--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/dc_user/main.c Thu Apr 23 14:50:23 2009 +0000
@@ -0,0 +1,300 @@
+/*****************************************************************************
+ *
+ * $Id$
+ *
+ * Copyright (C) 2007-2009 Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ * This file is part of the IgH EtherCAT Master.
+ *
+ * The IgH EtherCAT Master is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License version 2, as
+ * published by the Free Software Foundation.
+ *
+ * The IgH EtherCAT Master is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
+ * Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with the IgH EtherCAT Master; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ * ---
+ *
+ * The license mentioned above concerns the source code only. Using the
+ * EtherCAT technology and brand is only permitted in compliance with the
+ * industrial property and similar rights of Beckhoff Automation GmbH.
+ *
+ ****************************************************************************/
+
+#include <errno.h>
+#include <signal.h>
+#include <stdio.h>
+#include <string.h>
+#include <sys/resource.h>
+#include <sys/time.h>
+#include <sys/types.h>
+#include <unistd.h>
+
+/****************************************************************************/
+
+#include "ecrt.h"
+
+/****************************************************************************/
+
+// Application parameters
+#define FREQUENCY 100
+#define PRIORITY 1
+
+// Optional features
+#define CONFIGURE_PDOS 1
+
+/****************************************************************************/
+
+// EtherCAT
+static ec_master_t *master = NULL;
+static ec_master_state_t master_state = {};
+
+static ec_domain_t *domain1 = NULL;
+static ec_domain_state_t domain1_state = {};
+
+// Timer
+static unsigned int sig_alarms = 0;
+static unsigned int user_alarms = 0;
+
+/****************************************************************************/
+
+// process data
+static uint8_t *domain1_pd = NULL;
+
+#define BusCouplerPos 0, 0
+#define DigOutSlavePos 0, 1
+#define CounterSlavePos 0, 2
+
+#define Beckhoff_EK1100 0x00000002, 0x044c2c52
+#define Beckhoff_EL2008 0x00000002, 0x07d83052
+#define IDS_Counter 0x000012ad, 0x05de3052
+
+// offsets for PDO entries
+static int off_dig_out;
+static int off_counter_in;
+static int off_counter_out;
+
+static unsigned int counter = 0;
+static unsigned int blink_counter = 0;
+static unsigned int blink = 0;
+static unsigned int sync_ref_counter = 0;
+struct timeval app_time;
+
+/*****************************************************************************/
+
+void check_domain1_state(void)
+{
+ ec_domain_state_t ds;
+
+ ecrt_domain_state(domain1, &ds);
+
+ if (ds.working_counter != domain1_state.working_counter)
+ printf("Domain1: WC %u.\n", ds.working_counter);
+ if (ds.wc_state != domain1_state.wc_state)
+ printf("Domain1: State %u.\n", ds.wc_state);
+
+ domain1_state = ds;
+}
+
+/*****************************************************************************/
+
+void check_master_state(void)
+{
+ ec_master_state_t ms;
+
+ ecrt_master_state(master, &ms);
+
+ if (ms.slaves_responding != master_state.slaves_responding)
+ printf("%u slave(s).\n", ms.slaves_responding);
+ if (ms.al_states != master_state.al_states)
+ printf("AL states: 0x%02X.\n", ms.al_states);
+ if (ms.link_up != master_state.link_up)
+ printf("Link is %s.\n", ms.link_up ? "up" : "down");
+
+ master_state = ms;
+}
+
+/****************************************************************************/
+
+void cyclic_task()
+{
+ int i;
+
+ // receive process data
+ ecrt_master_receive(master);
+ ecrt_domain_process(domain1);
+
+ // check process data state (optional)
