examples/user/main.c
branchstable-1.5
changeset 2555 18c226b66533
parent 2549 933a1b36b05f
child 2556 674fcdccc0f3
--- a/examples/user/main.c	Wed Apr 23 15:22:39 2014 +0200
+++ b/examples/user/main.c	Wed Apr 23 17:06:15 2014 +0200
@@ -1,1 +1,385 @@
-../../../ccat/unittest/main.c
\ No newline at end of file
+/*****************************************************************************
+ *
+ *  $Id: main.c,v 6a6dec6fc806 2012/09/19 17:46:58 fp $
+ *
+ *  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 0
+
+/****************************************************************************/
+
+// 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 = {};
+
+static ec_slave_config_t *sc_ana_in = NULL;
+static ec_slave_config_state_t sc_ana_in_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, 3
+#define DigOutSlavePos 0, 0
+
+//#define Beckhoff_EK1100 0x00000002, 0x044c2c52
+#define Beckhoff_EK1100 0x00000002, 0x04562c52
+#define Beckhoff_EL1008 0x00000002, 0x03f03052
+#define Beckhoff_EL2004 0x00000002, 0x07d43052
+#define Beckhoff_EL2008 0x00000002, 0x07d83052
+#define Beckhoff_EL2032 0x00000002, 0x07f03052
+#define Beckhoff_EL3152 0x00000002, 0x0c503052
+#define Beckhoff_EL3102 0x00000002, 0x0c1e3052
+#define Beckhoff_EL4102 0x00000002, 0x10063052
+
+// offsets for PDO entries
+static unsigned int off_dig_in[1];
+static unsigned int off_dig_out[2];
+
+
+/*****************************************************************************/
+// Digital in ------------------------
+static ec_pdo_entry_info_t el1008_channels[] = {
+    {0x6000, 1, 1},
+    {0x6010, 1, 1},
+    {0x6020, 1, 1},
+    {0x6030, 1, 1},
+    {0x6040, 1, 1},
+    {0x6050, 1, 1},
+    {0x6060, 1, 1},
+    {0x6070, 1, 1},
+};
+
+static ec_pdo_info_t el1008_pdos[] = {
+    {0x1a00, 1, &el1008_channels[0]},
+    {0x1a01, 1, &el1008_channels[1]},
+    {0x1a02, 1, &el1008_channels[2]},
+    {0x1a03, 1, &el1008_channels[3]},
+    {0x1a04, 1, &el1008_channels[4]},
+    {0x1a05, 1, &el1008_channels[5]},
+    {0x1a06, 1, &el1008_channels[6]},
+    {0x1a07, 1, &el1008_channels[7]}
+};
+
+static ec_sync_info_t el1008_syncs[] = {
+    {2, EC_DIR_OUTPUT},
+    {3, EC_DIR_INPUT, 8, el1008_pdos},
+    {0xff}
+};
+
+// Digital out ------------------------
+static ec_pdo_entry_info_t el2008_channels[] = {
+    {0x7000, 1, 1},
+    {0x7010, 1, 1},
+    {0x7020, 1, 1},
+    {0x7030, 1, 1},
+    {0x7040, 1, 1},
+    {0x7050, 1, 1},
+    {0x7060, 1, 1},
+    {0x7070, 1, 1},
+};
+
+static ec_pdo_info_t el2008_pdos[] = {
+    {0x1600, 1, &el2008_channels[0]},
+    {0x1601, 1, &el2008_channels[1]},
+    {0x1602, 1, &el2008_channels[2]},
+    {0x1603, 1, &el2008_channels[3]},
+    {0x1604, 1, &el2008_channels[4]},
+    {0x1605, 1, &el2008_channels[5]},
+    {0x1606, 1, &el2008_channels[6]},
+    {0x1607, 1, &el2008_channels[7]}
+};
+
+static ec_sync_info_t el2008_syncs[] = {
+    {0, EC_DIR_OUTPUT, 8, el2008_pdos},
+    {1, EC_DIR_INPUT},
+    {0xff}
+};
+
+/*****************************************************************************/
+
+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 check_slave_config_states(void)
+{
+    ec_slave_config_state_t s;
+
+    ecrt_slave_config_state(sc_ana_in, &s);
+
+    if (s.al_state != sc_ana_in_state.al_state)
+        printf("AnaIn: State 0x%02X.\n", s.al_state);
+    if (s.online != sc_ana_in_state.online)
+        printf("AnaIn: %s.\n", s.online ? "online" : "offline");
+    if (s.operational != sc_ana_in_state.operational)
+        printf("AnaIn: %soperational.\n",
+                s.operational ? "" : "Not ");
+
+    sc_ana_in_state = s;
+}
+
+/****************************************************************************/
+
+void cyclic_task()
+{
