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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 #include <errno.h> |
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35 #include <mqueue.h> |
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36 #include <signal.h> |
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37 #include <pthread.h> |
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38 #include <stdio.h> |
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39 #include <stdlib.h> |
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40 #include <string.h> |
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41 #include <unistd.h> |
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42 #include <limits.h> |
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43 #include <getopt.h> |
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44 #include <netinet/in.h> |
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45 #include <net/if.h> |
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46 #include <sys/ioctl.h> |
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47 #include <sys/mman.h> |
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48 #include <time.h> |
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49 |
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50 #include <rtdm/rtdm.h> |
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51 #include <rtdk.h> |
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52 |
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53 #include "../../include/ecrt.h" |
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54 #include "../../include/ec_rtdm.h" |
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55 |
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56 #define NSEC_PER_SEC 1000000000 |
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57 |
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58 static unsigned int cycle = 1000; /* 1 ms */ |
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59 |
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60 static pthread_t cyclicthread; |
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61 |
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62 int rt_fd = -1; |
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63 int run=0; |
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64 |
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65 unsigned int sync_ref_counter = 0; |
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66 |
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67 CstructMstrAttach MstrAttach; |
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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 |
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74 // Optional features |
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75 #define CONFIGURE_PDOS 1 |
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76 |
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77 |
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78 /****************************************************************************/ |
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79 |
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80 // EtherCAT |
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81 static ec_master_t *master = NULL; |
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82 static ec_master_state_t master_state = {}; |
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83 |
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84 static ec_domain_t *domain1 = NULL; |
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85 static ec_domain_state_t domain1_state = {}; |
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86 |
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87 |
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88 /****************************************************************************/ |
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89 static uint8_t *domain1_pd = NULL; |
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90 |
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91 // process data |
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92 |
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93 #define BusCoupler01_Pos 0, 0 |
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94 #define DigOutSlave01_Pos 0, 1 |
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95 #define DigOutSlave02_Pos 0, 2 |
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96 #define DigInSlave01_Pos 0, 3 |
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97 #define AnaOutSlave01_Pos 0, 4 |
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98 #define AnaInSlave01_Pos 0, 5 |
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99 #define BusCoupler02_Pos 0, 6 |
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100 #define AnaInSlave02_Pos 0, 7 |
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101 |
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102 |
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103 #define Beckhoff_EK1100 0x00000002, 0x044c2c52 |
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104 #define Beckhoff_EL1014 0x00000002, 0x03f63052 |
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105 #define Beckhoff_EL2004 0x00000002, 0x07d43052 |
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106 #define Beckhoff_EL4132 0x00000002, 0x10243052 |
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107 #define Beckhoff_EL3102 0x00000002, 0x0c1e3052 |
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108 #define Beckhoff_EL4102 0x00000002, 0x10063052 |
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109 #define Beckhoff_EL6731 0x00000002, 0x1a4b3052 |
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110 #define Beckhoff_EL6600 0x00000002, 0x19c93052 |
