DC example applications.
This commit is contained in:
Florian Pose
parent
ddd707d8be
commit
bfb1ce1cf0
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@ -506,6 +506,9 @@ AC_CONFIG_FILES([
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devices/e1000/Makefile
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examples/Kbuild
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examples/Makefile
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examples/dc_rtai/Kbuild
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examples/dc_rtai/Makefile
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examples/dc_user/Makefile
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examples/mini/Kbuild
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examples/mini/Makefile
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examples/rtai/Kbuild
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@ -28,10 +28,14 @@
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#------------------------------------------------------------------------------
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if ENABLE_USERLIB
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SUBDIRS = user
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SUBDIRS = \
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dc_user \
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user
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endif
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DIST_SUBDIRS = \
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dc_rtai \
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dc_user \
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mini \
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rtai \
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user
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@ -0,0 +1,40 @@
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#------------------------------------------------------------------------------
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#
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# $Id: Kbuild.in 1667 2009-02-24 12:51:39Z fp $
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#
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# Copyright (C) 2006-2008 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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#
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# vi: syntax=make
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#
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#------------------------------------------------------------------------------
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obj-m := ec_dc_rtai_sample.o
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ec_dc_rtai_sample-objs := dc_rtai_sample.o
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EXTRA_CFLAGS := -I@RTAI_DIR@/include
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#------------------------------------------------------------------------------
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@ -0,0 +1,49 @@
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#------------------------------------------------------------------------------
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#
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# IgH EtherCAT master module
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#
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# $Id$
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#
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# Copyright (C) 2006-2008 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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EXTRA_DIST = \
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Kbuild.in \
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dc_rtai_sample.c
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BUILT_SOURCES = \
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Kbuild
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modules:
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$(MAKE) -C "$(LINUX_SOURCE_DIR)" M="@abs_srcdir@" modules
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modules_install:
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mkdir -p $(DESTDIR)$(LINUX_MOD_PATH)
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cp $(srcdir)/ec_dc_rtai_sample.ko $(DESTDIR)$(LINUX_MOD_PATH)
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clean-local:
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$(MAKE) -C "$(LINUX_SOURCE_DIR)" M="@abs_srcdir@" clean
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#------------------------------------------------------------------------------
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@ -0,0 +1,401 @@
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/******************************************************************************
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*
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* Distributed clocks sample for the IgH EtherCAT master.
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*
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* $Id$
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*
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* Copyright (C) 2006-2008 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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// Linux
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#include <linux/module.h>
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#include <linux/err.h>
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// RTAI
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#include <rtai_sched.h>
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#include <rtai_sem.h>
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// EtherCAT
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#include "../../include/ecrt.h"
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/*****************************************************************************/
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// Module parameters
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#define FREQUENCY 1000 // task frequency in Hz
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#define INHIBIT_TIME 20
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#define TIMERTICKS (1000000000 / FREQUENCY)
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#define NUM_DIG_OUT 1
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#define PFX "ec_dc_sample: "
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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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spinlock_t master_lock = SPIN_LOCK_UNLOCKED;
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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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// RTAI
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static RT_TASK task;
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static SEM master_sem;
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static cycles_t t_last_cycle = 0, t_critical;
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/*****************************************************************************/
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// process data
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static uint8_t *domain1_pd; // process data memory
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#define DigOutSlavePos(X) 0, (1 + (X))
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#define CounterSlavePos 0, 2
