Graph font declaration in header.
/*****************************************************************************
*
* $Id$
*
* Copyright (C) 2007-2009 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 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, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
* ---
*
* 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 <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"
/****************************************************************************/
// Application parameters
#define FREQUENCY 100
#define PRIORITY 1
// Optional features
#define CONFIGURE_PDOS 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 = {};
// Timer
static unsigned int sig_alarms = 0;
static unsigned int user_alarms = 0;
/****************************************************************************/
// process data
static uint8_t *domain1_pd = NULL;
#define BusCouplerPos 0, 0
#define DigOutSlavePos 0, 1
#define CounterSlavePos 0, 2
#define Beckhoff_EK1100 0x00000002, 0x044c2c52
#define Beckhoff_EL2008 0x00000002, 0x07d83052
#define IDS_Counter 0x000012ad, 0x05de3052
// offsets for PDO entries
static int off_dig_out;
static int off_counter_in;
static int off_counter_out;
static unsigned int counter = 0;
static unsigned int blink_counter = 0;
static unsigned int blink = 0;
static unsigned int sync_ref_counter = 0;
struct timeval app_time;
/*****************************************************************************/
void check_domain1_state(void)
{
ec_domain_state_t ds;
ecrt_domain_state(domain1, &ds);
if (ds.working_counter != domain1_state.working_counter)
printf("Domain1: WC %u.\n", ds.working_counter);
if (ds.wc_state != domain1_state.wc_state)
printf("Domain1: State %u.\n", ds.wc_state);
domain1_state = ds;
}
/*****************************************************************************/
void check_master_state(void)
{
ec_master_state_t ms;
ecrt_master_state(master, &ms);
if (ms.slaves_responding != master_state.slaves_responding)
printf("%u slave(s).\n", ms.slaves_responding);
if (ms.al_states != master_state.al_states)
printf("AL states: 0x%02X.\n", ms.al_states);
if (ms.link_up != master_state.link_up)
printf("Link is %s.\n", ms.link_up ? "up" : "down");
master_state = ms;
}
/****************************************************************************/
void cyclic_task()
{
int i;
// receive process data
ecrt_master_receive(master);
ecrt_domain_process(domain1);
// check process data state (optional)
check_domain1_state();
if (counter) {
counter--;
} else { // do this at 1 Hz
counter = FREQUENCY;
// calculate new process data
blink = !blink;
// check for master state (optional)
check_master_state();
}
if (blink_counter) {
blink_counter--;
} else {
blink_counter = 9;
// calculate new process data
blink = !blink;
}
// write process data
EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x66 : 0x99);
EC_WRITE_U8(domain1_pd + off_counter_out, blink ? 0x00 : 0x02);
app_time.tv_usec += 1000000 / FREQUENCY;
if (app_time.tv_usec >= 1000000) {
app_time.tv_usec -= 1000000;
app_time.tv_sec++;
}
ecrt_master_application_time(master, EC_TIMEVAL2NANO(app_time));
if (sync_ref_counter) {
sync_ref_counter--;
} else {
sync_ref_counter = 9;
ecrt_master_sync_reference_clock(master);
}
ecrt_master_sync_slave_clocks(master);
// send process data
ecrt_domain_queue(domain1);
ecrt_master_send(master);
}
/****************************************************************************/
void signal_handler(int signum) {
switch (signum) {
case SIGALRM:
sig_alarms++;
break;
}
}
/****************************************************************************/
int main(int argc, char **argv)
{
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;
// Create configuration for bus coupler
sc = ecrt_master_slave_config(master, BusCouplerPos, Beckhoff_EK1100);
if (!sc)
return -1;
if (!(sc = ecrt_master_slave_config(master,
DigOutSlavePos, Beckhoff_EL2008))) {
fprintf(stderr, "Failed to get slave configuration.\n");
return -1;
}
off_dig_out = ecrt_slave_config_reg_pdo_entry(sc,
0x7000, 1, domain1, NULL);
if (off_dig_out < 0)
return -1;
if (!(sc = ecrt_master_slave_config(master,
CounterSlavePos, IDS_Counter))) {
fprintf(stderr, "Failed to get slave configuration.\n");
return -1;
}
off_counter_in = ecrt_slave_config_reg_pdo_entry(sc,
0x6020, 0x11, domain1, NULL);
if (off_counter_in < 0)
return -1;
off_counter_out = ecrt_slave_config_reg_pdo_entry(sc,
0x7020, 1, domain1, NULL);
if (off_counter_out < 0)
return -1;
// configure SYNC signals for this slave
ecrt_slave_config_dc(sc, 0x0700, 10000000, 4400000, 0, 0);
printf("Activating master...\n");
if (ecrt_master_activate(master))
return -1;
if (!(domain1_pd = ecrt_domain_data(domain1))) {
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 = 1000000 / FREQUENCY;
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;
}
gettimeofday(&app_time, NULL);
printf("Started.\n");
while (1) {
pause();
#if 0
struct timeval t;
gettimeofday(&t, NULL);
printf("%u.%06u\n", t.tv_sec, t.tv_usec);
#endif
while (sig_alarms != user_alarms) {
cyclic_task();
user_alarms++;
}
}
return 0;
}
/****************************************************************************/