--- a/examples/user/main.c Fri Oct 10 08:34:15 2008 +0000
+++ b/examples/user/main.c Fri Oct 10 09:37:06 2008 +0000
@@ -47,6 +47,7 @@
/****************************************************************************/
// Application parameters
+#define FREQUENCY 100
#define PRIORITY 1
// Optional features
@@ -56,10 +57,13 @@
// 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;
@@ -75,8 +79,9 @@
#define AnaInSlavePos 0, 2
#define DigOutSlavePos 0, 3
-#define Beckhoff_EK1100 0x00000002, 0x044C2C52
-#define Beckhoff_EL2004 0x00000002, 0x07D43052
+#define Beckhoff_EK1100 0x00000002, 0x044c2c52
+#define Beckhoff_EL2004 0x00000002, 0x07d43052
+#define Beckhoff_EL2032 0x00000002, 0x07f03052
#define Beckhoff_EL3152 0x00000002, 0x0c503052
#define Beckhoff_EL4102 0x00000002, 0x10063052
@@ -90,10 +95,13 @@
{AnaInSlavePos, Beckhoff_EL3152, 0x3101, 1, &off_ana_in_status},
{AnaInSlavePos, Beckhoff_EL3152, 0x3101, 2, &off_ana_in_value},
{AnaOutSlavePos, Beckhoff_EL4102, 0x3001, 1, &off_ana_out},
- {DigOutSlavePos, Beckhoff_EL2004, 0x3001, 1, &off_dig_out},
+ {DigOutSlavePos, Beckhoff_EL2032, 0x3001, 1, &off_dig_out},
{}
};
+static unsigned int counter = 0;
+static unsigned int blink = 0;
+
/*****************************************************************************/
#if CONFIGURE_PDOS
@@ -161,24 +169,100 @@
};
#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;
+}
+
/****************************************************************************/
void cyclic_task()
{
+ int i;
+
+ // 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 0
-#if EL3152_ALT_PDOS
- printf("AnaIn: value %u\n",
- EC_READ_U16(domain1_pd + off_ana_in_value));
-#else
+ // 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
-#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);
}
@@ -234,7 +318,7 @@
}
if (!(sc = ecrt_master_slave_config(
- master, DigOutSlavePos, Beckhoff_EL2004))) {
+ master, DigOutSlavePos, Beckhoff_EL2032))) {
fprintf(stderr, "Failed to get slave configuration.\n");
return -1;
}
@@ -280,7 +364,7 @@
printf("Starting timer...\n");
tv.it_interval.tv_sec = 0;
- tv.it_interval.tv_usec = 10000;
+ 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)) {
--- a/lib/domain.c Fri Oct 10 08:34:15 2008 +0000
+++ b/lib/domain.c Fri Oct 10 09:37:06 2008 +0000
@@ -119,6 +119,15 @@
void ecrt_domain_state(const ec_domain_t *domain, ec_domain_state_t *state)
{
+ ec_ioctl_domain_state_t data;
+
+ data.domain_index = domain->index;
+ data.state = state;
+
+ if (ioctl(domain->master->fd, EC_IOCTL_DOMAIN_STATE, &data) == -1) {
+ fprintf(stderr, "Failed to get domain state: %s\n",
+ strerror(errno));
+ }
}
/*****************************************************************************/
--- a/lib/master.c Fri Oct 10 08:34:15 2008 +0000
+++ b/lib/master.c Fri Oct 10 09:37:06 2008 +0000
@@ -117,7 +117,7 @@
if (master->process_data_size) {
master->process_data = mmap(0, master->process_data_size,
- PROT_READ | PROT_WRITE, MAP_PRIVATE, master->fd, 0);
+ PROT_READ | PROT_WRITE, MAP_SHARED, master->fd, 0);
if (master->process_data == MAP_FAILED) {
fprintf(stderr, "Failed to map process data: %s", strerror(errno));
master->process_data = NULL;
@@ -154,6 +154,9 @@
void ecrt_master_state(const ec_master_t *master, ec_master_state_t *state)
{
+ if (ioctl(master->fd, EC_IOCTL_MASTER_STATE, state) == -1) {
+ fprintf(stderr, "Failed to get master state: %s\n", strerror(errno));
+ }
}
/*****************************************************************************/
--- a/lib/slave_config.c Fri Oct 10 08:34:15 2008 +0000
+++ b/lib/slave_config.c Fri Oct 10 09:37:06 2008 +0000
@@ -298,7 +298,7 @@
ec_sdo_request_t *ecrt_slave_config_create_sdo_request(ec_slave_config_t *sc,
uint16_t index, uint8_t subindex, size_t size)
{
- return 0;
+ return 0; // TODO
}
/*****************************************************************************/
@@ -306,7 +306,7 @@
ec_voe_handler_t *ecrt_slave_config_create_voe_handler(ec_slave_config_t *sc,
size_t size)
{
- return 0;
+ return 0; // TODO
}
/*****************************************************************************/
@@ -314,6 +314,15 @@
void ecrt_slave_config_state(const ec_slave_config_t *sc,
ec_slave_config_state_t *state)
{
-}
-
-/*****************************************************************************/
+ ec_ioctl_sc_state_t data;
+
+ data.config_index = sc->index;
+ data.state = state;
+
+ if (ioctl(sc->master->fd, EC_IOCTL_SC_STATE, &data) == -1) {
+ fprintf(stderr, "Failed to get slave configuration state: %s\n",
+ strerror(errno));
+ }
+}
+
+/*****************************************************************************/
--- a/master/cdev.c Fri Oct 10 08:34:15 2008 +0000
+++ b/master/cdev.c Fri Oct 10 09:37:06 2008 +0000
@@ -1560,6 +1560,29 @@
/*****************************************************************************/
+/** Get the master state.