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111 #define Beckhoff_EL3602 0x00000002, 0x0e123052 |
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112 #define Beckhoff_EL5151 0x00000002, 0x141f3052 |
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113 |
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114 |
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115 // offsets for PDO entries |
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116 static unsigned int off_dig_out0 = 0; |
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117 static unsigned int off_dig_out1 = 0; |
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118 static unsigned int off_dig_out2 = 0; |
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119 static unsigned int off_dig_out3 = 0; |
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120 static unsigned int off_dig_in0 = 0; |
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121 static unsigned int off_ana_out0 = 0; |
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122 static unsigned int off_ana_out1 = 0; |
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123 static unsigned int off_ana_in0_status = 0; |
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124 static unsigned int off_ana_in0_value = 0; |
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125 static unsigned int off_ana_in1_status = 0; |
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126 static unsigned int off_ana_in1_value = 0; |
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127 |
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128 |
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129 // process data |
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130 unsigned int bit_position0=0; /* Pointer to a variable to store a bit */ |
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131 unsigned int bit_position1=0; /* Pointer to a variable to store a bit */ |
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132 unsigned int bit_position2=0; /* Pointer to a variable to store a bit */ |
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133 unsigned int bit_position3=0; /* Pointer to a variable to store a bit */ |
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134 |
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135 const static ec_pdo_entry_reg_t domain1_regs[] = { |
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136 {DigOutSlave01_Pos, Beckhoff_EL2004, 0x7000, 0x01, &off_dig_out0, &bit_position0}, |
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137 {DigOutSlave01_Pos, Beckhoff_EL2004, 0x7010, 0x01, &off_dig_out1, &bit_position1}, |
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138 {DigOutSlave01_Pos, Beckhoff_EL2004, 0x7020, 0x01, &off_dig_out2, &bit_position2}, |
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139 {DigOutSlave01_Pos, Beckhoff_EL2004, 0x7030, 0x01, &off_dig_out3, &bit_position3}, |
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140 {DigInSlave01_Pos, Beckhoff_EL1014, 0x6000, 0x01, &off_dig_in0}, |
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141 {AnaOutSlave01_Pos, Beckhoff_EL4132, 0x3001, 0x01, &off_ana_out0}, |
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142 {AnaOutSlave01_Pos, Beckhoff_EL4132, 0x3002, 0x01, &off_ana_out1}, |
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143 {AnaInSlave01_Pos, Beckhoff_EL3102, 0x3101, 0x01, &off_ana_in0_status}, |
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144 {AnaInSlave01_Pos, Beckhoff_EL3102, 0x3101, 0x02, &off_ana_in0_value}, |
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145 {AnaInSlave01_Pos, Beckhoff_EL3102, 0x3102, 0x01, &off_ana_in1_status}, |
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146 {AnaInSlave01_Pos, Beckhoff_EL3102, 0x3102, 0x02, &off_ana_in1_value}, |
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147 {} |
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148 }; |
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149 |
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150 char rt_dev_file[64]; |
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151 static unsigned int blink = 0; |
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152 |
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153 static ec_slave_config_t *sc_dig_out_01 = NULL; |
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154 |
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155 static ec_slave_config_t *sc_dig_out_02 = NULL; |
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156 |
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157 static ec_slave_config_t *sc_dig_in_01 = NULL; |
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158 |
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159 static ec_slave_config_t *sc_ana_out_01 = NULL; |
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160 |
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161 static ec_slave_config_t *sc_ana_in_01 = NULL; |
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162 |
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163 static ec_slave_config_t *sc_ana_in_02 = NULL; |
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164 |
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165 /*****************************************************************************/ |
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166 |
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167 /* Slave 1, "EL2004" |
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168 * Vendor ID: 0x00000002 |
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169 * Product code: 0x07d43052 |
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170 * Revision number: 0x00100000 |
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171 */ |
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172 |
