Working RTAI RTDM module
LXRT exmaple application to be tested
This commit is contained in:
Andreas Stewering-Bone
parent
b8acd30da5
commit
ca28aa60e2
13
configure.ac
13
configure.ac
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@ -369,9 +369,11 @@ AC_ARG_WITH([rtai-dir],
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),
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[
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rtaidir=[$withval]
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rtai=1
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],
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[
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rtaidir=""
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rtai=0
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]
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)
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@ -387,7 +389,8 @@ else
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fi
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AC_SUBST(RTAI_DIR,[$rtaidir])
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AM_CONDITIONAL(ENABLE_RTAI, test "x$rtai" = "x1")
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AC_SUBST(ENABLE_RTAI,[$rtai])
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#------------------------------------------------------------------------------
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# Xenomai path (optional)
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@ -396,13 +399,15 @@ AC_SUBST(RTAI_DIR,[$rtaidir])
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AC_ARG_WITH([xenomai-dir],
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AC_HELP_STRING(
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[--with-xenomai-dir=<DIR>],
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[Xenomai path (only for RTDM Interface or Xenomai examples)]
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[Xenomai path (only for RTDM Interface)]
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),
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[
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xenomaidir=[$withval]
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xeno=1
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],
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[
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xenomaidir=""
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xeno=0
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]
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)
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@ -418,7 +423,8 @@ else
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fi
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AC_SUBST(XENOMAI_DIR,[$xenomaidir])
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AM_CONDITIONAL(ENABLE_XENOMAI, test "x$xeno" = "x1")
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AC_SUBST(ENABLE_XENOMAI,[$xeno])
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#------------------------------------------------------------------------------
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# RTDM Interface (optional)
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@ -689,6 +695,7 @@ AC_CONFIG_FILES([
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examples/user/Makefile
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examples/xenomai/Makefile
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examples/xenomai_posix/Makefile
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examples/rtai_rtdm/Makefile
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include/Makefile
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lib/Makefile
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m4/Makefile
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@ -41,9 +41,16 @@ SUBDIRS += \
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endif
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if ENABLE_RTDM
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if ENABLE_XENOMAI
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SUBDIRS += \
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xenomai \
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xenomai_posix
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xenomai_posix
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endif
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if ENABLE_RTAI
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SUBDIRS += \
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rtai_rtdm
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endif
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endif
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DIST_SUBDIRS = \
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@ -54,6 +61,7 @@ DIST_SUBDIRS = \
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tty \
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xenomai \
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xenomai_posix \
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rtai_rtdm \
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user
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EXTRA_DIST = \
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@ -0,0 +1,40 @@
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#------------------------------------------------------------------------------
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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 with
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# the IgH EtherCAT Master; if not, write to the Free Software Foundation,
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# 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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AM_CFLAGS = -Wall
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noinst_PROGRAMS = ec_rtai_rtdm_example
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ec_rtai_rtdm_example_SOURCES = main.c
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ec_rtai_rtdm_example_CFLAGS = -I. -I/opt/etherlab/rtai/include -O2 -I/home/ab/Download/rtai/linux-2.6.32.11/include -Wall -Wstrict-prototypes -pipe -I$(top_srcdir)/include
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ec_rtai_rtdm_example_LDFLAGS = -L/opt/etherlab/rtai/lib -llxrt -lrtdm -lpthread -L$(top_builddir)/lib/.libs -lethercat
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#------------------------------------------------------------------------------
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@ -0,0 +1,748 @@
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/******************************************************************************
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*
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* $Id$
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*
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* main.c Copyright (C) 2011 IgH Andreas Stewering-Bone
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*
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* This file is part of ethercatrtdm interface to IgH EtherCAT master
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*
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* The IgH EtherCAT master is free software; you can
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* redistribute it and/or modify it under the terms of the GNU Lesser General
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* Public License as published by the Free Software Foundation; version 2.1
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* of the License.
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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 userspace library is distributed in the hope that
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* it will be useful, but WITHOUT ANY WARRANTY; without even the implied
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* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public License
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* along with the IgH EtherCAT master userspace library. If not, see
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* <http://www.gnu.org/licenses/>.
