diff -r af21f0bdc7c9 -r 2b9c78543663 examples/xenomai/main.c --- a/examples/xenomai/main.c Thu Sep 06 14:21:02 2012 +0200 +++ b/examples/xenomai/main.c Mon Nov 03 15:20:05 2014 +0100 @@ -2,29 +2,26 @@ * * $Id$ * - * main.c Copyright (C) 2009-2010 Moehwald GmbH B.Benner - * 2011 IgH Andreas Stewering-Bone - * - * This file is part of ethercatrtdm interface to IgH EtherCAT master - * - * The Moehwald ethercatrtdm interface is free software; you can - * redistribute it and/or modify it under the terms of the GNU Lesser General - * Public License as published by the Free Software Foundation; version 2.1 - * of the License. + * Copyright (C) 2009-2010 Moehwald GmbH B. Benner + * 2011 IgH Andreas Stewering-Bone + * 2012 Florian Pose + * + * 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 userspace library 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 Lesser General Public License for more details. - * - * You should have received a copy of the GNU Lesser General Public License - * along with the IgH EtherCAT master userspace library. If not, see - * . - * + * 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, see . + * + * --- + * * 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. @@ -48,28 +45,11 @@ #include #include -/****************************************************************************/ - -#include "../../include/ecrt.h" -#include "../../include/ec_rtdm.h" - +#include "ecrt.h" RT_TASK my_task; -int rt_fd = -1; -int run=0; - -unsigned int sync_ref_counter = 0; - -CstructMstrAttach MstrAttach; - -/****************************************************************************/ - - - -// Optional features -#define CONFIGURE_PDOS 1 -//#define SDO_ACCESS 1 +static int run = 1; /****************************************************************************/ @@ -80,107 +60,31 @@ static ec_domain_t *domain1 = NULL; static ec_domain_state_t domain1_state = {}; -//static ec_slave_config_t *sc_ana_in = NULL; -//static ec_slave_config_state_t sc_ana_in_state = {}; - -// Timer -static unsigned int sig_alarms = 0; -//static unsigned int user_alarms = 0; - -/****************************************************************************/ static uint8_t *domain1_pd = NULL; +static ec_slave_config_t *sc_dig_out_01 = NULL; + +/****************************************************************************/ + // process data -#define BusCoupler01_Pos 0, 0 -#define DigOutSlave01_Pos 0, 1 -#define DigOutSlave02_Pos 0, 2 -#define DigInSlave01_Pos 0, 3 -#define AnaOutSlave01_Pos 0, 4 -#define AnaInSlave01_Pos 0, 5 -#define BusCoupler02_Pos 0, 6 -#define AnaInSlave02_Pos 0, 7 -#define DPSlave01_Pos 0, 8 - +#define BusCoupler01_Pos 0, 0 +#define DigOutSlave01_Pos 0, 1 #define Beckhoff_EK1100 0x00000002, 0x044c2c52 -#define Beckhoff_EL1014 0x00000002, 0x03f63052 #define Beckhoff_EL2004 0x00000002, 0x07d43052 -#define Beckhoff_EL4132 0x00000002, 0x10243052 -#define Beckhoff_EL3102 0x00000002, 0x0c1e3052 -#define Beckhoff_EL4102 0x00000002, 0x10063052 -#define Beckhoff_EL6731 0x00000002, 0x1a4b3052 -#define Beckhoff_EL6600 0x00000002, 0x19c93052 -#define Beckhoff_EL3602 0x00000002, 0x0e123052 -#define Beckhoff_EL5151 0x00000002, 0x141f3052 - // offsets for PDO entries -static unsigned int off_dig_out0 = 0; -static unsigned int off_dig_out1 = 0; -static unsigned int off_dig_out2 = 0; -static unsigned int