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173 ec_pdo_entry_info_t slave_1_pdo_entries[] = { |
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174 {0x7000, 0x01, 1}, /* Output */ |
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175 {0x7010, 0x01, 1}, /* Output */ |
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176 {0x7020, 0x01, 1}, /* Output */ |
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177 {0x7030, 0x01, 1}, /* Output */ |
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178 }; |
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179 |
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180 ec_pdo_info_t slave_1_pdos[] = { |
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181 {0x1600, 1, slave_1_pdo_entries + 0}, /* Channel 1 */ |
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182 {0x1601, 1, slave_1_pdo_entries + 1}, /* Channel 2 */ |
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183 {0x1602, 1, slave_1_pdo_entries + 2}, /* Channel 3 */ |
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184 {0x1603, 1, slave_1_pdo_entries + 3}, /* Channel 4 */ |
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185 }; |
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186 |
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187 ec_sync_info_t slave_1_syncs[] = { |
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188 {0, EC_DIR_OUTPUT, 4, slave_1_pdos + 0, EC_WD_ENABLE}, |
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189 {0xff} |
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190 }; |
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191 |
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192 /* Slave 2, "EL2004" |
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193 * Vendor ID: 0x00000002 |
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194 * Product code: 0x07d43052 |
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195 * Revision number: 0x00100000 |
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196 */ |
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197 |
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198 ec_pdo_entry_info_t slave_2_pdo_entries[] = { |
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199 {0x7000, 0x01, 1}, /* Output */ |
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200 {0x7010, 0x01, 1}, /* Output */ |
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201 {0x7020, 0x01, 1}, /* Output */ |
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202 {0x7030, 0x01, 1}, /* Output */ |
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203 }; |
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204 |
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205 ec_pdo_info_t slave_2_pdos[] = { |
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206 {0x1600, 1, slave_2_pdo_entries + 0}, /* Channel 1 */ |
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207 {0x1601, 1, slave_2_pdo_entries + 1}, /* Channel 2 */ |
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208 {0x1602, 1, slave_2_pdo_entries + 2}, /* Channel 3 */ |
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209 {0x1603, 1, slave_2_pdo_entries + 3}, /* Channel 4 */ |
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210 }; |
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211 |
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212 ec_sync_info_t slave_2_syncs[] = { |
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213 {0, EC_DIR_OUTPUT, 4, slave_2_pdos + 0, EC_WD_ENABLE}, |
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214 {0xff} |
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215 }; |
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216 |
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217 /* Slave 3, "EL1014" |
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218 * Vendor ID: 0x00000002 |
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219 * Product code: 0x03f63052 |
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220 * Revision number: 0x00100000 |
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221 */ |
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222 |
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223 ec_pdo_entry_info_t slave_3_pdo_entries[] = { |
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224 {0x6000, 0x01, 1}, /* Input */ |
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225 {0x6010, 0x01, 1}, /* Input */ |
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226 {0x6020, 0x01, 1}, /* Input */ |
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227 {0x6030, 0x01, 1}, /* Input */ |
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228 }; |
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229 |
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230 ec_pdo_info_t slave_3_pdos[] = { |
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231 {0x1a00, 1, slave_3_pdo_entries + 0}, /* Channel 1 */ |
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232 {0x1a01, 1, slave_3_pdo_entries + 1}, /* Channel 2 */ |
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233 {0x1a02, 1, slave_3_pdo_entries + 2}, /* Channel 3 */ |
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234 {0x1a03, 1, slave_3_pdo_entries + 3}, /* Channel 4 */ |
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235 }; |
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236 |
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237 ec_sync_info_t slave_3_syncs[] = { |
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238 {0, EC_DIR_INPUT, 4, slave_3_pdos + 0, EC_WD_DISABLE}, |
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239 {0xff} |
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240 }; |
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241 |
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242 /* Slave 4, "EL4132" |
