--- a/examples/xenomai/main.c Thu Sep 06 14:21:02 2012 +0200
+++ b/examples/xenomai/main.c Mon Nov 03 15:20:05 2014 +0100
@@ -2,29 +2,26 @@
*
* $Id$
*
- * main.c Copyright (C) 2009-2010 Moehwald GmbH B.Benner
- * 2011 IgH Andreas Stewering-Bone
- *
- * This file is part of ethercatrtdm interface to IgH EtherCAT master
- *
- * The Moehwald ethercatrtdm interface is free software; you can
- * redistribute it and/or modify it under the terms of the GNU Lesser General
- * Public License as published by the Free Software Foundation; version 2.1
- * of the License.
+ * Copyright (C) 2009-2010 Moehwald GmbH B. Benner
+ * 2011 IgH Andreas Stewering-Bone
+ * 2012 Florian Pose <fp@igh-essen.com>
+ *
+ * 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 userspace library 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 Lesser General Public License for more details.
- *
- * You should have received a copy of the GNU Lesser General Public License
- * along with the IgH EtherCAT master userspace library. If not, see
- * <http://www.gnu.org/licenses/>.
- *
+ * 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, see <http://www.gnu.org/licenses/>.
+ *
+ * ---
+ *
* 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.
@@ -48,28 +45,11 @@
#include <rtdk.h>
#include <pthread.h>
-/****************************************************************************/
-
-#include "../../include/ecrt.h"
-#include "../../include/ec_rtdm.h"
-
+#include "ecrt.h"
RT_TASK my_task;
-int rt_fd = -1;
-int run=0;
-
-unsigned int sync_ref_counter = 0;
-
-CstructMstrAttach MstrAttach;
-
-/****************************************************************************/
-
-
-
-// Optional features
-#define CONFIGURE_PDOS 1
-//#define SDO_ACCESS 1
+static int run = 1;
/****************************************************************************/
@@ -80,107 +60,31 @@
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;
-
-/****************************************************************************/
static uint8_t *domain1_pd = NULL;
+static ec_slave_config_t *sc_dig_out_01 = NULL;
+
+/****************************************************************************/
+
// process data
-#define BusCoupler01_Pos 0, 0
-#define DigOutSlave01_Pos 0, 1
-#define DigOutSlave02_Pos 0, 2
-#define DigInSlave01_Pos 0, 3
-#define AnaOutSlave01_Pos 0, 4
-#define AnaInSlave01_Pos 0, 5
-#define BusCoupler02_Pos 0, 6
-#define AnaInSlave02_Pos 0, 7
-#define DPSlave01_Pos 0, 8
-
+#define BusCoupler01_Pos 0, 0
+#define DigOutSlave01_Pos 0, 1
#define Beckhoff_EK1100 0x00000002, 0x044c2c52
-#define Beckhoff_EL1014 0x00000002, 0x03f63052
#define Beckhoff_EL2004 0x00000002, 0x07d43052
-#define Beckhoff_EL4132 0x00000002, 0x10243052
-#define Beckhoff_EL3102 0x00000002, 0x0c1e3052
-#define Beckhoff_EL4102 0x00000002, 0x10063052
-#define Beckhoff_EL6731 0x00000002, 0x1a4b3052
-#define Beckhoff_EL6600 0x00000002, 0x19c93052
-#define Beckhoff_EL3602 0x00000002, 0x0e123052
-#define Beckhoff_EL5151 0x00000002, 0x141f3052
-
// offsets for PDO entries
-static unsigned int off_dig_out0 = 0;
-static unsigned int off_dig_out1 = 0;
-static unsigned int off_dig_out2 = 0;
-static unsigned int off_dig_out3 = 0;
-static unsigned int off_dig_out4 = 0;
-static unsigned int off_dig_out5 = 0;
-static unsigned int off_dig_out6 = 0;
-static unsigned int off_dig_out7 = 0;