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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 <sched.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <fcntl.h>
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#include <signal.h>
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#include <rtai_lxrt.h>
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#include <rtdm/rtdm.h>
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#include "../../include/ecrt.h"
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#include "../../include/ec_rtdm.h"
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#define rt_printf(X,Y)
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#define NSEC_PER_SEC 1000000000
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RT_TASK* task; // Stores a handle.
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int priority=0; // Highest
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int stack_size=0; // Use default (512)
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int msg_size=0; // Use default (256)
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static unsigned int cycle = 1000; /* 1 ms */
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int rt_fd = -1;
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int run=0;
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unsigned int sync_ref_counter = 0;
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CstructMstrAttach MstrAttach;
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/****************************************************************************/
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// Optional features
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#define CONFIGURE_PDOS 1
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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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/****************************************************************************/
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static uint8_t *domain1_pd = NULL;
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// process data
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#define BusCoupler01_Pos 0, 0
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#define DigOutSlave01_Pos 0, 1
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#define DigOutSlave02_Pos 0, 2
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#define DigInSlave01_Pos 0, 3
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#define AnaOutSlave01_Pos 0, 4
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#define AnaInSlave01_Pos 0, 5
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#define BusCoupler02_Pos 0, 6
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#define AnaInSlave02_Pos 0, 7
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#define Beckhoff_EK1100 0x00000002, 0x044c2c52
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#define Beckhoff_EL1014 0x00000002, 0x03f63052
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#define Beckhoff_EL2004 0x00000002, 0x07d43052
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#define Beckhoff_EL4132 0x00000002, 0x10243052
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#define Beckhoff_EL3102 0x00000002, 0x0c1e3052
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#define Beckhoff_EL4102 0x00000002, 0x10063052
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#define Beckhoff_EL6731 0x00000002, 0x1a4b3052
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#define Beckhoff_EL6600 0x00000002, 0x19c93052
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#define Beckhoff_EL3602 0x00000002, 0x0e123052
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#define Beckhoff_EL5151 0x00000002, 0x141f3052
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// offsets for PDO entries
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static unsigned int off_dig_out0 = 0;
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static unsigned int off_dig_out1 = 0;
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static unsigned int off_dig_out2 = 0;
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static unsigned int off_dig_out3 = 0;
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static unsigned int off_dig_in0 = 0;
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static unsigned int off_ana_out0 = 0;
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static unsigned int off_ana_out1 = 0;