off_dig_out3 = 0; -static unsigned int off_dig_out4 = 0; -static unsigned int off_dig_out5 = 0; -static unsigned int off_dig_out6 = 0; -static unsigned int off_dig_out7 = 0; -static unsigned int off_dig_in0 = 0; -static unsigned int off_dig_in1 = 0; -static unsigned int off_dig_in2 = 0; -static unsigned int off_dig_in3 = 0; -static unsigned int off_ana_out0 = 0; -static unsigned int off_ana_out1 = 0; -static unsigned int off_ana_in0_status = 0; -static unsigned int off_ana_in0_value = 0; -static unsigned int off_ana_in1_status = 0; -static unsigned int off_ana_in1_value = 0; -static unsigned int off_ana_in2_status = 0; -static unsigned int off_ana_in2_value = 0; -static unsigned int off_ana_in3_status = 0; -static unsigned int off_ana_in3_value = 0; - -//static unsigned int off_dp_slave; +static unsigned int off_dig_out0 = 0; // process data -unsigned int bit_position0=0; /* Pointer to a variable to store a bit */ -unsigned int bit_position1=0; /* Pointer to a variable to store a bit */ -unsigned int bit_position2=0; /* Pointer to a variable to store a bit */ -unsigned int bit_position3=0; /* Pointer to a variable to store a bit */ const static ec_pdo_entry_reg_t domain1_regs[] = { - {DigOutSlave01_Pos, Beckhoff_EL2004, 0x7000, 0x01, &off_dig_out0, &bit_position0}, - {DigOutSlave01_Pos, Beckhoff_EL2004, 0x7010, 0x01, &off_dig_out1, &bit_position1}, - {DigOutSlave01_Pos, Beckhoff_EL2004, 0x7020, 0x01, &off_dig_out2, &bit_position2}, - {DigOutSlave01_Pos, Beckhoff_EL2004, 0x7030, 0x01, &off_dig_out3, &bit_position3}, - {DigInSlave01_Pos, Beckhoff_EL1014, 0x6000, 0x01, &off_dig_in0}, - {AnaOutSlave01_Pos, Beckhoff_EL4132, 0x3001, 0x01, &off_ana_out0}, - {AnaOutSlave01_Pos, Beckhoff_EL4132, 0x3002, 0x01, &off_ana_out1}, - {AnaInSlave01_Pos, Beckhoff_EL3102, 0x3101, 0x01, &off_ana_in0_status}, - {AnaInSlave01_Pos, Beckhoff_EL3102, 0x3101, 0x02, &off_ana_in0_value}, - {AnaInSlave01_Pos, Beckhoff_EL3102, 0x3102, 0x01, &off_ana_in1_status}, - {AnaInSlave01_Pos, Beckhoff_EL3102, 0x3102, 0x02, &off_ana_in1_value}, + {DigOutSlave01_Pos, Beckhoff_EL2004, 0x7000, 0x01, &off_dig_out0, NULL}, {} }; -char rt_dev_file[64]; -static unsigned int counter = 0; -static unsigned int blink = 0; - -static ec_slave_config_t *sc_dig_out_01 = NULL; - -static ec_slave_config_t *sc_dig_out_02 = NULL; - -static ec_slave_config_t *sc_dig_in_01 = NULL; - -static ec_slave_config_t *sc_ana_out_01 = NULL; - -static ec_slave_config_t *sc_ana_in_01 = NULL; - -static ec_slave_config_t *sc_dpslv_01 = NULL; - -static ec_slave_config_t *sc_ana_in_02 = NULL; - -/*****************************************************************************/ +/****************************************************************************/ /* Slave 1, "EL2004" * Vendor ID: 0x00000002 @@ -207,738 +111,178 @@ {0xff} }; -/* Slave 2, "EL2004" - * Vendor ID: 0x00000002 - * Product code: 0x07d43052 - * Revision number: 0x00100000 - */ - -ec_pdo_entry_info_t slave_2_pdo_entries[] = { - {0x7000, 0x01, 1}, /* Output */ - {0x7010, 0x01, 1}, /* Output */ - {0x7020, 0x01, 1}, /* Output */ - {0x7030, 0x01, 1}, /* Output */ -}; - -ec_pdo_info_t slave_2_pdos[] = { - {0x1600, 1, slave_2_pdo_entries + 0}, /* Channel 1 */ - {0x1601, 1, slave_2_pdo_entries + 1}, /* Channel 2 */ - {0x1602, 1, slave_2_pdo_entries + 2}, /* Channel 3 */ - {0x1603, 1, slave_2_pdo_entries + 3}, /* Channel 