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#define Beckhoff_EK1100 0x00000002, 0x044c2c52
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#define Beckhoff_EL2008 0x00000002, 0x07d83052
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#define IDS_Counter 0x000012ad, 0x05de3052
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static int off_dig_out[NUM_DIG_OUT];
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static int off_counter_in;
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static int off_counter_out;
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static unsigned int counter = 0;
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static unsigned int blink_counter = 0;
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static unsigned int blink = 0;
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static u32 counter_value = 0U;
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/*****************************************************************************/
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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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spin_lock(&master_lock);
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ecrt_domain_state(domain1, &ds);
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spin_unlock(&master_lock);
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if (ds.working_counter != domain1_state.working_counter)
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printk(KERN_INFO PFX "Domain1: WC %u.\n", ds.working_counter);
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if (ds.wc_state != domain1_state.wc_state)
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printk(KERN_INFO PFX "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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spin_lock(&master_lock);
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ecrt_master_state(master, &ms);
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spin_unlock(&master_lock);
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if (ms.slaves_responding != master_state.slaves_responding)
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printk(KERN_INFO PFX "%u slave(s).\n", ms.slaves_responding);
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if (ms.al_states != master_state.al_states)
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printk(KERN_INFO PFX "AL states: 0x%02X.\n", ms.al_states);
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if (ms.link_up != master_state.link_up)
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printk(KERN_INFO PFX "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 run(long data)
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{
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int i;
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struct timeval tv;
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unsigned int sync_ref_counter = 0;
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count2timeval(nano2count(rt_get_real_time_ns()), &tv);
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while (1) {
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t_last_cycle = get_cycles();
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// receive process data
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rt_sem_wait(&master_sem);
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ecrt_master_receive(master);
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ecrt_domain_process(domain1);
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rt_sem_signal(&master_sem);
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// check process data state (optional)
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check_domain1_state();
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if (counter) {
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counter--;
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} else {
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u32 c;
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counter = FREQUENCY;
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// check for master state (optional)
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check_master_state();
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c = EC_READ_U32(domain1_pd + off_counter_in);
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if (counter_value != c) {
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counter_value = c;
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printk(KERN_INFO PFX "counter=%u\n", counter_value);
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}
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}
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if (blink_counter) {
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blink_counter--;
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} else {
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blink_counter = 9;
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// calculate new process data
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blink = !blink;
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}
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// write process data
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for (i = 0; i < NUM_DIG_OUT; i++) {
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EC_WRITE_U8(domain1_pd + off_dig_out[i], blink ? 0x66 : 0x99);
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}
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EC_WRITE_U8(domain1_pd + off_counter_out, blink ? 0x00 : 0x02);
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rt_sem_wait(&master_sem);
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tv.tv_usec += 1000;
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if (tv.tv_usec >= 1000000) {
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tv.tv_usec -= 1000000;
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tv.tv_sec++;
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}
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//printk(KERN_INFO PFX "tv=%u.%06u\n", (u32) tv.tv_sec, (u32) tv.tv_usec);
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if (sync_ref_counter) {
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sync_ref_counter--;
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} else {
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sync_ref_counter = 9;
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ecrt_master_sync_reference_clock(master, &tv);
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}
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ecrt_master_sync_slave_clocks(master);
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ecrt_domain_queue(domain1);
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ecrt_master_send(master);
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rt_sem_signal(&master_sem);
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rt_task_wait_period();
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}
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}
|
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|
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/*****************************************************************************/
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||||
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int request_lock(void *data)
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{
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// too close to the next real time cycle: deny access...
