ab@2056: /******************************************************************************
ab@2056: *
ab@2056: * $Id$
ab@2056: *
ab@2056: * main.c Copyright (C) 2011 IgH Andreas Stewering-Bone
ab@2056: *
ab@2056: * This file is part of ethercatrtdm interface to IgH EtherCAT master
ab@2056: *
ab@2056: * The IgH EtherCAT master is free software; you can
ab@2056: * redistribute it and/or modify it under the terms of the GNU Lesser General
ab@2056: * Public License as published by the Free Software Foundation; version 2.1
ab@2056: * of the License.
ab@2056: *
ab@2056: * The IgH EtherCAT Master is free software; you can redistribute it and/or
ab@2056: * modify it under the terms of the GNU General Public License version 2, as
ab@2056: * published by the Free Software Foundation.
ab@2056: *
ab@2056: * The IgH EtherCAT master userspace library is distributed in the hope that
ab@2056: * it will be useful, but WITHOUT ANY WARRANTY; without even the implied
ab@2056: * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
ab@2056: * GNU Lesser General Public License for more details.
ab@2056: *
ab@2056: * You should have received a copy of the GNU Lesser General Public License
ab@2056: * along with the IgH EtherCAT master userspace library. If not, see
ab@2056: * .
ab@2056: *
ab@2056: * The license mentioned above concerns the source code only. Using the
ab@2056: * EtherCAT technology and brand is only permitted in compliance with the
ab@2056: * industrial property and similar rights of Beckhoff Automation GmbH.
ab@2056: *
ab@2056: *****************************************************************************/
ab@2056:
ab@2056:
ab@2056: #include
ab@2056: #include
ab@2056: #include
ab@2056: #include
ab@2056: #include
ab@2056: #include
ab@2056: #include
ab@2056: #include
ab@2056: #include
ab@2056: #include
ab@2056: #include
ab@2056: #include
ab@2056: #include
ab@2056: #include
ab@2056: #include
ab@2056:
ab@2056: #include
ab@2056: #include
ab@2056:
ab@2056: #include "../../include/ecrt.h"
ab@2056: #include "../../include/ec_rtdm.h"
ab@2056:
ab@2056: #define NSEC_PER_SEC 1000000000
ab@2056:
ab@2056: static unsigned int cycle = 1000; /* 1 ms */
ab@2056:
ab@2056: static pthread_t cyclicthread;
ab@2056:
ab@2056: int rt_fd = -1;
ab@2056: int run=0;
ab@2056:
ab@2056: unsigned int sync_ref_counter = 0;
ab@2056:
ab@2056: CstructMstrAttach MstrAttach;
ab@2056:
ab@2056: /****************************************************************************/
ab@2056:
ab@2056:
ab@2056:
ab@2056:
ab@2056: // Optional features
ab@2056: #define CONFIGURE_PDOS 1
ab@2056:
ab@2056:
ab@2056: /****************************************************************************/
ab@2056:
ab@2056: // EtherCAT
ab@2056: static ec_master_t *master = NULL;
ab@2056: static ec_master_state_t master_state = {};
ab@2056:
ab@2056: static ec_domain_t *domain1 = NULL;
ab@2056: static ec_domain_state_t domain1_state = {};
ab@2056:
ab@2056:
ab@2056: /****************************************************************************/
ab@2056: static uint8_t *domain1_pd = NULL;
ab@2056:
ab@2056: // process data
ab@2056:
ab@2056: #define BusCoupler01_Pos 0, 0
ab@2056: #define DigOutSlave01_Pos 0, 1