4 */ -}; - -ec_sync_info_t slave_2_syncs[] = { - {0, EC_DIR_OUTPUT, 4, slave_2_pdos + 0, EC_WD_ENABLE}, - {0xff} -}; - -/* Slave 3, "EL1014" - * Vendor ID: 0x00000002 - * Product code: 0x03f63052 - * Revision number: 0x00100000 - */ - -ec_pdo_entry_info_t slave_3_pdo_entries[] = { - {0x6000, 0x01, 1}, /* Input */ - {0x6010, 0x01, 1}, /* Input */ - {0x6020, 0x01, 1}, /* Input */ - {0x6030, 0x01, 1}, /* Input */ -}; - -ec_pdo_info_t slave_3_pdos[] = { - {0x1a00, 1, slave_3_pdo_entries + 0}, /* Channel 1 */ - {0x1a01, 1, slave_3_pdo_entries + 1}, /* Channel 2 */ - {0x1a02, 1, slave_3_pdo_entries + 2}, /* Channel 3 */ - {0x1a03, 1, slave_3_pdo_entries + 3}, /* Channel 4 */ -}; - -ec_sync_info_t slave_3_syncs[] = { - {0, EC_DIR_INPUT, 4, slave_3_pdos + 0, EC_WD_DISABLE}, - {0xff} -}; - -/* Slave 4, "EL4132" - * Vendor ID: 0x00000002 - * Product code: 0x10243052 - * Revision number: 0x03f90000 - */ - -ec_pdo_entry_info_t slave_4_pdo_entries[] = { - {0x3001, 0x01, 16}, /* Output */ - {0x3002, 0x01, 16}, /* Output */ -}; - -ec_pdo_info_t slave_4_pdos[] = { - {0x1600, 1, slave_4_pdo_entries + 0}, /* RxPDO 01 mapping */ - {0x1601, 1, slave_4_pdo_entries + 1}, /* RxPDO 02 mapping */ -}; - -ec_sync_info_t slave_4_syncs[] = { - {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, - {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, - {2, EC_DIR_OUTPUT, 2, slave_4_pdos + 0, EC_WD_DISABLE}, - {3, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, - {0xff} -}; - -/* Slave 5, "EL3102" - * Vendor ID: 0x00000002 - * Product code: 0x0c1e3052 - * Revision number: 0x00000000 - */ - -ec_pdo_entry_info_t slave_5_pdo_entries[] = { - {0x3101, 0x01, 8}, /* Status */ - {0x3101, 0x02, 16}, /* Value */ - {0x3102, 0x01, 8}, /* Status */ - {0x3102, 0x02, 16}, /* Value */ -}; - -ec_pdo_info_t slave_5_pdos[] = { - {0x1a00, 2, slave_5_pdo_entries + 0}, /* TxPDO 001 mapping */ - {0x1a01, 2, slave_5_pdo_entries + 2}, /* TxPDO 002 mapping */ -}; - -ec_sync_info_t slave_5_syncs[] = { - {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, - {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, - {2, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, - {3, EC_DIR_INPUT, 2, slave_5_pdos + 0, EC_WD_DISABLE}, - {0xff} -}; - -/* Slave 6, "EL6731-0010" - * Vendor ID: 0x00000002 - * Product code: 0x1a4b3052 - * Revision number: 0x0011000a - */ - -ec_sync_info_t slave_6_syncs[] = { - {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, - {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, - {2, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, - {3, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, -}; - - -/* Slave 7, "EL6601" - * Vendor ID: 0x00000002 - * Product code: 0x19c93052 - * Revision number: 0x00110000 - */ -/* -ec_sync_info_t slave_7_syncs[] = { - {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, - {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, - {2, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, - {3, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, - {0xff} -}; -*/ - -/* Master 0, Slave 7, "EL3602" - * Vendor ID: 0x00000002 - * Product code: 0x0e123052 - * Revision number: 0x00100000 - */ -ec_pdo_entry_info_t slave_7_pdo_entries[] = { - {0x6000, 0x01, 1}, /* Underrange */ - {0x6000, 0x02, 1}, /* Overrange */ - {0x6000, 0x03, 2}, /* Limit 1 */ - {0x6000, 0x05, 2}, /* Limit 