# HG changeset patch # User Andreas Stewering-Bone # Date 1300691209 -3600 # Node ID a92e8f119723344173eb8b0a06552781ab9c3431 # Parent d246ab6b50d2b9ce1ecd5b9986968d54f99459c3 Work on Xenomai Posix interface, to be tested Further work on RTAI rtdm interface needed diff -r d246ab6b50d2 -r a92e8f119723 configure.ac --- a/configure.ac Thu Mar 17 21:13:36 2011 +0100 +++ b/configure.ac Mon Mar 21 08:06:49 2011 +0100 @@ -688,6 +688,7 @@ examples/tty/Makefile examples/user/Makefile examples/xenomai/Makefile + examples/xenomai_posix/Makefile include/Makefile lib/Makefile m4/Makefile diff -r d246ab6b50d2 -r a92e8f119723 examples/Makefile.am --- a/examples/Makefile.am Thu Mar 17 21:13:36 2011 +0100 +++ b/examples/Makefile.am Mon Mar 21 08:06:49 2011 +0100 @@ -42,7 +42,8 @@ if ENABLE_RTDM SUBDIRS += \ - xenomai + xenomai \ + xenomai_posix endif DIST_SUBDIRS = \ @@ -52,6 +53,7 @@ rtai \ tty \ xenomai \ + xenomai_posix \ user EXTRA_DIST = \ diff -r d246ab6b50d2 -r a92e8f119723 examples/xenomai/main.c --- a/examples/xenomai/main.c Thu Mar 17 21:13:36 2011 +0100 +++ b/examples/xenomai/main.c Mon Mar 21 08:06:49 2011 +0100 @@ -2,7 +2,7 @@ * * $Id$ * - * usermdtest.c Copyright (C) 2009-2010 Moehwald GmbH B.Benner + * main.c Copyright (C) 2009-2010 Moehwald GmbH B.Benner * 2011 IgH Andreas Stewering-Bone * * This file is part of ethercatrtdm interface to IgH EtherCAT master @@ -59,16 +59,13 @@ int rt_fd = -1; int run=0; -//struct timeval tv; unsigned int sync_ref_counter = 0; CstructMstrAttach MstrAttach; /****************************************************************************/ -// Application parameters -//#define FREQUENCY 1000 -//#define PRIORITY 1 + // Optional features #define CONFIGURE_PDOS 1 @@ -577,7 +574,7 @@ float period; - period=1E-4; + period=1E-3; //1kHz periodns=(RTIME)(((double)period * 1E9) + 0.4999999); diff -r d246ab6b50d2 -r a92e8f119723 examples/xenomai_posix/Makefile.am --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/examples/xenomai_posix/Makefile.am Mon Mar 21 08:06:49 2011 +0100 @@ -0,0 +1,39 @@ +#------------------------------------------------------------------------------ +# +# $Id$ +# +# Copyright (C) 2006-2008 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. +# +#------------------------------------------------------------------------------ + + +AM_CFLAGS = -Wall + +noinst_PROGRAMS = ec_xenomai_posix_example + +ec_xenomai_posix_example_SOURCES = main.c +ec_xenomai_posix_example_CFLAGS = -I/opt/etherlab/xenomai/include -D_GNU_SOURCE -D_REENTRANT -Wall -pipe -D__XENO__ -I/opt/etherlab/xenomai/include/posix -I$(top_srcdir)/include +ec_xenomai_posix_example_LDFLAGS = -Wl,@/opt/etherlab/xenomai/lib/posix.wrappers -L/opt/etherlab/xenomai/lib -lpthread_rt -lrtdm -L$(top_builddir)/lib/.libs -lethercat -L/opt/etherlab/xenomai/lib -lrtdk -lxenomai -lpthread + +#------------------------------------------------------------------------------ diff -r d246ab6b50d2 -r a92e8f119723 examples/xenomai_posix/main.c --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/examples/xenomai_posix/main.c Mon Mar 21 08:06:49 2011 +0100 @@ -0,0 +1,776 @@ +/****************************************************************************** + * + * $Id$ + * + * main.c Copyright (C) 2011 IgH Andreas Stewering-Bone + * + * This file is part of ethercatrtdm interface to IgH EtherCAT master + * + * The IgH EtherCAT master is free software; you can + * redistribute it and/or modify it under the terms of the GNU Lesser General + * Public License as published by the Free Software Foundation; version 2.1 + * of the License. + * + * 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 userspace library 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 Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with the IgH EtherCAT master userspace library. 