ab@2056: #define DigOutSlave02_Pos 0, 2
ab@2056: #define DigInSlave01_Pos 0, 3
ab@2056: #define AnaOutSlave01_Pos 0, 4
ab@2056: #define AnaInSlave01_Pos 0, 5
ab@2056: #define BusCoupler02_Pos 0, 6
ab@2056: #define AnaInSlave02_Pos 0, 7
ab@2056:
ab@2056:
ab@2056: #define Beckhoff_EK1100 0x00000002, 0x044c2c52
ab@2056: #define Beckhoff_EL1014 0x00000002, 0x03f63052
ab@2056: #define Beckhoff_EL2004 0x00000002, 0x07d43052
ab@2056: #define Beckhoff_EL4132 0x00000002, 0x10243052
ab@2056: #define Beckhoff_EL3102 0x00000002, 0x0c1e3052
ab@2056: #define Beckhoff_EL4102 0x00000002, 0x10063052
ab@2056: #define Beckhoff_EL6731 0x00000002, 0x1a4b3052
ab@2056: #define Beckhoff_EL6600 0x00000002, 0x19c93052
ab@2056: #define Beckhoff_EL3602 0x00000002, 0x0e123052
ab@2056: #define Beckhoff_EL5151 0x00000002, 0x141f3052
ab@2056:
ab@2056:
ab@2056: // offsets for PDO entries
ab@2056: static unsigned int off_dig_out0 = 0;
ab@2056: static unsigned int off_dig_out1 = 0;
ab@2056: static unsigned int off_dig_out2 = 0;
ab@2056: static unsigned int off_dig_out3 = 0;
ab@2056: static unsigned int off_dig_in0 = 0;
ab@2056: static unsigned int off_ana_out0 = 0;
ab@2056: static unsigned int off_ana_out1 = 0;
ab@2056: static unsigned int off_ana_in0_status = 0;
ab@2056: static unsigned int off_ana_in0_value = 0;
ab@2056: static unsigned int off_ana_in1_status = 0;
ab@2056: static unsigned int off_ana_in1_value = 0;
ab@2056:
ab@2056:
ab@2056: // process data
ab@2056: unsigned int bit_position0=0; /* Pointer to a variable to store a bit */
ab@2056: unsigned int bit_position1=0; /* Pointer to a variable to store a bit */
ab@2056: unsigned int bit_position2=0; /* Pointer to a variable to store a bit */
ab@2056: unsigned int bit_position3=0; /* Pointer to a variable to store a bit */
ab@2056:
ab@2056: const static ec_pdo_entry_reg_t domain1_regs[] = {
ab@2056: {DigOutSlave01_Pos, Beckhoff_EL2004, 0x7000, 0x01, &off_dig_out0, &bit_position0},
ab@2056: {DigOutSlave01_Pos, Beckhoff_EL2004, 0x7010, 0x01, &off_dig_out1, &bit_position1},
ab@2056: {DigOutSlave01_Pos, Beckhoff_EL2004, 0x7020, 0x01, &off_dig_out2, &bit_position2},
ab@2056: {DigOutSlave01_Pos, Beckhoff_EL2004, 0x7030, 0x01, &off_dig_out3, &bit_position3},
ab@2056: {DigInSlave01_Pos, Beckhoff_EL1014, 0x6000, 0x01, &off_dig_in0},
ab@2056: {AnaOutSlave01_Pos, Beckhoff_EL4132, 0x3001, 0x01, &off_ana_out0},
ab@2056: {AnaOutSlave01_Pos, Beckhoff_EL4132, 0x3002, 0x01, &off_ana_out1},
ab@2056: {AnaInSlave01_Pos, Beckhoff_EL3102, 0x3101, 0x01, &off_ana_in0_status},
ab@2056: {AnaInSlave01_Pos, Beckhoff_EL3102, 0x3101, 0x02, &off_ana_in0_value},
ab@2056: {AnaInSlave01_Pos, Beckhoff_EL3102, 0x3102, 0x01, &off_ana_in1_status},
ab@2056: {AnaInSlave01_Pos, Beckhoff_EL3102, 0x3102, 0x02, &off_ana_in1_value},
ab@2056: {}
ab@2056: };
ab@2056:
ab@2056: char rt_dev_file[64];
ab@2056: static unsigned int blink = 0;
ab@2056:
ab@2056: static ec_slave_config_t *sc_dig_out_01 = NULL;
ab@2056:
ab@2056: static ec_slave_config_t *sc_dig_out_02 = NULL;
ab@2056:
ab@2056: static ec_slave_config_t *sc_dig_in_01 = NULL;
ab@2056:
ab@2056: static ec_slave_config_t *sc_ana_out_01 = NULL;
ab@2056:
