65 /****************************************************************************/ |
69 /****************************************************************************/ |
66 |
70 |
67 // process data |
71 // process data |
68 static uint8_t *domain1_pd = NULL; |
72 static uint8_t *domain1_pd = NULL; |
69 |
73 |
70 #define BusCouplerPos 0, 3 |
74 #define BusCouplerPos 0, 0 |
71 #define DigOutSlavePos 0, 0 |
75 #define DigOutSlavePos 0, 2 |
72 |
76 #define AnaInSlavePos 0, 3 |
73 //#define Beckhoff_EK1100 0x00000002, 0x044c2c52 |
77 #define AnaOutSlavePos 0, 4 |
74 #define Beckhoff_EK1100 0x00000002, 0x04562c52 |
78 |
75 #define Beckhoff_EL1008 0x00000002, 0x03f03052 |
79 #define Beckhoff_EK1100 0x00000002, 0x044c2c52 |
76 #define Beckhoff_EL2004 0x00000002, 0x07d43052 |
80 #define Beckhoff_EL2004 0x00000002, 0x07d43052 |
77 #define Beckhoff_EL2008 0x00000002, 0x07d83052 |
|
78 #define Beckhoff_EL2032 0x00000002, 0x07f03052 |
81 #define Beckhoff_EL2032 0x00000002, 0x07f03052 |
79 #define Beckhoff_EL3152 0x00000002, 0x0c503052 |
82 #define Beckhoff_EL3152 0x00000002, 0x0c503052 |
80 #define Beckhoff_EL3102 0x00000002, 0x0c1e3052 |
83 #define Beckhoff_EL3102 0x00000002, 0x0c1e3052 |
81 #define Beckhoff_EL4102 0x00000002, 0x10063052 |
84 #define Beckhoff_EL4102 0x00000002, 0x10063052 |
82 |
85 |
83 // offsets for PDO entries |
86 // offsets for PDO entries |
84 static unsigned int off_dig_in[1]; |
87 static unsigned int off_ana_in_status; |
85 static unsigned int off_dig_out[2]; |
88 static unsigned int off_ana_in_value; |
86 |
89 static unsigned int off_ana_out; |
87 |
90 static unsigned int off_dig_out; |
88 /*****************************************************************************/ |
91 |
89 // Digital in ------------------------ |
92 const static ec_pdo_entry_reg_t domain1_regs[] = { |
90 static ec_pdo_entry_info_t el1008_channels[] = { |
93 {AnaInSlavePos, Beckhoff_EL3102, 0x3101, 1, &off_ana_in_status}, |
91 {0x6000, 1, 1}, |
94 {AnaInSlavePos, Beckhoff_EL3102, 0x3101, 2, &off_ana_in_value}, |
92 {0x6010, 1, 1}, |
95 {AnaOutSlavePos, Beckhoff_EL4102, 0x3001, 1, &off_ana_out}, |
93 {0x6020, 1, 1}, |
96 {DigOutSlavePos, Beckhoff_EL2032, 0x3001, 1, &off_dig_out}, |
94 {0x6030, 1, 1}, |
97 {} |
95 {0x6040, 1, 1}, |
98 }; |
96 {0x6050, 1, 1}, |
99 |
97 {0x6060, 1, 1}, |
100 static unsigned int counter = 0; |
98 {0x6070, 1, 1}, |
101 static unsigned int blink = 0; |
99 }; |
102 |
100 |
103 /*****************************************************************************/ |
101 static ec_pdo_info_t el1008_pdos[] = { |
104 |
102 {0x1a00, 1, &el1008_channels[0]}, |
105 #if CONFIGURE_PDOS |
103 {0x1a01, 1, &el1008_channels[1]}, |
106 |
104 {0x1a02, 1, &el1008_channels[2]}, |
107 // Analog in -------------------------- |
105 {0x1a03, 1, &el1008_channels[3]}, |
108 |
106 {0x1a04, 1, &el1008_channels[4]}, |
109 static ec_pdo_entry_info_t el3102_pdo_entries[] = { |
107 {0x1a05, 1, &el1008_channels[5]}, |
110 {0x3101, 1, 8}, // channel 1 status |
108 {0x1a06, 1, &el1008_channels[6]}, |
111 {0x3101, 2, 16}, // channel 1 value |
109 {0x1a07, 1, &el1008_channels[7]} |
112 {0x3102, 1, 8}, // channel 2 status |
110 }; |
113 {0x3102, 2, 16}, // channel 2 value |
111 |
114 {0x6401, 1, 16}, // channel 1 value (alt.) |
112 static ec_sync_info_t el1008_syncs[] = { |
115 {0x6401, 2, 16} // channel 2 value (alt.) |
|
116 }; |
|
117 |
|
118 static ec_pdo_info_t el3102_pdos[] = { |
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119 {0x1A00, 2, el3102_pdo_entries}, |
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120 {0x1A01, 2, el3102_pdo_entries + 2} |
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121 }; |
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122 |
|
123 static ec_sync_info_t el3102_syncs[] = { |
113 {2, EC_DIR_OUTPUT}, |
124 {2, EC_DIR_OUTPUT}, |
114 {3, EC_DIR_INPUT, 8, el1008_pdos}, |
125 {3, EC_DIR_INPUT, 2, el3102_pdos}, |
115 {0xff} |
126 {0xff} |
116 }; |
127 }; |
117 |
128 |
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129 // Analog out ------------------------- |
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130 |
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131 static ec_pdo_entry_info_t el4102_pdo_entries[] = { |
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132 {0x3001, 1, 16}, // channel 1 value |
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133 {0x3002, 1, 16}, // channel 2 value |
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134 }; |
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135 |
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136 static ec_pdo_info_t el4102_pdos[] = { |
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137 {0x1600, 1, el4102_pdo_entries}, |
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138 {0x1601, 1, el4102_pdo_entries + 1} |
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139 }; |
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140 |
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141 static ec_sync_info_t el4102_syncs[] = { |
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142 {2, EC_DIR_OUTPUT, 2, el4102_pdos}, |
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143 {3, EC_DIR_INPUT}, |
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144 {0xff} |
