--- a/examples/user/main.c Thu Oct 09 13:24:17 2008 +0000
+++ b/examples/user/main.c Thu Oct 09 13:31:50 2008 +0000
@@ -1,6 +1,33 @@
/*****************************************************************************
*
- * $Id$
+ * $Id$
+ *
+ * Copyright (C) 2006 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
+ * as published by the Free Software Foundation; either version 2 of the
+ * License, or (at your option) any later version.
+ *
+ * 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 right to use EtherCAT Technology is granted and comes free of
+ * charge under condition of compatibility of product made by
+ * Licensee. People intending to distribute/sell products based on the
+ * code, have to sign an agreement to guarantee that products using
+ * software based on IgH EtherCAT master stay compatible with the actual
+ * EtherCAT specification (which are released themselves as an open
+ * standard) as the (only) precondition to have the right to use EtherCAT
+ * Technology, IP and trade marks.
*
****************************************************************************/
@@ -13,15 +40,132 @@
#include <sys/types.h>
#include <unistd.h>
+/****************************************************************************/
+
#include "ecrt.h"
+/****************************************************************************/
+
+// Optional features
+#define CONFIGURE_PDOS 1
+#define EL3152_ALT_PDOS 0
+#define SDO_ACCESS 0
+#define VOE_ACCESS 0
+
#define PRIORITY 1
+#define BusCouplerPos 0, 0
+#define AnaOutSlavePos 0, 1
+#define AnaInSlavePos 0, 2
+#define DigOutSlavePos 0, 3
+
+#define Beckhoff_EK1100 0x00000002, 0x044C2C52
+#define Beckhoff_EL2004 0x00000002, 0x07D43052
+#define Beckhoff_EL3152 0x00000002, 0x0c503052
+#define Beckhoff_EL4102 0x00000002, 0x10063052
+
/****************************************************************************/
static unsigned int sig_alarms = 0;
static unsigned int user_alarms = 0;
+// offsets for Pdo entries
+static unsigned int off_ana_in;
+static unsigned int off_ana_out;
+static unsigned int off_dig_out;
+
+const static ec_pdo_entry_reg_t domain1_regs[] = {
+#if EL3152_ALT_PDOS
+ {AnaInSlavePos, Beckhoff_EL3152, 0x6401, 1, &off_ana_in},
+#else
+ {AnaInSlavePos, Beckhoff_EL3152, 0x3101, 2, &off_ana_in},
+#endif
+ {AnaOutSlavePos, Beckhoff_EL4102, 0x3001, 1, &off_ana_out},
+ {DigOutSlavePos, Beckhoff_EL2004, 0x3001, 1, &off_dig_out},
+ {}
+};
+
+static ec_slave_config_t *sc_ana_in = NULL;
+
+/*****************************************************************************/
+
+#if CONFIGURE_PDOS
+
+// Analog in --------------------------
+
+static ec_pdo_entry_info_t el3152_pdo_entries[] = {
+ {0x3101, 1, 8}, // channel 1 status
+ {0x3101, 2, 16}, // channel 1 value
+ {0x3102, 1, 8}, // channel 2 status
+ {0x3102, 2, 16}, // channel 2 value
+ {0x6401, 1, 16}, // channel 1 value (alt.)
+ {0x6401, 2, 16} // channel 2 value (alt.)