ab@2056: static ec_slave_config_t *sc_ana_in_01 = NULL;
ab@2056:
ab@2056: static ec_slave_config_t *sc_ana_in_02 = NULL;
ab@2056:
ab@2056: /*****************************************************************************/
ab@2056:
ab@2056: /* Slave 1, "EL2004"
ab@2056: * Vendor ID: 0x00000002
ab@2056: * Product code: 0x07d43052
ab@2056: * Revision number: 0x00100000
ab@2056: */
ab@2056:
ab@2056: ec_pdo_entry_info_t slave_1_pdo_entries[] = {
ab@2056: {0x7000, 0x01, 1}, /* Output */
ab@2056: {0x7010, 0x01, 1}, /* Output */
ab@2056: {0x7020, 0x01, 1}, /* Output */
ab@2056: {0x7030, 0x01, 1}, /* Output */
ab@2056: };
ab@2056:
ab@2056: ec_pdo_info_t slave_1_pdos[] = {
ab@2056: {0x1600, 1, slave_1_pdo_entries + 0}, /* Channel 1 */
ab@2056: {0x1601, 1, slave_1_pdo_entries + 1}, /* Channel 2 */
ab@2056: {0x1602, 1, slave_1_pdo_entries + 2}, /* Channel 3 */
ab@2056: {0x1603, 1, slave_1_pdo_entries + 3}, /* Channel 4 */
ab@2056: };
ab@2056:
ab@2056: ec_sync_info_t slave_1_syncs[] = {
ab@2056: {0, EC_DIR_OUTPUT, 4, slave_1_pdos + 0, EC_WD_ENABLE},
ab@2056: {0xff}
ab@2056: };
ab@2056:
ab@2056: /* Slave 2, "EL2004"
ab@2056: * Vendor ID: 0x00000002
ab@2056: * Product code: 0x07d43052
ab@2056: * Revision number: 0x00100000
ab@2056: */
ab@2056:
ab@2056: ec_pdo_entry_info_t slave_2_pdo_entries[] = {
ab@2056: {0x7000, 0x01, 1}, /* Output */
ab@2056: {0x7010, 0x01, 1}, /* Output */
ab@2056: {0x7020, 0x01, 1}, /* Output */
ab@2056: {0x7030, 0x01, 1}, /* Output */
ab@2056: };
ab@2056:
ab@2056: ec_pdo_info_t slave_2_pdos[] = {
ab@2056: {0x1600, 1, slave_2_pdo_entries + 0}, /* Channel 1 */
ab@2056: {0x1601, 1, slave_2_pdo_entries + 1}, /* Channel 2 */
ab@2056: {0x1602, 1, slave_2_pdo_entries + 2}, /* Channel 3 */
ab@2056: {0x1603, 1, slave_2_pdo_entries + 3}, /* Channel 4 */
ab@2056: };
ab@2056:
ab@2056: ec_sync_info_t slave_2_syncs[] = {
ab@2056: {0, EC_DIR_OUTPUT, 4, slave_2_pdos + 0, EC_WD_ENABLE},
ab@2056: {0xff}
ab@2056: };
ab@2056:
ab@2056: /* Slave 3, "EL1014"
ab@2056: * Vendor ID: 0x00000002
ab@2056: * Product code: 0x03f63052
ab@2056: * Revision number: 0x00100000
ab@2056: */
ab@2056:
ab@2056: ec_pdo_entry_info_t slave_3_pdo_entries[] = {
ab@2056: {0x6000, 0x01, 1}, /* Input */
ab@2056: {0x6010, 0x01, 1}, /* Input */
ab@2056: {0x6020, 0x01, 1}, /* Input */
ab@2056: {0x6030, 0x01, 1}, /* Input */
ab@2056: };
ab@2056:
ab@2056: ec_pdo_info_t slave_3_pdos[] = {
ab@2056: {0x1a00, 1, slave_3_pdo_entries + 0}, /* Channel 1 */
ab@2056: {0x1a01, 1, slave_3_pdo_entries + 1}, /* Channel 2 */
ab@2056: {0x1a02, 1, slave_3_pdo_entries + 2}, /* Channel 3 */
ab@2056: {0x1a03, 1, slave_3_pdo_entries + 3}, /* Channel 4 */
ab@2056: };
ab@2056:
ab@2056: ec_sync_info_t slave_3_syncs[] = {
ab@2056: {0, EC_DIR_INPUT, 4, slave_3_pdos + 0, EC_WD_DISABLE},
ab@2056: {0xff}
ab@2056: };
ab@2056:
ab@2056: /* Slave 4, "EL4132"
ab@2056: * Vendor ID: 0x00000002
ab@2056: * Product code: 0x10243052
ab@2056: * Revision number: 0x03f90000
ab@2056: */
ab@2056:
ab@2056: ec_pdo_entry_info_t slave_4_pdo_entries[] = {
ab@2056: {0x3001, 0x01, 16}, /* Output */
ab@2056: {0x3002, 0x01, 16}, /* Output */
ab@2056: };
ab@2056:
ab@2056: ec_pdo_info_t slave_4_pdos[] = {