2 */ - {0x6000, 0x07, 1}, /* Error */ - {0x0000, 0x00, 7}, /* Gap */ - {0x1800, 0x07, 1}, - {0x1800, 0x09, 1}, - {0x6000, 0x11, 32}, /* Value */ - {0x6010, 0x01, 1}, /* Underrange */ - {0x6010, 0x02, 1}, /* Overrange */ - {0x6010, 0x03, 2}, /* Limit 1 */ - {0x6010, 0x05, 2}, /* Limit 2 */ - {0x6010, 0x07, 1}, /* Error */ - {0x0000, 0x00, 7}, /* Gap */ - {0x1801, 0x07, 1}, - {0x1801, 0x09, 1}, - {0x6010, 0x11, 32}, /* Value */ -}; - -ec_pdo_info_t slave_7_pdos[] = { - {0x1a00, 9, slave_7_pdo_entries + 0}, /* AI TxPDO-Map Inputs Ch.1 */ - {0x1a01, 9, slave_7_pdo_entries + 9}, /* AI TxPDO-Map Inputs Ch.2 */ -}; - -ec_sync_info_t slave_7_syncs[] = { - {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, - {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, - {2, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, - {3, EC_DIR_INPUT, 2, slave_7_pdos + 0, EC_WD_DISABLE}, - {0xff} -}; - -/* Master 0, Slave 8, "EL5151" - * Vendor ID: 0x00000002 - * Product code: 0x141f3052 - * Revision number: 0x00130000 - */ - -ec_pdo_entry_info_t slave_8_pdo_entries[] = { - {0x6000, 0x01, 1}, - {0x6000, 0x02, 1}, - {0x6000, 0x03, 1}, - {0x0000, 0x00, 4}, /* Gap */ - {0x6000, 0x08, 1}, - {0x6000, 0x09, 1}, - {0x6000, 0x0a, 1}, - {0x6000, 0x0b, 1}, - {0x0000, 0x00, 1}, /* Gap */ - {0x6000, 0x0d, 1}, - {0x1c32, 0x20, 1}, - {0x0000, 0x00, 1}, /* Gap */ - {0x1800, 0x09, 1}, - {0x6000, 0x11, 32}, - {0x6000, 0x12, 32}, - {0x6000, 0x14, 32}, -}; - -ec_pdo_info_t slave_8_pdos[] = { - {0x0000, 0, NULL}, - {0x1a00, 15, slave_8_pdo_entries + 0}, - {0x1a02, 1, slave_8_pdo_entries + 15}, -}; - -ec_sync_info_t slave_8_syncs[] = { - {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, - {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, - {2, EC_DIR_OUTPUT, 1, slave_8_pdos + 0, EC_WD_DISABLE}, - {3, EC_DIR_INPUT, 2, slave_8_pdos + 1, EC_WD_DISABLE}, - {0xff} -}; - - -/*****************************************************************************/ - -#if SDO_ACCESS -static ec_sdo_request_t *sdo; -uint8_t *sdo_adr = NULL; -#endif - - +/***************************************************************************** + * Realtime task + ****************************************************************************/ void rt_check_domain_state(void) { - ec_domain_state_t ds; - - if (rt_fd>=0) - { - ecrt_rtdm_domain_state(rt_fd,&ds); - } - - if (ds.working_counter != domain1_state.working_counter) - { + ec_domain_state_t ds = {}; + + ecrt_domain_state(domain1, &ds); + + if (ds.working_counter != domain1_state.working_counter) { rt_printf("Domain1: WC %u.\n", ds.working_counter); - } - if (ds.wc_state != domain1_state.wc_state) - { - rt_printf("Domain1: State %u.\n", ds.wc_state); - } + } + + if (ds.wc_state != domain1_state.wc_state) { + rt_printf("Domain1: State %u.\n", ds.wc_state); + } domain1_state = ds; } +/****************************************************************************/ + void rt_check_master_state(void) { ec_master_state_t ms; - if (rt_fd>=0) - { - ecrt_rtdm_master_state(rt_fd,&ms); - } - - if (ms.slaves_responding != master_state.slaves_responding) - { + ecrt_master_state(master, &ms); + + if (ms.slaves_responding != master_state.slaves_responding) { rt_printf("%u slave(s).\n", ms.slaves_responding); } - if (ms.al_states != master_state.al_states) - { + + if (ms.al_states != master_state.al_states) { rt_printf("AL states: 0x%02X.