diff -r 2eff7c993a63 -r 933a1b36b05f examples/user/main.c --- a/examples/user/main.c Tue Feb 12 17:31:08 2013 +0100 +++ b/examples/user/main.c Fri Apr 04 08:32:09 2014 +0200 @@ -1,436 +1,1 @@ -/***************************************************************************** - * - * $Id$ - * - * 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 -#define SDO_ACCESS 0 - -/****************************************************************************/ - -// 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 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; - -/****************************************************************************/ - -// process data -static uint8_t *domain1_pd = NULL; - -#define BusCouplerPos 0, 0 -#define DigOutSlavePos 0, 2 -#define AnaInSlavePos 0, 3 -#define AnaOutSlavePos 0, 4 - -#define Beckhoff_EK1100 0x00000002, 0x044c2c52 -#define Beckhoff_EL2004 0x00000002, 0x07d43052 -#define Beckhoff_EL2032 0x00000002, 0x07f03052 -#define Beckhoff_EL3152 0x00000002, 0x0c503052 -#define Beckhoff_EL3102 0x00000002, 0x0c1e3052 -#define Beckhoff_EL4102 0x00000002, 0x10063052 - -// offsets for PDO entries -static unsigned int off_ana_in_status; -static unsigned int off_ana_in_value; -static unsigned int off_ana_out; -static unsigned int off_dig_out; - -const static ec_pdo_entry_reg_t domain1_regs[] = { - {AnaInSlavePos, Beckhoff_EL3102, 0x3101, 1, &off_ana_in_status}, - {AnaInSlavePos, Beckhoff_EL3102, 0x3101, 2, &off_ana_in_value}, - {AnaOutSlavePos, Beckhoff_EL4102, 0x3001, 1, &off_ana_out}, - {DigOutSlavePos, Beckhoff_EL2032, 0x3001, 1, &off_dig_out}, - {} -}; - -static unsigned int counter = 0; -static unsigned int blink = 0; - -/*****************************************************************************/ - -#if CONFIGURE_PDOS - -// Analog in -------------------------- - -static ec_pdo_entry_info_t el3102_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.) -}; - -static ec_pdo_info_t el3102_pdos[] = { - {0x1A00, 2, el3102_pdo_entries}, - {0x1A01, 2, el3102_pdo_entries + 2} -}; - -static ec_sync_info_t el3102_syncs[] = { - {2, EC_DIR_OUTPUT}, - {3, EC_DIR_INPUT, 2, el3102_pdos}, - {0xff} -}; - -// 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 - -/*****************************************************************************/ - -#if SDO_ACCESS -static ec_sdo_request_t *sdo; -#endif - -/*****************************************************************************/ - -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 check_slave_config_states(void) -{ - ec_slave_config_state_t s; - - ecrt_slave_config_state(sc_ana_in, &s); - - if (s.al_state != sc_ana_in_state.al_state) - printf("AnaIn: State 0x%02X.\n", s.al_state); - if (s.online != sc_ana_in_state.online) - printf("AnaIn: %s.\n", s.online ? "online" : "offline"); - if (s.operational != sc_ana_in_state.operational) - printf("AnaIn: %soperational.\n", - s.operational ? "" : "Not "); - - sc_ana_in_state = s; -} - -/*****************************************************************************/ - -#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; - } -} -#endif - -/****************************************************************************/ - -void cyclic_task() -{ - // 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(); - - // check for islave configuration state(s) (optional) - check_slave_config_states(); - -#if SDO_ACCESS - // read process data SDO - read_sdo(); -#endif - - } - -#if 0 - // read process data - printf("AnaIn: state %u value %u\n", - EC_READ_U8(domain1_pd + off_ana_in_status), - EC_READ_U16(domain1_pd + off_ana_in_value)); -#endif - -#if 1 - // write process data - EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x06 : 0x09); -#endif - - // 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; - - if (!(sc_ana_in = ecrt_master_slave_config( - master, AnaInSlavePos, Beckhoff_EL3102))) { - fprintf(stderr, "Failed to get slave configuration.\n"); - return -1; - } - -#if SDO_ACCESS - fprintf(stderr, "Creating SDO requests...\n"); - if (!(sdo = ecrt_slave_config_create_sdo_request(sc_ana_in, 0x3102, 2, 2))) { - fprintf(stderr, "Failed to create SDO request.\n"); - return -1; - } - ecrt_sdo_request_timeout(sdo, 500); // ms -#endif - -#if CONFIGURE_PDOS - printf("Configuring PDOs...\n"); - if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3102_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_EL2032))) { - 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; - - 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; - } - - 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; -} - -/****************************************************************************/ +../../../ccat/unittest/main.c \ No newline at end of file