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static unsigned int off_ana_in0_status = 0;
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static unsigned int off_ana_in0_value = 0;
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static unsigned int off_ana_in1_status = 0;
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static unsigned int off_ana_in1_value = 0;
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// process data
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unsigned int bit_position0=0; /* Pointer to a variable to store a bit */
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unsigned int bit_position1=0; /* Pointer to a variable to store a bit */
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unsigned int bit_position2=0; /* Pointer to a variable to store a bit */
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unsigned int bit_position3=0; /* Pointer to a variable to store a bit */
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const static ec_pdo_entry_reg_t domain1_regs[] = {
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{DigOutSlave01_Pos, Beckhoff_EL2004, 0x7000, 0x01, &off_dig_out0, &bit_position0},
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{DigOutSlave01_Pos, Beckhoff_EL2004, 0x7010, 0x01, &off_dig_out1, &bit_position1},
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{DigOutSlave01_Pos, Beckhoff_EL2004, 0x7020, 0x01, &off_dig_out2, &bit_position2},
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{DigOutSlave01_Pos, Beckhoff_EL2004, 0x7030, 0x01, &off_dig_out3, &bit_position3},
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{DigInSlave01_Pos, Beckhoff_EL1014, 0x6000, 0x01, &off_dig_in0},
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{AnaOutSlave01_Pos, Beckhoff_EL4132, 0x3001, 0x01, &off_ana_out0},
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{AnaOutSlave01_Pos, Beckhoff_EL4132, 0x3002, 0x01, &off_ana_out1},
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{AnaInSlave01_Pos, Beckhoff_EL3102, 0x3101, 0x01, &off_ana_in0_status},
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{AnaInSlave01_Pos, Beckhoff_EL3102, 0x3101, 0x02, &off_ana_in0_value},
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{AnaInSlave01_Pos, Beckhoff_EL3102, 0x3102, 0x01, &off_ana_in1_status},
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{AnaInSlave01_Pos, Beckhoff_EL3102, 0x3102, 0x02, &off_ana_in1_value},
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{}
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};
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char rt_dev_file[64];
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static unsigned int blink = 0;
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static ec_slave_config_t *sc_dig_out_01 = NULL;
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static ec_slave_config_t *sc_dig_out_02 = NULL;
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static ec_slave_config_t *sc_dig_in_01 = NULL;
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static ec_slave_config_t *sc_ana_out_01 = NULL;
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static ec_slave_config_t *sc_ana_in_01 = NULL;
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static ec_slave_config_t *sc_ana_in_02 = NULL;
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/*****************************************************************************/
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/* Slave 1, "EL2004"
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* Vendor ID: 0x00000002
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* Product code: 0x07d43052
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* Revision number: 0x00100000
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*/
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ec_pdo_entry_info_t slave_1_pdo_entries[] = {
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{0x7000, 0x01, 1}, /* Output */
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{0x7010, 0x01, 1}, /* Output */
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{0x7020, 0x01, 1}, /* Output */
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{0x7030, 0x01, 1}, /* Output */
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};
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ec_pdo_info_t slave_1_pdos[] = {