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if (get_cycles() - t_last_cycle > t_critical) return -1;
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// allow access
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rt_sem_wait(&master_sem);
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return 0;
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}
|
||||
|
||||
/*****************************************************************************/
|
||||
|
||||
void release_lock(void *data)
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{
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rt_sem_signal(&master_sem);
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}
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|
||||
/*****************************************************************************/
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||||
|
||||
int __init init_mod(void)
|
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{
|
||||
int ret = -1, i;
|
||||
RTIME tick_period, requested_ticks, now;
|
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ec_slave_config_t *sc;
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|
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printk(KERN_INFO PFX "Starting...\n");
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|
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rt_sem_init(&master_sem, 1);
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||||
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t_critical = cpu_khz * 1000 / FREQUENCY - cpu_khz * INHIBIT_TIME / 1000;
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|
||||
master = ecrt_request_master(0);
|
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if (!master) {
|
||||
ret = -EBUSY;
|
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printk(KERN_ERR PFX "Requesting master 0 failed!\n");
|
||||
goto out_return;
|
||||
}
|
||||
|
||||
ecrt_master_callbacks(master, request_lock, release_lock, NULL);
|
||||
|
||||
printk(KERN_INFO PFX "Registering domain...\n");
|
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if (!(domain1 = ecrt_master_create_domain(master))) {
|
||||
printk(KERN_ERR PFX "Domain creation failed!\n");
|
||||
goto out_release_master;
|
||||
}
|
||||
|
||||
printk(KERN_INFO PFX "Configuring PDOs...\n");
|
||||
|
||||
// create configuration for reference clock FIXME
|
||||
if (!(sc = ecrt_master_slave_config(master, 0, 0, Beckhoff_EK1100))) {
|
||||
printk(KERN_ERR PFX "Failed to get slave configuration.\n");
|
||||
goto out_release_master;
|
||||
}
|
||||
|
||||
for (i = 0; i < NUM_DIG_OUT; i++) {
|
||||
if (!(sc = ecrt_master_slave_config(master,
|
||||
DigOutSlavePos(i), Beckhoff_EL2008))) {
|
||||
printk(KERN_ERR PFX "Failed to get slave configuration.\n");
|
||||
goto out_release_master;
|
||||
}
|
||||
|
||||
if (ecrt_slave_config_pdos(sc, EC_END, el2008_syncs)) {
|
||||
printk(KERN_ERR PFX "Failed to configure PDOs.\n");
|
||||
goto out_release_master;
|
||||
}
|
||||
|
||||
off_dig_out[i] = ecrt_slave_config_reg_pdo_entry(sc,
|
||||
0x7000, 1, domain1, NULL);
|
||||
|
||||
if (off_dig_out[i] < 0)
|
||||
goto out_release_master;
|
||||
}
|
||||
|
||||
if (!(sc = ecrt_master_slave_config(master,
|
||||
CounterSlavePos, IDS_Counter))) {
|
||||
printk(KERN_ERR PFX "Failed to get slave configuration.\n");
|
||||
goto out_release_master;
|
||||
}
|
||||
off_counter_in = ecrt_slave_config_reg_pdo_entry(sc,
|
||||
0x6020, 0x11, domain1, NULL);
|
||||
if (off_counter_in < 0)
|
||||
goto out_release_master;
|
||||
off_counter_out = ecrt_slave_config_reg_pdo_entry(sc,
|
||||
0x7020, 1, domain1, NULL);
|
||||
if (off_counter_out < 0)
|
||||
goto out_release_master;
|
||||
|
||||