\n", ms.al_states); } - if (ms.link_up != master_state.link_up) - { + + if (ms.link_up != master_state.link_up) { rt_printf("Link is %s.\n", ms.link_up ? "up" : "down"); } + master_state = ms; } - - - -void rt_sync() -{ - RTIME now; - now = rt_timer_read(); - - - if (rt_fd>=0) - { - ecrt_rtdm_master_application_time(rt_fd, &now); - } - - if (sync_ref_counter) { - sync_ref_counter--; - } else { - sync_ref_counter = 9; - if (rt_fd>=0) - { - ecrt_rtdm_master_sync_reference_clock(rt_fd); - } - } - if (rt_fd>=0) - { - ecrt_rtdm_master_sync_slave_clocks(rt_fd) ; - } -} - -/*****************************************************************************/ - -#if SDO_ACCESS -void read_sdo(void) -{ - switch (ecrt_sdo_request_state(sdo)) - { - case EC_REQUEST_UNUSED: // request was not used yet - ecrt_sdo_request_read(sdo); // trigger first read - break; - case EC_REQUEST_BUSY: - fprintf(stderr, "Still busy...\n"); - break; - case EC_REQUEST_SUCCESS: - fprintf(stderr, "SDO value: 0x%04X\n", - EC_READ_U16(ecrt_sdo_request_data(sdo))); - ecrt_sdo_request_read(sdo); // trigger next read - break; - case EC_REQUEST_ERROR: - fprintf(stderr, "Failed to read SDO!\n"); - ecrt_sdo_request_read(sdo); // retry reading - break; - } -} - -void PrintSDOState(void) -{ - switch (ecrt_sdo_request_state(sdo)) - { - case EC_REQUEST_UNUSED: // request was not used yet - fprintf(stderr, "SDO State: EC_REQUEST_UNUSED\n"); // trigger first read - break; - case EC_REQUEST_BUSY: - fprintf(stderr, "SDO State: EC_REQUEST_BUSY\n"); - break; - case EC_REQUEST_SUCCESS: - fprintf(stderr, "SDO State: EC_REQUEST_SUCCESS\n"); - break; - case EC_REQUEST_ERROR: - fprintf(stderr, "SDO State: EC_REQUEST_ERROR\n"); - break; - default: - fprintf(stderr, "SDO State: undefined\n"); - break; - } -} -#endif - - -static int cyccount=0; - -/****************************************************************************/ - -void signal_handler(int signum) { - switch (signum) { - case SIGALRM: - sig_alarms++; - break; - } -} - - -/**********************************************************/ -/* REAL TIME TASK */ -/**********************************************************/ +/****************************************************************************/ + void my_task_proc(void *arg) { - int counter = 0; - int divcounter = 0; - int divider = 10; - int ret; - - RTIME periodns; - float period; - - - period=1E-3; //1kHz - - - periodns=(RTIME)(((double)period * 1E9) + 0.4999999); - rt_task_set_periodic(NULL, TM_NOW, periodns); - - run=1; - - ret = rt_task_set_mode(0, T_PRIMARY, NULL); - if (ret) { - rt_printf("error while rt_task_set_mode, code %d\n",ret); - return; - } - - - while (run) { - rt_task_wait_period(NULL); - - counter++; - if (counter>600000) { - run=0; - return; - } - - // receive ethercat - ecrt_rtdm_master_recieve(rt_fd); - ecrt_rtdm_domain_process(rt_fd); - - rt_check_domain_state(); - - if (divcounter ==0) - { - divcounter=divider; - rt_check_master_state(); - } - divcounter--; - if ((counter % 200)==0) - { - blink = !blink; - - } - - - EC_WRITE_U8(domain1_pd + off_dig_out0, blink ? 0x0 : 0x0F); - EC_WRITE_U16(domain1_pd + off_ana_out0, blink ? 