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145 }; |
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146 |
118 // Digital out ------------------------ |
147 // Digital out ------------------------ |
119 static ec_pdo_entry_info_t el2008_channels[] = { |
148 |
120 {0x7000, 1, 1}, |
149 static ec_pdo_entry_info_t el2004_channels[] = { |
121 {0x7010, 1, 1}, |
150 {0x3001, 1, 1}, // Value 1 |
122 {0x7020, 1, 1}, |
151 {0x3001, 2, 1}, // Value 2 |
123 {0x7030, 1, 1}, |
152 {0x3001, 3, 1}, // Value 3 |
124 {0x7040, 1, 1}, |
153 {0x3001, 4, 1} // Value 4 |
125 {0x7050, 1, 1}, |
154 }; |
126 {0x7060, 1, 1}, |
155 |
127 {0x7070, 1, 1}, |
156 static ec_pdo_info_t el2004_pdos[] = { |
128 }; |
157 {0x1600, 1, &el2004_channels[0]}, |
129 |
158 {0x1601, 1, &el2004_channels[1]}, |
130 static ec_pdo_info_t el2008_pdos[] = { |
159 {0x1602, 1, &el2004_channels[2]}, |
131 {0x1600, 1, &el2008_channels[0]}, |
160 {0x1603, 1, &el2004_channels[3]} |
132 {0x1601, 1, &el2008_channels[1]}, |
161 }; |
133 {0x1602, 1, &el2008_channels[2]}, |
162 |
134 {0x1603, 1, &el2008_channels[3]}, |
163 static ec_sync_info_t el2004_syncs[] = { |
135 {0x1604, 1, &el2008_channels[4]}, |
164 {0, EC_DIR_OUTPUT, 4, el2004_pdos}, |
136 {0x1605, 1, &el2008_channels[5]}, |
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137 {0x1606, 1, &el2008_channels[6]}, |
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138 {0x1607, 1, &el2008_channels[7]} |
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139 }; |
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140 |
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141 static ec_sync_info_t el2008_syncs[] = { |
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142 {0, EC_DIR_OUTPUT, 8, el2008_pdos}, |
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143 {1, EC_DIR_INPUT}, |
165 {1, EC_DIR_INPUT}, |
144 {0xff} |
166 {0xff} |
145 }; |
167 }; |
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168 #endif |
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169 |
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170 /*****************************************************************************/ |
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171 |
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172 #if SDO_ACCESS |
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173 static ec_sdo_request_t *sdo; |
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174 #endif |
146 |
175 |
147 /*****************************************************************************/ |
176 /*****************************************************************************/ |
148 |
177 |
149 void check_domain1_state(void) |
178 void check_domain1_state(void) |
150 { |
179 { |
195 s.operational ? "" : "Not "); |
224 s.operational ? "" : "Not "); |
196 |
225 |
197 sc_ana_in_state = s; |
226 sc_ana_in_state = s; |
198 } |
227 } |
199 |
228 |
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229 /*****************************************************************************/ |
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230 |
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231 #if SDO_ACCESS |
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232 void read_sdo(void) |
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233 { |
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234 switch (ecrt_sdo_request_state(sdo)) { |
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235 case EC_REQUEST_UNUSED: // request was not used yet |
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236 ecrt_sdo_request_read(sdo); // trigger first read |
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237 break; |
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238 case EC_REQUEST_BUSY: |
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239 fprintf(stderr, "Still busy...\n"); |
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240 break; |
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241 case EC_REQUEST_SUCCESS: |
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242 fprintf(stderr, "SDO value: 0x%04X\n", |
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243 EC_READ_U16(ecrt_sdo_request_data(sdo))); |
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244 ecrt_sdo_request_read(sdo); // trigger next read |
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245 break; |
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246 case EC_REQUEST_ERROR: |
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247 fprintf(stderr, "Failed to read SDO!\n"); |
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248 ecrt_sdo_request_read(sdo); // retry reading |
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249 break; |
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250 } |
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251 } |
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252 #endif |
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253 |
200 /****************************************************************************/ |
254 /****************************************************************************/ |
201 |
255 |
202 void cyclic_task() |
256 void cyclic_task() |
203 { |
257 { |
204 static unsigned int counter = 10; |
