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401 lines
11 KiB
C
401 lines
11 KiB
C
/*****************************************************************************
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*
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* $Id$
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*
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* Copyright (C) 2007-2009 Florian Pose, Ingenieurgemeinschaft IgH
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*
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* This file is part of the IgH EtherCAT Master.
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*
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* The IgH EtherCAT Master is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License version 2, as
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* published by the Free Software Foundation.
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*
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* The IgH EtherCAT Master is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
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* Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with the IgH EtherCAT Master; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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*
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* ---
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*
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* The license mentioned above concerns the source code only. Using the
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* EtherCAT technology and brand is only permitted in compliance with the
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* industrial property and similar rights of Beckhoff Automation GmbH.
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*
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****************************************************************************/
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#include <errno.h>
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#include <signal.h>
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#include <stdio.h>
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#include <string.h>
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#include <sys/resource.h>
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#include <sys/time.h>
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#include <sys/types.h>
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#include <unistd.h>
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#include <time.h> /* clock_gettime() */
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#include <sys/mman.h> /* mlockall() */
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#include <sched.h> /* sched_setscheduler() */
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/****************************************************************************/
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#include "ecrt.h"
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/****************************************************************************/
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/** Task period in ns. */
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#define PERIOD_NS (1000000)
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#define MAX_SAFE_STACK (8 * 1024) /* The maximum stack size which is
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guranteed safe to access without
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faulting */
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/****************************************************************************/
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/* Constants */
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#define NSEC_PER_SEC (1000000000)
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#define FREQUENCY (NSEC_PER_SEC / PERIOD_NS)
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/****************************************************************************/
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// EtherCAT
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static ec_master_t *master = NULL;
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static ec_master_state_t master_state = {};
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static ec_domain_t *domain1 = NULL;
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static ec_domain_state_t domain1_state = {};
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static ec_slave_config_t *sc_ana_in = NULL;
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static ec_slave_config_state_t sc_ana_in_state = {};
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/****************************************************************************/
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// process data
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static uint8_t *domain1_pd = NULL;
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#define BusCouplerPos 0, 0
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#define DigOutSlavePos 0, 2
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#define AnaInSlavePos 0, 3
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#define AnaOutSlavePos 0, 4
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#define Beckhoff_EK1100 0x00000002, 0x044c2c52
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#define Beckhoff_EL2004 0x00000002, 0x07d43052
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#define Beckhoff_EL2032 0x00000002, 0x07f03052
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#define Beckhoff_EL3152 0x00000002, 0x0c503052
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#define Beckhoff_EL3102 0x00000002, 0x0c1e3052
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#define Beckhoff_EL4102 0x00000002, 0x10063052
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// offsets for PDO entries
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static unsigned int off_ana_in_status;
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static unsigned int off_ana_in_value;
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static unsigned int off_ana_out;
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static unsigned int off_dig_out;
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const static ec_pdo_entry_reg_t domain1_regs[] = {
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{AnaInSlavePos, Beckhoff_EL3102, 0x3101, 1, &off_ana_in_status},
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{AnaInSlavePos, Beckhoff_EL3102, 0x3101, 2, &off_ana_in_value},
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{AnaOutSlavePos, Beckhoff_EL4102, 0x3001, 1, &off_ana_out},
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{DigOutSlavePos, Beckhoff_EL2032, 0x3001, 1, &off_dig_out},
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{}
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};
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static unsigned int counter = 0;
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static unsigned int blink = 0;
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/*****************************************************************************/
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// Analog in --------------------------
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static ec_pdo_entry_info_t el3102_pdo_entries[] = {
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{0x3101, 1, 8}, // channel 1 status
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{0x3101, 2, 16}, // channel 1 value
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{0x3102, 1, 8}, // channel 2 status
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{0x3102, 2, 16}, // channel 2 value
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{0x6401, 1, 16}, // channel 1 value (alt.)
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{0x6401, 2, 16} // channel 2 value (alt.)
