ab@2058: /******************************************************************************
ab@2058:  *
ab@2058:  *  $Id$
ab@2058:  *
fp@2589:  *  Copyright (C)      2011  IgH Andreas Stewering-Bone
fp@2589:  *                     2012  Florian Pose <fp@igh-essen.com>
fp@2589:  *
fp@2589:  *  This file is part of the IgH EtherCAT master
ab@2058:  *
ab@2058:  *  The IgH EtherCAT Master is free software; you can redistribute it and/or
ab@2058:  *  modify it under the terms of the GNU General Public License version 2, as
ab@2058:  *  published by the Free Software Foundation.
ab@2058:  *
fp@2589:  *  The IgH EtherCAT master is distributed in the hope that it will be useful,
fp@2589:  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@2589:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
fp@2589:  *  Public License for more details.
fp@2589:  *
fp@2589:  *  You should have received a copy of the GNU General Public License along
fp@2589:  *  with the IgH EtherCAT master. If not, see <http://www.gnu.org/licenses/>.
fp@2589:  *
fp@2589:  *  ---
fp@2589:  *
ab@2058:  *  The license mentioned above concerns the source code only. Using the
ab@2058:  *  EtherCAT technology and brand is only permitted in compliance with the
ab@2058:  *  industrial property and similar rights of Beckhoff Automation GmbH.
ab@2058:  *
ab@2058:  *****************************************************************************/
ab@2058: 
ab@2058: #include <sched.h>
ab@2058: #include <stdio.h>
ab@2058: #include <stdlib.h>
ab@2058: #include <fcntl.h>
ab@2058: #include <signal.h>
ab@2058: 
ab@2058: #include <rtai_lxrt.h>
ab@2058: #include <rtdm/rtdm.h>
ab@2058: 
fp@2589: #include "ecrt.h"
fp@2589: 
fp@2589: #define rt_printf(X, Y)
ab@2058: 
ab@2058: #define NSEC_PER_SEC 1000000000
ab@2058: 
fp@2589: RT_TASK *task;
fp@2589: 
fp@2589: const static unsigned int cycle_us = 1000; /* 1 ms */
fp@2589: 
fp@2589: static int run = 1;
ab@2058: 
ab@2058: /****************************************************************************/
ab@2058: 
ab@2058: // EtherCAT
ab@2058: static ec_master_t *master = NULL;
ab@2058: static ec_master_state_t master_state = {};
ab@2058: 
ab@2058: static ec_domain_t *domain1 = NULL;
ab@2058: static ec_domain_state_t domain1_state = {};
ab@2058: 
ab@2058: static uint8_t *domain1_pd = NULL;
ab@2058: 
fp@2589: static ec_slave_config_t *sc_dig_out_01 = NULL;
fp@2589: 
fp@2589: /****************************************************************************/
fp@2589: 
ab@2058: // process data
ab@2058: 
fp@2589: #define BusCoupler01_Pos  0, 0
fp@2589: #define DigOutSlave01_Pos 0, 1
ab@2058: 
ab@2058: #define Beckhoff_EK1100 0x00000002, 0x044c2c52
ab@2058: #define Beckhoff_EL2004 0x00000002, 0x07d43052
ab@2058: 
ab@2058: // offsets for PDO entries
fp@2589: static unsigned int off_dig_out0 = 0;
ab@2058: 
ab@2058: // process data
ab@2058: 
ab@2058: const static ec_pdo_entry_reg_t domain1_regs[] = {
fp@2589:    {DigOutSlave01_Pos, Beckhoff_EL2004, 0x7000, 0x01, &off_dig_out0, NULL},
ab@2058:    {}
ab@2058: };
ab@2058: 
fp@2589: /****************************************************************************/
ab@2058: 
ab@2058: /* Slave 1, "EL2004"
ab@2058:  * Vendor ID:       0x00000002
ab@2058:  * Product code:    0x07d43052
ab@2058:  * Revision number: 0x00100000
ab@2058:  */
ab@2058: 
ab@2058: ec_pdo_entry_info_t slave_1_pdo_entries[] = {