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{0x1600, 1, slave_1_pdo_entries + 0}, /* Channel 1 */
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{0x1601, 1, slave_1_pdo_entries + 1}, /* Channel 2 */
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{0x1602, 1, slave_1_pdo_entries + 2}, /* Channel 3 */
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{0x1603, 1, slave_1_pdo_entries + 3}, /* Channel 4 */
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};
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ec_sync_info_t slave_1_syncs[] = {
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{0, EC_DIR_OUTPUT, 4, slave_1_pdos + 0, EC_WD_ENABLE},
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{0xff}
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};
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/* Slave 2, "EL2004"
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* Vendor ID: 0x00000002
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* Product code: 0x07d43052
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* Revision number: 0x00100000
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*/
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ec_pdo_entry_info_t slave_2_pdo_entries[] = {
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{0x7000, 0x01, 1}, /* Output */
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{0x7010, 0x01, 1}, /* Output */
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{0x7020, 0x01, 1}, /* Output */
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{0x7030, 0x01, 1}, /* Output */
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};
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ec_pdo_info_t slave_2_pdos[] = {
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{0x1600, 1, slave_2_pdo_entries + 0}, /* Channel 1 */
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{0x1601, 1, slave_2_pdo_entries + 1}, /* Channel 2 */
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{0x1602, 1, slave_2_pdo_entries + 2}, /* Channel 3 */
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{0x1603, 1, slave_2_pdo_entries + 3}, /* Channel 4 */
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};
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ec_sync_info_t slave_2_syncs[] = {
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{0, EC_DIR_OUTPUT, 4, slave_2_pdos + 0, EC_WD_ENABLE},
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{0xff}
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};
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/* Slave 3, "EL1014"
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* Vendor ID: 0x00000002
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* Product code: 0x03f63052
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* Revision number: 0x00100000
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*/
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ec_pdo_entry_info_t slave_3_pdo_entries[] = {
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{0x6000, 0x01, 1}, /* Input */
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{0x6010, 0x01, 1}, /* Input */
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{0x6020, 0x01, 1}, /* Input */
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{0x6030, 0x01, 1}, /* Input */
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};
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ec_pdo_info_t slave_3_pdos[] = {
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{0x1a00, 1, slave_3_pdo_entries + 0}, /* Channel 1 */
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{0x1a01, 1, slave_3_pdo_entries + 1}, /* Channel 2 */
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{0x1a02, 1, slave_3_pdo_entries + 2}, /* Channel 3 */
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{0x1a03, 1, slave_3_pdo_entries + 3}, /* Channel 4 */
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};
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ec_sync_info_t slave_3_syncs[] = {
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{0, EC_DIR_INPUT, 4, slave_3_pdos + 0, EC_WD_DISABLE},
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{0xff}
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};
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/* Slave 4, "EL4132"
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* Vendor ID: 0x00000002
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* Product code: 0x10243052
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* Revision number: 0x03f90000