+    static unsigned int counter = 10;
+    static uint8_t outputValue = 0;
+    static int numAsyncCycles = 0;
+    uint8_t inputValue = 0;
+    static uint8_t error = 0;
+
+    // receive process data
+    ecrt_master_receive(master);
+    ecrt_domain_process(domain1);
+
+    // check process data state (optional)
+    check_domain1_state();
+    
+
+	inputValue = EC_READ_U8(domain1_pd + off_dig_in[0]);
+	
+	if(inputValue != outputValue) {
+		numAsyncCycles++;
+	} else {
+		numAsyncCycles = 0;
+	}
+	
+	if(numAsyncCycles > 2) {
+		if(error != 0xff) {
+			error++;
+		}
+	}
+	
+	
+    if (counter) {
+        counter--;
+    } else {
+        counter = 5; //update delay
+        
+        
+
+        // calculate new process data
+        outputValue++;
+
+        // check for master state (optional)
+        check_master_state();
+
+        // check for islave configuration state(s) (optional)
+        check_slave_config_states();
+    }
+
+    // write process data
+    EC_WRITE_U8(domain1_pd + off_dig_out[1], outputValue);
+    EC_WRITE_U8(domain1_pd + off_dig_out[0], error);
+
+    // send process data
+    ecrt_domain_queue(domain1);
+    ecrt_master_send(master);
+}
+
+/****************************************************************************/
+
+void signal_handler(int signum) {
+    switch (signum) {
+        case SIGALRM:
+            sig_alarms++;
+            break;
+    }
+}
+
+/****************************************************************************/
+
+int Init_EL2008(uint16_t position)
+{
+    ec_slave_config_t *sc;
+    if (!(sc = ecrt_master_slave_config(master, 0, position, Beckhoff_EL2008))) {
+        fprintf(stderr, "Failed to get EL2008 configuration #%u.\n", position);
+        return -1;
+    }
+    if (ecrt_slave_config_pdos(sc, EC_END, el2008_syncs)) {
+        fprintf(stderr, "Failed to configure PDOs #%u.\n", position);
+        return -1;
+    }
+    if (0 > (off_dig_out[position] = ecrt_slave_config_reg_pdo_entry(sc, 0x7000, 1, domain1, NULL))) {
+		fprintf(stderr, "Failed to configure reg PDOs #%u.\n", position);
+		return -1;
+	}
+    fprintf(stderr, "EL2008 #%u configured offset: %d.\n", position, off_dig_out[position]);
+    return 0;
+}
+
+int main(int argc, char **argv)
+{
+    ec_slave_config_t *sc;
+    struct sigaction sa;
+    struct itimerval tv;
+    uint16_t i;
+
+    master = ecrt_request_master(0);
+    if (!master)
+        return -1;
+
+    domain1 = ecrt_master_create_domain(master);
+    if (!domain1)
+        return -1;
+
+    printf("Configuring PDOs...\n");
+    if (!(sc_ana_in = ecrt_master_slave_config(master, 0, 2, Beckhoff_EL1008))) {
+        fprintf(stderr, "Failed to get digital in configuration.\n");
+        return -1;
+    }
+    if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el1008_syncs)) {
+        fprintf(stderr, "Failed to configure PDOs.\n");
+        return -1;
+    }
+    if (0 > (off_dig_in[0] = ecrt_slave_config_reg_pdo_entry(sc_ana_in, 0x6000, 1, domain1, NULL))) {
+		fprintf(stderr, "Failed to configure reg PDOs.\n");
+		return -1;
+	}
+    printf("EL1008 configured.\n");
+
+    for(i = 0; i < 2; ++i) {
+        if(Init_EL2008(i)) {
+            fprintf(stderr, "Failed to initialize EL2008 #%u.\n", i);
+            return -1;
+        }
+    }
+
+    // Create configuration for bus coupler
+    sc = ecrt_master_slave_config(master, BusCouplerPos, Beckhoff_EK1100);
+    if (!sc)
+        return -1;
+    fprintf(stderr, "EK1100 configured.\n");
+
+    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;
+    }
+
+    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;
+}
+
+/****************************************************************************/