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205 static uint8_t outputValue = 0; |
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206 static int numAsyncCycles = 0; |
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207 uint8_t inputValue = 0; |
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208 static uint8_t error = 0; |
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209 |
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210 // receive process data |
258 // receive process data |
211 ecrt_master_receive(master); |
259 ecrt_master_receive(master); |
212 ecrt_domain_process(domain1); |
260 ecrt_domain_process(domain1); |
213 |
261 |
214 // check process data state (optional) |
262 // check process data state (optional) |
215 check_domain1_state(); |
263 check_domain1_state(); |
216 |
264 |
217 |
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218 inputValue = EC_READ_U8(domain1_pd + off_dig_in[0]); |
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219 |
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220 if(inputValue != outputValue) { |
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221 numAsyncCycles++; |
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222 } else { |
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223 numAsyncCycles = 0; |
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224 } |
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225 |
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226 if(numAsyncCycles > 2) { |
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227 if(error != 0xff) { |
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228 error++; |
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229 } |
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230 } |
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231 |
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232 |
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233 if (counter) { |
265 if (counter) { |
234 counter--; |
266 counter--; |
235 } else { |
267 } else { // do this at 1 Hz |
236 counter = 5; //update delay |
268 counter = FREQUENCY; |
237 |
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238 |
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239 |
269 |
240 // calculate new process data |
270 // calculate new process data |
241 outputValue++; |
271 blink = !blink; |
242 |
272 |
243 // check for master state (optional) |
273 // check for master state (optional) |
244 check_master_state(); |
274 check_master_state(); |
245 |
275 |
246 // check for islave configuration state(s) (optional) |
276 // check for islave configuration state(s) (optional) |
247 check_slave_config_states(); |
277 check_slave_config_states(); |
248 } |
278 |
249 |
279 #if SDO_ACCESS |
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280 // read process data SDO |
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281 read_sdo(); |
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282 #endif |
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283 |
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284 } |
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285 |
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286 #if 0 |
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287 // read process data |
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288 printf("AnaIn: state %u value %u\n", |
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289 EC_READ_U8(domain1_pd + off_ana_in_status), |
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290 EC_READ_U16(domain1_pd + off_ana_in_value)); |
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291 #endif |
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292 |
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293 #if 1 |
250 // write process data |
294 // write process data |
251 EC_WRITE_U8(domain1_pd + off_dig_out[1], outputValue); |
295 EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x06 : 0x09); |
252 EC_WRITE_U8(domain1_pd + off_dig_out[0], error); |
296 #endif |
253 |
297 |
254 // send process data |
298 // send process data |
255 ecrt_domain_queue(domain1); |
299 ecrt_domain_queue(domain1); |
256 ecrt_master_send(master); |
300 ecrt_master_send(master); |
257 } |
301 } |
266 } |
310 } |
267 } |
311 } |
268 |
312 |
269 /****************************************************************************/ |
313 /****************************************************************************/ |
270 |
314 |
271 int Init_EL2008(uint16_t position) |
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272 { |
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273 ec_slave_config_t *sc; |
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274 if (!(sc = ecrt_master_slave_config(master, 0, position, Beckhoff_EL2008))) { |
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275 fprintf(stderr, "Failed to get EL2008 configuration #%u.\n", position); |
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276 return -1; |
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277 } |
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278 if (ecrt_slave_config_pdos(sc, EC_END, el2008_syncs)) { |