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*/
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ec_pdo_entry_info_t slave_4_pdo_entries[] = {
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{0x3001, 0x01, 16}, /* Output */
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{0x3002, 0x01, 16}, /* Output */
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};
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ec_pdo_info_t slave_4_pdos[] = {
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{0x1600, 1, slave_4_pdo_entries + 0}, /* RxPDO 01 mapping */
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{0x1601, 1, slave_4_pdo_entries + 1}, /* RxPDO 02 mapping */
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};
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ec_sync_info_t slave_4_syncs[] = {
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{0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
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{1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
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{2, EC_DIR_OUTPUT, 2, slave_4_pdos + 0, EC_WD_DISABLE},
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{3, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
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{0xff}
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};
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/* Slave 5, "EL3102"
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* Vendor ID: 0x00000002
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* Product code: 0x0c1e3052
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* Revision number: 0x00000000
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*/
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ec_pdo_entry_info_t slave_5_pdo_entries[] = {
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{0x3101, 0x01, 8}, /* Status */
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{0x3101, 0x02, 16}, /* Value */
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{0x3102, 0x01, 8}, /* Status */
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{0x3102, 0x02, 16}, /* Value */
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};
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ec_pdo_info_t slave_5_pdos[] = {
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{0x1a00, 2, slave_5_pdo_entries + 0}, /* TxPDO 001 mapping */
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{0x1a01, 2, slave_5_pdo_entries + 2}, /* TxPDO 002 mapping */
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};
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ec_sync_info_t slave_5_syncs[] = {
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{0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
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{1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
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{2, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
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{3, EC_DIR_INPUT, 2, slave_5_pdos + 0, EC_WD_DISABLE},
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{0xff}
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};
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/* Slave 6, "EL6731-0010"
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* Vendor ID: 0x00000002
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* Product code: 0x1a4b3052
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* Revision number: 0x0011000a
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*/
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ec_sync_info_t slave_6_syncs[] = {
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{0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
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{1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
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{2, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
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{3, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
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};
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/* Slave 7, "EL6601"
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* Vendor ID: 0x00000002
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* Product code: 0x19c93052