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 + +#include "../../include/ecrt.h" +#include "../../include/ec_rtdm.h" + +#define NSEC_PER_SEC 1000000000 + +static unsigned int cycle = 1000; /* 1 ms */ + +static pthread_t cyclicthread; + +int rt_fd = -1; +int run=0; + +unsigned int sync_ref_counter = 0; + +CstructMstrAttach MstrAttach; + +/****************************************************************************/ + + + + +// Optional features +#define CONFIGURE_PDOS 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; + +// process data + +#define BusCoupler01_Pos 0, 0 +#define DigOutSlave01_Pos 0, 1 +#define DigOutSlave02_Pos 0, 2 +#define DigInSlave01_Pos 0, 3 +#define AnaOutSlave01_Pos 0, 4 +#define AnaInSlave01_Pos 0, 5 +#define BusCoupler02_Pos 0, 6 +#define AnaInSlave02_Pos 0, 7 + + +#define Beckhoff_EK1100 0x00000002, 0x044c2c52 +#define Beckhoff_EL1014 0x00000002, 0x03f63052 +#define Beckhoff_EL2004 0x00000002, 0x07d43052 +#define Beckhoff_EL4132 0x00000002, 0x10243052 +#define Beckhoff_EL3102 0x00000002, 0x0c1e3052 +#define Beckhoff_EL4102 0x00000002, 0x10063052 +#define Beckhoff_EL6731 0x00000002, 0x1a4b3052 +#define Beckhoff_EL6600 0x00000002, 0x19c93052 +#define Beckhoff_EL3602 0x00000002, 0x0e123052 +#define Beckhoff_EL5151 0x00000002, 0x141f3052 + + +// offsets for PDO entries +static unsigned int off_dig_out0 = 0; +static unsigned int off_dig_out1 = 0; +static unsigned int off_dig_out2 = 0; +static unsigned int off_dig_out3 = 0; +static unsigned int off_dig_in0 = 0; +static unsigned int off_ana_out0 = 0; +static unsigned int off_ana_out1 = 0; +static unsigned int off_ana_in0_status = 0; +static unsigned int off_ana_in0_value = 0; +static unsigned int off_ana_in1_status = 0; +static unsigned int off_ana_in1_value = 0; + + +// process data +unsigned int bit_position0=0; /* Pointer to a variable to store a bit */ +unsigned int bit_position1=0; /* Pointer to a variable to store a bit */ +unsigned int bit_position2=0; /* Pointer to a variable to store a bit */ +unsigned int bit_position3=0; /* Pointer to a variable to store a bit */ + +const static ec_pdo_entry_reg_t domain1_regs[] = { + {DigOutSlave01_Pos, Beckhoff_EL2004, 0x7000, 0x01, &off_dig_out0, &bit_position0}, + {DigOutSlave01_Pos, Beckhoff_EL2004, 0x7010, 0x01, &off_dig_out1, &bit_position1}, + {DigOutSlave01_Pos, Beckhoff_EL2004, 0x7020, 0x01, &off_dig_out2, &bit_position2}, + {DigOutSlave01_Pos, Beckhoff_EL2004, 0x7030, 0x01, &off_dig_out3, &bit_position3}, + {DigInSlave01_Pos, Beckhoff_EL1014, 0x6000, 0x01, &off_dig_in0}, + {AnaOutSlave01_Pos, Beckhoff_EL4132, 0x3001, 0x01, &off_ana_out0}, + {AnaOutSlave01_Pos, Beckhoff_EL4132, 0x3002, 0x01, &off_ana_out1}, + {AnaInSlave01_Pos, Beckhoff_EL3102, 0x3101, 0x01, &off_ana_in0_status}, + {AnaInSlave01_Pos, Beckhoff_EL3102, 0x3101, 0x02, &off_ana_in0_value}, + {AnaInSlave01_Pos, Beckhoff_EL3102, 0x3102, 0x01, &off_ana_in1_status}, + {AnaInSlave01_Pos, Beckhoff_EL3102, 