--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/rtai_rtdm/main.c Thu Sep 20 15:28:25 2012 +0200
@@ -0,0 +1,289 @@
+/******************************************************************************
+ *
+ * $Id$
+ *
+ * Copyright (C) 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 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.
+ *
+ *****************************************************************************/
+
+#include <sched.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <fcntl.h>
+#include <signal.h>
+
+#include <rtai_lxrt.h>
+#include <rtdm/rtdm.h>
+
+#include "ecrt.h"
+
+#define rt_printf(X, Y)
+
+#define NSEC_PER_SEC 1000000000
+
+RT_TASK *task;
+
+const static unsigned int cycle_us = 1000; /* 1 ms */
+
+static int run = 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 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 Beckhoff_EK1100 0x00000002, 0x044c2c52
+#define Beckhoff_EL2004 0x00000002, 0x07d43052
+
+// offsets for PDO entries
+static unsigned int off_dig_out0 = 0;
+
+// process data
+
+const static ec_pdo_entry_reg_t domain1_regs[] = {
+ {DigOutSlave01_Pos, Beckhoff_EL2004, 0x7000, 0x01, &off_dig_out0, 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}
+};
+
+/*****************************************************************************
+ * Realtime task
+ ****************************************************************************/
+
+void rt_check_domain_state(void)
+{
+ 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);
+ }
+
+ domain1_state = ds;
+}
+
+/****************************************************************************/
+
+void rt_check_master_state(void)
+{
+ ec_master_state_t ms;
+
+ 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) {
+ 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 my_cyclic(void)
+{
+ int cycle_counter = 0;
+ int period;
+ unsigned int blink = 0;
+
+ rt_set_periodic_mode();
+ period = (int) nano2count((RTIME) cycle_us * 1000);
+ start_rt_timer(period);
+ rt_make_hard_real_time();
+ rt_task_make_periodic(task, rt_get_time() + 10 * period, period);
+
+ while (run) {
+ rt_task_wait_period();
+
+ cycle_counter++;
+
+ // receive EtherCAT
+ 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 ? 0x00 : 0x0F);
+
+ // send process data
+ ecrt_domain_queue(domain1);
+ ecrt_master_send(master);
+ }
+
+ rt_make_soft_real_time();
+ stop_rt_timer();
+}
+
+/****************************************************************************
+ * Signal handler
+ ***************************************************************************/
+
+void signal_handler(int sig)
+{
+ run = 0;
+}
+
+/****************************************************************************
+ * Main function
+ ***************************************************************************/
+
+int main(int argc, char *argv[])
+{
+ ec_slave_config_t *sc;
+
+ 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;
+ }
+
+ 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;
+ }
+
+ if (ecrt_slave_config_pdos(sc_dig_out_01, EC_END, slave_1_syncs)) {
+ fprintf(stderr, "Failed to configure PDOs.\n");
+ 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;
+ }
+
+ if (!(domain1_pd = ecrt_domain_data(domain1))) {
+ fprintf(stderr, "Failed to get domain data pointer.\n");
+ return -1;
+ }
+
+ /* Create cyclic RT-thread */
+ struct sched_param param;
+ param.sched_priority = sched_get_priority_max(SCHED_FIFO) - 1;
+ if (sched_setscheduler(0, SCHED_FIFO, ¶m) == -1) {
+ puts("ERROR IN SETTING THE SCHEDULER");
+ perror("errno");
+ return -1;
+ }
+
+ task = rt_task_init(nam2num("ec_rtai_rtdm_example"),
+ 0 /* priority */, 0 /* stack size */, 0 /* msg size */);
+
+ my_cyclic();
+
+ rt_task_delete(task);
+
+ printf("End of Program\n");
+ ecrt_release_master(master);
+
+ return 0;
+}
+
+/****************************************************************************/