-static unsigned int off_dig_in0 = 0;
-static unsigned int off_dig_in1 = 0;
-static unsigned int off_dig_in2 = 0;
-static unsigned int off_dig_in3 = 0;
-static unsigned int off_ana_out0 = 0;
-static unsigned int off_ana_out1 = 0;
-static unsigned int off_ana_in0_status = 0;
-static unsigned int off_ana_in0_value = 0;
-static unsigned int off_ana_in1_status = 0;
-static unsigned int off_ana_in1_value = 0;
-static unsigned int off_ana_in2_status = 0;
-static unsigned int off_ana_in2_value = 0;
-static unsigned int off_ana_in3_status = 0;
-static unsigned int off_ana_in3_value = 0;
-
-//static unsigned int off_dp_slave;
+static unsigned int off_dig_out0 = 0;
// process data
-unsigned int bit_position0=0; /* Pointer to a variable to store a bit */
-unsigned int bit_position1=0; /* Pointer to a variable to store a bit */
-unsigned int bit_position2=0; /* Pointer to a variable to store a bit */
-unsigned int bit_position3=0; /* Pointer to a variable to store a bit */
const static ec_pdo_entry_reg_t domain1_regs[] = {
- {DigOutSlave01_Pos, Beckhoff_EL2004, 0x7000, 0x01, &off_dig_out0, &bit_position0},
- {DigOutSlave01_Pos, Beckhoff_EL2004, 0x7010, 0x01, &off_dig_out1, &bit_position1},
- {DigOutSlave01_Pos, Beckhoff_EL2004, 0x7020, 0x01, &off_dig_out2, &bit_position2},
- {DigOutSlave01_Pos, Beckhoff_EL2004, 0x7030, 0x01, &off_dig_out3, &bit_position3},
- {DigInSlave01_Pos, Beckhoff_EL1014, 0x6000, 0x01, &off_dig_in0},
- {AnaOutSlave01_Pos, Beckhoff_EL4132, 0x3001, 0x01, &off_ana_out0},
- {AnaOutSlave01_Pos, Beckhoff_EL4132, 0x3002, 0x01, &off_ana_out1},
- {AnaInSlave01_Pos, Beckhoff_EL3102, 0x3101, 0x01, &off_ana_in0_status},
- {AnaInSlave01_Pos, Beckhoff_EL3102, 0x3101, 0x02, &off_ana_in0_value},
- {AnaInSlave01_Pos, Beckhoff_EL3102, 0x3102, 0x01, &off_ana_in1_status},
- {AnaInSlave01_Pos, Beckhoff_EL3102, 0x3102, 0x02, &off_ana_in1_value},
+ {DigOutSlave01_Pos, Beckhoff_EL2004, 0x7000, 0x01, &off_dig_out0, NULL},
{}
};
-char rt_dev_file[64];
-static unsigned int counter = 0;
-static unsigned int blink = 0;
-
-static ec_slave_config_t *sc_dig_out_01 = NULL;
-
-static ec_slave_config_t *sc_dig_out_02 = NULL;
-
-static ec_slave_config_t *sc_dig_in_01 = NULL;
-
-static ec_slave_config_t *sc_ana_out_01 = NULL;
-
-static ec_slave_config_t *sc_ana_in_01 = NULL;
-
-static ec_slave_config_t *sc_dpslv_01 = NULL;
-
-static ec_slave_config_t *sc_ana_in_02 = NULL;
-
-/*****************************************************************************/
+/****************************************************************************/
/* Slave 1, "EL2004"
* Vendor ID: 0x00000002
@@ -207,738 +111,178 @@
{0xff}
};
-/* Slave 2, "EL2004"
- * Vendor ID: 0x00000002
- * Product code: 0x07d43052
- * Revision number: 0x00100000
- */
-
-ec_pdo_entry_info_t slave_2_pdo_entries[] = {
- {0x7000, 0x01, 1}, /* Output */
- {0x7010, 0x01, 1}, /* Output */
- {0x7020, 0x01, 1}, /* Output */
- {0x7030, 0x01, 1}, /* Output */
-};
-
-ec_pdo_info_t slave_2_pdos[] = {
- {0x1600, 1, slave_2_pdo_entries + 0}, /* Channel 1 */
- {0x1601, 1, slave_2_pdo_entries + 1}, /* Channel 2 */
- {0x1602, 1, slave_2_pdo_entries + 2}, /* Channel 3 */
- {0x1603, 1, slave_2_pdo_entries + 3}, /* Channel 4 */
-};
-
-ec_sync_info_t slave_2_syncs[] = {
- {0, EC_DIR_OUTPUT, 4, slave_2_pdos + 0, EC_WD_ENABLE},
- {0xff}
-};
-
