# HG changeset patch # User Patrick Bruenn # Date 1398265575 -7200 # Node ID 18c226b66533bb07a544b8410a6e401cdd77550e # Parent 770881d887c51dce77030b41513174e40cf67580 replace symlink in example with the real file diff -r 770881d887c5 -r 18c226b66533 examples/user/main.c --- a/examples/user/main.c Wed Apr 23 15:22:39 2014 +0200 +++ b/examples/user/main.c Wed Apr 23 17:06:15 2014 +0200 @@ -1,1 +1,385 @@ -../../../ccat/unittest/main.c \ No newline at end of file +/***************************************************************************** + * + * $Id: main.c,v 6a6dec6fc806 2012/09/19 17:46:58 fp $ + * + * 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 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, 3 +#define DigOutSlavePos 0, 0 + +//#define Beckhoff_EK1100 0x00000002, 0x044c2c52 +#define Beckhoff_EK1100 0x00000002, 0x04562c52 +#define Beckhoff_EL1008 0x00000002, 0x03f03052 +#define Beckhoff_EL2004 0x00000002, 0x07d43052 +#define Beckhoff_EL2008 0x00000002, 0x07d83052 +#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_dig_in[1]; +static unsigned int off_dig_out[2]; + + +/*****************************************************************************/ +// Digital in ------------------------ +static ec_pdo_entry_info_t el1008_channels[] = { + {0x6000, 1, 1}, + {0x6010, 1, 1}, + {0x6020, 1, 1}, + {0x6030, 1, 1}, + {0x6040, 1, 1}, + {0x6050, 1, 1}, + {0x6060, 1, 1}, + {0x6070, 1, 1}, +}; + +static ec_pdo_info_t el1008_pdos[] = { + {0x1a00, 1, &el1008_channels[0]}, + {0x1a01, 1, &el1008_channels[1]}, + {0x1a02, 1, &el1008_channels[2]}, + {0x1a03, 1, &el1008_channels[3]}, + {0x1a04, 1, &el1008_channels[4]}, + {0x1a05, 1, &el1008_channels[5]}, + {0x1a06, 1, &el1008_channels[6]}, + {0x1a07, 1, &el1008_channels[7]} +}; + +static ec_sync_info_t el1008_syncs[] = { + {2, EC_DIR_OUTPUT}, + {3, EC_DIR_INPUT, 8, el1008_pdos}, + {0xff} +}; + +// Digital out ------------------------ +static ec_pdo_entry_info_t el2008_channels[] = { + {0x7000, 1, 1}, + {0x7010, 1, 1}, + {0x7020, 1, 1}, + {0x7030, 1, 1}, + {0x7040, 1, 1}, + {0x7050, 1, 1}, + {0x7060, 1, 1}, + {0x7070, 1, 1}, +}; + +static ec_pdo_info_t el2008_pdos[] = { + {0x1600, 1, &el2008_channels[0]}, + {0x1601, 1, &el2008_channels[1]}, + {0x1602, 1, &el2008_channels[2]}, + {0x1603, 1, &el2008_channels[3]}, + {0x1604, 1, &el2008_channels[4]}, + {0x1605, 1, &el2008_channels[5]}, + {0x1606, 1, &el2008_channels[6]}, + {0x1607, 1, &el2008_channels[7]} +}; + +static ec_sync_info_t el2008_syncs[] = { + {0, EC_DIR_OUTPUT, 8, el2008_pdos}, + {1, EC_DIR_INPUT}, + {0xff} +}; + +/*****************************************************************************/ + +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; +} + +/****************************************************************************/ + +void cyclic_task() +{ + static unsigned int counter = 10; + static uint8_t outputValue = 0; + static int numAsyncCycles = 0; + uint8_t inputValue = 0; + static uint8_t error = 0; + + // receive process data + ecrt_master_receive(master); + ecrt_domain_process(domain1); + + // check process data state (optional) + check_domain1_state(); + + + inputValue = EC_READ_U8(domain1_pd + off_dig_in[0]); + + if(inputValue != outputValue) { + numAsyncCycles++; + } else { + numAsyncCycles = 0; + } + + if(numAsyncCycles > 2) { + if(error != 0xff) { + error++; + } + } + + + if (counter) { + counter--; + } else { + counter = 5; //update delay + + + + // calculate new process data + outputValue++; + + // check for master state (optional) + check_master_state(); + + // check for islave configuration state(s) (optional) + check_slave_config_states(); + } + + // write process data + EC_WRITE_U8(domain1_pd + off_dig_out[1], outputValue); + EC_WRITE_U8(domain1_pd + off_dig_out[0], error); + + // send process data + ecrt_domain_queue(domain1); + ecrt_master_send(master); +} + +/****************************************************************************/ + +void signal_handler(int signum) { + switch (signum) { + case SIGALRM: + sig_alarms++; + break; + } +} + +/****************************************************************************/ + +int Init_EL2008(uint16_t position) +{ + ec_slave_config_t *sc; + if (!(sc = ecrt_master_slave_config(master, 0, position, Beckhoff_EL2008))) { + fprintf(stderr, "Failed to get EL2008 configuration #%u.\n", position); + return -1; + } + if (ecrt_slave_config_pdos(sc, EC_END, el2008_syncs)) { + fprintf(stderr, "Failed to configure PDOs #%u.\n", position); + return -1; + } + if (0 > (off_dig_out[position] = ecrt_slave_config_reg_pdo_entry(sc, 0x7000, 1, domain1, NULL))) { + fprintf(stderr, "Failed to configure reg PDOs #%u.\n", position); + return -1; + } + fprintf(stderr, "EL2008 #%u configured offset: %d.\n", position, off_dig_out[position]); + return 0; +} + +int main(int argc, char **argv) +{ + ec_slave_config_t *sc; + struct sigaction sa; + struct itimerval tv; + uint16_t i; + + master = ecrt_request_master(0); + if (!master) + return -1; + + domain1 = ecrt_master_create_domain(master); + if (!domain1) + return -1; + + printf("Configuring PDOs...\n"); + if (!(sc_ana_in = ecrt_master_slave_config(master, 0, 2, Beckhoff_EL1008))) { + fprintf(stderr, "Failed to get digital in configuration.\n"); + return -1; + } + if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el1008_syncs)) { + fprintf(stderr, "Failed to configure PDOs.\n"); + return -1; + } + if (0 > (off_dig_in[0] = ecrt_slave_config_reg_pdo_entry(sc_ana_in, 0x6000, 1, domain1, NULL))) { + fprintf(stderr, "Failed to configure reg PDOs.\n"); + return -1; + } + printf("EL1008 configured.\n"); + + for(i = 0; i < 2; ++i) { + if(Init_EL2008(i)) { + fprintf(stderr, "Failed to initialize EL2008 #%u.\n", i); + return -1; + } + } + + // Create configuration for bus coupler + sc = ecrt_master_slave_config(master, BusCouplerPos, Beckhoff_EK1100); + if (!sc) + return -1; + fprintf(stderr, "EK1100 configured.\n"); + + 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; +} + +/****************************************************************************/