diff -r c19d273a9e76 -r 38b7e05b20c1 examples/user/main.c --- a/examples/user/main.c Thu Oct 09 13:24:17 2008 +0000 +++ b/examples/user/main.c Thu Oct 09 13:31:50 2008 +0000 @@ -1,6 +1,33 @@ /***************************************************************************** * - * $Id$ + * $Id$ + * + * Copyright (C) 2006 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 + * as published by the Free Software Foundation; either version 2 of the + * License, or (at your option) any later version. + * + * 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 right to use EtherCAT Technology is granted and comes free of + * charge under condition of compatibility of product made by + * Licensee. People intending to distribute/sell products based on the + * code, have to sign an agreement to guarantee that products using + * software based on IgH EtherCAT master stay compatible with the actual + * EtherCAT specification (which are released themselves as an open + * standard) as the (only) precondition to have the right to use EtherCAT + * Technology, IP and trade marks. * ****************************************************************************/ @@ -13,15 +40,132 @@ #include #include +/****************************************************************************/ + #include "ecrt.h" +/****************************************************************************/ + +// Optional features +#define CONFIGURE_PDOS 1 +#define EL3152_ALT_PDOS 0 +#define SDO_ACCESS 0 +#define VOE_ACCESS 0 + #define PRIORITY 1 +#define BusCouplerPos 0, 0 +#define AnaOutSlavePos 0, 1 +#define AnaInSlavePos 0, 2 +#define DigOutSlavePos 0, 3 + +#define Beckhoff_EK1100 0x00000002, 0x044C2C52 +#define Beckhoff_EL2004 0x00000002, 0x07D43052 +#define Beckhoff_EL3152 0x00000002, 0x0c503052 +#define Beckhoff_EL4102 0x00000002, 0x10063052 + /****************************************************************************/ static unsigned int sig_alarms = 0; static unsigned int user_alarms = 0; +// offsets for Pdo entries +static unsigned int off_ana_in; +static unsigned int off_ana_out; +static unsigned int off_dig_out; + +const static ec_pdo_entry_reg_t domain1_regs[] = { +#if EL3152_ALT_PDOS + {AnaInSlavePos, Beckhoff_EL3152, 0x6401, 1, &off_ana_in}, +#else + {AnaInSlavePos, Beckhoff_EL3152, 0x3101, 2, &off_ana_in}, +#endif + {AnaOutSlavePos, Beckhoff_EL4102, 0x3001, 1, &off_ana_out}, + {DigOutSlavePos, Beckhoff_EL2004, 0x3001, 1, &off_dig_out}, + {} +}; + +static ec_slave_config_t *sc_ana_in = NULL; + +/*****************************************************************************/ + +#if CONFIGURE_PDOS + +// Analog in -------------------------- + +static ec_pdo_entry_info_t el3152_pdo_entries[] = { + {0x3101, 1, 8}, // channel 1 status + {0x3101, 2, 16}, // channel 1 value + {0x3102, 1, 8}, // channel 2 status + {0x3102, 2, 16}, // channel 2 value + {0x6401, 1, 16}, // channel 1 value (alt.) + {0x6401, 2, 16} // channel 2 value (alt.) +}; + +#if EL3152_ALT_PDOS +static ec_pdo_info_t el3152_pdos[] = { + {0x1A10, 2, el3152_pdo_entries + 4}, +}; + +static ec_sync_info_t el3152_syncs[] = { + {2, EC_DIR_OUTPUT}, + {3, EC_DIR_INPUT, 1, el3152_pdos}, + {0xff} +}; +#else +static ec_pdo_info_t el3152_pdos[] = { + {0x1A00, 2, el3152_pdo_entries}, + {0x1A01, 2, el3152_pdo_entries + 2} +}; + +static