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243 * Vendor ID: 0x00000002 |
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244 * Product code: 0x10243052 |
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245 * Revision number: 0x03f90000 |
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246 */ |
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247 |
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248 ec_pdo_entry_info_t slave_4_pdo_entries[] = { |
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249 {0x3001, 0x01, 16}, /* Output */ |
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250 {0x3002, 0x01, 16}, /* Output */ |
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251 }; |
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252 |
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253 ec_pdo_info_t slave_4_pdos[] = { |
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254 {0x1600, 1, slave_4_pdo_entries + 0}, /* RxPDO 01 mapping */ |
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255 {0x1601, 1, slave_4_pdo_entries + 1}, /* RxPDO 02 mapping */ |
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256 }; |
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257 |
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258 ec_sync_info_t slave_4_syncs[] = { |
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259 {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, |
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260 {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, |
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261 {2, EC_DIR_OUTPUT, 2, slave_4_pdos + 0, EC_WD_DISABLE}, |
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262 {3, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, |
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263 {0xff} |
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264 }; |
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265 |
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266 /* Slave 5, "EL3102" |
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267 * Vendor ID: 0x00000002 |
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268 * Product code: 0x0c1e3052 |
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269 * Revision number: 0x00000000 |
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270 */ |
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271 |
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272 ec_pdo_entry_info_t slave_5_pdo_entries[] = { |
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273 {0x3101, 0x01, 8}, /* Status */ |
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274 {0x3101, 0x02, 16}, /* Value */ |
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275 {0x3102, 0x01, 8}, /* Status */ |
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276 {0x3102, 0x02, 16}, /* Value */ |
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277 }; |
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278 |
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279 ec_pdo_info_t slave_5_pdos[] = { |
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280 {0x1a00, 2, slave_5_pdo_entries + 0}, /* TxPDO 001 mapping */ |
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281 {0x1a01, 2, slave_5_pdo_entries + 2}, /* TxPDO 002 mapping */ |
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282 }; |
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283 |
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284 ec_sync_info_t slave_5_syncs[] = { |
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285 {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, |
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286 {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, |
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287 {2, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, |
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288 {3, EC_DIR_INPUT, 2, slave_5_pdos + 0, EC_WD_DISABLE}, |
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289 {0xff} |
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290 }; |
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291 |
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292 /* Slave 6, "EL6731-0010" |
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293 * Vendor ID: 0x00000002 |
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294 * Product code: 0x1a4b3052 |
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295 * Revision number: 0x0011000a |
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296 */ |
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297 |
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298 ec_sync_info_t slave_6_syncs[] = { |
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299 {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, |
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300 {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, |
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301 {2, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, |
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302 {3, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, |
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303 }; |
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304 |
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305 |
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306 /* Slave 7, "EL6601" |
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307 * Vendor ID: 0x00000002 |
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308 * Product code: 0x19c93052 |
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309 * Revision number: 0x00110000 |
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310 */ |
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311 /* |