-/* Slave 3, "EL1014"
- * Vendor ID: 0x00000002
- * Product code: 0x03f63052
- * Revision number: 0x00100000
- */
-
-ec_pdo_entry_info_t slave_3_pdo_entries[] = {
- {0x6000, 0x01, 1}, /* Input */
- {0x6010, 0x01, 1}, /* Input */
- {0x6020, 0x01, 1}, /* Input */
- {0x6030, 0x01, 1}, /* Input */
-};
-
-ec_pdo_info_t slave_3_pdos[] = {
- {0x1a00, 1, slave_3_pdo_entries + 0}, /* Channel 1 */
- {0x1a01, 1, slave_3_pdo_entries + 1}, /* Channel 2 */
- {0x1a02, 1, slave_3_pdo_entries + 2}, /* Channel 3 */
- {0x1a03, 1, slave_3_pdo_entries + 3}, /* Channel 4 */
-};
-
-ec_sync_info_t slave_3_syncs[] = {
- {0, EC_DIR_INPUT, 4, slave_3_pdos + 0, EC_WD_DISABLE},
- {0xff}
-};
-
-/* Slave 4, "EL4132"
- * Vendor ID: 0x00000002
- * Product code: 0x10243052
- * Revision number: 0x03f90000
- */
-
-ec_pdo_entry_info_t slave_4_pdo_entries[] = {
- {0x3001, 0x01, 16}, /* Output */
- {0x3002, 0x01, 16}, /* Output */
-};
-
-ec_pdo_info_t slave_4_pdos[] = {
- {0x1600, 1, slave_4_pdo_entries + 0}, /* RxPDO 01 mapping */
- {0x1601, 1, slave_4_pdo_entries + 1}, /* RxPDO 02 mapping */
-};
-
-ec_sync_info_t slave_4_syncs[] = {
- {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
- {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
- {2, EC_DIR_OUTPUT, 2, slave_4_pdos + 0, EC_WD_DISABLE},
- {3, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
- {0xff}
-};
-
-/* Slave 5, "EL3102"
- * Vendor ID: 0x00000002
- * Product code: 0x0c1e3052
- * Revision number: 0x00000000
- */
-
-ec_pdo_entry_info_t slave_5_pdo_entries[] = {
- {0x3101, 0x01, 8}, /* Status */
- {0x3101, 0x02, 16}, /* Value */
- {0x3102, 0x01, 8}, /* Status */
- {0x3102, 0x02, 16}, /* Value */
-};
-
-ec_pdo_info_t slave_5_pdos[] = {
- {0x1a00, 2, slave_5_pdo_entries + 0}, /* TxPDO 001 mapping */
- {0x1a01, 2, slave_5_pdo_entries + 2}, /* TxPDO 002 mapping */
-};
-
-ec_sync_info_t slave_5_syncs[] = {
- {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
- {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
- {2, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
- {3, EC_DIR_INPUT, 2, slave_5_pdos + 0, EC_WD_DISABLE},
- {0xff}
-};
-
-/* Slave 6, "EL6731-0010"
- * Vendor ID: 0x00000002
- * Product code: 0x1a4b3052
- * Revision number: 0x0011000a
- */
-
-ec_sync_info_t slave_6_syncs[] = {
- {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
- {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
- {2, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
- {3, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
-};
-
-
-/* Slave 7, "EL6601"
- * Vendor ID: 0x00000002
- * Product code: 0x19c93052
- * Revision number: 0x00110000
- */
-/*
-ec_sync_info_t slave_7_syncs[] = {
- {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
- {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
- {2, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
- {3, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
- {0xff}
-};
-*/
-
-/* Master 0, Slave 7, "EL3602"
- * Vendor ID: 0x00000002
- * Product code: 0x0e123052
- * Revision number: 0x00100000
- */
-ec_pdo_entry_info_t slave_7_pdo_entries[] = {
- {0x6000, 0x01, 1}, /* Underrange */
- {0x6000, 0x02, 1}, /* Overrange */
- {0x6000, 0x03, 2}, /* Limit 1 */
- {0x6000, 0x05, 2}, /* Limit 2 */
- {0x6000, 0x07, 1}, /* Error */
- {0x0000, 0x00, 7}, /* Gap */
- {0x1800, 0x07, 1},
- {0x1800, 0x09, 1},
