/***************************************************************************** * * $Id$ * * 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 /****************************************************************************/ //EtherCAT #include "ecrt.h" /****************************************************************************/ // Application parameters #define FREQUENCY 1000 #define PRIORITY 1 // Optional features #define PRECONFIGURE_PDOS 1 //use configuration in build #define CONFIGURE_PDOS 0 //configure at run-time /****************************************************************************/ // Timer static unsigned int sig_alarms = 0; static unsigned int user_alarms = 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_dig_out = NULL; static ec_slave_config_t *sc_dig_in = NULL; /****************************************************************************/ #define NUMSLAVES 2 // process data static uint8_t *domain1_pd = NULL; //definitions for the bus connections and expected slave positions #define BusCouplerPos 0, 0 #define DigOutSlavePos 0, 1 #define DigInSlavePos 0, 2 #define Beckhoff_EK1100 0x00000002, 0x044c2c52 #define Beckhoff_EL2004 0x00000002, 0x07d43052 #define Beckhoff_EL1014 0x00000002, 0x03f63052 // offsets for PDO entries static unsigned int off_dig_out; static unsigned int off_dig_in; const static ec_pdo_entry_reg_t domain1_regs[] = { {DigOutSlavePos, Beckhoff_EL2004, 0x7000, 1, &off_dig_out}, {DigInSlavePos, Beckhoff_EL1014, 0x6000, 1, &off_dig_in}, {} }; static char slaves_up = 0; static unsigned int counter = 0; static unsigned int blink = 0; /*****************************************************************************/ #if PRECONFIGURE_PDOS /* Master 0, Slave 1, "EL2004" * Vendor ID: 0x00000002 * Product code: 0x07d43052 * Revision number: 0x00100000 */ ec_pdo_entry_info_t EL2004_pdo_entries[] = { {0x7000, 0x01, 1}, /* Output */ {0x7010, 0x01, 1}, /* Output */ {0x7020, 0x01, 1}, /* Output */ {0x7030, 0x01, 1}, /* Output */ }; ec_pdo_info_t EL2004_pdos[] = { {0x1600, 1, EL2004_pdo_entries + 0}, /* Channel 1 */ {0x1601, 1, EL2004_pdo_entries + 1}, /* Channel 2 */ {0x1602, 1, EL2004_pdo_entries + 2}, /* Channel 3 */ {0x1603, 1, EL2004_pdo_entries + 3}, /* Channel 4 */ }; ec_sync_info_t EL2004_syncs[] = { {0, EC_DIR_OUTPUT, 4, EL2004_pdos + 0, EC_WD_ENABLE}, {0xff} }; /* Master 0, Slave 2, "EL1014" * Vendor ID: 0x00000002 * Product code: 0x03f63052 * Revision number: 0x00100000 */ ec_pdo_entry_info_t EL1014_pdo_entries[] = { {0x6000, 0x01, 1}, /* Input */ {0x6010, 0x01, 1}, /* Input */ {0x6020, 0x01, 1}, /* Input */ {0x6030, 0x01, 1}, /* Input */ }; ec_pdo_info_t EL1014_pdos[] = { {0x1a00, 1, EL1014_pdo_entries + 0}, /* Channel 1 */ {0x1a01, 1, EL1014_pdo_entries + 1}, /* Channel 2 */ {0x1a02, 1, EL1014_pdo_entries + 2}, /* Channel 3 */ {0x1a03, 1, EL1014_pdo_entries + 3}, /* Channel 4 */ }; ec_sync_info_t EL1014_syncs[] = { {0, EC_DIR_INPUT, 4, EL1014_pdos + 0, EC_WD_DISABLE}, {0xff} }; #endif /*****************************************************************************/ void check_domain1_state(void) { ec_domain_state_t ds; ecrt_domain_state(domain1, &ds); #if 0 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); #endif 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() { ec_slave_config_state_t s; ecrt_slave_config_state(sc_dig_out, &s); if (slaves_up < 1 && s.al_state != 0x08) { printf("DigOut: State 0x%02X.\n", s.al_state); } if (slaves_up < 1 && s.al_state == 0x08) { slaves_up = 1; } ecrt_slave_config_state(sc_dig_in, &s); if (slaves_up < 2 && s.al_state != 0x08) { printf("DigIn: State 0x%02X.\n", s.al_state); } if (slaves_up < 2 && s.al_state == 0x08) { slaves_up = 2; } } /****************************************************************************/ void cyclic_task() { static int i; static unsigned int in, old_in, cycle_led; // receive process data ecrt_master_receive(master); ecrt_domain_process(domain1); if (counter) { counter--; } else { // do this at 1 Hz counter = FREQUENCY; // calculate new process data blink++; } // read process data in = EC_READ_U8(domain1_pd + off_dig_in) & 0x0F; if (old_in != in) { printf("Input is now %x\n", in); old_in = in; } // write process data cycle_led = !cycle_led; if (cycle_led) { blink |= 0x08; } else { blink &= 0x07; } EC_WRITE_U8(domain1_pd + off_dig_out, blink); // 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(void) //(int argc, char **argv) { unsigned int j, in, out, op_flag; ec_slave_config_t *sc; ec_master_state_t ms; struct sigaction sa; struct itimerval tv; master = ecrt_request_master(0); if (!master) { fprintf(stderr, "Unable to get requested master.\n"); return -1; } domain1 = ecrt_master_create_domain(master); if (!domain1) { fprintf(stderr, "Unable to create process data domain.\n"); return -1; } #if CONFIGURE_PDOS printf("Configuring PDOs...\n"); if (!(sc = ecrt_master_slave_config( master, DigOutSlavePos, Beckhoff_EL2004))) { fprintf(stderr, "Failed to get EL2004 configuration.\n"); return -1; } if (!(sc = ecrt_master_slave_config( master, DigInSlavePos, Beckhoff_EL1014))) { fprintf(stderr, "Failed to get EL1014 configuration.\n"); return -1; } #endif // Create configuration for the bus coupler sc = ecrt_master_slave_config(master, BusCouplerPos, Beckhoff_EK1100); if (!sc) { fprintf(stderr, "Failed to get EK1100 configuration.\n"); return -1; } sc_dig_out = ecrt_master_slave_config( master, DigOutSlavePos, Beckhoff_EL2004); sc_dig_in = ecrt_master_slave_config( master, DigInSlavePos, Beckhoff_EL1014); if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) { fprintf(stderr, "PDO entry registration failed!\n"); return -1; } printf("Activating master..."); if (ecrt_master_activate(master)) { fprintf(stderr,"activation failed.\n"); return -1; } printf("ok!\n"); if (!(domain1_pd = ecrt_domain_data(domain1))) { fprintf(stderr,"Domain data initialization failed.\n"); return -1; } printf("Domain data registered ok.\n"); check_master_state(); check_domain1_state(); #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; } /****************************************************************************/