+ */
+int ec_cdev_ioctl_master_state(
+ ec_master_t *master, /**< EtherCAT master. */
+ unsigned long arg, /**< ioctl() argument. */
+ ec_cdev_priv_t *priv /**< Private data structure of file handle. */
+ )
+{
+ ec_master_state_t data;
+
+ if (unlikely(!priv->requested))
+ return -EPERM;
+
+ ecrt_master_state(master, &data);
+
+ if (copy_to_user((void __user *) arg, &data, sizeof(data)))
+ return -EFAULT;
+
+ return 0;
+}
+
+/*****************************************************************************/
+
/** Set the direction of a sync manager.
*/
int ec_cdev_ioctl_sc_sync(
@@ -1839,6 +1862,45 @@
/*****************************************************************************/
+/** Get the slave configuration's state.
+ */
+int ec_cdev_ioctl_sc_state(
+ ec_master_t *master, /**< EtherCAT master. */
+ unsigned long arg, /**< ioctl() argument. */
+ ec_cdev_priv_t *priv /**< Private data structure of file handle. */
+ )
+{
+ ec_ioctl_sc_state_t data;
+ const ec_slave_config_t *sc;
+ ec_slave_config_state_t state;
+
+ if (unlikely(!priv->requested))
+ return -EPERM;
+
+ if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
+ return -EFAULT;
+ }
+
+ if (down_interruptible(&master->master_sem))
+ return -EINTR;
+
+ if (!(sc = ec_master_get_config_const(master, data.config_index))) {
+ up(&master->master_sem);
+ return -ESRCH;
+ }
+
+ ecrt_slave_config_state(sc, &state);
+
+ up(&master->master_sem);
+
+ if (copy_to_user((void __user *) data.state, &state, sizeof(state)))
+ return -EFAULT;
+
+ return 0;
+}
+
+/*****************************************************************************/
+
/** Gets the domain's offset in the total process data.
*/
int ec_cdev_ioctl_domain_offset(
@@ -1925,6 +1987,45 @@
return 0;
}
+/*****************************************************************************/
+
+/** Get the domain state.
+ */
+int ec_cdev_ioctl_domain_state(
+ ec_master_t *master, /**< EtherCAT master. */
+ unsigned long arg, /**< ioctl() argument. */
+ ec_cdev_priv_t *priv /**< Private data structure of file handle. */
+ )
+{
+ ec_ioctl_domain_state_t data;
+ const ec_domain_t *domain;
+ ec_domain_state_t state;
+
+ if (unlikely(!priv->requested))
+ return -EPERM;
+
+ if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
+ return -EFAULT;
+ }
+
+ if (down_interruptible(&master->master_sem))
+ return -EINTR;
+
+ if (!(domain = ec_master_find_domain_const(master, data.domain_index))) {
+ up(&master->master_sem);
+ return -ESRCH;
+ }
+
+ ecrt_domain_state(domain, &state);
+
+ up(&master->master_sem);
+
+ if (copy_to_user((void __user *) data.state, &state, sizeof(state)))
+ return -EFAULT;
+
+ return 0;
+}
+
/******************************************************************************
* File operations
*****************************************************************************/
@@ -2067,6 +2168,8 @@
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
return ec_cdev_ioctl_receive(master, arg, priv);
+ case EC_IOCTL_MASTER_STATE:
+ return ec_cdev_ioctl_master_state(master, arg, priv);
case EC_IOCTL_SC_SYNC:
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
@@ -2095,6 +2198,8 @@
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
return ec_cdev_ioctl_sc_sdo(master, arg, priv);
+ case EC_IOCTL_SC_STATE:
+ return ec_cdev_ioctl_sc_state(master, arg, priv);
