fp@1242: /*****************************************************************************
fp@1242:  *
fp@1255:  *  $Id$
fp@1255:  *
fp@1326:  *  Copyright (C) 2007-2009  Florian Pose, Ingenieurgemeinschaft IgH
fp@1255:  *
fp@1255:  *  This file is part of the IgH EtherCAT Master.
fp@1255:  *
fp@1326:  *  The IgH EtherCAT Master is free software; you can redistribute it and/or
fp@1326:  *  modify it under the terms of the GNU General Public License version 2, as
fp@1326:  *  published by the Free Software Foundation.
fp@1326:  *
fp@1326:  *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
fp@1326:  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@1326:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
fp@1326:  *  Public License for more details.
fp@1326:  *
fp@1326:  *  You should have received a copy of the GNU General Public License along
fp@1326:  *  with the IgH EtherCAT Master; if not, write to the Free Software
fp@1255:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@1255:  *
fp@1363:  *  ---
fp@1363:  *
fp@1363:  *  The license mentioned above concerns the source code only. Using the
fp@1363:  *  EtherCAT technology and brand is only permitted in compliance with the
fp@1363:  *  industrial property and similar rights of Beckhoff Automation GmbH.
fp@1242:  *
fp@1242:  ****************************************************************************/
fp@1242: 
fp@1249: #include <errno.h>
fp@1249: #include <signal.h>
fp@1249: #include <stdio.h>
fp@1249: #include <string.h>
fp@1249: #include <sys/resource.h>
fp@1249: #include <sys/time.h>
fp@1249: #include <sys/types.h>
fp@1247: #include <unistd.h>
fp@1247: 
fp@1255: /****************************************************************************/
fp@1255: 
fp@1242: #include "ecrt.h"
fp@1242: 
fp@1255: /****************************************************************************/
fp@1255: 
fp@1258: // Application parameters
fp@1259: #define FREQUENCY 100
fp@1258: #define PRIORITY 1
fp@1258: 
fp@1255: // Optional features
fp@1255: #define CONFIGURE_PDOS  1
fp@1352: #define SDO_ACCESS      0
fp@1258: 
fp@1258: /****************************************************************************/
fp@1258: 
fp@1258: // EtherCAT
fp@1258: static ec_master_t *master = NULL;
fp@1259: static ec_master_state_t master_state = {};
fp@1258: 
fp@1258: static ec_domain_t *domain1 = NULL;
fp@1259: static ec_domain_state_t domain1_state = {};
fp@1258: 
fp@1258: static ec_slave_config_t *sc_ana_in = NULL;
fp@1259: static ec_slave_config_state_t sc_ana_in_state = {};
fp@1258: 
fp@1258: // Timer
fp@1258: static unsigned int sig_alarms = 0;
fp@1258: static unsigned int user_alarms = 0;
fp@1258: 
fp@1258: /****************************************************************************/
fp@1258: 
fp@1258: // process data
fp@1258: static uint8_t *domain1_pd = NULL;
fp@1249: 
fp@1255: #define BusCouplerPos  0, 0
fp@1352: #define DigOutSlavePos 0, 2
fp@1352: #define AnaInSlavePos  0, 3
fp@1352: #define AnaOutSlavePos 0, 4
fp@1255: 
fp@1259: #define Beckhoff_EK1100 0x00000002, 0x044c2c52
fp@1259: #define Beckhoff_EL2004 0x00000002, 0x07d43052
fp@1259: #define Beckhoff_EL2032 0x00000002, 0x07f03052