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279 fprintf(stderr, "Failed to configure PDOs #%u.\n", position); |
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280 return -1; |
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281 } |
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282 if (0 > (off_dig_out[position] = ecrt_slave_config_reg_pdo_entry(sc, 0x7000, 1, domain1, NULL))) { |
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283 fprintf(stderr, "Failed to configure reg PDOs #%u.\n", position); |
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284 return -1; |
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285 } |
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286 fprintf(stderr, "EL2008 #%u configured offset: %d.\n", position, off_dig_out[position]); |
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287 return 0; |
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288 } |
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289 |
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290 int main(int argc, char **argv) |
315 int main(int argc, char **argv) |
291 { |
316 { |
292 ec_slave_config_t *sc; |
317 ec_slave_config_t *sc; |
293 struct sigaction sa; |
318 struct sigaction sa; |
294 struct itimerval tv; |
319 struct itimerval tv; |
295 uint16_t i; |
|
296 |
320 |
297 master = ecrt_request_master(0); |
321 master = ecrt_request_master(0); |
298 if (!master) |
322 if (!master) |
299 return -1; |
323 return -1; |
300 |
324 |
301 domain1 = ecrt_master_create_domain(master); |
325 domain1 = ecrt_master_create_domain(master); |
302 if (!domain1) |
326 if (!domain1) |
303 return -1; |
327 return -1; |
304 |
328 |
|
329 if (!(sc_ana_in = ecrt_master_slave_config( |
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330 master, AnaInSlavePos, Beckhoff_EL3102))) { |
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331 fprintf(stderr, "Failed to get slave configuration.\n"); |
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332 return -1; |
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333 } |
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334 |
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335 #if SDO_ACCESS |
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336 fprintf(stderr, "Creating SDO requests...\n"); |
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337 if (!(sdo = ecrt_slave_config_create_sdo_request(sc_ana_in, 0x3102, 2, 2))) { |
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338 fprintf(stderr, "Failed to create SDO request.\n"); |
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339 return -1; |
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340 } |
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341 ecrt_sdo_request_timeout(sdo, 500); // ms |
|
342 #endif |
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343 |
|
344 #if CONFIGURE_PDOS |
305 printf("Configuring PDOs...\n"); |
345 printf("Configuring PDOs...\n"); |
306 if (!(sc_ana_in = ecrt_master_slave_config(master, 0, 2, Beckhoff_EL1008))) { |
346 if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3102_syncs)) { |
307 fprintf(stderr, "Failed to get digital in configuration.\n"); |
|
308 return -1; |
|
309 } |
|
310 if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el1008_syncs)) { |
|
311 fprintf(stderr, "Failed to configure PDOs.\n"); |
347 fprintf(stderr, "Failed to configure PDOs.\n"); |
312 return -1; |
348 return -1; |
313 } |
349 } |
314 if (0 > (off_dig_in[0] = ecrt_slave_config_reg_pdo_entry(sc_ana_in, 0x6000, 1, domain1, NULL))) { |
350 |
315 fprintf(stderr, "Failed to configure reg PDOs.\n"); |
351 if (!(sc = ecrt_master_slave_config( |
316 return -1; |
352 master, AnaOutSlavePos, Beckhoff_EL4102))) { |
317 } |
353 fprintf(stderr, "Failed to get slave configuration.\n"); |
318 printf("EL1008 configured.\n"); |
354 return -1; |
319 |
355 } |
320 for(i = 0; i < 2; ++i) { |
356 |
321 if(Init_EL2008(i)) { |
357 if (ecrt_slave_config_pdos(sc, EC_END, el4102_syncs)) { |
322 fprintf(stderr, "Failed to initialize EL2008 #%u.\n", i); |
358 fprintf(stderr, "Failed to configure PDOs.\n"); |
323 return -1; |
359 return -1; |
324 } |
360 } |
325 } |
361 |
|
362 if (!(sc = ecrt_master_slave_config( |
|
363 master, DigOutSlavePos, Beckhoff_EL2032))) { |
|
364 fprintf(stderr, "Failed to get slave configuration.\n"); |
|
365 return -1; |
|
366 } |
|
367 |
|
368 if (ecrt_slave_config_pdos(sc, EC_END, el2004_syncs)) { |
|
369 fprintf(stderr, "Failed to configure PDOs.\n"); |
|
370 return -1; |
|
371 } |
|
372 #endif |
326 |
373 |
327 // Create configuration for bus coupler |
374 // Create configuration for bus coupler |
328 sc = ecrt_master_slave_config(master, BusCouplerPos, Beckhoff_EK1100); |
375 sc = ecrt_master_slave_config(master, BusCouplerPos, Beckhoff_EK1100); |
329 if (!sc) |
376 if (!sc) |
330 return -1; |
377 return -1; |
331 fprintf(stderr, "EK1100 configured.\n"); |
378 |
|
379 if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) { |
|
380 fprintf(stderr, "PDO entry registration failed!\n"); |
|
381 return -1; |
|
382 } |
332 |
383 |
333 printf("Activating master...\n"); |
384 printf("Activating master...\n"); |
334 if (ecrt_master_activate(master)) |
385 if (ecrt_master_activate(master)) |
335 return -1; |
386 return -1; |
336 |
387 |