- {0x6000, 0x11, 32}, /* Value */
- {0x6010, 0x01, 1}, /* Underrange */
- {0x6010, 0x02, 1}, /* Overrange */
- {0x6010, 0x03, 2}, /* Limit 1 */
- {0x6010, 0x05, 2}, /* Limit 2 */
- {0x6010, 0x07, 1}, /* Error */
- {0x0000, 0x00, 7}, /* Gap */
- {0x1801, 0x07, 1},
- {0x1801, 0x09, 1},
- {0x6010, 0x11, 32}, /* Value */
-};
-
-ec_pdo_info_t slave_7_pdos[] = {
- {0x1a00, 9, slave_7_pdo_entries + 0}, /* AI TxPDO-Map Inputs Ch.1 */
- {0x1a01, 9, slave_7_pdo_entries + 9}, /* AI TxPDO-Map Inputs Ch.2 */
-};
-
-ec_sync_info_t slave_7_syncs[] = {
- {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
- {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
- {2, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
- {3, EC_DIR_INPUT, 2, slave_7_pdos + 0, EC_WD_DISABLE},
- {0xff}
-};
-
-/* Master 0, Slave 8, "EL5151"
- * Vendor ID: 0x00000002
- * Product code: 0x141f3052
- * Revision number: 0x00130000
- */
-
-ec_pdo_entry_info_t slave_8_pdo_entries[] = {
- {0x6000, 0x01, 1},
- {0x6000, 0x02, 1},
- {0x6000, 0x03, 1},
- {0x0000, 0x00, 4}, /* Gap */
- {0x6000, 0x08, 1},
- {0x6000, 0x09, 1},
- {0x6000, 0x0a, 1},
- {0x6000, 0x0b, 1},
- {0x0000, 0x00, 1}, /* Gap */
- {0x6000, 0x0d, 1},
- {0x1c32, 0x20, 1},
- {0x0000, 0x00, 1}, /* Gap */
- {0x1800, 0x09, 1},
- {0x6000, 0x11, 32},
- {0x6000, 0x12, 32},
- {0x6000, 0x14, 32},
-};
-
-ec_pdo_info_t slave_8_pdos[] = {
- {0x0000, 0, NULL},
- {0x1a00, 15, slave_8_pdo_entries + 0},
- {0x1a02, 1, slave_8_pdo_entries + 15},
-};
-
-ec_sync_info_t slave_8_syncs[] = {
- {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
- {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
- {2, EC_DIR_OUTPUT, 1, slave_8_pdos + 0, EC_WD_DISABLE},
- {3, EC_DIR_INPUT, 2, slave_8_pdos + 1, EC_WD_DISABLE},
- {0xff}
-};
-
-
-/*****************************************************************************/
-
-#if SDO_ACCESS
-static ec_sdo_request_t *sdo;
-uint8_t *sdo_adr = NULL;
-#endif
-
-
+/*****************************************************************************
+ * Realtime task
+ ****************************************************************************/
void rt_check_domain_state(void)
{
- ec_domain_state_t ds;
-
- if (rt_fd>=0)
- {
- ecrt_rtdm_domain_state(rt_fd,&ds);
- }
-
- if (ds.working_counter != domain1_state.working_counter)
- {
+ ec_domain_state_t ds = {};
+
+ ecrt_domain_state(domain1, &ds);
+
+ if (ds.working_counter != domain1_state.working_counter) {
rt_printf("Domain1: WC %u.\n", ds.working_counter);
- }
- if (ds.wc_state != domain1_state.wc_state)
- {
- rt_printf("Domain1: State %u.\n", ds.wc_state);
- }
+ }
+
+ if (ds.wc_state != domain1_state.wc_state) {
+ rt_printf("Domain1: State %u.\n", ds.wc_state);
+ }
domain1_state = ds;
}
+/****************************************************************************/
+
void rt_check_master_state(void)
{
ec_master_state_t ms;
- if (rt_fd>=0)
- {
- ecrt_rtdm_master_state(rt_fd,&ms);
- }
-
- if (ms.slaves_responding != master_state.slaves_responding)
- {
+ ecrt_master_state(master, &ms);
+
+ if (ms.slaves_responding != master_state.slaves_responding) {
rt_printf("%u slave(s).\n", ms.slaves_responding);
}
- if (ms.al_states != master_state.al_states)
- {
+
+ if (ms.al_states != master_state.al_states) {
rt_printf("AL states: 0x%02X.\n", ms.al_states);
}
- if (ms.link_up != master_state.link_up)
- {
+
