/*****************************************************************************
*
* $Id$
*
* 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.
*
****************************************************************************/
#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 "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) {
switch (signum) {
case SIGALRM:
sig_alarms++;
break;
}
}
/****************************************************************************/
int main(int argc, char **argv)
{
ec_master_t *master;
ec_domain_t *domain1;
ec_slave_config_t *sc;
struct sigaction sa;
struct itimerval tv;
master = ecrt_request_master(0);
if (!master)
return -1;
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;
#if PRIORITY
pid_t pid = getpid();
if (setpriority(PRIO_PROCESS, pid, -19))
fprintf(stderr, "Warning: Failed to set priority: %s\n",
strerror(errno));
#endif
sa.sa_handler = signal_handler;
sigemptyset(&sa.sa_mask);
sa.sa_flags = 0;
if (sigaction(SIGALRM, &sa, 0)) {
fprintf(stderr, "Failed to install signal handler!\n");
return -1;
}
printf("Starting timer...\n");
tv.it_interval.tv_sec = 0;
tv.it_interval.tv_usec = 10000;
tv.it_value.tv_sec = 0;
tv.it_value.tv_usec = 1000;
if (setitimer(ITIMER_REAL, &tv, NULL)) {
fprintf(stderr, "Failed to start timer: %s\n", strerror(errno));
return 1;
}
printf("Started.\n");
while (1) {
sleep(1);
#if 0
struct timeval t;
gettimeofday(&t, NULL);
printf("%u.%06u\n", t.tv_sec, t.tv_usec);
#endif
while (sig_alarms != user_alarms) {
ecrt_master_receive(master);
ecrt_master_send(master);
user_alarms++;
}
}
return 0;
}
/****************************************************************************/