0x0: 0xfff); - - //sync DC - rt_sync(); - - // send process data - ecrt_rtdm_domain_queque(rt_fd); - ecrt_rtdm_master_send(rt_fd); - } - -} - - -/**********************************************************/ -/* CLEANING UP */ -/**********************************************************/ -void cleanup_all(void) -{ - printf("delete my_task\n"); - rt_task_delete(&my_task); - - if (rt_fd >= 0) { - printf("closing rt device %s\n", &rt_dev_file[0]); - rt_dev_close(rt_fd); - - } -} -/****************************************************************************/ - -void catch_signal(int sig) { - cleanup_all(); - printf("exit\n"); - exit(0); - return; -} - - -/****************************************************************************/ - -int main(int argc, char **argv) + int cycle_counter = 0; + unsigned int blink = 0; + + rt_task_set_periodic(NULL, TM_NOW, 1000000); // ns + + while (run) { + rt_task_wait_period(NULL); + + cycle_counter++; + + // receive EtherCAT frames + ecrt_master_receive(master); + ecrt_domain_process(domain1); + + rt_check_domain_state(); + + if (!(cycle_counter % 1000)) { + rt_check_master_state(); + } + + if (!(cycle_counter % 200)) { + blink = !blink; + } + + EC_WRITE_U8(domain1_pd + off_dig_out0, blink ? 0x0 : 0x0F); + + // send process data + ecrt_domain_queue(domain1); + ecrt_master_send(master); + } +} + +/**************************************************************************** + * Signal handler + ***************************************************************************/ + +void signal_handler(int sig) +{ + run = 0; +} + +/**************************************************************************** + * Main function + ***************************************************************************/ + +int main(int argc, char *argv[]) { ec_slave_config_t *sc; - - int rtstatus; - - mlockall(MCL_CURRENT | MCL_FUTURE); + int ret; /* Perform auto-init of rt_print buffers if the task doesn't do so */ rt_print_auto_init(1); - signal(SIGTERM, catch_signal); - signal(SIGINT, catch_signal); - - MstrAttach.masterindex = 0; - - printf("request master\n"); - master = ecrt_request_master(MstrAttach.masterindex); - if (!master) - return -1; - + signal(SIGTERM, signal_handler); + signal(SIGINT, signal_handler); + + mlockall(MCL_CURRENT | MCL_FUTURE); + + printf("Requesting master...\n"); + master = ecrt_request_master(0); + if (!master) { + return -1; + } domain1 = ecrt_master_create_domain(master); - if (!domain1) - return -1; - - -#ifdef CONFIGURE_PDOS - - printf("Configuring PDOs...\n"); - - printf("Get Configuring el2004...\n"); - sc_dig_out_01 = ecrt_master_slave_config(master, DigOutSlave01_Pos, Beckhoff_EL2004); + if (!domain1) { + return -1; + } + + printf("Creating slave configurations...\n"); + + // Create configuration for bus coupler + sc = ecrt_master_slave_config(master, BusCoupler01_Pos, Beckhoff_EK1100); + if (!sc) { + return -1; + } + + sc_dig_out_01 = + ecrt_master_slave_config(master, DigOutSlave01_Pos, Beckhoff_EL2004); if (!sc_dig_out_01) { fprintf(stderr, "Failed to get slave configuration.\n"); return -1; } - printf("Configuring EL2004...\n"); - if (ecrt_slave_config_pdos(sc_dig_out_01, EC_END, slave_1_syncs)) - { - fprintf(stderr, "Failed to configure PDOs.\n"); - return -1; - } - - printf("Get Configuring el2004...\n"); - sc_dig_out_02 = ecrt_master_slave_config(master, DigOutSlave02_Pos, Beckhoff_EL2004); - if (!sc_dig_out_02) { - fprintf(stderr, "Failed to get slave configuration.\n"); - return -1; - } - - printf("Configuring EL2004...