replace symlink in example with the real file
This commit is contained in:
Patrick Bruenn
parent
fa937d00a4
commit
59c3c53858
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../../../ccat/unittest/main.c
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/*****************************************************************************
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*
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* $Id: main.c,v 6a6dec6fc806 2012/09/19 17:46:58 fp $
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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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/****************************************************************************/
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#include "ecrt.h"
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/****************************************************************************/
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// Application parameters
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#define FREQUENCY 100
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#define PRIORITY 0
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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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// Timer
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static unsigned int sig_alarms = 0;
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static unsigned int user_alarms = 0;
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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, 3
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#define DigOutSlavePos 0, 0
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//#define Beckhoff_EK1100 0x00000002, 0x044c2c52
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#define Beckhoff_EK1100 0x00000002, 0x04562c52
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#define Beckhoff_EL1008 0x00000002, 0x03f03052
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#define Beckhoff_EL2004 0x00000002, 0x07d43052
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#define Beckhoff_EL2008 0x00000002, 0x07d83052
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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_dig_in[1];
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static unsigned int off_dig_out[2];
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/*****************************************************************************/
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// Digital in ------------------------
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static ec_pdo_entry_info_t el1008_channels[] = {
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{0x6000, 1, 1},
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{0x6010, 1, 1},
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{0x6020, 1, 1},
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{0x6030, 1, 1},
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{0x6040, 1, 1},
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{0x6050, 1, 1},
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{0x6060, 1, 1},
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{0x6070, 1, 1},
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};
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static ec_pdo_info_t el1008_pdos[] = {
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{0x1a00, 1, &el1008_channels[0]},
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{0x1a01, 1, &el1008_channels[1]},
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{0x1a02, 1, &el1008_channels[2]},
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{0x1a03, 1, &el1008_channels[3]},
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{0x1a04, 1, &el1008_channels[4]},
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{0x1a05, 1, &el1008_channels[5]},
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{0x1a06, 1, &el1008_channels[6]},
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{0x1a07, 1, &el1008_channels[7]}
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};
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static ec_sync_info_t el1008_syncs[] = {
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{2, EC_DIR_OUTPUT},
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{3, EC_DIR_INPUT, 8, el1008_pdos},
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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 el2008_channels[] = {
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{0x7000, 1, 1},
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{0x7010, 1, 1},
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{0x7020, 1, 1},
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{0x7030, 1, 1},
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{0x7040, 1, 1},
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{0x7050, 1, 1},
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{0x7060, 1, 1},
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{0x7070, 1, 1},
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};
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static ec_pdo_info_t el2008_pdos[] = {
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{0x1600, 1, &el2008_channels[0]},
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{0x1601, 1, &el2008_channels[1]},
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{0x1602, 1, &el2008_channels[2]},
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{0x1603, 1, &el2008_channels[3]},
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{0x1604, 1, &el2008_channels[4]},
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{0x1605, 1, &el2008_channels[5]},
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{0x1606, 1, &el2008_channels[6]},
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{0x1607, 1, &el2008_channels[7]}
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};
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static ec_sync_info_t el2008_syncs[] = {
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{0, EC_DIR_OUTPUT, 8, el2008_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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if (ds.wc_state != domain1_state.wc_state)
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printf("Domain1: State %u.\n", ds.wc_state);
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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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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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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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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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if (s.online != sc_ana_in_state.online)
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printf("AnaIn: %s.\n", s.online ? "online" : "offline");
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if (s.operational != sc_ana_in_state.operational)
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printf("AnaIn: %soperational.\n",
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s.operational ? "" : "Not ");
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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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static unsigned int counter = 10;
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static uint8_t outputValue = 0;
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static int numAsyncCycles = 0;
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uint8_t inputValue = 0;
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static uint8_t error = 0;
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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 (optional)
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check_domain1_state();
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inputValue = EC_READ_U8(domain1_pd + off_dig_in[0]);
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if(inputValue != outputValue) {
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numAsyncCycles++;
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} else {
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numAsyncCycles = 0;
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}
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if(numAsyncCycles > 2) {
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if(error != 0xff) {
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error++;
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}
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}