+ if (ms.link_up != master_state.link_up) {
rt_printf("Link is %s.\n", ms.link_up ? "up" : "down");
}
+
master_state = ms;
}
-
-
-
-void rt_sync()
-{
- RTIME now;
- now = rt_timer_read();
-
-
- if (rt_fd>=0)
- {
- ecrt_rtdm_master_application_time(rt_fd, &now);
- }
-
- if (sync_ref_counter) {
- sync_ref_counter--;
- } else {
- sync_ref_counter = 9;
- if (rt_fd>=0)
- {
- ecrt_rtdm_master_sync_reference_clock(rt_fd);
- }
- }
- if (rt_fd>=0)
- {
- ecrt_rtdm_master_sync_slave_clocks(rt_fd) ;
- }
-}
-
-/*****************************************************************************/
-
-#if SDO_ACCESS
-void read_sdo(void)
-{
- switch (ecrt_sdo_request_state(sdo))
- {
- case EC_REQUEST_UNUSED: // request was not used yet
- ecrt_sdo_request_read(sdo); // trigger first read
- break;
- case EC_REQUEST_BUSY:
- fprintf(stderr, "Still busy...\n");
- break;
- case EC_REQUEST_SUCCESS:
- fprintf(stderr, "SDO value: 0x%04X\n",
- EC_READ_U16(ecrt_sdo_request_data(sdo)));
- ecrt_sdo_request_read(sdo); // trigger next read
- break;
- case EC_REQUEST_ERROR:
- fprintf(stderr, "Failed to read SDO!\n");
- ecrt_sdo_request_read(sdo); // retry reading
- break;
- }
-}
-
-void PrintSDOState(void)
-{
- switch (ecrt_sdo_request_state(sdo))
- {
- case EC_REQUEST_UNUSED: // request was not used yet
- fprintf(stderr, "SDO State: EC_REQUEST_UNUSED\n"); // trigger first read
- break;
- case EC_REQUEST_BUSY:
- fprintf(stderr, "SDO State: EC_REQUEST_BUSY\n");
- break;
- case EC_REQUEST_SUCCESS:
- fprintf(stderr, "SDO State: EC_REQUEST_SUCCESS\n");
- break;
- case EC_REQUEST_ERROR:
- fprintf(stderr, "SDO State: EC_REQUEST_ERROR\n");
- break;
- default:
- fprintf(stderr, "SDO State: undefined\n");
- break;
- }
-}
-#endif
-
-
-static int cyccount=0;
-
-/****************************************************************************/
-
-void signal_handler(int signum) {
- switch (signum) {
- case SIGALRM:
- sig_alarms++;
- break;
- }
-}
-
-
-/**********************************************************/
-/* REAL TIME TASK */
-/**********************************************************/
+/****************************************************************************/
+
void my_task_proc(void *arg)
{
- int counter = 0;
- int divcounter = 0;
- int divider = 10;
- int ret;
-
- RTIME periodns;
- float period;
-
-
- period=1E-3; //1kHz
-
-
- periodns=(RTIME)(((double)period * 1E9) + 0.4999999);
- rt_task_set_periodic(NULL, TM_NOW, periodns);
-
- run=1;
-
- ret = rt_task_set_mode(0, T_PRIMARY, NULL);
- if (ret) {
- rt_printf("error while rt_task_set_mode, code %d\n",ret);
- return;
- }
-
-
- while (run) {
- rt_task_wait_period(NULL);
-
- counter++;
- if (counter>600000) {
- run=0;
- return;
- }
-
- // receive ethercat
- ecrt_rtdm_master_recieve(rt_fd);
- ecrt_rtdm_domain_process(rt_fd);
-
- rt_check_domain_state();
-
- if (divcounter ==0)
- {
- divcounter=divider;
- rt_check_master_state();
- }
- divcounter--;
- if ((counter % 200)==0)
- {
- blink = !blink;
-
- }
-
-
- EC_WRITE_U8(domain1_pd + off_dig_out0, blink ? 0x0 : 0x0F);
- EC_WRITE_U16(domain1_pd + off_ana_out0, blink ? 0x0: 0xfff);
-
- //sync DC
- rt_sync();
-
- // send process data
- ecrt_rtdm_domain_queque(rt_fd);
- ecrt_rtdm_master_send(rt_fd);
- }
-
-}
-
-
-/**********************************************************/
-/* CLEANING UP */
-/**********************************************************/