ab@2056: {0x1600, 1, slave_4_pdo_entries + 0}, /* RxPDO 01 mapping */
ab@2056: {0x1601, 1, slave_4_pdo_entries + 1}, /* RxPDO 02 mapping */
ab@2056: };
ab@2056:
ab@2056: ec_sync_info_t slave_4_syncs[] = {
ab@2056: {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
ab@2056: {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
ab@2056: {2, EC_DIR_OUTPUT, 2, slave_4_pdos + 0, EC_WD_DISABLE},
ab@2056: {3, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
ab@2056: {0xff}
ab@2056: };
ab@2056:
ab@2056: /* Slave 5, "EL3102"
ab@2056: * Vendor ID: 0x00000002
ab@2056: * Product code: 0x0c1e3052
ab@2056: * Revision number: 0x00000000
ab@2056: */
ab@2056:
ab@2056: ec_pdo_entry_info_t slave_5_pdo_entries[] = {
ab@2056: {0x3101, 0x01, 8}, /* Status */
ab@2056: {0x3101, 0x02, 16}, /* Value */
ab@2056: {0x3102, 0x01, 8}, /* Status */
ab@2056: {0x3102, 0x02, 16}, /* Value */
ab@2056: };
ab@2056:
ab@2056: ec_pdo_info_t slave_5_pdos[] = {
ab@2056: {0x1a00, 2, slave_5_pdo_entries + 0}, /* TxPDO 001 mapping */
ab@2056: {0x1a01, 2, slave_5_pdo_entries + 2}, /* TxPDO 002 mapping */
ab@2056: };
ab@2056:
ab@2056: ec_sync_info_t slave_5_syncs[] = {
ab@2056: {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
ab@2056: {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
ab@2056: {2, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
ab@2056: {3, EC_DIR_INPUT, 2, slave_5_pdos + 0, EC_WD_DISABLE},
ab@2056: {0xff}
ab@2056: };
ab@2056:
ab@2056: /* Slave 6, "EL6731-0010"
ab@2056: * Vendor ID: 0x00000002
ab@2056: * Product code: 0x1a4b3052
ab@2056: * Revision number: 0x0011000a
ab@2056: */
ab@2056:
ab@2056: ec_sync_info_t slave_6_syncs[] = {
ab@2056: {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
ab@2056: {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
ab@2056: {2, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
ab@2056: {3, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
ab@2056: };
ab@2056:
ab@2056:
ab@2056: /* Slave 7, "EL6601"
ab@2056: * Vendor ID: 0x00000002
ab@2056: * Product code: 0x19c93052
ab@2056: * Revision number: 0x00110000
ab@2056: */
ab@2056: /*
ab@2056: ec_sync_info_t slave_7_syncs[] = {
ab@2056: {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
ab@2056: {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
ab@2056: {2, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
ab@2056: {3, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
ab@2056: {0xff}
ab@2056: };
ab@2056: */
ab@2056:
ab@2056: /* Master 0, Slave 7, "EL3602"
ab@2056: * Vendor ID: 0x00000002
ab@2056: * Product code: 0x0e123052
ab@2056: * Revision number: 0x00100000
ab@2056: */
ab@2056: ec_pdo_entry_info_t slave_7_pdo_entries[] = {
ab@2056: {0x6000, 0x01, 1}, /* Underrange */
ab@2056: {0x6000, 0x02, 1}, /* Overrange */
ab@2056: {0x6000, 0x03, 2}, /* Limit 1 */
ab@2056: {0x6000, 0x05, 2}, /* Limit 2 */
ab@2056: {0x6000, 0x07, 1}, /* Error */
ab@2056: {0x0000, 0x00, 7}, /* Gap */
ab@2056: {0x1800, 0x07, 1},
ab@2056: {0x1800, 0x09, 1},
ab@2056: {0x6000, 0x11, 32}, /* Value */
ab@2056: {0x6010, 0x01, 1}, /* Underrange */
ab@2056: {0x6010, 0x02, 1}, /* Overrange */
ab@2056: {0x6010, 0x03, 2}, /* Limit 1 */
ab@2056: {0x6010, 0x05, 2}, /* Limit 2 */