ab@2058:    {0x7000, 0x01, 1}, /* Output */
ab@2058:    {0x7010, 0x01, 1}, /* Output */
ab@2058:    {0x7020, 0x01, 1}, /* Output */
ab@2058:    {0x7030, 0x01, 1}, /* Output */
ab@2058: };
ab@2058: 
ab@2058: ec_pdo_info_t slave_1_pdos[] = {
ab@2058:    {0x1600, 1, slave_1_pdo_entries + 0}, /* Channel 1 */
ab@2058:    {0x1601, 1, slave_1_pdo_entries + 1}, /* Channel 2 */
ab@2058:    {0x1602, 1, slave_1_pdo_entries + 2}, /* Channel 3 */
ab@2058:    {0x1603, 1, slave_1_pdo_entries + 3}, /* Channel 4 */
ab@2058: };
ab@2058: 
ab@2058: ec_sync_info_t slave_1_syncs[] = {
ab@2058:    {0, EC_DIR_OUTPUT, 4, slave_1_pdos + 0, EC_WD_ENABLE},
ab@2058:    {0xff}
ab@2058: };
ab@2058: 
fp@2589: /*****************************************************************************
fp@2589:  * Realtime task
fp@2589:  ****************************************************************************/
ab@2058: 
ab@2058: void rt_check_domain_state(void)
ab@2058: {
fp@2589:     ec_domain_state_t ds = {};
fp@2589: 
fp@2589:     ecrt_domain_state(domain1, &ds);
fp@2589: 
fp@2589:     if (ds.working_counter != domain1_state.working_counter) {
ab@2058:         rt_printf("Domain1: WC %u.\n", ds.working_counter);
fp@2589:     }
fp@2589: 
fp@2589:     if (ds.wc_state != domain1_state.wc_state) {
fp@2589:         rt_printf("Domain1: State %u.\n", ds.wc_state);
fp@2589:     }
ab@2058: 
ab@2058:     domain1_state = ds;
ab@2058: }
ab@2058: 
fp@2589: /****************************************************************************/
fp@2589: 
ab@2058: void rt_check_master_state(void)
ab@2058: {
ab@2058:     ec_master_state_t ms;
ab@2058: 
fp@2589:     ecrt_master_state(master, &ms);
fp@2589: 
fp@2589:     if (ms.slaves_responding != master_state.slaves_responding) {
ab@2058:         rt_printf("%u slave(s).\n", ms.slaves_responding);
ab@2058:     }
fp@2589: 
fp@2589:     if (ms.al_states != master_state.al_states) {
ab@2058:         rt_printf("AL states: 0x%02X.\n", ms.al_states);
ab@2058:     }
fp@2589: 
fp@2589:     if (ms.link_up != master_state.link_up) {
ab@2058:         rt_printf("Link is %s.\n", ms.link_up ? "up" : "down");
ab@2058:     }
fp@2589: 
ab@2058:     master_state = ms;
ab@2058: }
ab@2058: 
fp@2589: /****************************************************************************/
ab@2058: 
ab@2058: void my_cyclic(void)
ab@2058: {
fp@2589:     int cycle_counter = 0;
ab@2058:     int period;
fp@2589:     unsigned int blink = 0;
ab@2058: 
ab@2058:     rt_set_periodic_mode();
fp@2589:     period = (int) nano2count((RTIME) cycle_us * 1000);
ab@2058:     start_rt_timer(period);
ab@2058:     rt_make_hard_real_time();
fp@2589:     rt_task_make_periodic(task, rt_get_time() + 10 * period, period);
fp@2589: 
fp@2589:     while (run) {
ab@2058:         rt_task_wait_period();
ab@2058: 
fp@2589:         cycle_counter++;
fp@2589: 
fp@2589:         // receive EtherCAT
fp@2589:         ecrt_master_receive(master);
fp@2589:         ecrt_domain_process(domain1);
fp@2589: 
fp@2589:         rt_check_domain_state();
fp@2589: 
fp@2589:         if (!(cycle_counter % 1000)) {
fp@2589:             rt_check_master_state();
ab@2058:         }
ab@2058: 
fp@2589:         if (!(cycle_counter % 200)) {
fp@2589:             blink = !blink;
ab@2058:         }
ab@2058: 
fp@2589:         EC_WRITE_U8(domain1_pd + off_dig_out0, blink ? 0x00 : 0x0F);
fp@2589: 
ab@2058:         // send process data
fp@2589:         ecrt_domain_queue(domain1);