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* Revision number: 0x00110000
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*/
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/*
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ec_sync_info_t slave_7_syncs[] = {
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{0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
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{1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
|
||||
{2, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
|
||||
{3, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
|
||||
{0xff}
|
||||
};
|
||||
*/
|
||||
|
||||
/* Master 0, Slave 7, "EL3602"
|
||||
* Vendor ID: 0x00000002
|
||||
* Product code: 0x0e123052
|
||||
* Revision number: 0x00100000
|
||||
*/
|
||||
ec_pdo_entry_info_t slave_7_pdo_entries[] = {
|
||||
{0x6000, 0x01, 1}, /* Underrange */
|
||||
{0x6000, 0x02, 1}, /* Overrange */
|
||||
{0x6000, 0x03, 2}, /* Limit 1 */
|
||||
{0x6000, 0x05, 2}, /* Limit 2 */
|
||||
{0x6000, 0x07, 1}, /* Error */
|
||||
{0x0000, 0x00, 7}, /* Gap */
|
||||
{0x1800, 0x07, 1},
|
||||
{0x1800, 0x09, 1},
|
||||
{0x6000, 0x11, 32}, /* Value */
|
||||
{0x6010, 0x01, 1}, /* Underrange */
|
||||
{0x6010, 0x02, 1}, /* Overrange */
|
||||
{0x6010, 0x03, 2}, /* Limit 1 */
|
||||
{0x6010, 0x05, 2}, /* Limit 2 */
|
||||
{0x6010, 0x07, 1}, /* Error */
|
||||
{0x0000, 0x00, 7}, /* Gap */
|
||||
{0x1801, 0x07, 1},
|
||||
{0x1801, 0x09, 1},
|
||||
{0x6010, 0x11, 32}, /* Value */
|
||||
};
|
||||
|
||||
ec_pdo_info_t slave_7_pdos[] = {
|
||||
{0x1a00, 9, slave_7_pdo_entries + 0}, /* AI TxPDO-Map Inputs Ch.1 */
|
||||
{0x1a01, 9, slave_7_pdo_entries + 9}, /* AI TxPDO-Map Inputs Ch.2 */
|
||||
};
|
||||
|
||||
ec_sync_info_t slave_7_syncs[] = {
|
||||
{0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
|
||||
{1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
|
||||
{2, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
|
||||
{3, EC_DIR_INPUT, 2, slave_7_pdos + 0, EC_WD_DISABLE},
|
||||
{0xff}
|
||||
};
|
||||
|
||||
/* Master 0, Slave 8, "EL5151"
|
||||
* Vendor ID: 0x00000002
|
||||
* Product code: 0x141f3052
|
||||
* Revision number: 0x00130000
|
||||
*/
|
||||
|
||||
ec_pdo_entry_info_t slave_8_pdo_entries[] = {
|
||||
{0x6000, 0x01, 1},
|
||||
{0x6000, 0x02, 1},
|
||||
{0x6000, 0x03, 1},
|
||||
{0x0000, 0x00, 4}, /* Gap */
|
||||
{0x6000, 0x08, 1},
|
||||
{0x6000, 0x09, 1},
|
||||
{0x6000, 0x0a, 1},
|
||||
{0x6000, 0x0b, 1},
|
||||
{0x0000, 0x00, 1}, /* Gap */
|
||||
{0x6000, 0x0d, 1},
|
||||
{0x1c32, 0x20, 1},
|
||||
{0x0000, 0x00, 1}, /* Gap */
|
||||
{0x1800, 0x09, 1},
|
||||
{0x6000, 0x11, 32},
|
||||
{0x6000, 0x12, 32},
|
||||
{0x6000, 0x14, 32},
|
||||
};
|
||||
|
||||
ec_pdo_info_t slave_8_pdos[] = {
|
||||
{0x0000, 0, NULL},
|
||||
{0x1a00, 15, slave_8_pdo_entries + 0},
|
||||
{0x1a02, 1, slave_8_pdo_entries + 15},
|
||||
};
|
||||
|
||||
ec_sync_info_t slave_8_syncs[] = {
|
||||
{0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
|
||||
{1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
|
||||
{2, EC_DIR_OUTPUT, 1, slave_8_pdos + 0, EC_WD_DISABLE},
|
||||
{3, EC_DIR_INPUT, 2, slave_8_pdos + 1, EC_WD_DISABLE},
|
||||
{0xff}
|
||||
};
|
||||
|
||||
|
||||
/*****************************************************************************/
|
||||
|
||||
|
||||
void rt_check_domain_state(void)
|
||||
{
|
||||
ec_domain_state_t ds;
|
||||
|
||||
if (rt_fd>=0)
|
||||
{
|
||||
ecrt_rtdm_domain_state(rt_fd,&ds);
|
||||
}
|
||||
|
||||
if (ds.working_counter != domain1_state.working_counter)
|
||||
{
|
||||
rt_printf("Domain1: WC %u.\n", ds.working_counter);
|
||||
}
|
||||
if (ds.wc_state != domain1_state.wc_state)
|
||||
{
|
||||
rt_printf("Domain1: State %u.\n", ds.wc_state);
|
||||
}
|
||||
|
||||
domain1_state = ds;
|
||||
}
|
||||
|
||||
void rt_check_master_state(void)
|
||||
{
|
||||
ec_master_state_t ms;
|
||||
|
||||
if (rt_fd>=0)
|
||||
{
|
||||
ecrt_rtdm_master_state(rt_fd,&ms);
|
||||
}
|
||||
|
||||
if (ms.slaves_responding != master_state.slaves_responding)
|
||||
{
|
||||
rt_printf("%u slave(s).\n", ms.slaves_responding);
|
||||
}
|
||||
if (ms.al_states != master_state.al_states)
|
||||
{
|
||||
rt_printf("AL states: 0x%02X.\n", ms.al_states);
|
||||
}
|
||||
if (ms.link_up != master_state.link_up)
|
||||
{
|
||||
rt_printf("Link is %s.\n", ms.link_up ? "up" : "down");
|
||||
}
|
||||
master_state = ms;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
void rt_sync()
|
||||
{
|