ab@2056: {0x6010, 0x07, 1}, /* Error */
ab@2056: {0x0000, 0x00, 7}, /* Gap */
ab@2056: {0x1801, 0x07, 1},
ab@2056: {0x1801, 0x09, 1},
ab@2056: {0x6010, 0x11, 32}, /* Value */
ab@2056: };
ab@2056:
ab@2056: ec_pdo_info_t slave_7_pdos[] = {
ab@2056: {0x1a00, 9, slave_7_pdo_entries + 0}, /* AI TxPDO-Map Inputs Ch.1 */
ab@2056: {0x1a01, 9, slave_7_pdo_entries + 9}, /* AI TxPDO-Map Inputs Ch.2 */
ab@2056: };
ab@2056:
ab@2056: ec_sync_info_t slave_7_syncs[] = {
ab@2056: {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
ab@2056: {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
ab@2056: {2, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
ab@2056: {3, EC_DIR_INPUT, 2, slave_7_pdos + 0, EC_WD_DISABLE},
ab@2056: {0xff}
ab@2056: };
ab@2056:
ab@2056: /* Master 0, Slave 8, "EL5151"
ab@2056: * Vendor ID: 0x00000002
ab@2056: * Product code: 0x141f3052
ab@2056: * Revision number: 0x00130000
ab@2056: */
ab@2056:
ab@2056: ec_pdo_entry_info_t slave_8_pdo_entries[] = {
ab@2056: {0x6000, 0x01, 1},
ab@2056: {0x6000, 0x02, 1},
ab@2056: {0x6000, 0x03, 1},
ab@2056: {0x0000, 0x00, 4}, /* Gap */
ab@2056: {0x6000, 0x08, 1},
ab@2056: {0x6000, 0x09, 1},
ab@2056: {0x6000, 0x0a, 1},
ab@2056: {0x6000, 0x0b, 1},
ab@2056: {0x0000, 0x00, 1}, /* Gap */
ab@2056: {0x6000, 0x0d, 1},
ab@2056: {0x1c32, 0x20, 1},
ab@2056: {0x0000, 0x00, 1}, /* Gap */
ab@2056: {0x1800, 0x09, 1},
ab@2056: {0x6000, 0x11, 32},
ab@2056: {0x6000, 0x12, 32},
ab@2056: {0x6000, 0x14, 32},
ab@2056: };
ab@2056:
ab@2056: ec_pdo_info_t slave_8_pdos[] = {
ab@2056: {0x0000, 0, NULL},
ab@2056: {0x1a00, 15, slave_8_pdo_entries + 0},
ab@2056: {0x1a02, 1, slave_8_pdo_entries + 15},
ab@2056: };
ab@2056:
ab@2056: ec_sync_info_t slave_8_syncs[] = {
ab@2056: {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
ab@2056: {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
ab@2056: {2, EC_DIR_OUTPUT, 1, slave_8_pdos + 0, EC_WD_DISABLE},
ab@2056: {3, EC_DIR_INPUT, 2, slave_8_pdos + 1, EC_WD_DISABLE},
ab@2056: {0xff}
ab@2056: };
ab@2056:
ab@2056:
ab@2056: /*****************************************************************************/
ab@2056:
ab@2056:
ab@2056: void rt_check_domain_state(void)
ab@2056: {
ab@2056: ec_domain_state_t ds;
ab@2056:
ab@2056: if (rt_fd>=0)
ab@2056: {
ab@2056: ecrt_rtdm_domain_state(rt_fd,&ds);
ab@2056: }
ab@2056:
ab@2056: if (ds.working_counter != domain1_state.working_counter)
ab@2056: {
ab@2056: rt_printf("Domain1: WC %u.\n", ds.working_counter);
ab@2056: }
ab@2056: if (ds.wc_state != domain1_state.wc_state)
ab@2056: {
ab@2056: rt_printf("Domain1: State %u.\n", ds.wc_state);
ab@2056: }
ab@2056:
ab@2056: domain1_state = ds;
ab@2056: }
ab@2056:
ab@2056: void rt_check_master_state(void)
ab@2056: {
ab@2056: ec_master_state_t ms;
ab@2056:
ab@2056: if (rt_fd>=0)
ab@2056: {
ab@2056: ecrt_rtdm_master_state(rt_fd,&ms);
ab@2056: }
ab@2056:
ab@2056: if (ms.slaves_responding != master_state.slaves_responding)
ab@2056: {
ab@2056: rt_printf("%u slave(s).\n", ms.slaves_responding);
ab@2056: }
ab@2056: if (ms.al_states != master_state.al_states)
ab@2056: {
ab@2056: rt_printf("AL states: 0x%02X.\n", ms.al_states);
ab@2056: }
ab@2056: if (ms.link_up != master_state.link_up)