#if 1
|
||||
// configure SYNC signals for this slave
|
||||
ecrt_slave_config_dc_assign_activate(sc, 0x0700);
|
||||
ecrt_slave_config_dc_sync_cycle_times(sc, 1000000, 0);
|
||||
ecrt_slave_config_dc_sync_shift_times(sc, 440000, 0);
|
||||
#endif
|
||||
|
||||
printk(KERN_INFO PFX "Activating master...\n");
|
||||
if (ecrt_master_activate(master)) {
|
||||
printk(KERN_ERR PFX "Failed to activate master!\n");
|
||||
goto out_release_master;
|
||||
}
|
||||
|
||||
// Get internal process data for domain
|
||||
domain1_pd = ecrt_domain_data(domain1);
|
||||
|
||||
printk(KERN_INFO PFX "Starting cyclic sample thread...\n");
|
||||
requested_ticks = nano2count(TIMERTICKS);
|
||||
tick_period = start_rt_timer(requested_ticks);
|
||||
printk(KERN_INFO PFX "RT timer started with %i/%i ticks.\n",
|
||||
(int) tick_period, (int) requested_ticks);
|
||||
|
||||
if (rt_task_init(&task, run, 0, 2000, 0, 1, NULL)) {
|
||||
printk(KERN_ERR PFX "Failed to init RTAI task!\n");
|
||||
goto out_stop_timer;
|
||||
}
|
||||
|
||||
now = rt_get_time();
|
||||
if (rt_task_make_periodic(&task, now + tick_period, tick_period)) {
|
||||
printk(KERN_ERR PFX "Failed to run RTAI task!\n");
|
||||
goto out_stop_task;
|
||||
}
|
||||
|
||||
printk(KERN_INFO PFX "Initialized.\n");
|
||||
return 0;
|
||||
|
||||
out_stop_task:
|
||||
rt_task_delete(&task);
|
||||
out_stop_timer:
|
||||
stop_rt_timer();
|
||||
out_release_master:
|
||||
printk(KERN_ERR PFX "Releasing master...\n");
|
||||
ecrt_release_master(master);
|
||||
out_return:
|
||||
rt_sem_delete(&master_sem);
|
||||
printk(KERN_ERR PFX "Failed to load. Aborting.\n");
|
||||
return ret;
|
||||
}
|
||||
|
||||
/*****************************************************************************/
|
||||
|
||||
void __exit cleanup_mod(void)
|
||||
{
|
||||
printk(KERN_INFO PFX "Stopping...\n");
|
||||
|
||||
rt_task_delete(&task);
|
||||
stop_rt_timer();
|
||||
ecrt_release_master(master);
|
||||
rt_sem_delete(&master_sem);
|
||||
|
||||
printk(KERN_INFO PFX "Unloading.\n");
|
||||
}
|
||||
|
||||
/*****************************************************************************/
|
||||
|
||||
MODULE_LICENSE("GPL");
|
||||
MODULE_AUTHOR("Florian Pose <fp@igh-essen.com>");
|
||||
MODULE_DESCRIPTION("EtherCAT distributed clocks sample module");
|
||||
|
||||
module_init(init_mod);
|
||||
module_exit(cleanup_mod);
|
||||
|
||||
/*****************************************************************************/
|
||||
|
|
@ -0,0 +1,38 @@
|
|||
#------------------------------------------------------------------------------
|
||||
#
|
||||
# $Id$
|
||||
#
|
||||
# Copyright (C) 2006-2008 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.
|
||||
#
|
||||
#------------------------------------------------------------------------------
|
||||
|
||||
AM_CFLAGS = -Wall
|
||||
|
||||
noinst_PROGRAMS = ec_dc_user_example
|
||||
|
||||
ec_dc_user_example_SOURCES = main.c
|
||||
ec_dc_user_example_CFLAGS = -I$(top_srcdir)/include
|
||||
ec_dc_user_example_LDFLAGS = -L$(top_builddir)/lib/.libs -lethercat
|
||||
|
||||
#------------------------------------------------------------------------------
|
||||
|
|
@ -0,0 +1,300 @@
|
|||
/*****************************************************************************
|
||||
*
|
||||
* $Id$
|
||||
*
|
||||
* 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 <errno.h>
|
||||
#include <signal.h>
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include <sys/resource.h>
|
||||
#include <sys/time.h>
|
||||
#include <sys/types.h>
|
||||
#include <unistd.h>
|
||||
|
||||
/****************************************************************************/
|
||||
|
||||
#include "ecrt.h"
|
||||
|
||||
/****************************************************************************/