+};
+
+#if EL3152_ALT_PDOS
+static ec_pdo_info_t el3152_pdos[] = {
+ {0x1A10, 2, el3152_pdo_entries + 4},
+};
+
+static ec_sync_info_t el3152_syncs[] = {
+ {2, EC_DIR_OUTPUT},
+ {3, EC_DIR_INPUT, 1, el3152_pdos},
+ {0xff}
+};
+#else
+static ec_pdo_info_t el3152_pdos[] = {
+ {0x1A00, 2, el3152_pdo_entries},
+ {0x1A01, 2, el3152_pdo_entries + 2}
+};
+
+static ec_sync_info_t el3152_syncs[] = {
+ {2, EC_DIR_OUTPUT},
+ {3, EC_DIR_INPUT, 2, el3152_pdos},
+ {0xff}
+};
+#endif
+
+// Analog out -------------------------
+
+static ec_pdo_entry_info_t el4102_pdo_entries[] = {
+ {0x3001, 1, 16}, // channel 1 value
+ {0x3002, 1, 16}, // channel 2 value
+};
+
+static ec_pdo_info_t el4102_pdos[] = {
+ {0x1600, 1, el4102_pdo_entries},
+ {0x1601, 1, el4102_pdo_entries + 1}
+};
+
+static ec_sync_info_t el4102_syncs[] = {
+ {2, EC_DIR_OUTPUT, 2, el4102_pdos},
+ {3, EC_DIR_INPUT},
+ {0xff}
+};
+
+// Digital out ------------------------
+
+static ec_pdo_entry_info_t el2004_channels[] = {
+ {0x3001, 1, 1}, // Value 1
+ {0x3001, 2, 1}, // Value 2
+ {0x3001, 3, 1}, // Value 3
+ {0x3001, 4, 1} // Value 4
+};
+
+static ec_pdo_info_t el2004_pdos[] = {
+ {0x1600, 1, &el2004_channels[0]},
+ {0x1601, 1, &el2004_channels[1]},
+ {0x1602, 1, &el2004_channels[2]},
+ {0x1603, 1, &el2004_channels[3]}
+};
+
+static ec_sync_info_t el2004_syncs[] = {
+ {0, EC_DIR_OUTPUT, 4, el2004_pdos},
+ {1, EC_DIR_INPUT},
+ {0xff}
+};
+#endif
+
/****************************************************************************/
void signal_handler(int signum) {
@@ -37,7 +181,7 @@
int main(int argc, char **argv)
{
ec_master_t *master;
- ec_domain_t *domain;
+ ec_domain_t *domain1;
ec_slave_config_t *sc;
struct sigaction sa;
struct itimerval tv;
@@ -46,14 +190,56 @@
if (!master)
return -1;
- domain = ecrt_master_create_domain(master);
- if (!domain)
- return -1;
-
- sc = ecrt_master_slave_config(master, 0, 0, 0x00000002, 0x044C2C52);
+ domain1 = ecrt_master_create_domain(master);
+ if (!domain1)
+ return -1;
+
+ if (!(sc_ana_in = ecrt_master_slave_config(
+ master, AnaInSlavePos, Beckhoff_EL3152))) {
+ fprintf(stderr, "Failed to get slave configuration.\n");
+ return -1;
+ }
+
+#if CONFIGURE_PDOS
+ printf("Configuring Pdos...\n");
+ if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3152_syncs)) {
+ fprintf(stderr, "Failed to configure Pdos.\n");
+ return -1;
+ }
+
+ if (!(sc = ecrt_master_slave_config(
+ master, AnaOutSlavePos, Beckhoff_EL4102))) {
+ fprintf(stderr, "Failed to get slave configuration.\n");
+ return -1;
+ }
+
+ if (ecrt_slave_config_pdos(sc, EC_END, el4102_syncs)) {
+ fprintf(stderr, "Failed to configure Pdos.\n");
+ return -1;
+ }
+
+ if (!(sc = ecrt_master_slave_config(
+ master, DigOutSlavePos, Beckhoff_EL2004))) {
+ fprintf(stderr, "Failed to get slave configuration.\n");
+ return -1;
+ }
+
+ if (ecrt_slave_config_pdos(sc, EC_END, el2004_syncs)) {
+ fprintf(stderr, "Failed to configure Pdos.\n");
+ return -1;
+ }
+#endif
+
+ // Create configuration for bus coupler
+ sc = ecrt_master_slave_config(master, BusCouplerPos, Beckhoff_EK1100);
if (!sc)
return -1;
+ if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
+ fprintf(stderr, "Pdo entry registration failed!\n");
+ return -1;
+ }
+
printf("Activating master...\n");
if (ecrt_master_activate(master))
return -1;
@@ -75,7 +261,7 @@
printf("Starting timer...\n");
tv.it_interval.tv_sec = 0;
- tv.it_interval.tv_usec = 100000;
+ tv.it_interval.tv_usec = 10000;
tv.it_value.tv_sec = 0;
tv.it_value.tv_usec = 1000;
if (setitimer(ITIMER_REAL, &tv, NULL)) {
@@ -87,7 +273,7 @@
while (1) {
sleep(1);
-#if 1
+#if 0
struct timeval t;
gettimeofday(&t, NULL);
printf("%u.%06u\n", t.tv_sec, t.tv_usec);