ab@2056: {
ab@2056: rt_printf("Link is %s.\n", ms.link_up ? "up" : "down");
ab@2056: }
ab@2056: master_state = ms;
ab@2056: }
ab@2056:
ab@2056:
ab@2056:
ab@2056:
ab@2056: void rt_sync()
ab@2056: {
ab@2056: struct timespec now;
ab@2056: uint64_t now_ns;
ab@2056: clock_gettime(CLOCK_REALTIME,&now);
ab@2056:
ab@2056: now_ns = 1000000000LL*now.tv_sec + now.tv_nsec;
ab@2056:
ab@2056: if (rt_fd>=0)
ab@2056: {
ab@2056: ecrt_rtdm_master_application_time(rt_fd, &now_ns);
ab@2056: }
ab@2056:
ab@2056: if (sync_ref_counter) {
ab@2056: sync_ref_counter--;
ab@2056: } else {
ab@2056: sync_ref_counter = 9;
ab@2056: if (rt_fd>=0)
ab@2056: {
ab@2056: ecrt_rtdm_master_sync_reference_clock(rt_fd);
ab@2056: }
ab@2056: }
ab@2056: if (rt_fd>=0)
ab@2056: {
ab@2056: ecrt_rtdm_master_sync_slave_clocks(rt_fd) ;
ab@2056: }
ab@2056: }
ab@2056:
ab@2056: /*****************************************************************************/
ab@2056:
ab@2056: /**********************************************************/
ab@2056: void cleanup_all(void)
ab@2056: {
ab@2056: printf("delete my_task\n");
ab@2056:
ab@2056: pthread_kill(cyclicthread, SIGHUP);
ab@2056: pthread_join(cyclicthread, NULL);
ab@2056:
ab@2056: if (rt_fd >= 0) {
ab@2056: printf("closing rt device %s\n", &rt_dev_file[0]);
ab@2056: rt_dev_close(rt_fd);
ab@2056:
ab@2056: }
ab@2056: }
ab@2056:
ab@2056: void catch_signal(int sig)
ab@2056: {
ab@2056: cleanup_all();
ab@2056: }
ab@2056:
ab@2056:
ab@2056:
ab@2056:
ab@2056:
ab@2056: void *my_thread(void *arg)
ab@2056: {
ab@2056: struct sched_param param = { .sched_priority = 1 };
ab@2056: struct timespec next_period;
ab@2056: int counter = 0;
ab@2056: int divcounter = 0;
ab@2056: int divider = 10;
ab@2056: pthread_set_name_np(pthread_self(), "ec_xenomai_posix_test");
ab@2056: pthread_setschedparam(pthread_self(), SCHED_FIFO, ¶m);
ab@2056:
ab@2056: clock_gettime(CLOCK_MONOTONIC, &next_period);
ab@2056:
ab@2056: while(1) {
ab@2056: next_period.tv_nsec += cycle * 1000;
ab@2056: while (next_period.tv_nsec >= NSEC_PER_SEC) {
ab@2056: next_period.tv_nsec -= NSEC_PER_SEC;
ab@2056: next_period.tv_sec++;
ab@2056: }
ab@2056:
ab@2056: clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &next_period, NULL);
ab@2056:
ab@2056: counter++;
ab@2056: if (counter>600000) {
ab@2056: run=0;
ab@2056: return NULL;
ab@2056: }
ab@2056:
ab@2056: // receive ethercat
ab@2056: ecrt_rtdm_master_recieve(rt_fd);
ab@2056: ecrt_rtdm_domain_process(rt_fd);
ab@2056:
ab@2056: rt_check_domain_state();
ab@2056:
ab@2056: if (divcounter ==0)
ab@2056: {
ab@2056: divcounter=divider;
ab@2056: rt_check_master_state();
ab@2056: }
ab@2056: divcounter--;
ab@2056: if ((counter % 200)==0)
ab@2056: {
ab@2056: blink = !blink;
ab@2056:
ab@2056: }
ab@2056:
ab@2056:
ab@2056: EC_WRITE_U8(domain1_pd + off_dig_out0, blink ? 0x0 : 0x0F);
ab@2056: EC_WRITE_U16(domain1_pd + off_ana_out0, blink ? 0x0: 0xfff);
ab@2056:
ab@2056: //sync DC
ab@2056: rt_sync();
ab@2056:
ab@2056: // send process data
ab@2056: ecrt_rtdm_domain_queque(rt_fd);
ab@2056: ecrt_rtdm_master_send(rt_fd);
ab@2056: }
ab@2056: return NULL;
ab@2056: }
ab@2056:
ab@2056:
ab@2056:
ab@2056: int main(int argc, char *argv[])
ab@2056: {