\n"); - if (ecrt_slave_config_pdos(sc_dig_out_02, EC_END, slave_2_syncs)) { + if (ecrt_slave_config_pdos(sc_dig_out_01, EC_END, slave_1_syncs)) { fprintf(stderr, "Failed to configure PDOs.\n"); return -1; } - - printf("Get Configuring el1014...\n"); - sc_dig_in_01 = ecrt_master_slave_config(master, DigInSlave01_Pos, Beckhoff_EL1014); - if (!sc_dig_in_01) { - fprintf(stderr, "Failed to get slave configuration.\n"); - return -1; - } - - printf("Configuring EL1014...\n"); - if (ecrt_slave_config_pdos(sc_dig_in_01, EC_END, slave_3_syncs)) { - fprintf(stderr, "Failed to configure PDOs.\n"); - return -1; - } - - printf("Get Configuring EL4132...\n"); - sc_ana_out_01 = ecrt_master_slave_config(master, AnaOutSlave01_Pos, Beckhoff_EL4132); - if (!sc_ana_out_01) { - fprintf(stderr, "Failed to get slave configuration.\n"); - return -1; - } - - printf("Configuring EL4132...\n"); - if (ecrt_slave_config_pdos(sc_ana_out_01, EC_END, slave_4_syncs)) { - fprintf(stderr, "Failed to configure PDOs.\n"); - return -1; - } - - printf("Get Configuring EL3102...\n"); - sc_ana_in_01 = ecrt_master_slave_config(master, AnaInSlave01_Pos, Beckhoff_EL3102); - if (!sc_ana_in_01) { - fprintf(stderr, "Failed to get slave configuration.\n"); - return -1; - } - - printf("Configuring EL3102...\n"); - if (ecrt_slave_config_pdos(sc_ana_in_01, EC_END, slave_5_syncs)) { - fprintf(stderr, "Failed to configure PDOs.\n"); - return -1; - } - - printf("Get Configuring EL3602...\n"); - sc_ana_in_02 = ecrt_master_slave_config(master, AnaInSlave02_Pos, Beckhoff_EL3602); - if (!sc_ana_in_02) { - fprintf(stderr, "Failed to get slave configuration.\n"); - return -1; - } - - // DP Slave Parameter Set - -/* printf( "Creating SDO requests...\n"); - if (!(sdo = ecrt_slave_config_create_sdo_request(sc_ana_in_02, 0x8000, 0x06, 1))) { - fprintf(stderr, "Failed to create SDO request.\n"); - return -1; - } - ecrt_sdo_request_timeout(sdo, 500); // ms - - EC_WRITE_U8(ecrt_sdo_request_data(sdo), 00); - PrintSDOState(); - ecrt_sdo_request_write(sdo); - PrintSDOState(); - -*/ - printf("Configuring EL3602...\n"); - if (ecrt_slave_config_pdos(sc_ana_in_02, EC_END, slave_7_syncs)) { - fprintf(stderr, "Failed to configure PDOs.\n"); - return -1; - } - -#endif - - // Create configuration for bus coupler - sc = ecrt_master_slave_config(master, BusCoupler01_Pos, Beckhoff_EK1100); - if (!sc) - return -1; - -#ifdef CONFIGURE_PDOS + if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) { fprintf(stderr, "PDO entry registration failed!\n"); return -1; } -#endif - - - printf("Get Configuring EL6731...\n"); - sc_dpslv_01 = ecrt_master_slave_config(master, DPSlave01_Pos, Beckhoff_EL6731); - if (!sc_dpslv_01) { - fprintf(stderr, "Failed to get slave configuration.\n"); - return -1; - } - - printf("Configuring EL6731...\n"); - if (ecrt_slave_config_pdos(sc_dpslv_01, EC_END, slave_7_syncs)) - { - fprintf(stderr, "Failed to configure PDOs.\n"); - return -1; - } - -#if SDO_ACCESS - - - // DP Slave Parameter Set - fprintf(stderr, "Creating SDO requests...\n"); - if (!(sdo = ecrt_slave_config_create_sdo_request(sc_dpslv_01, 0x8000, 0, 1))) { - fprintf(stderr, "Failed to create SDO request.\n"); - return -1; - } - ecrt_sdo_request_timeout(sdo, 500); // ms - EC_WRITE_U8(ecrt_sdo_request_data(sdo), 0); - PrintSDOState(); - ecrt_sdo_request_write(sdo); - PrintSDOState(); - - // Station Address - if (!