0x3102, 0x02, &off_ana_in1_value}, + {} +}; + +char rt_dev_file[64]; +static unsigned int blink = 0; + +static ec_slave_config_t *sc_dig_out_01 = NULL; + +static ec_slave_config_t *sc_dig_out_02 = NULL; + +static ec_slave_config_t *sc_dig_in_01 = NULL; + +static ec_slave_config_t *sc_ana_out_01 = NULL; + +static ec_slave_config_t *sc_ana_in_01 = NULL; + +static ec_slave_config_t *sc_ana_in_02 = 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} +}; + +/* Slave 2, "EL2004" + * Vendor ID: 0x00000002 + * Product code: 0x07d43052 + * Revision number: 0x00100000 + */ + +ec_pdo_entry_info_t slave_2_pdo_entries[] = { + {0x7000, 0x01, 1}, /* Output */ + {0x7010, 0x01, 1}, /* Output */ + {0x7020, 0x01, 1}, /* Output */ + {0x7030, 0x01, 1}, /* Output */ +}; + +ec_pdo_info_t slave_2_pdos[] = { + {0x1600, 1, slave_2_pdo_entries + 0}, /* Channel 1 */ + {0x1601, 1, slave_2_pdo_entries + 1}, /* Channel 2 */ + {0x1602, 1, slave_2_pdo_entries + 2}, /* Channel 3 */ + {0x1603, 1, slave_2_pdo_entries + 3}, /* Channel 4 */ +}; + +ec_sync_info_t slave_2_syncs[] = { + {0, EC_DIR_OUTPUT, 4, slave_2_pdos + 0, EC_WD_ENABLE}, + {0xff} +}; + +/* Slave 3, "EL1014" + * Vendor ID: 0x00000002 + * Product code: 0x03f63052 + * Revision number: 0x00100000 + */ + +ec_pdo_entry_info_t slave_3_pdo_entries[] = { + {0x6000, 0x01, 1}, /* Input */ + {0x6010, 0x01, 1}, /* Input */ + {0x6020, 0x01, 1}, /* Input */ + {0x6030, 0x01, 1}, /* Input */ +}; + +ec_pdo_info_t slave_3_pdos[] = { + {0x1a00, 1, slave_3_pdo_entries + 0}, /* Channel 1 */ + {0x1a01, 1, slave_3_pdo_entries + 1}, /* Channel 2 */ + {0x1a02, 1, slave_3_pdo_entries + 2}, /* Channel 3 */ + {0x1a03, 1, slave_3_pdo_entries + 3}, /* Channel 4 */ +}; + +ec_sync_info_t slave_3_syncs[] = { + {0, EC_DIR_INPUT, 4, slave_3_pdos + 0, EC_WD_DISABLE}, + {0xff} +}; + +/* Slave 4, "EL4132" + * Vendor ID: 0x00000002 + * Product code: 0x10243052 + * Revision number: 0x03f90000 + */ + +ec_pdo_entry_info_t slave_4_pdo_entries[] = { + {0x3001, 0x01, 16}, /* Output */ + {0x3002, 0x01, 16}, /* Output */ +}; + +ec_pdo_info_t slave_4_pdos[] = { + {0x1600, 1, slave_4_pdo_entries + 0}, /* RxPDO 01 mapping */ + {0x1601, 1, slave_4_pdo_entries + 1}, /* RxPDO 02 mapping */ +}; + +ec_sync_info_t slave_4_syncs[] = { + {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, + {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, + {2, EC_DIR_OUTPUT, 2, slave_4_pdos + 0, EC_WD_DISABLE}, + {3, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, + {0xff} +}; + +/* Slave 5, "EL3102" + * Vendor ID: 0x00000002 + * Product code: 0x0c1e3052 + * Revision number: 0x00000000 + */ + +ec_pdo_entry_info_t slave_5_pdo_entries[] = { + {0x3101, 0x01, 8}, /* Status */ + {0x3101, 0x02, 16}, /* Value */ + {0x3102, 0x01, 8}, /* Status */ + {0x3102, 0x02, 16}, /* Value */ +}; + +ec_pdo_info_t slave_5_pdos[] = { + {0x1a00, 2, slave_5_pdo_entries + 0}, /* TxPDO 001 mapping */ + {0x1a01, 2, slave_5_pdo_entries + 2}, /* TxPDO 002 mapping */ +}; + +ec_sync_info_t slave_5_syncs[] = { + {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, + {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, + {2, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, + {3, EC_DIR_INPUT, 2, slave_5_pdos + 0, EC_WD_DISABLE}, + {0xff} +}; + +/* Slave 6, "EL6731-0010" + * Vendor ID: 0x00000002 + * Product code: 0x1a4b3052 + * Revision number: 0x0011000a + */ + +ec_sync_info_t slave_6_syncs[] = { + {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, + {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, + {2, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, + {3, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, +}; + + +/* Slave 7, "EL6601" + * Vendor ID: 0x00000002 + * Product code: 0x19c93052 + * Revision number: 0x00110000 + */ +/* +ec_sync_info_t slave_7_syncs[] = { + {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, + {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, + {2, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, + {3, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, + {0xff} +}; +*/ + +/* Master 0, Slave 7, "EL3602" + * Vendor ID: 0x00000002 + * Product code: 0x0e123052 + * Revision number: 0x00100000 + */ +ec_pdo_entry_info_t slave_7_pdo_entries[] = { + {0x6000, 0x01, 1}, /* Underrange */ + {0x6000, 0x02, 1}, /* Overrange */ + {0x6000, 0x03, 2}, /* Limit 1 */ + {0x6000, 0x05, 2}, /* Limit 2 */ + {0x6000, 0x07, 1}, /* Error */ + {0x0000, 0x00, 7}, /* Gap */ + {0x1800, 0x07, 1}, + {0x1800, 0x09, 1}, + {0x6000, 0x11, 32}, /* Value */ + {0x6010, 0x01, 1}, /* Underrange */ + {0x6010, 0x02, 1}, /* Overrange */ + {0x6010, 0x03, 2}, /* Limit 1 */ + {0x6010, 0x05, 2}, /* Limit 2 */ + {0x6010, 0x07, 1}, /* Error */ + {0x0000, 0x00, 7}, /* Gap */ + {0x1801, 0x07, 1}, + {0x1801, 0x09, 1}, + {0x6010, 0x11, 32}, /* Value */ +}; + +ec_pdo_info_t slave_7_pdos[] = { + {0x1a00, 9, slave_7_pdo_entries + 0}, /* AI TxPDO-Map Inputs Ch.1 */ + {0x1a01, 9, slave_7_pdo_entries + 9}, /* AI TxPDO-Map Inputs Ch.2 */ +}; + +ec_sync_info_t slave_7_syncs[] = { + {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, + {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, + {2, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, + {3, EC_DIR_INPUT, 2, slave_7_pdos + 0, EC_WD_DISABLE}, + {0xff} +}; + +/* Master 0, Slave 8, "EL5151" + * Vendor ID: 0x00000002 + * Product code: 0x141f3052 + * Revision number: 0x00130000 + */ + +ec_pdo_entry_info_t slave_8_pdo_entries[] = { + {0x6000, 0x01, 1}, + {0x6000, 0x02, 1}, + {0x6000, 0x03, 1}, + {0x0000, 0x00, 4}, /* Gap */ + {0x6000, 0x08, 1}, + {0x6000, 0x09, 1}, + {0x6000, 0x0a, 1}, + {0x6000, 0x0b, 1}, + {0x0000, 0x00, 1}, /* Gap */ + {0x6000, 0x0d, 1}, + {0x1c32, 0x20, 1}, + {0x0000, 0x00, 1}, /* Gap */ + {0x1800, 0x09, 1}, + {0x6000, 0x11, 32}, + {0x6000, 0x12, 32}, + {0x6000, 0x14, 32}, +}; + +ec_pdo_info_t slave_8_pdos[] = { + {0x0000, 0, NULL}, + {0x1a00, 15, slave_8_pdo_entries + 0}, + {0x1a02, 1, slave_8_pdo_entries + 15}, +}; + +ec_sync_info_t slave_8_syncs[] = { + {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, + {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, + {2, EC_DIR_OUTPUT, 1, slave_8_pdos + 0, EC_WD_DISABLE}, + {3, EC_DIR_INPUT, 2, slave_8_pdos + 1, EC_WD_DISABLE}, + {0xff} +}; + + +/*****************************************************************************/ + + +void rt_check_domain_state(void) +{ + ec_domain_state_t ds; + + if (rt_fd>=0) + { + ecrt_rtdm_domain_state(rt_fd,&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; + + if (rt_fd>=0) + { + ecrt_rtdm_master_state(rt_fd,&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 rt_sync() +{ + struct timespec now; + uint64_t now_ns; + clock_gettime(CLOCK_REALTIME,&now); + + now_ns = 1000000000LL*now.tv_sec + now.tv_nsec; + + if (rt_fd>=0) + { + ecrt_rtdm_master_application_time(rt_fd, &now_ns); + } + + if (sync_ref_counter) { + sync_ref_counter--; + } else { + sync_ref_counter = 9; + if (rt_fd>=0) + { + ecrt_rtdm_master_sync_reference_clock(rt_fd); + } + } + if (rt_fd>=0) + { + ecrt_rtdm_master_sync_slave_clocks(rt_fd) ; + } +} + +/*****************************************************************************/ + +/**********************************************************/ +void cleanup_all(void) +{ + printf("delete my_task\n"); + + pthread_kill(cyclicthread, SIGHUP); + pthread_join(cyclicthread, NULL); + + if (rt_fd >= 0) { + printf("closing rt device %s\n", &rt_dev_file[0]); + rt_dev_close(rt_fd); + + } +} + +void catch_signal(int sig) +{ + cleanup_all(); +} + + + + + +void *my_thread(void *arg) +{ + struct sched_param param = { .sched_priority = 1 }; + struct timespec next_period; + int counter = 0; + int divcounter = 0; + int divider = 10; + pthread_set_name_np(pthread_self(), "ec_xenomai_posix_test"); + pthread_setschedparam(pthread_self(), SCHED_FIFO, ¶m); + + clock_gettime(CLOCK_MONOTONIC, &next_period); + + while(1) { + next_period.tv_nsec += cycle * 1000; + while (next_period.tv_nsec >= NSEC_PER_SEC) { + next_period.tv_nsec -= NSEC_PER_SEC; + next_period.tv_sec++; + } + + clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &next_period, NULL); + + counter++; + if (counter>600000) { + run=0; + return NULL; + } + + // receive ethercat + ecrt_rtdm_master_recieve(rt_fd); + ecrt_rtdm_domain_process(rt_fd); + + rt_check_domain_state(); + + if (divcounter ==0) + { + divcounter=divider; + rt_check_master_state(); + } + divcounter--; + if ((counter % 200)==0) + { + blink = !blink; + + } + + + EC_WRITE_U8(domain1_pd + off_dig_out0, blink ? 0x0 : 0x0F); + EC_WRITE_U16(domain1_pd + off_ana_out0, blink ? 0x0: 0xfff); + + //sync DC + rt_sync(); + + // send process data + ecrt_rtdm_domain_queque(rt_fd); + ecrt_rtdm_master_send(rt_fd); + } + return NULL; +} + + + +int main(int argc, char *argv[]) +{ + struct sched_param param = { .sched_priority = 1 }; + pthread_attr_t thattr; + ec_slave_config_t *sc; + int rtstatus; + + + + signal(SIGTERM, catch_signal); + signal(SIGINT, catch_signal); + signal(SIGHUP, catch_signal); + + mlockall(MCL_CURRENT|MCL_FUTURE); + + + + MstrAttach.masterindex = 0; + + printf("request master\n"); + master = ecrt_request_master(MstrAttach.masterindex); + if (!master) + return -1; + + + domain1 = ecrt_master_create_domain(master); + if (!domain1) + return -1; + + +#ifdef CONFIGURE_PDOS + + printf("Configuring PDOs...\n"); + + printf("Get Configuring el2004...\n"); + 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; + } + + printf("Configuring EL2004...\n"); + if (ecrt_slave_config_pdos(sc_dig_out_01, EC_END, slave_1_syncs)) + { + fprintf(stderr, "Failed to configure PDOs.\n"); + return -1; + } + + printf("Get Configuring el2004...\n"); + sc_dig_out_02 = ecrt_master_slave_config(master, DigOutSlave02_Pos, Beckhoff_EL2004); + if (!sc_dig_out_02) { + fprintf(stderr, "Failed to get slave configuration.\n"); + return -1; + } + + printf("Configuring EL2004...\n"); + if (ecrt_slave_config_pdos(sc_dig_out_02, EC_END, slave_2_syncs)) { + fprintf(stderr, "Failed to configure PDOs.\n"); + return -1; + } + + printf("Get Configuring el1014...\n"); + sc_dig_in_01 = ecrt_master_slave_config(master, DigInSlave01_Pos, Beckhoff_EL1014); + if (!sc_dig_in_01) { + fprintf(stderr, "Failed to get slave configuration.