_pdo_entry_reg_t domain1_regs[] = { |
89 const static ec_pdo_entry_reg_t domain1_regs[] = { |
78 #if EL3152_ALT_PDOS |
90 {AnaInSlavePos, Beckhoff_EL3152, 0x3101, 1, &off_ana_in_status}, |
79 {AnaInSlavePos, Beckhoff_EL3152, 0x6401, 1, &off_ana_in}, |
91 {AnaInSlavePos, Beckhoff_EL3152, 0x3101, 2, &off_ana_in_value}, |
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}, |
92 {AnaOutSlavePos, Beckhoff_EL4102, 0x3001, 1, &off_ana_out}, |
84 {DigOutSlavePos, Beckhoff_EL2004, 0x3001, 1, &off_dig_out}, |
93 {DigOutSlavePos, Beckhoff_EL2004, 0x3001, 1, &off_dig_out}, |
85 {} |
94 {} |
86 }; |
95 }; |
87 |
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88 static ec_slave_config_t *sc_ana_in = NULL; |
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89 |
96 |
90 /*****************************************************************************/ |
97 /*****************************************************************************/ |
91 |
98 |
92 #if CONFIGURE_PDOS |
99 #if CONFIGURE_PDOS |
93 |
100 |
100 {0x3102, 2, 16}, // channel 2 value |
107 {0x3102, 2, 16}, // channel 2 value |
101 {0x6401, 1, 16}, // channel 1 value (alt.) |
108 {0x6401, 1, 16}, // channel 1 value (alt.) |
102 {0x6401, 2, 16} // channel 2 value (alt.) |
109 {0x6401, 2, 16} // channel 2 value (alt.) |
103 }; |
110 }; |
104 |
111 |
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[] = { |
112 static ec_pdo_info_t el3152_pdos[] = { |
117 {0x1A00, 2, el3152_pdo_entries}, |
113 {0x1A00, 2, el3152_pdo_entries}, |
118 {0x1A01, 2, el3152_pdo_entries + 2} |
114 {0x1A01, 2, el3152_pdo_entries + 2} |
119 }; |
115 }; |
120 |
116 |
121 static ec_sync_info_t el3152_syncs[] = { |
117 static ec_sync_info_t el3152_syncs[] = { |
122 {2, EC_DIR_OUTPUT}, |
118 {2, EC_DIR_OUTPUT}, |
123 {3, EC_DIR_INPUT, 2, el3152_pdos}, |
119 {3, EC_DIR_INPUT, 2, el3152_pdos}, |
124 {0xff} |
120 {0xff} |
125 }; |
121 }; |
126 #endif |
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127 |
122 |
128 // Analog out ------------------------- |
123 // Analog out ------------------------- |
129 |
124 |
130 static ec_pdo_entry_info_t el4102_pdo_entries[] = { |
125 static ec_pdo_entry_info_t el4102_pdo_entries[] = { |
131 {0x3001, 1, 16}, // channel 1 value |
126 {0x3001, 1, 16}, // channel 1 value |
166 }; |
161 }; |
167 #endif |
162 #endif |
168 |
163 |
169 /****************************************************************************/ |
164 /****************************************************************************/ |
170 |
165 |
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166 void cyclic_task() |
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167 { |
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168 ecrt_master_receive(master); |
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169 ecrt_domain_process(domain1); |
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170 |
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171 #if 0 |
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172 #if EL3152_ALT_PDOS |
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173 printf("AnaIn: value %u\n", |
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174 EC_READ_U16(domain1_pd + off_ana_in_value)); |
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175 #else |
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176 printf("AnaIn: state %u value %u\n", |
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177 EC_READ_U8(domain1_pd + off_ana_in_status), |
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178 EC_READ_U16(domain1_pd + off_ana_in_value)); |
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179 #endif |
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180 #endif |
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181 |
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182 ecrt_domain_queue(domain1); |
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183 ecrt_master_send(master); |
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184 } |
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185 |
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186 /****************************************************************************/ |
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187 |
171 void signal_handler(int signum) { |
188 void signal_handler(int signum) { |
172 switch (signum) { |
189 switch (signum) { |
173 case SIGALRM: |
190 case SIGALRM: |
174 sig_alarms++; |
191 sig_alarms++; |
175 break; |
192 break; |
241 } |
256 } |
242 |
257 |
243 printf("Activating master...\n"); |
258 printf("Activating master...\n"); |
244 if (ecrt_master_activate(master)) |
259 if (ecrt_master_activate(master)) |
245 return -1; |
260 return -1; |
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261 |
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262 if (!(domain1_pd = ecrt_domain_data(domain1))) { |
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263 return -1; |
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264 } |
246 |
265 |
247 #if PRIORITY |
266 #if PRIORITY |
248 pid_t pid = getpid(); |
267 pid_t pid = getpid(); |
249 if (setpriority(PRIO_PROCESS, pid, -19)) |
268 if (setpriority(PRIO_PROCESS, pid, -19)) |
250 fprintf(stderr, "Warning: Failed to set priority: %s\n", |
269 fprintf(stderr, "Warning: Failed to set priority: %s\n", |
269 return 1; |
288 return 1; |
270 } |
289 } |
271 |
290 |
272 printf("Started.\n"); |
291 printf("Started.\n"); |
273 while (1) { |
292 while (1) { |
274 sleep(1); |
293 sleep(1); // always interrupted by SIGALRM |
275 |
294 |
276 #if 0 |
295 #if 0 |
277 struct timeval t; |
296 struct timeval t; |
278 gettimeofday(&t, NULL); |
297 gettimeofday(&t, NULL); |
279 printf("%u.%06u\n", t.tv_sec, t.tv_usec); |
298 printf("%u.%06u\n", t.tv_sec, t.tv_usec); |
280 #endif |
299 #endif |
281 |
300 |
282 while (sig_alarms != user_alarms) { |
301 while (sig_alarms != user_alarms) { |
283 ecrt_master_receive(master); |
302 cyclic_task(); |
284 ecrt_master_send(master); |
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285 |
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286 user_alarms++; |
303 user_alarms++; |
287 } |
304 } |
288 } |
305 } |
289 |
306 |
290 return 0; |
307 return 0; |