/***************************************************************************** * * $Id: main.c 1655 2009-02-02 13:37:00Z 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 * * Using the EtherCAT technology and brand is 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_dig_out = NULL; static ec_slave_config_state_t sc_dig_out_state = { -1, -1, -1 }; // Timer static unsigned int sig_alarms = 0; static unsigned int user_alarms = 0; /****************************************************************************/ // process data static uint8_t *domain1_pd = NULL; #define DigInSlavePos 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 #define NXIO_100RE 2, 68 // 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}, {} };*/ const static ec_pdo_entry_reg_t domain1_regs[] = { { 0, 0, NXIO_100RE, 0x2004, 32, &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 } }; */ // Digital out for NXIO 100-RE ------------------------ static ec_pdo_entry_info_t nxio100_channels[] = { { 0x2004, 32, 3 } }; static ec_pdo_info_t nxio100_pdos[] = { { 0x1600, 1, &nxio100_channels[0] } }; static ec_sync_info_t nxio100_syncs[] = { { 0, EC_DIR_OUTPUT, 4, nxio100_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); ec_slave_info_t info; for (int i = 0; i < ms.slaves_responding; i++) { if (ecrt_master_slave(master, 0, &info)) { fprintf(stderr, " Failed to get slave %u info.\n", i); } else { printf(" slave(%u).alias: %u\n", i, info.alias); printf(" slave(%u).vendor_id: %u\n", i, info.vendor_id); printf(" slave(%u).product_code: 0x%06X\n", i, info.product_code); printf(" slave(%u).revision_number: 0x%06X\n", i, info.revision_number); printf(" slave(%u).serial_number: %u\n", i, info.serial_number); printf(" slave(%u).name: %s\n", i, info.name); printf(" slave(%u).al_state: 0x%02X\n", i, info.al_state); } } } 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_dig_out, &s); if (s.al_state != sc_dig_out_state.al_state) printf("DigOut: State 0x%02X.\n", s.al_state); if (s.online != sc_dig_out_state.online) printf("DigOut: %s.\n", s.online ? "online" : "offline"); if (s.operational != sc_dig_out_state.operational) printf("DigOut: %soperational.\n", s.operational ? "" : "Not "); sc_dig_out_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() { 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 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))) { */ if (!(sc_dig_out = ecrt_master_slave_config(master, 0, 0, NXIO_100RE))) { fprintf(stderr, "Failed to get slave configuration.\n"); return -1; } if (ecrt_slave_config_pdos(sc_dig_out, EC_END, nxio100_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); /* sc = ecrt_master_slave_config(master, DigInSlavePos, NXIO_100RE); 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; } /****************************************************************************/