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if (counter) {
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counter--;
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} else {
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counter = 5; //update delay
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// calculate new process data
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outputValue++;
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// check for master state (optional)
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check_master_state();
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// check for islave configuration state(s) (optional)
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check_slave_config_states();
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}
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// write process data
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EC_WRITE_U8(domain1_pd + off_dig_out[1], outputValue);
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EC_WRITE_U8(domain1_pd + off_dig_out[0], error);
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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 signal_handler(int signum) {
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switch (signum) {
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case SIGALRM:
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sig_alarms++;
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break;
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}
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}
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/****************************************************************************/
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int Init_EL2008(uint16_t position)
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{
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ec_slave_config_t *sc;
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if (!(sc = ecrt_master_slave_config(master, 0, position, Beckhoff_EL2008))) {
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fprintf(stderr, "Failed to get EL2008 configuration #%u.\n", position);
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return -1;
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}
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if (ecrt_slave_config_pdos(sc, EC_END, el2008_syncs)) {
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fprintf(stderr, "Failed to configure PDOs #%u.\n", position);
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return -1;
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}
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if (0 > (off_dig_out[position] = ecrt_slave_config_reg_pdo_entry(sc, 0x7000, 1, domain1, NULL))) {
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fprintf(stderr, "Failed to configure reg PDOs #%u.\n", position);
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return -1;
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}
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fprintf(stderr, "EL2008 #%u configured offset: %d.\n", position, off_dig_out[position]);
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return 0;
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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 sigaction sa;
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struct itimerval tv;
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uint16_t i;
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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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domain1 = ecrt_master_create_domain(master);
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if (!domain1)
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return -1;
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printf("Configuring PDOs...\n");
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if (!(sc_ana_in = ecrt_master_slave_config(master, 0, 2, Beckhoff_EL1008))) {
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fprintf(stderr, "Failed to get digital in configuration.\n");
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return -1;
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}
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if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el1008_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 (0 > (off_dig_in[0] = ecrt_slave_config_reg_pdo_entry(sc_ana_in, 0x6000, 1, domain1, NULL))) {
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fprintf(stderr, "Failed to configure reg PDOs.\n");
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return -1;
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}
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printf("EL1008 configured.\n");
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for(i = 0; i < 2; ++i) {
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if(Init_EL2008(i)) {
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fprintf(stderr, "Failed to initialize EL2008 #%u.\n", i);
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return -1;
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}
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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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fprintf(stderr, "EK1100 configured.\n");
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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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if (!(domain1_pd = ecrt_domain_data(domain1))) {
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return -1;
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}
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#if PRIORITY
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pid_t pid = getpid();
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if (setpriority(PRIO_PROCESS, pid, -19))
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fprintf(stderr, "Warning: Failed to set priority: %s\n",
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strerror(errno));
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#endif
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sa.sa_handler = signal_handler;
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sigemptyset(&sa.sa_mask);
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sa.sa_flags = 0;
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if (sigaction(SIGALRM, &sa, 0)) {
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fprintf(stderr, "Failed to install signal handler!\n");
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return -1;
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}
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printf("Starting timer...\n");
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tv.it_interval.tv_sec = 0;
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tv.it_interval.tv_usec = 1000000 / FREQUENCY;
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tv.it_value.tv_sec = 0;
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tv.it_value.tv_usec = 1000;
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if (setitimer(ITIMER_REAL, &tv, NULL)) {
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fprintf(stderr, "Failed to start timer: %s\n", strerror(errno));
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return 1;
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}
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printf("Started.\n");
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while (1) {
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pause();
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#if 0
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struct timeval t;
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gettimeofday(&t, NULL);
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printf("%u.%06u\n", t.tv_sec, t.tv_usec);
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#endif
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while (sig_alarms != user_alarms) {
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cyclic_task();
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user_alarms++;
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}
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}
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return 0;
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}
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/****************************************************************************/
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