||||
|
||||
uint64_t now_ns;
|
||||
now_ns = rt_get_real_time_ns();
|
||||
|
||||
|
||||
if (rt_fd>=0)
|
||||
{
|
||||
ecrt_rtdm_master_application_time(rt_fd, &now_ns);
|
||||
}
|
||||
|
||||
if (sync_ref_counter) {
|
||||
sync_ref_counter--;
|
||||
} else {
|
||||
sync_ref_counter = 9;
|
||||
if (rt_fd>=0)
|
||||
{
|
||||
ecrt_rtdm_master_sync_reference_clock(rt_fd);
|
||||
}
|
||||
}
|
||||
if (rt_fd>=0)
|
||||
{
|
||||
ecrt_rtdm_master_sync_slave_clocks(rt_fd) ;
|
||||
}
|
||||
}
|
||||
|
||||
/*****************************************************************************/
|
||||
|
||||
/**********************************************************/
|
||||
void cleanup_all(void)
|
||||
{
|
||||
run = 0;
|
||||
}
|
||||
|
||||
void catch_signal(int sig)
|
||||
{
|
||||
cleanup_all();
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
void my_cyclic(void)
|
||||
{
|
||||
|
||||
int counter = 0;
|
||||
int divcounter = 0;
|
||||
int divider = 10;
|
||||
int period;
|
||||
|
||||
rt_set_periodic_mode();
|
||||
period = (int) nano2count((RTIME)cycle*1000);
|
||||
start_rt_timer(period);
|
||||
rt_make_hard_real_time();
|
||||
|
||||
|
||||
while(1) {
|
||||
|
||||
rt_task_wait_period();
|
||||
|
||||
|
||||
counter++;
|
||||
if (counter>60000) {
|
||||
run=0;
|
||||
}
|
||||
|
||||
if(run == 0) {
|
||||
rt_make_soft_real_time();
|
||||
return;
|
||||
}
|
||||
|
||||
|
||||
// receive ethercat
|
||||
ecrt_rtdm_master_recieve(rt_fd);
|
||||
ecrt_rtdm_domain_process(rt_fd);
|
||||
|
||||
rt_check_domain_state();
|
||||
|
||||
if (divcounter ==0)
|
||||
{
|
||||
divcounter=divider;
|
||||
rt_check_master_state();
|
||||
}
|
||||
divcounter--;
|
||||
if ((counter % 200)==0)
|
||||
{
|
||||
blink = !blink;
|
||||
|
||||
}
|
||||
|
||||
|
||||
EC_WRITE_U8(domain1_pd + off_dig_out0, blink ? 0x0 : 0x0F);
|
||||
EC_WRITE_U16(domain1_pd + off_ana_out0, blink ? 0x0: 0xfff);
|
||||
|
||||
//sync DC
|
||||
rt_sync();
|
||||
|
||||
// send process data
|
||||
ecrt_rtdm_domain_queque(rt_fd);
|
||||
ecrt_rtdm_master_send(rt_fd);
|
||||
}
|
||||
return;
|
||||
}
|
||||
|
||||
|
||||
|
||||
int main(int argc, char *argv[])
|
||||
{
|
||||
ec_slave_config_t *sc;
|
||||
int rtstatus;
|
||||
|
||||
|
||||
|
||||
signal(SIGTERM, catch_signal);
|
||||
signal(SIGINT, catch_signal);
|
||||
signal(SIGHUP, catch_signal);
|
||||
|
||||
mlockall(MCL_CURRENT|MCL_FUTURE);
|
||||
|
||||
|
||||
|
||||
MstrAttach.masterindex = 0;
|
||||
|
||||
printf("request master\n");
|
||||
master = ecrt_request_master(MstrAttach.masterindex);
|
||||
if (!master)
|
||||
return -1;
|
||||
|
||||
|
||||
domain1 = ecrt_master_create_domain(master);
|
||||
if (!domain1)
|
||||
return -1;
|
||||
|
||||
|
||||
#ifdef CONFIGURE_PDOS
|
||||
|
||||
printf("Configuring PDOs...\n");
|
||||
|
||||
printf("Get Configuring el2004...\n");
|
||||
sc_dig_out_01 = ecrt_master_slave_config(master, DigOutSlave01_Pos, Beckhoff_EL2004);
|
||||
if (!sc_dig_out_01) {
|
||||
fprintf(stderr, "Failed to get slave configuration.\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
printf("Configuring EL2004...\n");
|
||||
if (ecrt_slave_config_pdos(sc_dig_out_01, EC_END, slave_1_syncs))
|
||||
{
|
||||
fprintf(stderr, "Failed to configure PDOs.\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
printf("Get Configuring el2004...\n");
|
||||
sc_dig_out_02 = ecrt_master_slave_config(master, DigOutSlave02_Pos, Beckhoff_EL2004);
|
||||
if (!sc_dig_out_02) {
|
||||
fprintf(stderr, "Failed to get slave configuration.\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
printf("Configuring EL2004...\n");
|
||||
if (ecrt_slave_config_pdos(sc_dig_out_02, EC_END, slave_2_syncs)) {
|
||||
fprintf(stderr, "Failed to configure PDOs.\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
printf("Get Configuring el1014...\n");
|
||||
sc_dig_in_01 = ecrt_master_slave_config(master, DigInSlave01_Pos, Beckhoff_EL1014);
|
||||
if (!sc_dig_in_01) {
|
||||
fprintf(stderr, "Failed to get slave configuration.\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
printf("Configuring EL1014...\n");
|
||||
if (ecrt_slave_config_pdos(sc_dig_in_01, EC_END, slave_3_syncs)) {
|
||||
fprintf(stderr, "Failed to configure PDOs.\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
printf("Get Configuring EL4132...\n");
|
||||
sc_ana_out_01 = ecrt_master_slave_config(master, AnaOutSlave01_Pos, Beckhoff_EL4132);
|
||||
if (!sc_ana_out_01) {
|
||||
fprintf(stderr, "Failed to get slave configuration.\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