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312 ec_sync_info_t slave_7_syncs[] = { |
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313 {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, |
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314 {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, |
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315 {2, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, |
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316 {3, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, |
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317 {0xff} |
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318 }; |
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319 */ |
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320 |
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321 /* Master 0, Slave 7, "EL3602" |
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322 * Vendor ID: 0x00000002 |
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323 * Product code: 0x0e123052 |
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324 * Revision number: 0x00100000 |
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325 */ |
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326 ec_pdo_entry_info_t slave_7_pdo_entries[] = { |
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327 {0x6000, 0x01, 1}, /* Underrange */ |
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328 {0x6000, 0x02, 1}, /* Overrange */ |
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329 {0x6000, 0x03, 2}, /* Limit 1 */ |
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330 {0x6000, 0x05, 2}, /* Limit 2 */ |
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331 {0x6000, 0x07, 1}, /* Error */ |
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332 {0x0000, 0x00, 7}, /* Gap */ |
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333 {0x1800, 0x07, 1}, |
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334 {0x1800, 0x09, 1}, |
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335 {0x6000, 0x11, 32}, /* Value */ |
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336 {0x6010, 0x01, 1}, /* Underrange */ |
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337 {0x6010, 0x02, 1}, /* Overrange */ |
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338 {0x6010, 0x03, 2}, /* Limit 1 */ |
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339 {0x6010, 0x05, 2}, /* Limit 2 */ |
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340 {0x6010, 0x07, 1}, /* Error */ |
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341 {0x0000, 0x00, 7}, /* Gap */ |
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342 {0x1801, 0x07, 1}, |
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343 {0x1801, 0x09, 1}, |
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344 {0x6010, 0x11, 32}, /* Value */ |
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345 }; |
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346 |
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347 ec_pdo_info_t slave_7_pdos[] = { |
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348 {0x1a00, 9, slave_7_pdo_entries + 0}, /* AI TxPDO-Map Inputs Ch.1 */ |
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349 {0x1a01, 9, slave_7_pdo_entries + 9}, /* AI TxPDO-Map Inputs Ch.2 */ |
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350 }; |
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351 |
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352 ec_sync_info_t slave_7_syncs[] = { |
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353 {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, |
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354 {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, |
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355 {2, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, |
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356 {3, EC_DIR_INPUT, 2, slave_7_pdos + 0, EC_WD_DISABLE}, |
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357 {0xff} |
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358 }; |
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359 |
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360 /* Master 0, Slave 8, "EL5151" |
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361 * Vendor ID: 0x00000002 |
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362 * Product code: 0x141f3052 |
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363 * Revision number: 0x00130000 |
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364 */ |
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365 |
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366 ec_pdo_entry_info_t slave_8_pdo_entries[] = { |
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367 {0x6000, 0x01, 1}, |
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368 {0x6000, 0x02, 1}, |
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369 {0x6000, 0x03, 1}, |
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370 {0x0000, 0x00, 4}, /* Gap */ |
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371 {0x6000, 0x08, 1}, |
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372 {0x6000, 0x09, 1}, |
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373 {0x6000, 0x0a, 1}, |
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374 {0x6000, 0x0b, 1}, |
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375 {0x0000, 0x00, 1}, /* Gap */ |
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376 {0x6000, 0x0d, 1}, |
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377 {0x1c32, 0x20, 1}, |
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378 {0x0000, 0x00, 1}, /* Gap */ |
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379 {0x1800, 0x09, 1}, |
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380 {0x6000, 0x11, 32}, |