fp@1255: #define Beckhoff_EL3152 0x00000002, 0x0c503052
fp@1352: #define Beckhoff_EL3102 0x00000002, 0x0c1e3052
fp@1255: #define Beckhoff_EL4102 0x00000002, 0x10063052
fp@1255: 
fp@1327: // offsets for PDO entries
fp@1258: static unsigned int off_ana_in_status;
fp@1258: static unsigned int off_ana_in_value;
fp@1255: static unsigned int off_ana_out;
fp@1255: static unsigned int off_dig_out;
fp@1255: 
fp@1255: const static ec_pdo_entry_reg_t domain1_regs[] = {
fp@1352:     {AnaInSlavePos,  Beckhoff_EL3102, 0x3101, 1, &off_ana_in_status},
fp@1352:     {AnaInSlavePos,  Beckhoff_EL3102, 0x3101, 2, &off_ana_in_value},
fp@1508:     {AnaOutSlavePos, Beckhoff_EL4102, 0x3001, 1, &off_ana_out},
fp@1508:     {DigOutSlavePos, Beckhoff_EL2032, 0x3001, 1, &off_dig_out},
fp@1508:     {}
fp@1255: };
fp@1255: 
fp@1259: static unsigned int counter = 0;
fp@1259: static unsigned int blink = 0;
fp@1259: 
fp@1255: /*****************************************************************************/
fp@1255: 
fp@1255: #if CONFIGURE_PDOS
fp@1255: 
fp@1255: // Analog in --------------------------
fp@1255: 
fp@1352: static ec_pdo_entry_info_t el3102_pdo_entries[] = {
fp@1255:     {0x3101, 1,  8}, // channel 1 status
fp@1255:     {0x3101, 2, 16}, // channel 1 value
fp@1255:     {0x3102, 1,  8}, // channel 2 status
fp@1255:     {0x3102, 2, 16}, // channel 2 value
fp@1255:     {0x6401, 1, 16}, // channel 1 value (alt.)
fp@1255:     {0x6401, 2, 16}  // channel 2 value (alt.)
fp@1255: };
fp@1255: 
fp@1352: static ec_pdo_info_t el3102_pdos[] = {
fp@1352:     {0x1A00, 2, el3102_pdo_entries},
fp@1352:     {0x1A01, 2, el3102_pdo_entries + 2}
fp@1352: };
fp@1352: 
fp@1352: static ec_sync_info_t el3102_syncs[] = {
fp@1255:     {2, EC_DIR_OUTPUT},
fp@1352:     {3, EC_DIR_INPUT, 2, el3102_pdos},
fp@1255:     {0xff}
fp@1255: };
fp@1255: 
fp@1255: // Analog out -------------------------
fp@1255: 
fp@1255: static ec_pdo_entry_info_t el4102_pdo_entries[] = {
fp@1255:     {0x3001, 1, 16}, // channel 1 value
fp@1255:     {0x3002, 1, 16}, // channel 2 value
fp@1255: };
fp@1255: 
fp@1255: static ec_pdo_info_t el4102_pdos[] = {
fp@1255:     {0x1600, 1, el4102_pdo_entries},
fp@1255:     {0x1601, 1, el4102_pdo_entries + 1}
fp@1255: };
fp@1255: 
fp@1255: static ec_sync_info_t el4102_syncs[] = {
fp@1255:     {2, EC_DIR_OUTPUT, 2, el4102_pdos},
fp@1255:     {3, EC_DIR_INPUT},
fp@1255:     {0xff}
fp@1255: };
fp@1255: 
fp@1255: // Digital out ------------------------
fp@1255: 
fp@1255: static ec_pdo_entry_info_t el2004_channels[] = {
fp@1255:     {0x3001, 1, 1}, // Value 1
fp@1255:     {0x3001, 2, 1}, // Value 2
fp@1255:     {0x3001, 3, 1}, // Value 3
fp@1255:     {0x3001, 4, 1}  // Value 4
fp@1255: };
fp@1255: 
fp@1255: static ec_pdo_info_t el2004_pdos[] = {
fp@1255:     {0x1600, 1, &el2004_channels[0]},
fp@1255:     {0x1601, 1, &el2004_channels[1]},
fp@1255:     {0x1602, 1, &el2004_channels[2]},
fp@1255:     {0x1603, 1, &el2004_channels[3]}
fp@1255: };
fp@1255: 
fp@1255: static ec_sync_info_t el2004_syncs[] = {
fp@1255:     {0, EC_DIR_OUTPUT, 4, el2004_pdos},
fp@1255:     {1, EC_DIR_INPUT},
fp@1255:     {0xff}
fp@1255: };
fp@1255: #endif
fp@1255: 
fp@1259: /*****************************************************************************/
fp@1259: 
fp@1352: #if SDO_ACCESS
fp@1352: static ec_sdo_request_t *sdo;
fp@1352: #endif
fp@1352: 
fp@1352: /*****************************************************************************/
fp@1352: 
fp@1259: void check_domain1_state(void)
fp@1259: {
fp@1259:     ec_domain_state_t ds;
fp@1259: 
fp@1259:     ecrt_domain_state(domain1, &ds);
fp@1259: 
fp@1259:     if (ds.working_counter != domain1_state.working_counter)
fp@1259:         printf("Domain1: WC %u.\n", ds.working_counter);
fp@1259:     if (ds.wc_state != domain1_state.wc_state)
fp@1259:         printf("Domain1: State %u.\n", ds.wc_state);
fp@1259: 
fp@1259:     domain1_state = ds;
fp@1259: }
fp@1259: 
fp@1259: /*****************************************************************************/
fp@1259: 
fp@1259: void check_master_state(void)
fp@1259: {
fp@1259:     ec_master_state_t ms;
fp@1259: 
fp@1259:     ecrt_master_state(master, &ms);
fp@1259: 
fp@1259:     if (ms.slaves_responding != master_state.slaves_responding)
fp@1259:         printf("%u slave(s).\n", ms.slaves_responding);
fp@1259:     if (ms.al_states != master_state.al_states)
fp@1259:         printf("AL states: 0x%02X.\n", ms.al_states);
fp@1259:     if (ms.link_up != master_state.link_up)
fp@1259:         printf("Link is %s.\n", ms.link_up ? "up" : "down");
fp@1259: 
fp@1259:     master_state = ms;
fp@1259: }
fp@1259: 
fp@1259: /*****************************************************************************/
fp@1259: 
fp@1259: void check_slave_config_states(void)
fp@1259: {
fp@1259:     ec_slave_config_state_t s;
fp@1259: 
fp@1259:     ecrt_slave_config_state(sc_ana_in, &s);
fp@1259: 
fp@1259:     if (s.al_state != sc_ana_in_state.al_state)
fp@1259:         printf("AnaIn: State 0x%02X.\n", s.al_state);
fp@1259:     if (s.online != sc_ana_in_state.online)
fp@1259:         printf("AnaIn: %s.\n", s.online ? "online" : "offline");
fp@1259:     if (s.operational != sc_ana_in_state.operational)
fp@1259:         printf("AnaIn: %soperational.\n",
fp@1259:                 s.operational ? "" : "Not ");
fp@1259: 
fp@1259:     sc_ana_in_state = s;
fp@1259: }
fp@1259: 
fp@1352: /*****************************************************************************/
fp@1352: 
fp@1352: #if SDO_ACCESS
fp@1352: void read_sdo(void)
fp@1352: {
fp@1352:     switch (ecrt_sdo_request_state(sdo)) {
fp@1352:         case EC_REQUEST_UNUSED: // request was not used yet
fp@1352:             ecrt_sdo_request_read(sdo); // trigger first read
fp@1352:             break;
fp@1352:         case EC_REQUEST_BUSY:
fp@1352:             fprintf(stderr, "Still busy...\n");
fp@1352:             break;
fp@1352:         case EC_REQUEST_SUCCESS:
fp@1352:             fprintf(stderr, "SDO value: 0x%04X\n",
fp@1352:                     EC_READ_U16(ecrt_sdo_request_data(sdo)));
fp@1352:             ecrt_sdo_request_read(sdo); // trigger next read
fp@1352:             break;
fp@1352:         case EC_REQUEST_ERROR:
fp@1352:             fprintf(stderr, "Failed to read SDO!\n");
fp@1352:             ecrt_sdo_request_read(sdo); // retry reading
fp@1352:             break;
fp@1352:     }
fp@1352: }
fp@1352: #endif
fp@1352: 
fp@1247: /****************************************************************************/
fp@1247: 
fp@1258: void cyclic_task()
fp@1258: {
fp@1259:     int i;
fp@1259: 
fp@1259:     // receive process data
fp@1258:     ecrt_master_receive(master);
fp@1258:     ecrt_domain_process(domain1);
fp@1258: 
fp@1259:     // check process data state (optional)
fp@1259:     check_domain1_state();
fp@1259: 
fp@1259:     if (counter) {
fp@1259:         counter--;
fp@1259:     } else { // do this at 1 Hz
fp@1259:         counter = FREQUENCY;
fp@1259: 
fp@1259:         // calculate new process data
fp@1259:         blink = !blink;
fp@1259: 
fp@1259:         // check for master state (optional)
fp@1259:         check_master_state();
fp@1259: 
fp@1259:         // check for islave configuration state(s) (optional)
fp@1259:         check_slave_config_states();
fp@1352: 
fp@1352: #if SDO_ACCESS
fp@1352:         // read process data SDO
fp@1352:         read_sdo();
fp@1352: #endif
fp@1352: 
fp@1259:     }
fp@1259: 
fp@1258: #if 0
fp@1259:     // read process data
fp@1258:     printf("AnaIn: state %u value %u\n",
fp@1258:             EC_READ_U8(domain1_pd + off_ana_in_status),
fp@1258:             EC_READ_U16(domain1_pd + off_ana_in_value));
fp@1258: #endif
fp@1259: 
fp@1259: #if 1
fp@1259:     // write process data
fp@1259:     EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x06 : 0x09);
fp@1259: #endif
fp@1259: 
fp@1259:     // send process data
fp@1258:     ecrt_domain_queue(domain1);
fp@1258:     ecrt_master_send(master);
fp@1258: }
fp@1258: 
fp@1258: /****************************************************************************/
fp@1258: 
fp@1247: void signal_handler(int signum) {
fp@1247:     switch (signum) {
fp@1247:         case SIGALRM:
fp@1247:             sig_alarms++;
fp@1247:             break;
fp@1247:     }
fp@1247: }
fp@1247: 
fp@1247: /****************************************************************************/
fp@1247: 
fp@1242: int main(int argc, char **argv)
fp@1242: {
fp@1508:     ec_slave_config_t *sc;
fp@1247:     struct sigaction sa;
fp@1247:     struct itimerval tv;
fp@1244:     
fp@1244:     master = ecrt_request_master(0);
fp@1508:     if (!master)
fp@1508:         return -1;
fp@1242: 
fp@1255:     domain1 = ecrt_master_create_domain(master);
fp@1255:     if (!domain1)
fp@1255:         return -1;
fp@1255: 
fp@1255:     if (!(sc_ana_in = ecrt_master_slave_config(
fp@1352:                     master, AnaInSlavePos, Beckhoff_EL3102))) {
fp@1255:         fprintf(stderr, "Failed to get slave configuration.\n");
fp@1255:         return -1;
fp@1255:     }
fp@1255: 
fp@1352: #if SDO_ACCESS
fp@1352:     fprintf(stderr, "Creating SDO requests...\n");
fp@1352:     if (!(sdo = ecrt_slave_config_create_sdo_request(sc_ana_in, 0x3102, 2, 2))) {
fp@1352:         fprintf(stderr, "Failed to create SDO request.\n");
fp@1352:         return -1;
fp@1352:     }
fp@1352:     ecrt_sdo_request_timeout(sdo, 500); // ms
fp@1352: #endif
fp@1352: 
fp@1255: #if CONFIGURE_PDOS
fp@1327:     printf("Configuring PDOs...\n");
fp@1352:     if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3102_syncs)) {
fp@1327:         fprintf(stderr, "Failed to configure PDOs.\n");
fp@1255:         return -1;
fp@1255:     }
fp@1255: 
fp@1255:     if (!(sc = ecrt_master_slave_config(
fp@1255:                     master, AnaOutSlavePos, Beckhoff_EL4102))) {
fp@1255:         fprintf(stderr, "Failed to get slave configuration.\n");
fp@1255:         return -1;
fp@1255:     }
fp@1255: 
fp@1255:     if (ecrt_slave_config_pdos(sc, EC_END, el4102_syncs)) {
fp@1327:         fprintf(stderr, "Failed to configure PDOs.\n");
fp@1255:         return -1;
fp@1255:     }
fp@1255: 
fp@1255:     if (!(sc = ecrt_master_slave_config(
fp@1259:                     master, DigOutSlavePos, Beckhoff_EL2032))) {
fp@1255:         fprintf(stderr, "Failed to get slave configuration.\n");
fp@1255:         return -1;
fp@1255:     }
fp@1255: 
fp@1255:     if (ecrt_slave_config_pdos(sc, EC_END, el2004_syncs)) {
fp@1327:         fprintf(stderr, "Failed to configure PDOs.\n");
fp@1255:         return -1;
fp@1255:     }
fp@1255: #endif
fp@1255: 
fp@1255:     // Create configuration for bus coupler
fp@1255:     sc = ecrt_master_slave_config(master, BusCouplerPos, Beckhoff_EK1100);
fp@1246:     if (!sc)
fp@1246:         return -1;
fp@1246: 
fp@1255:     if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
fp@1327:         fprintf(stderr, "PDO entry registration failed!\n");
fp@1508:         return -1;
fp@1255:     }
fp@1255: 
fp@1249:     printf("Activating master...\n");
fp@1247:     if (ecrt_master_activate(master))
fp@1247:         return -1;
fp@1247: 
fp@1258:     if (!(domain1_pd = ecrt_domain_data(domain1))) {
fp@1258:         return -1;
fp@1258:     }
fp@1258: 
fp@1249: #if PRIORITY
fp@1249:     pid_t pid = getpid();
fp@1249:     if (setpriority(PRIO_PROCESS, pid, -19))
fp@1249:         fprintf(stderr, "Warning: Failed to set priority: %s\n",
fp@1249:                 strerror(errno));
fp@1249: #endif
fp@1249: 
fp@1247:     sa.sa_handler = signal_handler;
fp@1247:     sigemptyset(&sa.sa_mask);
fp@1247:     sa.sa_flags = 0;
fp@1247:     if (sigaction(SIGALRM, &sa, 0)) {
fp@1247:         fprintf(stderr, "Failed to install signal handler!\n");
fp@1247:         return -1;
fp@1247:     }
fp@1247: 
fp@1249:     printf("Starting timer...\n");
fp@1247:     tv.it_interval.tv_sec = 0;
fp@1259:     tv.it_interval.tv_usec = 1000000 / FREQUENCY;
fp@1247:     tv.it_value.tv_sec = 0;
fp@1249:     tv.it_value.tv_usec = 1000;
fp@1247:     if (setitimer(ITIMER_REAL, &tv, NULL)) {
fp@1247:         fprintf(stderr, "Failed to start timer: %s\n", strerror(errno));
fp@1247:         return 1;
fp@1247:     }
fp@1247: 
fp@1249:     printf("Started.\n");
fp@1508:     while (1) {
fp@1261:         pause();
fp@1247: 
fp@1255: #if 0
fp@1249:         struct timeval t;
fp@1249:         gettimeofday(&t, NULL);
fp@1249:         printf("%u.%06u\n", t.tv_sec, t.tv_usec);
fp@1249: #endif
fp@1249: 
fp@1247:         while (sig_alarms != user_alarms) {
fp@1258:             cyclic_task();
fp@1247:             user_alarms++;
fp@1247:         }
fp@1508:     }
fp@1508: 
fp@1508:     return 0;
fp@1508: }
fp@1508: 
fp@1508: /****************************************************************************/