fp@2589:         ecrt_master_send(master);
fp@2589:     }
fp@2589: 
fp@2589:     rt_make_soft_real_time();
fp@2589:     stop_rt_timer();
fp@2589: }
fp@2589: 
fp@2589: /****************************************************************************
fp@2589:  * Signal handler
fp@2589:  ***************************************************************************/
fp@2589: 
fp@2589: void signal_handler(int sig)
fp@2589: {
fp@2589:     run = 0;
fp@2589: }
fp@2589: 
fp@2589: /****************************************************************************
fp@2589:  * Main function
fp@2589:  ***************************************************************************/
ab@2058: 
ab@2058: int main(int argc, char *argv[])
ab@2058: {
ab@2058:     ec_slave_config_t *sc;
fp@2589: 
fp@2589:     signal(SIGTERM, signal_handler);
fp@2589:     signal(SIGINT, signal_handler);
fp@2589: 
fp@2589:     mlockall(MCL_CURRENT | MCL_FUTURE);
fp@2589: 
fp@2589:     printf("Requesting master...\n");
fp@2589:     master = ecrt_request_master(0);
fp@2589:     if (!master) {
fp@2589:         return -1;
fp@2589:     }
fp@2589: 
ab@2058:     domain1 = ecrt_master_create_domain(master);
fp@2589:     if (!domain1) {
fp@2589:         return -1;
fp@2589:     }
fp@2589: 
fp@2589:     printf("Creating slave configurations...\n");
fp@2589: 
fp@2589:     // Create configuration for bus coupler
fp@2589:     sc = ecrt_master_slave_config(master, BusCoupler01_Pos, Beckhoff_EK1100);
fp@2589:     if (!sc) {
fp@2589:         return -1;
fp@2589:     }
fp@2589: 
fp@2589:     sc_dig_out_01 =
fp@2589:         ecrt_master_slave_config(master, DigOutSlave01_Pos, Beckhoff_EL2004);
ab@2058:     if (!sc_dig_out_01) {
ab@2058:         fprintf(stderr, "Failed to get slave configuration.\n");
ab@2058:         return -1;
ab@2058:     }
fp@2589: 
fp@2589:     if (ecrt_slave_config_pdos(sc_dig_out_01, EC_END, slave_1_syncs)) {
ab@2058:         fprintf(stderr, "Failed to configure PDOs.\n");
ab@2058:         return -1;
ab@2058:     }
fp@2589: 
ab@2058:     if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
ab@2058:         fprintf(stderr, "PDO entry registration failed!\n");
ab@2058:         return -1;
ab@2058:     }
fp@2589: 
ab@2058:     printf("Activating master...\n");
fp@2589:     if (ecrt_master_activate(master)) {
fp@2589:         return -1;
fp@2589:     }
fp@2589: 
ab@2058:     if (!(domain1_pd = ecrt_domain_data(domain1))) {
fp@2589:         fprintf(stderr, "Failed to get domain data pointer.\n");
fp@2589:         return -1;
fp@2589:     }
ab@2058: 
ab@2058:     /* Create cyclic RT-thread */
ab@2058:     struct sched_param param;
ab@2058:     param.sched_priority = sched_get_priority_max(SCHED_FIFO) - 1;
fp@2589:     if (sched_setscheduler(0, SCHED_FIFO, &param) == -1) {
fp@2589:         puts("ERROR IN SETTING THE SCHEDULER");
fp@2589:         perror("errno");
fp@2589:         return -1;
fp@2589:     }
fp@2589: 
fp@2589:     task = rt_task_init(nam2num("ec_rtai_rtdm_example"),
fp@2589:             0 /* priority */, 0 /* stack size */, 0 /* msg size */);
fp@2589: 
ab@2058:     my_cyclic();
ab@2058: 
ab@2058:     rt_task_delete(task);
ab@2058: 
ab@2058:     printf("End of Program\n");
ab@2058:     ecrt_release_master(master);
ab@2058: 
ab@2058:     return 0;
fp@2589: }
fp@2589: 
fp@2589: /****************************************************************************/