-void cleanup_all(void)
-{
- printf("delete my_task\n");
- rt_task_delete(&my_task);
-
- if (rt_fd >= 0) {
- printf("closing rt device %s\n", &rt_dev_file[0]);
- rt_dev_close(rt_fd);
-
- }
-}
-/****************************************************************************/
-
-void catch_signal(int sig) {
- cleanup_all();
- printf("exit\n");
- exit(0);
- return;
-}
-
-
-/****************************************************************************/
-
-int main(int argc, char **argv)
+ int cycle_counter = 0;
+ unsigned int blink = 0;
+
+ rt_task_set_periodic(NULL, TM_NOW, 1000000); // ns
+
+ while (run) {
+ rt_task_wait_period(NULL);
+
+ cycle_counter++;
+
+ // receive EtherCAT frames
+ ecrt_master_receive(master);
+ ecrt_domain_process(domain1);
+
+ rt_check_domain_state();
+
+ if (!(cycle_counter % 1000)) {
+ rt_check_master_state();
+ }
+
+ if (!(cycle_counter % 200)) {
+ blink = !blink;
+ }
+
+ EC_WRITE_U8(domain1_pd + off_dig_out0, blink ? 0x0 : 0x0F);
+
+ // send process data
+ ecrt_domain_queue(domain1);
+ ecrt_master_send(master);
+ }
+}
+
+/****************************************************************************
+ * Signal handler
+ ***************************************************************************/
+
+void signal_handler(int sig)
+{
+ run = 0;
+}
+
+/****************************************************************************
+ * Main function
+ ***************************************************************************/
+
+int main(int argc, char *argv[])
{
ec_slave_config_t *sc;
-
- int rtstatus;
-
- mlockall(MCL_CURRENT | MCL_FUTURE);
+ int ret;
/* Perform auto-init of rt_print buffers if the task doesn't do so */
rt_print_auto_init(1);
- signal(SIGTERM, catch_signal);
- signal(SIGINT, catch_signal);
-
- MstrAttach.masterindex = 0;
-
- printf("request master\n");
- master = ecrt_request_master(MstrAttach.masterindex);
- if (!master)
- return -1;
-
+ signal(SIGTERM, signal_handler);
+ signal(SIGINT, signal_handler);
+
+ mlockall(MCL_CURRENT | MCL_FUTURE);
+
+ printf("Requesting master...\n");
+ master = ecrt_request_master(0);
+ if (!master) {
+ return -1;
+ }
domain1 = ecrt_master_create_domain(master);
- if (!domain1)
- return -1;
-
-
-#ifdef CONFIGURE_PDOS
-
- printf("Configuring PDOs...\n");
-
- printf("Get Configuring el2004...\n");
- sc_dig_out_01 = ecrt_master_slave_config(master, DigOutSlave01_Pos, Beckhoff_EL2004);
+ if (!domain1) {
+ return -1;
+ }
+
+ printf("Creating slave configurations...\n");
+
+ // Create configuration for bus coupler
+ sc = ecrt_master_slave_config(master, BusCoupler01_Pos, Beckhoff_EK1100);
+ if (!sc) {
+ return -1;
+ }
+
+ sc_dig_out_01 =
+ ecrt_master_slave_config(master, DigOutSlave01_Pos, Beckhoff_EL2004);
if (!sc_dig_out_01) {
fprintf(stderr, "Failed to get slave configuration.\n");
return -1;
}
- printf("Configuring EL2004...\n");
- if (ecrt_slave_config_pdos(sc_dig_out_01, EC_END, slave_1_syncs))
- {
- fprintf(stderr, "Failed to configure PDOs.\n");
- return -1;
- }
-
- printf("Get Configuring el2004...\n");
- sc_dig_out_02 = ecrt_master_slave_config(master, DigOutSlave02_Pos, Beckhoff_EL2004);
- if (!sc_dig_out_02) {
- fprintf(stderr, "Failed to get slave configuration.\n");
- return -1;
- }
-
- printf("Configuring EL2004...\n");
- if (ecrt_slave_config_pdos(sc_dig_out_02, EC_END, slave_2_syncs)) {