|
||||
|
||||
// Application parameters
|
||||
#define FREQUENCY 100
|
||||
#define PRIORITY 1
|
||||
|
||||
// Optional features
|
||||
#define CONFIGURE_PDOS 1
|
||||
|
||||
/****************************************************************************/
|
||||
|
||||
// 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 = {};
|
||||
|
||||
// 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 DigOutSlavePos 0, 1
|
||||
#define CounterSlavePos 0, 2
|
||||
|
||||
#define Beckhoff_EK1100 0x00000002, 0x044c2c52
|
||||
#define Beckhoff_EL2008 0x00000002, 0x07d83052
|
||||
#define IDS_Counter 0x000012ad, 0x05de3052
|
||||
|
||||
// offsets for PDO entries
|
||||
static int off_dig_out;
|
||||
static int off_counter_in;
|
||||
static int off_counter_out;
|
||||
|
||||
static unsigned int counter = 0;
|
||||
static unsigned int blink_counter = 0;
|
||||
static unsigned int blink = 0;
|
||||
static unsigned int sync_ref_counter = 0;
|
||||
struct timeval app_time;
|
||||
|
||||
/*****************************************************************************/
|
||||
|
||||
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);
|
||||
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 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();
|
||||
|
||||
}
|
||||
|
||||
if (blink_counter) {
|
||||
blink_counter--;
|
||||
} else {
|
||||
blink_counter = 9;
|
||||
|
||||
// calculate new process data
|
||||
blink = !blink;
|
||||
}
|
||||
|
||||
// write process data
|
||||
EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x66 : 0x99);
|
||||
EC_WRITE_U8(domain1_pd + off_counter_out, blink ? 0x00 : 0x02);
|
||||
|
||||
app_time.tv_usec += 1000000 / FREQUENCY;
|
||||
if (app_time.tv_usec >= 1000000) {
|
||||
app_time.tv_usec -= 1000000;
|
||||
app_time.tv_sec++;
|
||||
}
|
||||
|
||||
if (sync_ref_counter) {
|
||||
sync_ref_counter--;
|
||||
} else {
|
||||
sync_ref_counter = 9;
|
||||
ecrt_master_sync_reference_clock(master, &app_time);
|
||||
}
|
||||
ecrt_master_sync_slave_clocks(master);
|
||||
|
||||
// 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;
|
||||
|
||||
// Create configuration for bus coupler
|
||||
sc = ecrt_master_slave_config(master, BusCouplerPos, Beckhoff_EK1100);
|
||||
if (!sc)
|
||||
return -1;
|
||||
|
||||
if (!(sc = ecrt_master_slave_config(master,
|
||||
DigOutSlavePos, Beckhoff_EL2008))) {
|
||||
fprintf(stderr, "Failed to get slave configuration.\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
off_dig_out = ecrt_slave_config_reg_pdo_entry(sc,
|
||||
0x7000, 1, domain1, NULL);
|
||||
if (off_dig_out < 0)
|
||||
return -1;
|
||||
|
||||
if (!(sc = ecrt_master_slave_config(master,
|
||||
CounterSlavePos, IDS_Counter))) {
|
||||
fprintf(stderr, "Failed to get slave configuration.\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
off_counter_in = ecrt_slave_config_reg_pdo_entry(sc,
|
||||
0x6020, 0x11, domain1, NULL);
|
||||
if (off_counter_in < 0)
|
||||
return -1;
|
||||
|
||||
off_counter_out = ecrt_slave_config_reg_pdo_entry(sc,
|
||||
0x7020, 1, domain1, NULL);
|
||||
if (off_counter_out < 0)
|
||||
return -1;
|
||||
|
||||
#if 1
|
||||
// configure SYNC signals for this slave
|
||||
ecrt_slave_config_dc_assign_activate(sc, 0x0700);
|
||||
ecrt_slave_config_dc_sync_cycle_times(sc, 10000000, 0);
|
||||
ecrt_slave_config_dc_sync_shift_times(sc, 4400000, 0);
|
||||
#endif
|
||||
|
||||
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;
|
||||
}
|
||||
|
||||
gettimeofday(&app_time, NULL);
|
||||
|
||||
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;
|
||||
}
|
||||
|
||||
/****************************************************************************/
|
||||
Loading…
Reference in New Issue