ec_sync_info_t el3152_syncs[] = { + {2, EC_DIR_OUTPUT}, + {3, EC_DIR_INPUT, 2, el3152_pdos}, + {0xff} +}; +#endif + +// Analog out ------------------------- + +static ec_pdo_entry_info_t el4102_pdo_entries[] = { + {0x3001, 1, 16}, // channel 1 value + {0x3002, 1, 16}, // channel 2 value +}; + +static ec_pdo_info_t el4102_pdos[] = { + {0x1600, 1, el4102_pdo_entries}, + {0x1601, 1, el4102_pdo_entries + 1} +}; + +static ec_sync_info_t el4102_syncs[] = { + {2, EC_DIR_OUTPUT, 2, el4102_pdos}, + {3, EC_DIR_INPUT}, + {0xff} +}; + +// Digital out ------------------------ + +static ec_pdo_entry_info_t el2004_channels[] = { + {0x3001, 1, 1}, // Value 1 + {0x3001, 2, 1}, // Value 2 + {0x3001, 3, 1}, // Value 3 + {0x3001, 4, 1} // Value 4 +}; + +static ec_pdo_info_t el2004_pdos[] = { + {0x1600, 1, &el2004_channels[0]}, + {0x1601, 1, &el2004_channels[1]}, + {0x1602, 1, &el2004_channels[2]}, + {0x1603, 1, &el2004_channels[3]} +}; + +static ec_sync_info_t el2004_syncs[] = { + {0, EC_DIR_OUTPUT, 4, el2004_pdos}, + {1, EC_DIR_INPUT}, + {0xff} +}; +#endif + /****************************************************************************/ void signal_handler(int signum) { @@ -37,7 +181,7 @@ int main(int argc, char **argv) { ec_master_t *master; - ec_domain_t *domain; + ec_domain_t *domain1; ec_slave_config_t *sc; struct sigaction sa; struct itimerval tv; @@ -46,14 +190,56 @@ if (!master) return -1; - domain = ecrt_master_create_domain(master); - if (!domain) - return -1; - - sc = ecrt_master_slave_config(master, 0, 0, 0x00000002, 0x044C2C52); + domain1 = ecrt_master_create_domain(master); + if (!domain1) + return -1; + + if (!(sc_ana_in = ecrt_master_slave_config( + master, AnaInSlavePos, Beckhoff_EL3152))) { + fprintf(stderr, "Failed to get slave configuration.\n"); + return -1; + } + +#if CONFIGURE_PDOS + printf("Configuring Pdos...\n"); + if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3152_syncs)) { + fprintf(stderr, "Failed to configure Pdos.\n"); + return -1; + } + + if (!(sc = ecrt_master_slave_config( + master, AnaOutSlavePos, Beckhoff_EL4102))) { + fprintf(stderr, "Failed to get slave configuration.\n"); + return -1; + } + + if (ecrt_slave_config_pdos(sc, EC_END, el4102_syncs)) { + fprintf(stderr, "Failed to configure Pdos.\n"); + return -1; + } + + if (!(sc = ecrt_master_slave_config( + master, DigOutSlavePos, Beckhoff_EL2004))) { + fprintf(stderr, "Failed to get slave configuration.\n"); + return -1; + } + + if (ecrt_slave_config_pdos(sc, EC_END, el2004_syncs)) { + fprintf(stderr, "Failed to configure Pdos.\n"); + return -1; + } +#endif + + // Create configuration for bus coupler + sc = ecrt_master_slave_config(master, BusCouplerPos, Beckhoff_EK1100); if (!sc) return -1; + if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) { + fprintf(stderr, "Pdo entry registration failed!\n"); + return -1; + } + printf("Activating master...\n"); if (ecrt_master_activate(master)) return -1; @@ -75,7 +261,7 @@ printf("Starting timer...\n"); tv.it_interval.tv_sec = 0; - tv.it_interval.tv_usec = 100000; + tv.it_interval.tv_usec = 10000; tv.it_value.tv_sec = 0; tv.it_value.tv_usec = 1000; if (setitimer(ITIMER_REAL, &tv, NULL)) { @@ -87,7 +273,7 @@ while (1) { sleep(1); -#if 1 +#if 0 struct timeval t; gettimeofday(&t, NULL); printf("%u.%06u\n", t.tv_sec, t.tv_usec);