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381 {0x6000, 0x12, 32}, |
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382 {0x6000, 0x14, 32}, |
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383 }; |
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384 |
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385 ec_pdo_info_t slave_8_pdos[] = { |
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386 {0x0000, 0, NULL}, |
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387 {0x1a00, 15, slave_8_pdo_entries + 0}, |
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388 {0x1a02, 1, slave_8_pdo_entries + 15}, |
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389 }; |
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390 |
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391 ec_sync_info_t slave_8_syncs[] = { |
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392 {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, |
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393 {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, |
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394 {2, EC_DIR_OUTPUT, 1, slave_8_pdos + 0, EC_WD_DISABLE}, |
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395 {3, EC_DIR_INPUT, 2, slave_8_pdos + 1, EC_WD_DISABLE}, |
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396 {0xff} |
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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 |
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403 void rt_check_domain_state(void) |
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404 { |
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405 ec_domain_state_t ds; |
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406 |
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407 if (rt_fd>=0) |
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408 { |
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409 ecrt_rtdm_domain_state(rt_fd,&ds); |
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410 } |
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411 |
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412 if (ds.working_counter != domain1_state.working_counter) |
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413 { |
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414 rt_printf("Domain1: WC %u.\n", ds.working_counter); |
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415 } |
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416 if (ds.wc_state != domain1_state.wc_state) |
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417 { |
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418 rt_printf("Domain1: State %u.\n", ds.wc_state); |
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419 } |
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420 |
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421 domain1_state = ds; |
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422 } |
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423 |
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424 void rt_check_master_state(void) |
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425 { |
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426 ec_master_state_t ms; |
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427 |
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428 if (rt_fd>=0) |
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429 { |
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430 ecrt_rtdm_master_state(rt_fd,&ms); |
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431 } |
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432 |
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433 if (ms.slaves_responding != master_state.slaves_responding) |
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434 { |
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435 rt_printf("%u slave(s).\n", ms.slaves_responding); |
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436 } |
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437 if (ms.al_states != master_state.al_states) |
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438 { |
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439 rt_printf("AL states: 0x%02X.\n", ms.al_states); |
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440 } |
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441 if (ms.link_up != master_state.link_up) |
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442 { |
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443 rt_printf("Link is %s.\n", ms.link_up ? "up" : "down"); |
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444 } |
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445 master_state = ms; |
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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 |
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451 void rt_sync() |
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452 { |
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453 struct timespec now; |
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454 uint64_t now_ns; |
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455 clock_gettime(CLOCK_REALTIME,&now); |
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456 |
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457 now_ns = 1000000000LL*now.tv_sec + now.tv_nsec; |
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458 |
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459 if (rt_fd>=0) |
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460 { |
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461 ecrt_rtdm_master_application_time(rt_fd, &now_ns); |
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462 } |
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463 |