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};
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static ec_pdo_info_t el3102_pdos[] = {
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{0x1A00, 2, el3102_pdo_entries},
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{0x1A01, 2, el3102_pdo_entries + 2}
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};
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static ec_sync_info_t el3102_syncs[] = {
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{2, EC_DIR_OUTPUT},
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{3, EC_DIR_INPUT, 2, el3102_pdos},
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{0xff}
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};
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// Analog out -------------------------
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static ec_pdo_entry_info_t el4102_pdo_entries[] = {
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{0x3001, 1, 16}, // channel 1 value
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{0x3002, 1, 16}, // channel 2 value
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};
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static ec_pdo_info_t el4102_pdos[] = {
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{0x1600, 1, el4102_pdo_entries},
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{0x1601, 1, el4102_pdo_entries + 1}
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};
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static ec_sync_info_t el4102_syncs[] = {
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{2, EC_DIR_OUTPUT, 2, el4102_pdos},
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{3, EC_DIR_INPUT},
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{0xff}
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};
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// Digital out ------------------------
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static ec_pdo_entry_info_t el2004_channels[] = {
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{0x3001, 1, 1}, // Value 1
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{0x3001, 2, 1}, // Value 2
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{0x3001, 3, 1}, // Value 3
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{0x3001, 4, 1} // Value 4
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};
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static ec_pdo_info_t el2004_pdos[] = {
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{0x1600, 1, &el2004_channels[0]},
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{0x1601, 1, &el2004_channels[1]},
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{0x1602, 1, &el2004_channels[2]},
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{0x1603, 1, &el2004_channels[3]}
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};
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static ec_sync_info_t el2004_syncs[] = {
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{0, EC_DIR_OUTPUT, 4, el2004_pdos},
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{1, EC_DIR_INPUT},
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{0xff}
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};
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/*****************************************************************************/
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void check_domain1_state(void)
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{
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ec_domain_state_t ds;
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ecrt_domain_state(domain1, &ds);
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if (ds.working_counter != domain1_state.working_counter) {
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printf("Domain1: WC %u.\n", ds.working_counter);
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}
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if (ds.wc_state != domain1_state.wc_state) {
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printf("Domain1: State %u.\n", ds.wc_state);
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}
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domain1_state = ds;
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}
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/*****************************************************************************/
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void check_master_state(void)
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{
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ec_master_state_t ms;
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ecrt_master_state(master, &ms);
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if (ms.slaves_responding != master_state.slaves_responding) {
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printf("%u slave(s).\n", ms.slaves_responding);
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}
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if (ms.al_states != master_state.al_states) {
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printf("AL states: 0x%02X.\n", ms.al_states);
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}
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if (ms.link_up != master_state.link_up) {
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printf("Link is %s.\n", ms.link_up ? "up" : "down");
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}
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master_state = ms;
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}
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/*****************************************************************************/
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void check_slave_config_states(void)
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{
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ec_slave_config_state_t s;
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ecrt_slave_config_state(sc_ana_in, &s);
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if (s.al_state != sc_ana_in_state.al_state) {
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printf("AnaIn: State 0x%02X.\n", s.al_state);
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}
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if (s.online != sc_ana_in_state.online) {
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printf("AnaIn: %s.\n", s.online ? "online" : "offline");
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}
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if (s.operational != sc_ana_in_state.operational) {
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printf("AnaIn: %soperational.\n", s.operational ? "" : "Not ");
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}
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sc_ana_in_state = s;
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}
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/*****************************************************************************/
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void cyclic_task()
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{
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// receive process data
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ecrt_master_receive(master);
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ecrt_domain_process(domain1);
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// check process data state
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check_domain1_state();
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if (counter) {
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counter--;
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} else { // do this at 1 Hz
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counter = FREQUENCY;
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// calculate new process data
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blink = !blink;
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// check for master state (optional)
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check_master_state();
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// check for slave configuration state(s) (optional)
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check_slave_config_states();
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}
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#if 0
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// read process data
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printf("AnaIn: state %u value %u\n",
