diff -r f4313f5aba88 -r 3bdd7a747fae examples/xenomai/main.c --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/examples/xenomai/main.c Thu Sep 20 15:28:25 2012 +0200 @@ -0,0 +1,292 @@ +/****************************************************************************** + * + * $Id$ + * + * 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 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 +#include +#include +#include +#include +#include +#include +#include +#include + +#include "ecrt.h" + +RT_TASK my_task; + +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_task_proc(void *arg) +{ + 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 ret; + + /* Perform auto-init of rt_print buffers if the task doesn't do so */ + rt_print_auto_init(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; + } + + 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; + } + + 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); + + printf("End of Program\n"); + ecrt_release_master(master); + + return 0; +} + +/****************************************************************************/