case EC_IOCTL_DOMAIN_OFFSET:
return ec_cdev_ioctl_domain_offset(master, arg, priv);
case EC_IOCTL_DOMAIN_PROCESS:
@@ -2105,6 +2210,8 @@
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
return ec_cdev_ioctl_domain_queue(master, arg, priv);
+ case EC_IOCTL_DOMAIN_STATE:
+ return ec_cdev_ioctl_domain_state(master, arg, priv);
default:
return -ENOTTY;
}
--- a/master/ioctl.h Fri Oct 10 08:34:15 2008 +0000
+++ b/master/ioctl.h Fri Oct 10 09:37:06 2008 +0000
@@ -56,6 +56,7 @@
#define EC_IOW(nr, type) _IOW(EC_IOCTL_TYPE, nr, type)
#define EC_IOWR(nr, type) _IOWR(EC_IOCTL_TYPE, nr, type)
+// Command-line tool
#define EC_IOCTL_MASTER EC_IOR(0x00, ec_ioctl_master_t)
#define EC_IOCTL_SLAVE EC_IOWR(0x01, ec_ioctl_slave_t)
#define EC_IOCTL_SLAVE_SYNC EC_IOWR(0x02, ec_ioctl_slave_sync_t)
@@ -79,22 +80,28 @@
#define EC_IOCTL_CONFIG_PDO_ENTRY EC_IOWR(0x14, ec_ioctl_config_pdo_entry_t)
#define EC_IOCTL_CONFIG_SDO EC_IOWR(0x15, ec_ioctl_config_sdo_t)
+// Application interface
#define EC_IOCTL_REQUEST EC_IO(0x16)
#define EC_IOCTL_CREATE_DOMAIN EC_IO(0x17)
#define EC_IOCTL_CREATE_SLAVE_CONFIG EC_IOWR(0x18, ec_ioctl_config_t)
#define EC_IOCTL_ACTIVATE EC_IOR(0x19, size_t)
#define EC_IOCTL_SEND EC_IO(0x1a)
#define EC_IOCTL_RECEIVE EC_IO(0x1b)
-#define EC_IOCTL_SC_SYNC EC_IOW(0x1c, ec_ioctl_config_t)
-#define EC_IOCTL_SC_ADD_PDO EC_IOW(0x1c, ec_ioctl_config_pdo_t)
-#define EC_IOCTL_SC_CLEAR_PDOS EC_IOW(0x1d, ec_ioctl_config_pdo_t)
-#define EC_IOCTL_SC_ADD_ENTRY EC_IOW(0x1e, ec_ioctl_add_pdo_entry_t)
-#define EC_IOCTL_SC_CLEAR_ENTRIES EC_IOW(0x1f, ec_ioctl_config_pdo_t)
-#define EC_IOCTL_SC_REG_PDO_ENTRY EC_IOWR(0x20, ec_ioctl_reg_pdo_entry_t)
-#define EC_IOCTL_SC_SDO EC_IOW(0x21, ec_ioctl_sc_sdo_t)
-#define EC_IOCTL_DOMAIN_OFFSET EC_IO(0x22)
-#define EC_IOCTL_DOMAIN_PROCESS EC_IO(0x23)
-#define EC_IOCTL_DOMAIN_QUEUE EC_IO(0x24)
+#define EC_IOCTL_MASTER_STATE EC_IOR(0x1c, ec_master_state_t)
+#define EC_IOCTL_SC_SYNC EC_IOW(0x1d, ec_ioctl_config_t)
+#define EC_IOCTL_SC_ADD_PDO EC_IOW(0x1e, ec_ioctl_config_pdo_t)
+#define EC_IOCTL_SC_CLEAR_PDOS EC_IOW(0x1f, ec_ioctl_config_pdo_t)
+#define EC_IOCTL_SC_ADD_ENTRY EC_IOW(0x20, ec_ioctl_add_pdo_entry_t)
+#define EC_IOCTL_SC_CLEAR_ENTRIES EC_IOW(0x21, ec_ioctl_config_pdo_t)
+#define EC_IOCTL_SC_REG_PDO_ENTRY EC_IOWR(0x22, ec_ioctl_reg_pdo_entry_t)
+#define EC_IOCTL_SC_SDO EC_IOW(0x23, ec_ioctl_sc_sdo_t)
+#define EC_IOCTL_SC_STATE EC_IOWR(0x24, ec_ioctl_sc_state_t)
+#define EC_IOCTL_DOMAIN_OFFSET EC_IO(0x25)
+#define EC_IOCTL_DOMAIN_PROCESS EC_IO(0x26)
+#define EC_IOCTL_DOMAIN_QUEUE EC_IO(0x27)
+#define EC_IOCTL_DOMAIN_STATE EC_IOWR(0x28, ec_ioctl_domain_state_t)
+
+/*****************************************************************************/
#define EC_IOCTL_STRING_SIZE 64
@@ -413,6 +420,26 @@
/*****************************************************************************/
+typedef struct {
+ // inputs
+ uint32_t config_index;
+
+ // outputs
+ ec_slave_config_state_t *state;
+} ec_ioctl_sc_state_t;
+
+/*****************************************************************************/
+
+typedef struct {
+ // inputs
+ uint32_t domain_index;
+
+ // outputs
+ ec_domain_state_t *state;
+} ec_ioctl_domain_state_t;
+
+/*****************************************************************************/
+
/** \endcond */
#endif