\n"); + return -1; + } + + printf("Configuring EL1014...\n"); + if (ecrt_slave_config_pdos(sc_dig_in_01, EC_END, slave_3_syncs)) { + fprintf(stderr, "Failed to configure PDOs.\n"); + return -1; + } + + printf("Get Configuring EL4132...\n"); + sc_ana_out_01 = ecrt_master_slave_config(master, AnaOutSlave01_Pos, Beckhoff_EL4132); + if (!sc_ana_out_01) { + fprintf(stderr, "Failed to get slave configuration.\n"); + return -1; + } + + printf("Configuring EL4132...\n"); + if (ecrt_slave_config_pdos(sc_ana_out_01, EC_END, slave_4_syncs)) { + fprintf(stderr, "Failed to configure PDOs.\n"); + return -1; + } + + printf("Get Configuring EL3102...\n"); + sc_ana_in_01 = ecrt_master_slave_config(master, AnaInSlave01_Pos, Beckhoff_EL3102); + if (!sc_ana_in_01) { + fprintf(stderr, "Failed to get slave configuration.\n"); + return -1; + } + + printf("Configuring EL3102...\n"); + if (ecrt_slave_config_pdos(sc_ana_in_01, EC_END, slave_5_syncs)) { + fprintf(stderr, "Failed to configure PDOs.\n"); + return -1; + } + + printf("Get Configuring EL3602...\n"); + sc_ana_in_02 = ecrt_master_slave_config(master, AnaInSlave02_Pos, Beckhoff_EL3602); + if (!sc_ana_in_02) { + fprintf(stderr, "Failed to get slave configuration.\n"); + return -1; + } + + + printf("Configuring EL3602...\n"); + if (ecrt_slave_config_pdos(sc_ana_in_02, EC_END, slave_7_syncs)) { + fprintf(stderr, "Failed to configure PDOs.\n"); + return -1; + } + +#endif + + // Create configuration for bus coupler + sc = ecrt_master_slave_config(master, BusCoupler01_Pos, Beckhoff_EK1100); + if (!sc) + return -1; + +#ifdef CONFIGURE_PDOS + if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) { + fprintf(stderr, "PDO entry registration failed!\n"); + return -1; + } +#endif + + + + sprintf(&rt_dev_file[0],"%s%u",EC_RTDM_DEV_FILE_NAME,0); + + + rt_fd = rt_dev_open( &rt_dev_file[0], 0); + if (rt_fd < 0) { + printf("can't open %s\n", &rt_dev_file[0]); + return -1; + } + + MstrAttach.domainindex = ecrt_domain_index(domain1); + + // attach the master over rtdm driver + rtstatus=ecrt_rtdm_master_attach(rt_fd, &MstrAttach); + if (rtstatus < 0) + { + printf("cannot attach to master over rtdm\n"); + return -1; + } + + printf("Activating master...\n"); + if (ecrt_master_activate(master)) + return -1; + + if (!(domain1_pd = ecrt_domain_data(domain1))) { + return -1; + } + fprintf(stderr, "domain1_pd: 0x%.6x\n", (unsigned int)domain1_pd); + + + + int ret; + run=1; + + /* Create cyclic RT-thread */ + pthread_attr_init(&thattr); + pthread_attr_setdetachstate(&thattr, PTHREAD_CREATE_JOINABLE); + pthread_attr_setstacksize(&thattr, PTHREAD_STACK_MIN); + ret = pthread_create(&cyclicthread, &thattr, &my_thread, NULL); + if (ret) { + fprintf(stderr, "%s: pthread_create cyclic task failed\n", + strerror(-ret)); + goto failure; + } + pthread_setschedparam(pthread_self(), SCHED_FIFO, ¶m); + + + + while (run) + { + sched_yield(); + } + + //rt_task_delete(&my_task); + + + + pthread_kill(cyclicthread, SIGHUP); + pthread_join(cyclicthread, NULL); + + + if (rt_fd >= 0) + { + printf("closing rt device %s\n", &rt_dev_file[0]); + + rt_dev_close(rt_fd); + + } + + printf("End of Program\n"); + ecrt_release_master(master); + + return 0; + + failure: + pthread_kill(cyclicthread, SIGHUP); + pthread_join(cyclicthread, NULL); + + + return 1; +} +