diff -r 44c2b7c0ae1a -r 0037a63d3cc5 examples/dc_user/main.c --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/examples/dc_user/main.c Thu Apr 23 14:50:23 2009 +0000 @@ -0,0 +1,300 @@ +/***************************************************************************** + * + * $Id$ + * + * 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 +#include +#include +#include +#include +#include +#include +#include + +/****************************************************************************/ + +#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++; + } + + if (sync_ref_counter) { + sync_ref_counter--; + } else { + sync_ref_counter = 9; + ecrt_master_sync_reference_clock(master, &app_time); + } + 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; + +#if 1 + // configure SYNC signals for this slave + ecrt_slave_config_dc_assign_activate(sc, 0x0700); + ecrt_slave_config_dc_sync_cycle_times(sc, 10000000, 0); + ecrt_slave_config_dc_sync_shift_times(sc, 4400000, 0); +#endif + + 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; +} + +/****************************************************************************/