diff -r f4313f5aba88 -r 3bdd7a747fae examples/rtai_rtdm/main.c --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/examples/rtai_rtdm/main.c Thu Sep 20 15:28:25 2012 +0200 @@ -0,0 +1,289 @@ +/****************************************************************************** + * + * $Id$ + * + * Copyright (C) 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 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. + * + *****************************************************************************/ + +#include +#include +#include +#include +#include + +#include +#include + +#include "ecrt.h" + +#define rt_printf(X, Y) + +#define NSEC_PER_SEC 1000000000 + +RT_TASK *task; + +const static unsigned int cycle_us = 1000; /* 1 ms */ + +static int run = 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 = {}; + +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 Beckhoff_EK1100 0x00000002, 0x044c2c52 +#define Beckhoff_EL2004 0x00000002, 0x07d43052 + +// offsets for PDO entries +static unsigned int off_dig_out0 = 0; + +// process data + +const static ec_pdo_entry_reg_t domain1_regs[] = { + {DigOutSlave01_Pos, Beckhoff_EL2004, 0x7000, 0x01, &off_dig_out0, NULL}, + {} +}; + +/****************************************************************************/ + +/* Slave 1, "EL2004" + * Vendor ID: 0x00000002 + * Product code: 0x07d43052 + * Revision number: 0x00100000 + */ + +ec_pdo_entry_info_t slave_1_pdo_entries[] = { + {0x7000, 0x01, 1}, /* Output */ + {0x7010, 0x01, 1}, /* Output */ + {0x7020, 0x01, 1}, /* Output */ + {0x7030, 0x01, 1}, /* Output */ +}; + +ec_pdo_info_t slave_1_pdos[] = { + {0x1600, 1, slave_1_pdo_entries + 0}, /* Channel 1 */ + {0x1601, 1, slave_1_pdo_entries + 1}, /* Channel 2 */ + {0x1602, 1, slave_1_pdo_entries + 2}, /* Channel 3 */ + {0x1603, 1, slave_1_pdo_entries + 3}, /* Channel 4 */ +}; + +ec_sync_info_t slave_1_syncs[] = { + {0, EC_DIR_OUTPUT, 4, slave_1_pdos + 0, EC_WD_ENABLE}, + {0xff} +}; + +/***************************************************************************** + * Realtime task + ****************************************************************************/ + +void rt_check_domain_state(void) +{ + 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); + } + + domain1_state = ds; +} + +/****************************************************************************/ + +void rt_check_master_state(void) +{ + ec_master_state_t ms; + + 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) { + rt_printf("AL states: 0x%02X.\n", ms.al_states); + } + + if (ms.link_up != master_state.link_up) { + rt_printf("Link is %s.\n", ms.link_up ? "up" : "down"); + } + + master_state = ms; +} + +/****************************************************************************/ + +void my_cyclic(void) +{ + int cycle_counter = 0; + int period; + unsigned int blink = 0; + + rt_set_periodic_mode(); + period = (int) nano2count((RTIME) cycle_us * 1000); + start_rt_timer(period); + rt_make_hard_real_time(); + rt_task_make_periodic(task, rt_get_time() + 10 * period, period); + + while (run) { + rt_task_wait_period(); + + cycle_counter++; + + // receive EtherCAT + 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 ? 0x00 : 0x0F); + + // send process data + ecrt_domain_queue(domain1); + ecrt_master_send(master); + } + + rt_make_soft_real_time(); + stop_rt_timer(); +} + +/**************************************************************************** + * Signal handler + ***************************************************************************/ + +void signal_handler(int sig) +{ + run = 0; +} + +/**************************************************************************** + * Main function + ***************************************************************************/ + +int main(int argc, char *argv[]) +{ + ec_slave_config_t *sc; + + 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; + } + + 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; + } + + if (ecrt_slave_config_pdos(sc_dig_out_01, EC_END, slave_1_syncs)) { + fprintf(stderr, "Failed to configure PDOs.\n"); + 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; + } + + if (!(domain1_pd = ecrt_domain_data(domain1))) { + fprintf(stderr, "Failed to get domain data pointer.\n"); + return -1; + } + + /* Create cyclic RT-thread */ + struct sched_param param; + param.sched_priority = sched_get_priority_max(SCHED_FIFO) - 1; + if (sched_setscheduler(0, SCHED_FIFO, ¶m) == -1) { + puts("ERROR IN SETTING THE SCHEDULER"); + perror("errno"); + return -1; + } + + task = rt_task_init(nam2num("ec_rtai_rtdm_example"), + 0 /* priority */, 0 /* stack size */, 0 /* msg size */); + + my_cyclic(); + + rt_task_delete(task); + + printf("End of Program\n"); + ecrt_release_master(master); + + return 0; +} + +/****************************************************************************/