+ check_domain1_state();
+
+ if (counter) {
+ counter--;
+ } else { // do this at 1 Hz
+ counter = FREQUENCY;
+
+ // calculate new process data
+ blink = !blink;
+
+ // check for master state (optional)
+ check_master_state();
+
+ }
+
+ if (blink_counter) {
+ blink_counter--;
+ } else {
+ blink_counter = 9;
+
+ // calculate new process data
+ blink = !blink;
+ }
+
+ // write process data
+ EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x66 : 0x99);
+ EC_WRITE_U8(domain1_pd + off_counter_out, blink ? 0x00 : 0x02);
+
+ app_time.tv_usec += 1000000 / FREQUENCY;
+ if (app_time.tv_usec >= 1000000) {
+ app_time.tv_usec -= 1000000;
+ app_time.tv_sec++;
+ }
+
+ if (sync_ref_counter) {
+ sync_ref_counter--;
+ } else {
+ sync_ref_counter = 9;
+ ecrt_master_sync_reference_clock(master, &app_time);
+ }
+ ecrt_master_sync_slave_clocks(master);
+
+ // send process data
+ ecrt_domain_queue(domain1);
+ ecrt_master_send(master);
+}
+
+/****************************************************************************/
+
+void signal_handler(int signum) {
+ switch (signum) {
+ case SIGALRM:
+ sig_alarms++;
+ break;
+ }
+}
+
+/****************************************************************************/
+
+int main(int argc, char **argv)
+{
+ ec_slave_config_t *sc;
+ struct sigaction sa;
+ struct itimerval tv;
+
+ master = ecrt_request_master(0);
+ if (!master)
+ return -1;
+
+ domain1 = ecrt_master_create_domain(master);
+ if (!domain1)
+ return -1;
+
+ // Create configuration for bus coupler
+ sc = ecrt_master_slave_config(master, BusCouplerPos, Beckhoff_EK1100);
+ if (!sc)
+ return -1;
+
+ if (!(sc = ecrt_master_slave_config(master,
+ DigOutSlavePos, Beckhoff_EL2008))) {
+ fprintf(stderr, "Failed to get slave configuration.\n");
+ return -1;
+ }
+
+ off_dig_out = ecrt_slave_config_reg_pdo_entry(sc,
+ 0x7000, 1, domain1, NULL);
+ if (off_dig_out < 0)
+ return -1;
+
+ if (!(sc = ecrt_master_slave_config(master,
+ CounterSlavePos, IDS_Counter))) {
+ fprintf(stderr, "Failed to get slave configuration.\n");
+ return -1;
+ }
+
+ off_counter_in = ecrt_slave_config_reg_pdo_entry(sc,
+ 0x6020, 0x11, domain1, NULL);
+ if (off_counter_in < 0)
+ return -1;
+
+ off_counter_out = ecrt_slave_config_reg_pdo_entry(sc,
+ 0x7020, 1, domain1, NULL);
+ if (off_counter_out < 0)
+ return -1;
+
+#if 1
+ // configure SYNC signals for this slave
+ ecrt_slave_config_dc_assign_activate(sc, 0x0700);
+ ecrt_slave_config_dc_sync_cycle_times(sc, 10000000, 0);
+ ecrt_slave_config_dc_sync_shift_times(sc, 4400000, 0);
+#endif
+
+ printf("Activating master...\n");
+ if (ecrt_master_activate(master))
+ return -1;
+
+ if (!(domain1_pd = ecrt_domain_data(domain1))) {
+ return -1;
+ }
+
+#if PRIORITY
+ pid_t pid = getpid();
+ if (setpriority(PRIO_PROCESS, pid, -19))
+ fprintf(stderr, "Warning: Failed to set priority: %s\n",
+ strerror(errno));
+#endif
+
+ sa.sa_handler = signal_handler;
+ sigemptyset(&sa.sa_mask);
+ sa.sa_flags = 0;
+ if (sigaction(SIGALRM, &sa, 0)) {
+ fprintf(stderr, "Failed to install signal handler!\n");
+ return -1;
+ }
+
+ printf("Starting timer...\n");
+ tv.it_interval.tv_sec = 0;
+ tv.it_interval.tv_usec = 1000000 / FREQUENCY;
+ tv.it_value.tv_sec = 0;
+ tv.it_value.tv_usec = 1000;
+ if (setitimer(ITIMER_REAL, &tv, NULL)) {
+ fprintf(stderr, "Failed to start timer: %s\n", strerror(errno));
+ return 1;
+ }
+
+ gettimeofday(&app_time, NULL);
+
+ printf("Started.\n");
+ while (1) {
+ pause();
+
+#if 0
+ struct timeval t;
+ gettimeofday(&t, NULL);
+ printf("%u.%06u\n", t.tv_sec, t.tv_usec);
+#endif
+
+ while (sig_alarms != user_alarms) {
+ cyclic_task();
+ user_alarms++;
+ }
+ }
+
+ return 0;
+}
+
+/****************************************************************************/