ab@2056: struct sched_param param = { .sched_priority = 1 };
ab@2056: pthread_attr_t thattr;
ab@2056: ec_slave_config_t *sc;
ab@2056: int rtstatus;
ab@2056:
ab@2056:
ab@2056:
ab@2056: signal(SIGTERM, catch_signal);
ab@2056: signal(SIGINT, catch_signal);
ab@2056: signal(SIGHUP, catch_signal);
ab@2056:
ab@2056: mlockall(MCL_CURRENT|MCL_FUTURE);
ab@2056:
ab@2056:
ab@2056:
ab@2056: MstrAttach.masterindex = 0;
ab@2056:
ab@2056: printf("request master\n");
ab@2056: master = ecrt_request_master(MstrAttach.masterindex);
ab@2056: if (!master)
ab@2056: return -1;
ab@2056:
ab@2056:
ab@2056: domain1 = ecrt_master_create_domain(master);
ab@2056: if (!domain1)
ab@2056: return -1;
ab@2056:
ab@2056:
ab@2056: #ifdef CONFIGURE_PDOS
ab@2056:
ab@2056: printf("Configuring PDOs...\n");
ab@2056:
ab@2056: printf("Get Configuring el2004...\n");
ab@2056: sc_dig_out_01 = ecrt_master_slave_config(master, DigOutSlave01_Pos, Beckhoff_EL2004);
ab@2056: if (!sc_dig_out_01) {
ab@2056: fprintf(stderr, "Failed to get slave configuration.\n");
ab@2056: return -1;
ab@2056: }
ab@2056:
ab@2056: printf("Configuring EL2004...\n");
ab@2056: if (ecrt_slave_config_pdos(sc_dig_out_01, EC_END, slave_1_syncs))
ab@2056: {
ab@2056: fprintf(stderr, "Failed to configure PDOs.\n");
ab@2056: return -1;
ab@2056: }
ab@2056:
ab@2056: printf("Get Configuring el2004...\n");
ab@2056: sc_dig_out_02 = ecrt_master_slave_config(master, DigOutSlave02_Pos, Beckhoff_EL2004);
ab@2056: if (!sc_dig_out_02) {
ab@2056: fprintf(stderr, "Failed to get slave configuration.\n");
ab@2056: return -1;
ab@2056: }
ab@2056:
ab@2056: printf("Configuring EL2004...\n");
ab@2056: if (ecrt_slave_config_pdos(sc_dig_out_02, EC_END, slave_2_syncs)) {
ab@2056: fprintf(stderr, "Failed to configure PDOs.\n");
ab@2056: return -1;
ab@2056: }
ab@2056:
ab@2056: printf("Get Configuring el1014...\n");
ab@2056: sc_dig_in_01 = ecrt_master_slave_config(master, DigInSlave01_Pos, Beckhoff_EL1014);
ab@2056: if (!sc_dig_in_01) {
ab@2056: fprintf(stderr, "Failed to get slave configuration.\n");
ab@2056: return -1;
ab@2056: }
ab@2056:
ab@2056: printf("Configuring EL1014...\n");
ab@2056: if (ecrt_slave_config_pdos(sc_dig_in_01, EC_END, slave_3_syncs)) {
ab@2056: fprintf(stderr, "Failed to configure PDOs.\n");
ab@2056: return -1;
ab@2056: }
ab@2056:
ab@2056: printf("Get Configuring EL4132...\n");
ab@2056: sc_ana_out_01 = ecrt_master_slave_config(master, AnaOutSlave01_Pos, Beckhoff_EL4132);
ab@2056: if (!sc_ana_out_01) {
ab@2056: fprintf(stderr, "Failed to get slave configuration.\n");
ab@2056: return -1;
ab@2056: }
ab@2056:
ab@2056: printf("Configuring EL4132...\n");
ab@2056: if (ecrt_slave_config_pdos(sc_ana_out_01, EC_END, slave_4_syncs)) {
ab@2056: fprintf(stderr, "Failed to configure PDOs.\n");
ab@2056: return -1;
ab@2056: }
ab@2056:
ab@2056: printf("Get Configuring EL3102...\n");
ab@2056: sc_ana_in_01 = ecrt_master_slave_config(master, AnaInSlave01_Pos, Beckhoff_EL3102);
ab@2056: if (!sc_ana_in_01) {
ab@2056: fprintf(stderr, "Failed to get slave configuration.\n");
ab@2056: return -1;
ab@2056: }
ab@2056:
ab@2056: printf("Configuring EL3102...\n");
ab@2056: if (ecrt_slave_config_pdos(sc_ana_in_01, EC_END, slave_5_syncs)) {