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EC_READ_U8(domain1_pd + off_ana_in_status),
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EC_READ_U16(domain1_pd + off_ana_in_value));
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#endif
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#if 1
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// write process data
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EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x06 : 0x09);
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#endif
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// send process data
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ecrt_domain_queue(domain1);
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ecrt_master_send(master);
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}
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/****************************************************************************/
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void stack_prefault(void)
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{
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unsigned char dummy[MAX_SAFE_STACK];
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memset(dummy, 0, MAX_SAFE_STACK);
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}
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/****************************************************************************/
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int main(int argc, char **argv)
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{
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ec_slave_config_t *sc;
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struct timespec wakeup_time;
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int ret = 0;
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master = ecrt_request_master(0);
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if (!master) {
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return -1;
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}
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domain1 = ecrt_master_create_domain(master);
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if (!domain1) {
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return -1;
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}
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if (!(sc_ana_in = ecrt_master_slave_config(
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master, AnaInSlavePos, Beckhoff_EL3102))) {
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fprintf(stderr, "Failed to get slave configuration.\n");
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return -1;
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}
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printf("Configuring PDOs...\n");
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if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3102_syncs)) {
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fprintf(stderr, "Failed to configure PDOs.\n");
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return -1;
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}
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if (!(sc = ecrt_master_slave_config(
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master, AnaOutSlavePos, Beckhoff_EL4102))) {
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fprintf(stderr, "Failed to get slave configuration.\n");
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return -1;
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}
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if (ecrt_slave_config_pdos(sc, EC_END, el4102_syncs)) {
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fprintf(stderr, "Failed to configure PDOs.\n");
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return -1;
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}
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if (!(sc = ecrt_master_slave_config(
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master, DigOutSlavePos, Beckhoff_EL2032))) {
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fprintf(stderr, "Failed to get slave configuration.\n");
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return -1;
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}
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if (ecrt_slave_config_pdos(sc, EC_END, el2004_syncs)) {
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fprintf(stderr, "Failed to configure PDOs.\n");
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return -1;
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}
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// Create configuration for bus coupler
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sc = ecrt_master_slave_config(master, BusCouplerPos, Beckhoff_EK1100);
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if (!sc) {
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return -1;
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}
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if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
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fprintf(stderr, "PDO entry registration failed!\n");
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return -1;
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}
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printf("Activating master...\n");
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if (ecrt_master_activate(master)) {
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return -1;
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}
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if (!(domain1_pd = ecrt_domain_data(domain1))) {
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return -1;
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}
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/* Set priority */
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struct sched_param param = {};
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param.sched_priority = sched_get_priority_max(SCHED_FIFO);
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printf("Using priority %i.", param.sched_priority);
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if (sched_setscheduler(0, SCHED_FIFO, ¶m) == -1) {
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perror("sched_setscheduler failed");
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}
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/* Lock memory */
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if (mlockall(MCL_CURRENT | MCL_FUTURE) == -1) {
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fprintf(stderr, "Warning: Failed to lock memory: %s\n",
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strerror(errno));
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}
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stack_prefault();
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printf("Starting RT task with dt=%u ns.\n", PERIOD_NS);
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clock_gettime(CLOCK_MONOTONIC, &wakeup_time);
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wakeup_time.tv_sec += 1; /* start in future */
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wakeup_time.tv_nsec = 0;
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while (1) {
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ret = clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME,
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&wakeup_time, NULL);
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if (ret) {
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fprintf(stderr, "clock_nanosleep(): %s\n", strerror(ret));
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break;
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}
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cyclic_task();
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wakeup_time.tv_nsec += PERIOD_NS;
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while (wakeup_time.tv_nsec >= NSEC_PER_SEC) {
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wakeup_time.tv_nsec -= NSEC_PER_SEC;
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wakeup_time.tv_sec++;
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}
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}
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return ret;
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}
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/****************************************************************************/
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