/******************************************************************************
*
* $Id$
*
* 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 <errno.h>
#include <mqueue.h>
#include <signal.h>
#include <pthread.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <limits.h>
#include <sys/ioctl.h>
#include <sys/mman.h>
#include <time.h>
#include <rtdm/rtdm.h>
#include <rtdk.h>
#include "ecrt.h"
#define NSEC_PER_SEC 1000000000
static unsigned int cycle_us = 1000; /* 1 ms */
static pthread_t cyclic_thread;
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_thread(void *arg)
{
struct timespec next_period;
int cycle_counter = 0;
unsigned int blink = 0;
clock_gettime(CLOCK_REALTIME, &next_period);
while (run) {
next_period.tv_nsec += cycle_us * 1000;
while (next_period.tv_nsec >= NSEC_PER_SEC) {
next_period.tv_nsec -= NSEC_PER_SEC;
next_period.tv_sec++;
}
clock_nanosleep(CLOCK_REALTIME, TIMER_ABSTIME, &next_period, NULL);
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 ? 0x0 : 0x0F);
// send process data
ecrt_domain_queue(domain1);
ecrt_master_send(master);
}
return NULL;
}
/****************************************************************************
* Signal handler
***************************************************************************/
void signal_handler(int sig)
{
run = 0;
}
/****************************************************************************
* Main function
***************************************************************************/
int main(int argc, char *argv[])
{
ec_slave_config_t *sc;
int ret;
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 = { .sched_priority = 82 };
pthread_attr_t thattr;
pthread_attr_init(&thattr);
pthread_attr_setdetachstate(&thattr, PTHREAD_CREATE_JOINABLE);
pthread_attr_setinheritsched(&thattr, PTHREAD_EXPLICIT_SCHED);
pthread_attr_setschedpolicy(&thattr, SCHED_FIFO);
pthread_setschedparam(cyclic_thread, SCHED_FIFO, ¶m);
ret = pthread_create(&cyclic_thread, &thattr, &my_thread, NULL);
if (ret) {
fprintf(stderr, "%s: pthread_create cyclic task failed\n",
strerror(-ret));
return 1;
}
while (run) {
sched_yield();
}
pthread_join(cyclic_thread, NULL);
printf("End of Program\n");
ecrt_release_master(master);
return 0;
}
/****************************************************************************/