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464 if (sync_ref_counter) { |
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465 sync_ref_counter--; |
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466 } else { |
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467 sync_ref_counter = 9; |
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468 if (rt_fd>=0) |
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469 { |
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470 ecrt_rtdm_master_sync_reference_clock(rt_fd); |
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471 } |
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472 } |
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473 if (rt_fd>=0) |
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474 { |
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475 ecrt_rtdm_master_sync_slave_clocks(rt_fd) ; |
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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 |
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481 /**********************************************************/ |
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482 void cleanup_all(void) |
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483 { |
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484 printf("delete my_task\n"); |
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485 |
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486 pthread_kill(cyclicthread, SIGHUP); |
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487 pthread_join(cyclicthread, NULL); |
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488 |
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489 if (rt_fd >= 0) { |
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490 printf("closing rt device %s\n", &rt_dev_file[0]); |
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491 rt_dev_close(rt_fd); |
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492 |
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493 } |
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494 } |
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495 |
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496 void catch_signal(int sig) |
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497 { |
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498 cleanup_all(); |
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499 } |
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500 |
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501 |
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502 |
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503 |
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504 |
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505 void *my_thread(void *arg) |
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506 { |
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507 struct sched_param param = { .sched_priority = 1 }; |
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508 struct timespec next_period; |
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509 int counter = 0; |
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510 int divcounter = 0; |
|
511 int divider = 10; |
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512 pthread_set_name_np(pthread_self(), "ec_xenomai_posix_test"); |
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513 pthread_setschedparam(pthread_self(), SCHED_FIFO, ¶m); |
|
514 |
|
515 clock_gettime(CLOCK_MONOTONIC, &next_period); |
|
516 |
|
517 while(1) { |
|
518 next_period.tv_nsec += cycle * 1000; |
|
519 while (next_period.tv_nsec >= NSEC_PER_SEC) { |
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520 next_period.tv_nsec -= NSEC_PER_SEC; |
|
521 next_period.tv_sec++; |
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522 } |
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523 |
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524 clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &next_period, NULL); |
|
525 |
|
526 counter++; |
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527 if (counter>600000) { |
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528 run=0; |
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529 return NULL; |
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530 } |
|
531 |
|
532 // receive ethercat |
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533 ecrt_rtdm_master_recieve(rt_fd); |
|
534 ecrt_rtdm_domain_process(rt_fd); |
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535 |
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536 rt_check_domain_state(); |
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537 |
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538 if (divcounter ==0) |
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539 { |
|
540 divcounter=divider; |
|
541 rt_check_master_state(); |
|
542 } |
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543 divcounter--; |
|
544 if ((counter % 200)==0) |
|
545 { |
|
546 blink = !blink; |
|
547 |
|
548 } |
|
549 |
|
550 |
|
551 EC_WRITE_U8(domain1_pd + off_dig_out0, blink ? 0x0 : 0x0F); |
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552 EC_WRITE_U16(domain1_pd + off_ana_out0, blink ? 0x0: 0xfff); |
|
553 |
|
554 //sync DC |
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555 rt_sync(); |
|
556 |
|
557 // send process data |
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558 ecrt_rtdm_domain_queque(rt_fd); |
|
559 ecrt_rtdm_master_send(rt_fd); |
|
560 } |
|
561 return NULL; |
|
562 } |
|
563 |
|
564 |
|
565 |
|
566 int main(int argc, char *argv[]) |
|
567 { |
|
568 struct sched_param param = { .sched_priority = 1 }; |
|
569 pthread_attr_t thattr; |
|
570 ec_slave_config_t *sc; |
|
571 int rtstatus; |
|
572 |
|
573 |
|
574 |
|
575 signal(SIGTERM, catch_signal); |
|
