--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/xenomai/main.c Fri May 13 15:34:20 2011 +0200
@@ -0,0 +1,948 @@
+/******************************************************************************
+ *
+ * $Id$
+ *
+ * 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.
+ *
+ * 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 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 <sys/mman.h>
+#include <rtdm/rtdm.h>
+#include <native/task.h>
+#include <native/sem.h>
+#include <native/mutex.h>
+#include <native/timer.h>
+#include <rtdk.h>
+#include <pthread.h>
+
+/****************************************************************************/
+
+#include "../../include/ecrt.h"
+#include "../../include/ec_rtdm.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
+
+/****************************************************************************/
+
+// 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;
+
+/****************************************************************************/
+static uint8_t *domain1_pd = 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 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;
+
+// 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},
+ {}
+};
+
+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
+ * Product code: 0x07d43052
+ * Revision number: 0x00100000
+ */
+
+ec_pdo_entry_info_t slave_1_pdo_entries[] = {
+ {0x7000, 0x01, 1}, /* Output */
+ {0x7010, 0x01, 1}, /* Output */
+ {0x7020, 0x01, 1}, /* Output */
+ {0x7030, 0x01, 1}, /* Output */
+};
+
+ec_pdo_info_t slave_1_pdos[] = {
+ {0x1600, 1, slave_1_pdo_entries + 0}, /* Channel 1 */
+ {0x1601, 1, slave_1_pdo_entries + 1}, /* Channel 2 */
+ {0x1602, 1, slave_1_pdo_entries + 2}, /* Channel 3 */
+ {0x1603, 1, slave_1_pdo_entries + 3}, /* Channel 4 */
+};
+
+ec_sync_info_t slave_1_syncs[] = {
+ {0, EC_DIR_OUTPUT, 4, slave_1_pdos + 0, EC_WD_ENABLE},
+ {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
+
+
+
+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)
+ {
+ 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);
+ }
+
+ 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)
+ {
+ rt_printf("%u slave(s).\n", ms.slaves_responding);
+ }
+ 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)
+ {
+ 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)
+{
+ ec_slave_config_t *sc;
+
+ int rtstatus;
+
+ mlockall(MCL_CURRENT | MCL_FUTURE);
+
+ /* 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;
+
+
+ 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 (!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)) {
+ 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 (!(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();
+ }
+
+ 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);
+
+ return 0;
+}
+
+/****************************************************************************/