(sdo = ecrt_slave_config_create_sdo_request(sc_dpslv_01, 0x8000, 1, 2))) { - fprintf(stderr, "Failed to create SDO request.\n"); - return -1; - } - ecrt_sdo_request_timeout(sdo, 500); // ms - EC_WRITE_U16(ecrt_sdo_request_data(sdo), 5); - //EC_WRITE_U8(ecrt_sdo_request_data(sdo), 00); - //EC_WRITE_U8(ecrt_sdo_request_data(sdo)+1, 10); - PrintSDOState(); - ecrt_sdo_request_write(sdo); - PrintSDOState(); - - // Device Type (DP Ident Number) - if (!(sdo = ecrt_slave_config_create_sdo_request(sc_dpslv_01, 0x8000, 4, 4))) { - fprintf(stderr, "Failed to create SDO request.\n"); - return -1; - } - ecrt_sdo_request_timeout(sdo, 500); // ms - sdo_adr = ecrt_sdo_request_data(sdo); - EC_WRITE_U32(sdo_adr, 0x095F); - //EC_WRITE_U8(sdo_ad, 0x00); // Device Type - //EC_WRITE_U8(sdo_adr+1, 0x00); - //EC_WRITE_U8(sdo_adr+2, 0x09); - //EC_WRITE_U8(sdo_adr+3, 0x5F); - PrintSDOState(); - ecrt_sdo_request_write(sdo); - PrintSDOState(); - - // DP CfgData Slave - if (!(sdo = ecrt_slave_config_create_sdo_request(sc_dpslv_01, 0x8002, 0, 244))) { - fprintf(stderr, "Failed to create SDO request.\n"); - return -1; - } - ecrt_sdo_request_timeout(sdo, 500); // ms - sdo_adr = ecrt_sdo_request_data(sdo); - EC_WRITE_U8(sdo_adr, 0x10); // Device Type - EC_WRITE_U8(sdo_adr+1, 0x20); - PrintSDOState(); - ecrt_sdo_request_write(sdo); - PrintSDOState(); - - // DP Slave Parameter Set - if (!(sdo = ecrt_slave_config_create_sdo_request(sc_dpslv_01, 0x8000, 0, 1))) { - fprintf(stderr, "Failed to create SDO request.\n"); - return -1; - } - - ecrt_sdo_request_timeout(sdo, 500); // ms - - EC_WRITE_U8(ecrt_sdo_request_data(sdo), 0x33); // DP Slave Parameter Set - PrintSDOState(); - ecrt_sdo_request_write(sdo); - PrintSDOState(); -#endif - - - - sprintf(&rt_dev_file[0],"%s%u",EC_RTDM_DEV_FILE_NAME,0); - - - rt_fd = rt_dev_open( &rt_dev_file[0], 0); - if (rt_fd < 0) { - printf("can't open %s\n", &rt_dev_file[0]); - return -1; - } - - MstrAttach.domainindex = ecrt_domain_index(domain1); - - // attach the master over rtdm driver - rtstatus=ecrt_rtdm_master_attach(rt_fd, &MstrAttach); - if (rtstatus < 0) - { - printf("cannot attach to master over rtdm\n"); - return -1; - } printf("Activating master...\n"); - if (ecrt_master_activate(master)) - return -1; + if (ecrt_master_activate(master)) { + return -1; + } if (!(domain1_pd = ecrt_domain_data(domain1))) { - return -1; - } - fprintf(stderr, "domain1_pd: 0x%.6x\n", (unsigned int)domain1_pd); - - - - int ret; - run=1; - - ret = rt_task_create(&my_task,"my_task",0,80,T_FPU); - - printf("starting my_task\n"); - ret = rt_task_start(&my_task,&my_task_proc,NULL); - - - while (run) - { - sched_yield(); - } - + fprintf(stderr, "Failed to get domain data pointer.\n"); + return -1; + } + + ret = rt_task_create(&my_task, "my_task", 0, 80, T_FPU); + if (ret < 0) { + fprintf(stderr, "Failed to create task: %s\n", strerror(-ret)); + return -1; + } + + printf("Starting my_task...\n"); + ret = rt_task_start(&my_task, &my_task_proc, NULL); + if (ret < 0) { + fprintf(stderr, "Failed to start task: %s\n", strerror(-ret)); + return -1; + } + + while (run) { + sched_yield(); + } + + printf("Deleting realtime task...\n"); rt_task_delete(&my_task); - - if (rt_fd >= 0) - { - printf("closing rt device %s\n", &rt_dev_file[0]); - - rt_dev_close(rt_fd); - - } - printf("End of Program\n"); ecrt_release_master(master);