+ if (ecrt_slave_config_pdos(sc_dig_out_01, EC_END, slave_1_syncs)) {
fprintf(stderr, "Failed to configure PDOs.\n");
return -1;
}
-
- printf("Get Configuring el1014...\n");
- sc_dig_in_01 = ecrt_master_slave_config(master, DigInSlave01_Pos, Beckhoff_EL1014);
- if (!sc_dig_in_01) {
- fprintf(stderr, "Failed to get slave configuration.\n");
- return -1;
- }
-
- printf("Configuring EL1014...\n");
- if (ecrt_slave_config_pdos(sc_dig_in_01, EC_END, slave_3_syncs)) {
- fprintf(stderr, "Failed to configure PDOs.\n");
- return -1;
- }
-
- printf("Get Configuring EL4132...\n");
- sc_ana_out_01 = ecrt_master_slave_config(master, AnaOutSlave01_Pos, Beckhoff_EL4132);
- if (!sc_ana_out_01) {
- fprintf(stderr, "Failed to get slave configuration.\n");
- return -1;
- }
-
- printf("Configuring EL4132...\n");
- if (ecrt_slave_config_pdos(sc_ana_out_01, EC_END, slave_4_syncs)) {
- fprintf(stderr, "Failed to configure PDOs.\n");
- return -1;
- }
-
- printf("Get Configuring EL3102...\n");
- sc_ana_in_01 = ecrt_master_slave_config(master, AnaInSlave01_Pos, Beckhoff_EL3102);
- if (!sc_ana_in_01) {
- fprintf(stderr, "Failed to get slave configuration.\n");
- return -1;
- }
-
- printf("Configuring EL3102...\n");
- if (ecrt_slave_config_pdos(sc_ana_in_01, EC_END, slave_5_syncs)) {
- fprintf(stderr, "Failed to configure PDOs.\n");
- return -1;
- }
-
- printf("Get Configuring EL3602...\n");
- sc_ana_in_02 = ecrt_master_slave_config(master, AnaInSlave02_Pos, Beckhoff_EL3602);
- if (!sc_ana_in_02) {
- fprintf(stderr, "Failed to get slave configuration.\n");
- return -1;
- }
-
- // DP Slave Parameter Set
-
-/* printf( "Creating SDO requests...\n");
- if (!(sdo = ecrt_slave_config_create_sdo_request(sc_ana_in_02, 0x8000, 0x06, 1))) {
- fprintf(stderr, "Failed to create SDO request.\n");
- return -1;
- }
- ecrt_sdo_request_timeout(sdo, 500); // ms
-
- EC_WRITE_U8(ecrt_sdo_request_data(sdo), 00);
- PrintSDOState();
- ecrt_sdo_request_write(sdo);
- PrintSDOState();
-
-*/
- printf("Configuring EL3602...\n");
- if (ecrt_slave_config_pdos(sc_ana_in_02, EC_END, slave_7_syncs)) {
- fprintf(stderr, "Failed to configure PDOs.\n");
- return -1;
- }
-
-#endif
-
- // Create configuration for bus coupler
- sc = ecrt_master_slave_config(master, BusCoupler01_Pos, Beckhoff_EK1100);
- if (!sc)
- return -1;
-
-#ifdef CONFIGURE_PDOS
+
if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
fprintf(stderr, "PDO entry registration failed!\n");
return -1;
}
-#endif
-
-
- printf("Get Configuring EL6731...\n");
- sc_dpslv_01 = ecrt_master_slave_config(master, DPSlave01_Pos, Beckhoff_EL6731);
- if (!sc_dpslv_01) {
- fprintf(stderr, "Failed to get slave configuration.\n");
- return -1;
- }
-
- printf("Configuring EL6731...\n");
- if (ecrt_slave_config_pdos(sc_dpslv_01, EC_END, slave_7_syncs))
- {
- fprintf(stderr, "Failed to configure PDOs.\n");
- return -1;
- }
-
-#if SDO_ACCESS
-
-
- // DP Slave Parameter Set
- fprintf(stderr, "Creating SDO requests...\n");
- if (!(sdo = ecrt_slave_config_create_sdo_request(sc_dpslv_01, 0x8000, 0, 1))) {
- fprintf(stderr, "Failed to create SDO request.\n");
- return -1;
- }
- ecrt_sdo_request_timeout(sdo, 500); // ms
- EC_WRITE_U8(ecrt_sdo_request_data(sdo), 0);
- PrintSDOState();
- ecrt_sdo_request_write(sdo);
- PrintSDOState();
-
- // Station Address
- if (!(sdo = ecrt_slave_config_create_sdo_request(sc_dpslv_01, 0x8000, 1, 2))) {
- fprintf(stderr, "Failed to create SDO request.\n");
- return -1;
- }
- ecrt_sdo_request_timeout(sdo, 500); // ms
- EC_WRITE_U16(ecrt_sdo_request_data(sdo), 5);
- //EC_WRITE_U8(ecrt_sdo_request_data(sdo), 00);
- //EC_WRITE_U8(ecrt_sdo_request_data(sdo)+1, 10);
- PrintSDOState();
- ecrt_sdo_request_write(sdo);
- PrintSDOState();
-
- // Device Type (DP Ident Number)
- if (!(sdo = ecrt_slave_config_create_sdo_request(sc_dpslv_01, 0x8000, 4, 4))) {
- fprintf(stderr, "Failed to create SDO request.\n");
- return -1;
- }
- ecrt_sdo_request_timeout(sdo, 500); // ms
- sdo_adr = ecrt_sdo_request_data(sdo);
- EC_WRITE_U32(sdo_adr, 0x095F);
- //EC_WRITE_U8(sdo_ad, 0x00); // Device Type
- //EC_WRITE_U8(sdo_adr+1, 0x00);
- //EC_WRITE_U8(sdo_adr+2, 0x09);
- //EC_WRITE_U8(sdo_adr+3, 0x5F);
- PrintSDOState();
- ecrt_sdo_request_write(sdo);
- PrintSDOState();
-
- // DP CfgData Slave
- if (!(sdo = ecrt_slave_config_create_sdo_request(sc_dpslv_01, 0x8002, 0, 244))) {
- fprintf(stderr, "Failed to create SDO request.\n");
- return -1;
- }
- ecrt_sdo_request_timeout(sdo, 500); // ms
- sdo_adr = ecrt_sdo_request_data(sdo);
- EC_WRITE_U8(sdo_adr, 0x10); // Device Type
- EC_WRITE_U8(sdo_adr+1, 0x20);
- PrintSDOState();
- ecrt_sdo_request_write(sdo);
- PrintSDOState();
-
- // DP Slave Parameter Set
- if (!(sdo = ecrt_slave_config_create_sdo_request(sc_dpslv_01, 0x8000, 0, 1))) {
- fprintf(stderr, "Failed to create SDO request.\n");
- return -1;
- }
-
- ecrt_sdo_request_timeout(sdo, 500); // ms
-
- EC_WRITE_U8(ecrt_sdo_request_data(sdo), 0x33); // DP Slave Parameter Set
- PrintSDOState();
- ecrt_sdo_request_write(sdo);
- PrintSDOState();
-#endif
-
-
-
- sprintf(&rt_dev_file[0],"%s%u",EC_RTDM_DEV_FILE_NAME,0);
-
-
- rt_fd = rt_dev_open( &rt_dev_file[0], 0);
- if (rt_fd < 0) {
- printf("can't open %s\n", &rt_dev_file[0]);
- return -1;
- }
-
- MstrAttach.domainindex = ecrt_domain_index(domain1);
-
- // attach the master over rtdm driver
- rtstatus=ecrt_rtdm_master_attach(rt_fd, &MstrAttach);
- if (rtstatus < 0)
- {
- printf("cannot attach to master over rtdm\n");
- return -1;
- }
printf("Activating master...\n");
- if (ecrt_master_activate(master))
- return -1;
+ if (ecrt_master_activate(master)) {
+ return -1;
+ }
if (!(domain1_pd = ecrt_domain_data(domain1))) {
- return -1;
- }
- fprintf(stderr, "domain1_pd: 0x%.6x\n", (unsigned int)domain1_pd);
-
-
-
- int ret;
- run=1;
-
- ret = rt_task_create(&my_task,"my_task",0,80,T_FPU);
-
- printf("starting my_task\n");
- ret = rt_task_start(&my_task,&my_task_proc,NULL);
-
-
- while (run)
- {
- sched_yield();
- }
-
+ fprintf(stderr, "Failed to get domain data pointer.\n");
+ return -1;
+ }
+
+ ret = rt_task_create(&my_task, "my_task", 0, 80, T_FPU);
+ if (ret < 0) {
+ fprintf(stderr, "Failed to create task: %s\n", strerror(-ret));
+ return -1;
+ }
+
+ printf("Starting my_task...\n");
+ ret = rt_task_start(&my_task, &my_task_proc, NULL);
+ if (ret < 0) {
+ fprintf(stderr, "Failed to start task: %s\n", strerror(-ret));
+ return -1;
+ }
+
+ while (run) {
+ sched_yield();
+ }
+
+ printf("Deleting realtime task...\n");
rt_task_delete(&my_task);
-
- if (rt_fd >= 0)
- {
- printf("closing rt device %s\n", &rt_dev_file[0]);
-
- rt_dev_close(rt_fd);
-
- }
-
printf("End of Program\n");
ecrt_release_master(master);