ab@2056: fprintf(stderr, "Failed to configure PDOs.\n");
ab@2056: return -1;
ab@2056: }
ab@2056:
ab@2056: printf("Get Configuring EL3602...\n");
ab@2056: sc_ana_in_02 = ecrt_master_slave_config(master, AnaInSlave02_Pos, Beckhoff_EL3602);
ab@2056: if (!sc_ana_in_02) {
ab@2056: fprintf(stderr, "Failed to get slave configuration.\n");
ab@2056: return -1;
ab@2056: }
ab@2056:
ab@2056:
ab@2056: printf("Configuring EL3602...\n");
ab@2056: if (ecrt_slave_config_pdos(sc_ana_in_02, EC_END, slave_7_syncs)) {
ab@2056: fprintf(stderr, "Failed to configure PDOs.\n");
ab@2056: return -1;
ab@2056: }
ab@2056:
ab@2056: #endif
ab@2056:
ab@2056: // Create configuration for bus coupler
ab@2056: sc = ecrt_master_slave_config(master, BusCoupler01_Pos, Beckhoff_EK1100);
ab@2056: if (!sc)
ab@2056: return -1;
ab@2056:
ab@2056: #ifdef CONFIGURE_PDOS
ab@2056: if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
ab@2056: fprintf(stderr, "PDO entry registration failed!\n");
ab@2056: return -1;
ab@2056: }
ab@2056: #endif
ab@2056:
ab@2056:
ab@2056:
ab@2056: sprintf(&rt_dev_file[0],"%s%u",EC_RTDM_DEV_FILE_NAME,0);
ab@2056:
ab@2056:
ab@2056: rt_fd = rt_dev_open( &rt_dev_file[0], 0);
ab@2056: if (rt_fd < 0) {
ab@2056: printf("can't open %s\n", &rt_dev_file[0]);
ab@2056: return -1;
ab@2056: }
ab@2056:
ab@2056: MstrAttach.domainindex = ecrt_domain_index(domain1);
ab@2056:
ab@2056: // attach the master over rtdm driver
ab@2056: rtstatus=ecrt_rtdm_master_attach(rt_fd, &MstrAttach);
ab@2056: if (rtstatus < 0)
ab@2056: {
ab@2056: printf("cannot attach to master over rtdm\n");
ab@2056: return -1;
ab@2056: }
ab@2056:
ab@2056: printf("Activating master...\n");
ab@2056: if (ecrt_master_activate(master))
ab@2056: return -1;
ab@2056:
ab@2056: if (!(domain1_pd = ecrt_domain_data(domain1))) {
ab@2056: return -1;
ab@2056: }
ab@2056: fprintf(stderr, "domain1_pd: 0x%.6x\n", (unsigned int)domain1_pd);
ab@2056:
ab@2056:
ab@2056:
ab@2056: int ret;
ab@2056: run=1;
ab@2056:
ab@2056: /* Create cyclic RT-thread */
ab@2056: pthread_attr_init(&thattr);
ab@2056: pthread_attr_setdetachstate(&thattr, PTHREAD_CREATE_JOINABLE);
ab@2056: pthread_attr_setstacksize(&thattr, PTHREAD_STACK_MIN);
ab@2056: ret = pthread_create(&cyclicthread, &thattr, &my_thread, NULL);
ab@2056: if (ret) {
ab@2056: fprintf(stderr, "%s: pthread_create cyclic task failed\n",
ab@2056: strerror(-ret));
ab@2056: goto failure;
ab@2056: }
ab@2056: pthread_setschedparam(pthread_self(), SCHED_FIFO, ¶m);
ab@2056:
ab@2056:
ab@2056:
ab@2056: while (run)
ab@2056: {
ab@2056: sched_yield();
ab@2056: }
ab@2056:
ab@2056: //rt_task_delete(&my_task);
ab@2056:
ab@2056:
ab@2056:
ab@2056: pthread_kill(cyclicthread, SIGHUP);
ab@2056: pthread_join(cyclicthread, NULL);
ab@2056:
ab@2056:
ab@2056: if (rt_fd >= 0)
ab@2056: {
ab@2056: printf("closing rt device %s\n", &rt_dev_file[0]);
ab@2056:
ab@2056: rt_dev_close(rt_fd);
ab@2056:
ab@2056: }
ab@2056:
ab@2056: printf("End of Program\n");
ab@2056: ecrt_release_master(master);
ab@2056:
ab@2056: return 0;
ab@2056:
ab@2056: failure:
ab@2056: pthread_kill(cyclicthread, SIGHUP);
ab@2056: pthread_join(cyclicthread, NULL);
ab@2056:
ab@2056:
ab@2056: return 1;
ab@2056: }
ab@2056: