p@2555: /*****************************************************************************
p@2555:  *
fp@2556:  *  $Id$
p@2555:  *
p@2555:  *  Copyright (C) 2007-2009  Florian Pose, Ingenieurgemeinschaft IgH
p@2555:  *
p@2555:  *  This file is part of the IgH EtherCAT Master.
p@2555:  *
p@2555:  *  The IgH EtherCAT Master is free software; you can redistribute it and/or
p@2555:  *  modify it under the terms of the GNU General Public License version 2, as
p@2555:  *  published by the Free Software Foundation.
p@2555:  *
p@2555:  *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
p@2555:  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
p@2555:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
p@2555:  *  Public License for more details.
p@2555:  *
p@2555:  *  You should have received a copy of the GNU General Public License along
p@2555:  *  with the IgH EtherCAT Master; if not, write to the Free Software
p@2555:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
p@2555:  *
p@2555:  *  ---
p@2555:  *
p@2555:  *  The license mentioned above concerns the source code only. Using the
p@2555:  *  EtherCAT technology and brand is only permitted in compliance with the
p@2555:  *  industrial property and similar rights of Beckhoff Automation GmbH.
p@2555:  *
p@2555:  ****************************************************************************/
p@2555: 
p@2555: #include <errno.h>
p@2555: #include <signal.h>
p@2555: #include <stdio.h>
p@2555: #include <string.h>
p@2555: #include <sys/resource.h>
p@2555: #include <sys/time.h>
p@2555: #include <sys/types.h>
p@2555: #include <unistd.h>
p@2555: 
p@2555: /****************************************************************************/
p@2555: 
p@2555: #include "ecrt.h"
p@2555: 
p@2555: /****************************************************************************/
p@2555: 
p@2555: // Application parameters
p@2555: #define FREQUENCY 100
p@2555: #define PRIORITY 0
p@2555: 
p@2555: /****************************************************************************/
p@2555: 
p@2555: // EtherCAT
p@2555: static ec_master_t *master = NULL;
p@2555: static ec_master_state_t master_state = {};
p@2555: 
p@2555: static ec_domain_t *domain1 = NULL;
p@2555: static ec_domain_state_t domain1_state = {};
p@2555: 
p@2555: static ec_slave_config_t *sc_ana_in = NULL;
p@2555: static ec_slave_config_state_t sc_ana_in_state = {};
p@2555: 
p@2555: // Timer
p@2555: static unsigned int sig_alarms = 0;
p@2555: static unsigned int user_alarms = 0;
p@2555: 
p@2555: /****************************************************************************/
p@2555: 
p@2555: // process data
p@2555: static uint8_t *domain1_pd = NULL;
p@2555: 
p@2555: #define BusCouplerPos  0, 3
p@2555: #define DigOutSlavePos 0, 0
p@2555: 
p@2555: //#define Beckhoff_EK1100 0x00000002, 0x044c2c52
p@2555: #define Beckhoff_EK1100 0x00000002, 0x04562c52
p@2555: #define Beckhoff_EL1008 0x00000002, 0x03f03052
p@2555: #define Beckhoff_EL2004 0x00000002, 0x07d43052
p@2555: #define Beckhoff_EL2008 0x00000002, 0x07d83052
p@2555: #define Beckhoff_EL2032 0x00000002, 0x07f03052
p@2555: #define Beckhoff_EL3152 0x00000002, 0x0c503052
p@2555: #define Beckhoff_EL3102 0x00000002, 0x0c1e3052
p@2555: #define Beckhoff_EL4102 0x00000002, 0x10063052
p@2555: 
p@2555: // offsets for PDO entries
p@2555: static unsigned int off_dig_in[1];
p@2555: static unsigned int off_dig_out[2];
p@2555: 
p@2555: 
p@2555: /*****************************************************************************/
p@2555: // Digital in ------------------------
p@2555: static ec_pdo_entry_info_t el1008_channels[] = {
p@2555:     {0x6000, 1, 1},
p@2555:     {0x6010, 1, 1},
p@2555:     {0x6020, 1, 1},
p@2555:     {0x6030, 1, 1},
p@2555:     {0x6040, 1, 1},
p@2555:     {0x6050, 1, 1},
p@2555:     {0x6060, 1, 1},
p@2555:     {0x6070, 1, 1},
p@2555: };
p@2555: 
p@2555: static ec_pdo_info_t el1008_pdos[] = {
p@2555:     {0x1a00, 1, &el1008_channels[0]},
p@2555:     {0x1a01, 1, &el1008_channels[1]},
p@2555:     {0x1a02, 1, &el1008_channels[2]},
p@2555:     {0x1a03, 1, &el1008_channels[3]},
p@2555:     {0x1a04, 1, &el1008_channels[4]},
p@2555:     {0x1a05, 1, &el1008_channels[5]},
p@2555:     {0x1a06, 1, &el1008_channels[6]},
p@2555:     {0x1a07, 1, &el1008_channels[7]}
p@2555: };
p@2555: 
p@2555: static ec_sync_info_t el1008_syncs[] = {
p@2555:     {2, EC_DIR_OUTPUT},
p@2555:     {3, EC_DIR_INPUT, 8, el1008_pdos},
p@2555:     {0xff}
p@2555: };
p@2555: 
p@2555: // Digital out ------------------------
p@2555: static ec_pdo_entry_info_t el2008_channels[] = {
p@2555:     {0x7000, 1, 1},
p@2555:     {0x7010, 1, 1},
p@2555:     {0x7020, 1, 1},
p@2555:     {0x7030, 1, 1},
p@2555:     {0x7040, 1, 1},
p@2555:     {0x7050, 1, 1},
p@2555:     {0x7060, 1, 1},
p@2555:     {0x7070, 1, 1},
p@2555: };
p@2555: 
p@2555: static ec_pdo_info_t el2008_pdos[] = {
p@2555:     {0x1600, 1, &el2008_channels[0]},
p@2555:     {0x1601, 1, &el2008_channels[1]},
p@2555:     {0x1602, 1, &el2008_channels[2]},
p@2555:     {0x1603, 1, &el2008_channels[3]},
p@2555:     {0x1604, 1, &el2008_channels[4]},
p@2555:     {0x1605, 1, &el2008_channels[5]},
p@2555:     {0x1606, 1, &el2008_channels[6]},
p@2555:     {0x1607, 1, &el2008_channels[7]}
p@2555: };
p@2555: 
p@2555: static ec_sync_info_t el2008_syncs[] = {
p@2555:     {0, EC_DIR_OUTPUT, 8, el2008_pdos},
p@2555:     {1, EC_DIR_INPUT},
p@2555:     {0xff}
p@2555: };
p@2555: 
p@2555: /*****************************************************************************/
p@2555: 
p@2555: void check_domain1_state(void)
p@2555: {
p@2555:     ec_domain_state_t ds;
p@2555: 
p@2555:     ecrt_domain_state(domain1, &ds);
p@2555: 
p@2555:     if (ds.working_counter != domain1_state.working_counter)
p@2555:         printf("Domain1: WC %u.\n", ds.working_counter);
p@2555:     if (ds.wc_state != domain1_state.wc_state)
p@2555:         printf("Domain1: State %u.\n", ds.wc_state);
p@2555: 
p@2555:     domain1_state = ds;
p@2555: }
p@2555: 
p@2555: /*****************************************************************************/
p@2555: 
p@2555: void check_master_state(void)
p@2555: {
p@2555:     ec_master_state_t ms;
p@2555: 
p@2555:     ecrt_master_state(master, &ms);
p@2555: 
p@2555:     if (ms.slaves_responding != master_state.slaves_responding)
p@2555:         printf("%u slave(s).\n", ms.slaves_responding);
p@2555:     if (ms.al_states != master_state.al_states)
p@2555:         printf("AL states: 0x%02X.\n", ms.al_states);
p@2555:     if (ms.link_up != master_state.link_up)
p@2555:         printf("Link is %s.\n", ms.link_up ? "up" : "down");
p@2555: 
p@2555:     master_state = ms;
p@2555: }
p@2555: 
p@2555: /*****************************************************************************/
p@2555: 
p@2555: void check_slave_config_states(void)
p@2555: {
p@2555:     ec_slave_config_state_t s;
p@2555: 
p@2555:     ecrt_slave_config_state(sc_ana_in, &s);
p@2555: 
p@2555:     if (s.al_state != sc_ana_in_state.al_state)
p@2555:         printf("AnaIn: State 0x%02X.\n", s.al_state);
p@2555:     if (s.online != sc_ana_in_state.online)
p@2555:         printf("AnaIn: %s.\n", s.online ? "online" : "offline");
p@2555:     if (s.operational != sc_ana_in_state.operational)
p@2555:         printf("AnaIn: %soperational.\n",
p@2555:                 s.operational ? "" : "Not ");
p@2555: 
p@2555:     sc_ana_in_state = s;
p@2555: }
p@2555: 
p@2555: /****************************************************************************/
p@2555: 
p@2555: void cyclic_task()
p@2555: {
p@2555:     static unsigned int counter = 10;
p@2555:     static uint8_t outputValue = 0;
p@2555:     static int numAsyncCycles = 0;
p@2555:     uint8_t inputValue = 0;
p@2555:     static uint8_t error = 0;
p@2555: 
p@2555:     // receive process data
p@2555:     ecrt_master_receive(master);
p@2555:     ecrt_domain_process(domain1);
p@2555: 
p@2555:     // check process data state (optional)
p@2555:     check_domain1_state();
p@2555:     
p@2555: 
p@2555: 	inputValue = EC_READ_U8(domain1_pd + off_dig_in[0]);
p@2555: 	
p@2555: 	if(inputValue != outputValue) {
p@2555: 		numAsyncCycles++;
p@2555: 	} else {
p@2555: 		numAsyncCycles = 0;
p@2555: 	}
p@2555: 	
p@2555: 	if(numAsyncCycles > 2) {
p@2555: 		if(error != 0xff) {
p@2555: 			error++;
p@2555: 		}
p@2555: 	}
p@2555: 	
p@2555: 	
p@2555:     if (counter) {
p@2555:         counter--;
p@2555:     } else {
p@2555:         counter = 5; //update delay
p@2555:         
p@2555:         
p@2555: 
p@2555:         // calculate new process data
p@2555:         outputValue++;
p@2555: 
p@2555:         // check for master state (optional)
p@2555:         check_master_state();
p@2555: 
p@2555:         // check for islave configuration state(s) (optional)
p@2555:         check_slave_config_states();
p@2555:     }
p@2555: 
p@2555:     // write process data
p@2555:     EC_WRITE_U8(domain1_pd + off_dig_out[1], outputValue);
p@2555:     EC_WRITE_U8(domain1_pd + off_dig_out[0], error);
p@2555: 
p@2555:     // send process data
p@2555:     ecrt_domain_queue(domain1);
p@2555:     ecrt_master_send(master);
p@2555: }
p@2555: 
p@2555: /****************************************************************************/
p@2555: 
p@2555: void signal_handler(int signum) {
p@2555:     switch (signum) {
p@2555:         case SIGALRM:
p@2555:             sig_alarms++;
p@2555:             break;
p@2555:     }
p@2555: }
p@2555: 
p@2555: /****************************************************************************/
p@2555: 
p@2555: int Init_EL2008(uint16_t position)
p@2555: {
p@2555:     ec_slave_config_t *sc;
p@2555:     if (!(sc = ecrt_master_slave_config(master, 0, position, Beckhoff_EL2008))) {
p@2555:         fprintf(stderr, "Failed to get EL2008 configuration #%u.\n", position);
p@2555:         return -1;
p@2555:     }
p@2555:     if (ecrt_slave_config_pdos(sc, EC_END, el2008_syncs)) {
p@2555:         fprintf(stderr, "Failed to configure PDOs #%u.\n", position);
p@2555:         return -1;
p@2555:     }
p@2555:     if (0 > (off_dig_out[position] = ecrt_slave_config_reg_pdo_entry(sc, 0x7000, 1, domain1, NULL))) {
p@2555: 		fprintf(stderr, "Failed to configure reg PDOs #%u.\n", position);
p@2555: 		return -1;
p@2555: 	}
p@2555:     fprintf(stderr, "EL2008 #%u configured offset: %d.\n", position, off_dig_out[position]);
p@2555:     return 0;
p@2555: }
p@2555: 
p@2555: int main(int argc, char **argv)
p@2555: {
p@2555:     ec_slave_config_t *sc;
p@2555:     struct sigaction sa;
p@2555:     struct itimerval tv;
p@2555:     uint16_t i;
p@2555: 
p@2555:     master = ecrt_request_master(0);
p@2555:     if (!master)
p@2555:         return -1;
p@2555: 
p@2555:     domain1 = ecrt_master_create_domain(master);
p@2555:     if (!domain1)
p@2555:         return -1;
p@2555: 
p@2555:     printf("Configuring PDOs...\n");
p@2555:     if (!(sc_ana_in = ecrt_master_slave_config(master, 0, 2, Beckhoff_EL1008))) {
p@2555:         fprintf(stderr, "Failed to get digital in configuration.\n");
p@2555:         return -1;
p@2555:     }
p@2555:     if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el1008_syncs)) {
p@2555:         fprintf(stderr, "Failed to configure PDOs.\n");
p@2555:         return -1;
p@2555:     }
p@2555:     if (0 > (off_dig_in[0] = ecrt_slave_config_reg_pdo_entry(sc_ana_in, 0x6000, 1, domain1, NULL))) {
p@2555: 		fprintf(stderr, "Failed to configure reg PDOs.\n");
p@2555: 		return -1;
p@2555: 	}
p@2555:     printf("EL1008 configured.\n");
p@2555: 
p@2555:     for(i = 0; i < 2; ++i) {
p@2555:         if(Init_EL2008(i)) {
p@2555:             fprintf(stderr, "Failed to initialize EL2008 #%u.\n", i);
p@2555:             return -1;
p@2555:         }
p@2555:     }
p@2555: 
p@2555:     // Create configuration for bus coupler
p@2555:     sc = ecrt_master_slave_config(master, BusCouplerPos, Beckhoff_EK1100);
p@2555:     if (!sc)
p@2555:         return -1;
p@2555:     fprintf(stderr, "EK1100 configured.\n");
p@2555: 
p@2555:     printf("Activating master...\n");
p@2555:     if (ecrt_master_activate(master))
p@2555:         return -1;
p@2555: 
p@2555:     if (!(domain1_pd = ecrt_domain_data(domain1))) {
p@2555:         return -1;
p@2555:     }
p@2555: 
p@2555: #if PRIORITY
p@2555:     pid_t pid = getpid();
p@2555:     if (setpriority(PRIO_PROCESS, pid, -19))
p@2555:         fprintf(stderr, "Warning: Failed to set priority: %s\n",
p@2555:                 strerror(errno));
p@2555: #endif
p@2555: 
p@2555:     sa.sa_handler = signal_handler;
p@2555:     sigemptyset(&sa.sa_mask);
p@2555:     sa.sa_flags = 0;
p@2555:     if (sigaction(SIGALRM, &sa, 0)) {
p@2555:         fprintf(stderr, "Failed to install signal handler!\n");
p@2555:         return -1;
p@2555:     }
p@2555: 
p@2555:     printf("Starting timer...\n");
p@2555:     tv.it_interval.tv_sec = 0;
p@2555:     tv.it_interval.tv_usec = 1000000 / FREQUENCY;
p@2555:     tv.it_value.tv_sec = 0;
p@2555:     tv.it_value.tv_usec = 1000;
p@2555:     if (setitimer(ITIMER_REAL, &tv, NULL)) {
p@2555:         fprintf(stderr, "Failed to start timer: %s\n", strerror(errno));
p@2555:         return 1;
p@2555:     }
p@2555: 
p@2555:     printf("Started.\n");
p@2555:     while (1) {
p@2555:         pause();
p@2555: 
p@2555: #if 0
p@2555:         struct timeval t;
p@2555:         gettimeofday(&t, NULL);
p@2555:         printf("%u.%06u\n", t.tv_sec, t.tv_usec);
p@2555: #endif
p@2555: 
p@2555:         while (sig_alarms != user_alarms) {
p@2555:             cyclic_task();
p@2555:             user_alarms++;
p@2555:         }
p@2555:     }
p@2555: 
p@2555:     return 0;
p@2555: }
p@2555: 
p@2555: /****************************************************************************/