576 signal(SIGINT, catch_signal); |
|
577 signal(SIGHUP, catch_signal); |
|
578 |
|
579 mlockall(MCL_CURRENT|MCL_FUTURE); |
|
580 |
|
581 |
|
582 |
|
583 MstrAttach.masterindex = 0; |
|
584 |
|
585 printf("request master\n"); |
|
586 master = ecrt_request_master(MstrAttach.masterindex); |
|
587 if (!master) |
|
588 return -1; |
|
589 |
|
590 |
|
591 domain1 = ecrt_master_create_domain(master); |
|
592 if (!domain1) |
|
593 return -1; |
|
594 |
|
595 |
|
596 #ifdef CONFIGURE_PDOS |
|
597 |
|
598 printf("Configuring PDOs...\n"); |
|
599 |
|
600 printf("Get Configuring el2004...\n"); |
|
601 sc_dig_out_01 = ecrt_master_slave_config(master, DigOutSlave01_Pos, Beckhoff_EL2004); |
|
602 if (!sc_dig_out_01) { |
|
603 fprintf(stderr, "Failed to get slave configuration.\n"); |
|
604 return -1; |
|
605 } |
|
606 |
|
607 printf("Configuring EL2004...\n"); |
|
608 if (ecrt_slave_config_pdos(sc_dig_out_01, EC_END, slave_1_syncs)) |
|
609 { |
|
610 fprintf(stderr, "Failed to configure PDOs.\n"); |
|
611 return -1; |
|
612 } |
|
613 |
|
614 printf("Get Configuring el2004...\n"); |
|
615 sc_dig_out_02 = ecrt_master_slave_config(master, DigOutSlave02_Pos, Beckhoff_EL2004); |
|
616 if (!sc_dig_out_02) { |
|
617 fprintf(stderr, "Failed to get slave configuration.\n"); |
|
618 return -1; |
|
619 } |
|
620 |
|
621 printf("Configuring EL2004...\n"); |
|
622 if (ecrt_slave_config_pdos(sc_dig_out_02, EC_END, slave_2_syncs)) { |
|
623 fprintf(stderr, "Failed to configure PDOs.\n"); |
|
624 return -1; |
|
625 } |
|
626 |
|
627 printf("Get Configuring el1014...\n"); |
|
628 sc_dig_in_01 = ecrt_master_slave_config(master, DigInSlave01_Pos, Beckhoff_EL1014); |
|
629 if (!sc_dig_in_01) { |
|
630 fprintf(stderr, "Failed to get slave configuration.\n"); |
|
631 return -1; |
|
632 } |
|
633 |
|
634 printf("Configuring EL1014...\n"); |
|
635 if (ecrt_slave_config_pdos(sc_dig_in_01, EC_END, slave_3_syncs)) { |
|
636 fprintf(stderr, "Failed to configure PDOs.\n"); |
|
637 return -1; |
|
638 } |
|
639 |
|
640 printf("Get Configuring EL4132...\n"); |
|
641 sc_ana_out_01 = ecrt_master_slave_config(master, AnaOutSlave01_Pos, Beckhoff_EL4132); |
|
642 if (!sc_ana_out_01) { |
|
643 fprintf(stderr, "Failed to get slave configuration.\n"); |
|
644 return -1; |
|
645 } |
|
646 |
|
647 printf("Configuring EL4132...\n"); |
|
648 if (ecrt_slave_config_pdos(sc_ana_out_01, EC_END, slave_4_syncs)) { |
|
649 fprintf(stderr, "Failed to configure PDOs.\n"); |
|
650 return -1; |
|
651 } |
|
652 |
|
653 printf("Get Configuring EL3102...\n"); |
|
654 sc_ana_in_01 = ecrt_master_slave_config(master, AnaInSlave01_Pos, Beckhoff_EL3102); |
|
655 if (!sc_ana_in_01) { |
|
656 fprintf(stderr, "Failed to get slave configuration.\n"); |
|
657 return -1; |
|
658 } |
|
659 |
|
660 printf("Configuring EL3102...\n"); |
|
661 if (ecrt_slave_config_pdos(sc_ana_in_01, EC_END, slave_5_syncs)) { |
|
662 fprintf(stderr, "Failed to configure PDOs.\n"); |
|
663 return -1; |
|
664 } |
|
665 |
|
666 printf("Get Configuring EL3602...\n"); |
|
667 sc_ana_in_02 = ecrt_master_slave_config(master, AnaInSlave02_Pos, Beckhoff_EL3602); |
|
668 if (!sc_ana_in_02) { |
|
669 fprintf(stderr, "Failed to get slave configuration.\n"); |
|
670 return -1; |
|
671 } |
|
672 |
|
673 |
|
674 printf("Configuring EL3602...\n"); |
|
675 if (ecrt_slave_config_pdos(sc_ana_in_02, EC_END, slave_7_syncs)) { |
|
676 fprintf(stderr, "Failed to configure PDOs.\n"); |
|
677 return -1; |
|
678 } |
|
679 |
|
680 #endif |
|
681 |
|
682 // Create configuration for bus coupler |
|
683 sc = ecrt_master_slave_config(master, BusCoupler01_Pos, Beckhoff_EK1100); |
|
684 if (!sc) |
|
685 return -1; |
|
686 |
|
687 #ifdef CONFIGURE_PDOS |
|
688 if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) { |
|
689 fprintf(stderr, "PDO entry registration failed!\n"); |
|
690 return -1; |
|
691 } |
|
692 #endif |
|
693 |
|
694 |
|
695 |
|
696 sprintf(&rt_dev_file[0],"%s%u",EC_RTDM_DEV_FILE_NAME,0); |
|
697 |
|
698 |
|
699 rt_fd = rt_dev_open( &rt_dev_file[0], 0); |
|
700 if (rt_fd < 0) { |
|
701 printf("can't open %s\n", &rt_dev_file[0]); |
|
702 return -1; |
|
703 } |
|
704 |
|
705 MstrAttach.domainindex = ecrt_domain_index(domain1); |
|
706 |
|
707 // attach the master over rtdm driver |
|
708 rtstatus=ecrt_rtdm_master_attach(rt_fd, &MstrAttach); |
|
709 if (rtstatus < 0) |
|
710 { |
|
711 printf("cannot attach to master over rtdm\n"); |
|
712 return -1; |
|
713 } |
|
714 |
|
715 printf("Activating master...\n"); |
|
716 if (ecrt_master_activate(master)) |
|
717 return -1; |
|
718 |
|
719 if (!(domain1_pd = ecrt_domain_data(domain1))) { |
|
720 return -1; |
|
721 } |
|
722 fprintf(stderr, "domain1_pd: 0x%.6x\n", (unsigned int)domain1_pd); |
|
723 |
|
724 |
|
725 |
|
726 int ret; |
|
727 run=1; |
|
728 |
|
729 /* Create cyclic RT-thread */ |
|
730 pthread_attr_init(&thattr); |
|
731 pthread_attr_setdetachstate(&thattr, PTHREAD_CREATE_JOINABLE); |
|
732 pthread_attr_setstacksize(&thattr, PTHREAD_STACK_MIN); |
|
733 ret = pthread_create(&cyclicthread, &thattr, &my_thread, NULL); |
|
734 if (ret) { |
|
735 fprintf(stderr, "%s: pthread_create cyclic task failed\n", |
|
736 strerror(-ret)); |
|
737 goto failure; |
|
738 } |
|
739 pthread_setschedparam(pthread_self(), SCHED_FIFO, ¶m); |
|
740 |
|
741 |
|
742 |
|
743 while (run) |
|
744 { |
|
745 sched_yield(); |
|
746 } |
|
747 |
|
748 //rt_task_delete(&my_task); |
|
749 |
|
750 |
|
751 |
|
752 pthread_kill(cyclicthread, SIGHUP); |
|
753 pthread_join(cyclicthread, NULL); |
|
754 |
|
755 |
|
756 if (rt_fd >= 0) |
|
757 { |
|
758 printf("closing rt device %s\n", &rt_dev_file[0]); |
|
759 |
|
760 rt_dev_close(rt_fd); |
|
761 |
|
762 } |
|
763 |
|
764 printf("End of Program\n"); |
|
765 ecrt_release_master(master); |
|
766 |
|
767 return 0; |
|
768 |
|
769 failure: |
|
770 pthread_kill(cyclicthread, SIGHUP); |
|
771 pthread_join(cyclicthread, NULL); |
|
772 |
|
773 |
|
774 return 1; |
|
775 } |
|
776 |