--- a/examples/user/main.c Fri Apr 25 17:32:49 2014 +0200
+++ b/examples/user/main.c Tue May 06 17:23:33 2014 +0200
@@ -44,7 +44,11 @@
// Application parameters
#define FREQUENCY 100
-#define PRIORITY 0
+#define PRIORITY 1
+
+// Optional features
+#define CONFIGURE_PDOS 1
+#define SDO_ACCESS 0
/****************************************************************************/
@@ -67,82 +71,107 @@
// 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 BusCouplerPos 0, 0
+#define DigOutSlavePos 0, 2
+#define AnaInSlavePos 0, 3
+#define AnaOutSlavePos 0, 4
+
+#define Beckhoff_EK1100 0x00000002, 0x044c2c52
#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[] = {
+static unsigned int off_ana_in_status;
+static unsigned int off_ana_in_value;
+static unsigned int off_ana_out;
+static unsigned int off_dig_out;
+
+const static ec_pdo_entry_reg_t domain1_regs[] = {
+ {AnaInSlavePos, Beckhoff_EL3102, 0x3101, 1, &off_ana_in_status},
+ {AnaInSlavePos, Beckhoff_EL3102, 0x3101, 2, &off_ana_in_value},
+ {AnaOutSlavePos, Beckhoff_EL4102, 0x3001, 1, &off_ana_out},
+ {DigOutSlavePos, Beckhoff_EL2032, 0x3001, 1, &off_dig_out},
+ {}
+};
+
+static unsigned int counter = 0;
+static unsigned int blink = 0;
+
+/*****************************************************************************/
+
+#if CONFIGURE_PDOS
+
+// Analog in --------------------------
+
+static ec_pdo_entry_info_t el3102_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.)
+};
+
+static ec_pdo_info_t el3102_pdos[] = {
+ {0x1A00, 2, el3102_pdo_entries},
+ {0x1A01, 2, el3102_pdo_entries + 2}
+};
+
+static ec_sync_info_t el3102_syncs[] = {
{2, EC_DIR_OUTPUT},
- {3, EC_DIR_INPUT, 8, el1008_pdos},
+ {3, EC_DIR_INPUT, 2, el3102_pdos},
{0xff}
};
+// 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 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},
+
+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
+
+/*****************************************************************************/
+
+#if SDO_ACCESS
+static ec_sdo_request_t *sdo;
+#endif
/*****************************************************************************/
@@ -197,59 +226,74 @@
sc_ana_in_state = s;
}
+/*****************************************************************************/
+
+#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;
+ }
+}
+#endif
+
/****************************************************************************/
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
-
-
+ } else { // do this at 1 Hz
+ counter = FREQUENCY;
// calculate new process data
- outputValue++;
+ blink = !blink;
// check for master state (optional)
check_master_state();
// check for islave configuration state(s) (optional)
check_slave_config_states();
- }
-
+
+#if SDO_ACCESS
+ // read process data SDO
+ read_sdo();
+#endif
+
+ }
+
+#if 0
+ // read process data
+ printf("AnaIn: state %u value %u\n",
+ EC_READ_U8(domain1_pd + off_ana_in_status),
+ EC_READ_U16(domain1_pd + off_ana_in_value));
+#endif
+
+#if 1
// write process data
- EC_WRITE_U8(domain1_pd + off_dig_out[1], outputValue);
- EC_WRITE_U8(domain1_pd + off_dig_out[0], error);
+ EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x06 : 0x09);
+#endif
// send process data
ecrt_domain_queue(domain1);
@@ -268,31 +312,11 @@
/****************************************************************************/
-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)
@@ -302,33 +326,60 @@
if (!domain1)
return -1;
+ if (!(sc_ana_in = ecrt_master_slave_config(
+ master, AnaInSlavePos, Beckhoff_EL3102))) {
+ fprintf(stderr, "Failed to get slave configuration.\n");
+ return -1;
+ }
+
+#if SDO_ACCESS
+ fprintf(stderr, "Creating SDO requests...\n");
+ if (!(sdo = ecrt_slave_config_create_sdo_request(sc_ana_in, 0x3102, 2, 2))) {
+ fprintf(stderr, "Failed to create SDO request.\n");
+ return -1;
+ }
+ ecrt_sdo_request_timeout(sdo, 500); // ms
+#endif
+
+#if CONFIGURE_PDOS
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)) {
+ if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3102_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;
- }
- }
+
+ 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_EL2032))) {
+ 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;
- fprintf(stderr, "EK1100 configured.\n");
+
+ 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))