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Memory-mapped process data.

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This commit is contained in:
Florian Pose
2008-10-10 08:34:15 +00:00
parent ffe107b658
commit 4e6e86c808
9 changed files with 329 additions and 46 deletions
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examples/user/main.c
+52 -35
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@@ -46,13 +46,29 @@
/****************************************************************************/
// Application parameters
#define PRIORITY 1
// Optional features
#define CONFIGURE_PDOS 1
#define EL3152_ALT_PDOS 0
#define SDO_ACCESS 0
#define VOE_ACCESS 0
#define PRIORITY 1
/****************************************************************************/
// EtherCAT
static ec_master_t *master = NULL;
static ec_domain_t *domain1 = NULL;
static ec_slave_config_t *sc_ana_in = NULL;
// Timer
static unsigned int sig_alarms = 0;
static unsigned int user_alarms = 0;
/****************************************************************************/
// process data
static uint8_t *domain1_pd = NULL;
#define BusCouplerPos 0, 0
#define AnaOutSlavePos 0, 1
@@ -64,29 +80,20 @@
#define Beckhoff_EL3152 0x00000002, 0x0c503052
#define Beckhoff_EL4102 0x00000002, 0x10063052
/****************************************************************************/
static unsigned int sig_alarms = 0;
static unsigned int user_alarms = 0;
// offsets for Pdo entries
static unsigned int off_ana_in;
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[] = {
#if EL3152_ALT_PDOS
{AnaInSlavePos, Beckhoff_EL3152, 0x6401, 1, &off_ana_in},
#else
{AnaInSlavePos, Beckhoff_EL3152, 0x3101, 2, &off_ana_in},
#endif
{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},
{}
};
static ec_slave_config_t *sc_ana_in = NULL;
/*****************************************************************************/
#if CONFIGURE_PDOS
@@ -102,17 +109,6 @@ static ec_pdo_entry_info_t el3152_pdo_entries[] = {
{0x6401, 2, 16} // channel 2 value (alt.)
};
#if EL3152_ALT_PDOS
static ec_pdo_info_t el3152_pdos[] = {
{0x1A10, 2, el3152_pdo_entries + 4},
};
static ec_sync_info_t el3152_syncs[] = {
{2, EC_DIR_OUTPUT},
{3, EC_DIR_INPUT, 1, el3152_pdos},
{0xff}
};
#else
static ec_pdo_info_t el3152_pdos[] = {
{0x1A00, 2, el3152_pdo_entries},
{0x1A01, 2, el3152_pdo_entries + 2}
@@ -123,7 +119,6 @@ static ec_sync_info_t el3152_syncs[] = {
{3, EC_DIR_INPUT, 2, el3152_pdos},
{0xff}
};
#endif
// Analog out -------------------------
@@ -168,6 +163,28 @@ static ec_sync_info_t el2004_syncs[] = {
/****************************************************************************/
void cyclic_task()
{
ecrt_master_receive(master);
ecrt_domain_process(domain1);
#if 0
#if EL3152_ALT_PDOS
printf("AnaIn: value %u\n",
EC_READ_U16(domain1_pd + off_ana_in_value));
#else
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
ecrt_domain_queue(domain1);
ecrt_master_send(master);
}
/****************************************************************************/
void signal_handler(int signum) {
switch (signum) {
case SIGALRM:
@@ -180,8 +197,6 @@ void signal_handler(int signum) {
int main(int argc, char **argv)
{
ec_master_t *master;
ec_domain_t *domain1;
ec_slave_config_t *sc;
struct sigaction sa;
struct itimerval tv;
@@ -244,6 +259,10 @@ int main(int argc, char **argv)
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))
@@ -271,7 +290,7 @@ int main(int argc, char **argv)
printf("Started.\n");
while (1) {
sleep(1);
sleep(1); // always interrupted by SIGALRM
#if 0
struct timeval t;
@@ -280,9 +299,7 @@ int main(int argc, char **argv)
#endif
while (sig_alarms != user_alarms) {
ecrt_master_receive(master);
ecrt_master_send(master);
cyclic_task();
user_alarms++;
}
}