printf("Configuring EL4132...\n");
|
||||
if (ecrt_slave_config_pdos(sc_ana_out_01, EC_END, slave_4_syncs)) {
|
||||
fprintf(stderr, "Failed to configure PDOs.\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
printf("Get Configuring EL3102...\n");
|
||||
sc_ana_in_01 = ecrt_master_slave_config(master, AnaInSlave01_Pos, Beckhoff_EL3102);
|
||||
if (!sc_ana_in_01) {
|
||||
fprintf(stderr, "Failed to get slave configuration.\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
printf("Configuring EL3102...\n");
|
||||
if (ecrt_slave_config_pdos(sc_ana_in_01, EC_END, slave_5_syncs)) {
|
||||
fprintf(stderr, "Failed to configure PDOs.\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
printf("Get Configuring EL3602...\n");
|
||||
sc_ana_in_02 = ecrt_master_slave_config(master, AnaInSlave02_Pos, Beckhoff_EL3602);
|
||||
if (!sc_ana_in_02) {
|
||||
fprintf(stderr, "Failed to get slave configuration.\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
|
||||
printf("Configuring EL3602...\n");
|
||||
if (ecrt_slave_config_pdos(sc_ana_in_02, EC_END, slave_7_syncs)) {
|
||||
fprintf(stderr, "Failed to configure PDOs.\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// Create configuration for bus coupler
|
||||
sc = ecrt_master_slave_config(master, BusCoupler01_Pos, Beckhoff_EK1100);
|
||||
if (!sc)
|
||||
return -1;
|
||||
|
||||
#ifdef CONFIGURE_PDOS
|
||||
if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
|
||||
fprintf(stderr, "PDO entry registration failed!\n");
|
||||
return -1;
|
||||
}
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
sprintf(&rt_dev_file[0],"%s%u",EC_RTDM_DEV_FILE_NAME,0);
|
||||
|
||||
|
||||
rt_fd = rt_dev_open( &rt_dev_file[0], 0);
|
||||
if (rt_fd < 0) {
|
||||
printf("can't open %s\n", &rt_dev_file[0]);
|
||||
return -1;
|
||||
}
|
||||
|
||||
MstrAttach.domainindex = ecrt_domain_index(domain1);
|
||||
|
||||
// attach the master over rtdm driver
|
||||
rtstatus=ecrt_rtdm_master_attach(rt_fd, &MstrAttach);
|
||||
if (rtstatus < 0)
|
||||
{
|
||||
printf("cannot attach to master over rtdm\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
printf("Activating master...\n");
|
||||
if (ecrt_master_activate(master))
|
||||
return -1;
|
||||
|
||||
if (!(domain1_pd = ecrt_domain_data(domain1))) {
|
||||
return -1;
|
||||
}
|
||||
fprintf(stderr, "domain1_pd: 0x%.6x\n", (unsigned int)domain1_pd);
|
||||
|
||||
|
||||
|
||||
run=1;
|
||||
|
||||
/* Create cyclic RT-thread */
|
||||
struct sched_param param;
|
||||
param.sched_priority = sched_get_priority_max(SCHED_FIFO) - 1;
|
||||
if( sched_setscheduler( 0, SCHED_FIFO, ¶m ) == -1 ) {
|
||||
puts("ERROR IN SETTING THE SCHEDULER");
|
||||
perror("errno");
|
||||
exit(1);
|
||||
}
|
||||
|
||||
task = rt_task_init( nam2num("ec_rtai_rtdm_example"), priority, stack_size, msg_size);
|
||||
|
||||
|
||||
my_cyclic();
|
||||
|
||||
rt_task_delete(task);
|
||||
|
||||
if (rt_fd >= 0)
|
||||
{
|
||||
printf("closing rt device %s\n", &rt_dev_file[0]);
|
||||
|
||||
rt_dev_close(rt_fd);
|
||||
|
||||
}
|
||||
|
||||
printf("End of Program\n");
|
||||
ecrt_release_master(master);
|
||||
|
||||
return 0;
|
||||
|
||||
}
|
||||
|
||||
|
|
@ -36,6 +36,7 @@ obj-m := ec_rtdm.o
|
|||
ec_rtdm-objs := \
|
||||
module.o
|
||||
|
||||
ifeq (@ENABLE_XENOMAI@,1)
|
||||
|
||||
### Xenomai directory, xeno-config and library directory ###########
|
||||
XENO_DIR := @XENOMAI_DIR@
|
||||
|
|
@ -48,7 +49,27 @@ REV := $(shell if test -s $(src)/../revision; then \
|
|||
hg id -i $(src)/.. 2>/dev/null || echo "unknown"; \
|
||||
fi)
|
||||
|
||||
CFLAGS_module.o := -DREV=$(REV) -I$(XENO_DIR)/include
|
||||
CFLAGS_module.o := -DREV=$(REV) -I$(XENO_DIR)/include -DENABLE_XENOMAI
|
||||
|
||||
endif
|
||||
|
||||
ifeq (@ENABLE_RTAI@,1)
|
||||
|
||||
### RTAI directory, rtai_config and library directory ###########
|
||||
RTAI_DIR := @RTAI_DIR@
|
||||
RTAI_CONFIG := $(RTAI_DIR)/bin/rtai-config
|
||||
RTAI_LIB_DIR := $(shell $(RTAI_CONFIG) --library-dir)
|
||||
|
||||
REV := $(shell if test -s $(src)/../revision; then \
|
||||
cat $(src)/../revision; \
|
||||
else \
|
||||
hg id -i $(src)/.. 2>/dev/null || echo "unknown"; \
|
||||
fi)
|
||||
|
||||
CFLAGS_module.o := -DREV=$(REV) -I$(RTAI_DIR)/include -DENABLE_RTAI
|
||||
|
||||
endif
|
||||
|
||||
|
||||
KBUILD_EXTRA_SYMBOLS := \
|
||||
@abs_top_builddir@/$(LINUX_SYMVERS) \
|
||||
|
|
|
|||
|
|
@ -30,15 +30,44 @@
|
|||
|
||||
#include <linux/module.h>
|
||||
#include <linux/mman.h>
|
||||
#include <rtdm/rtdm_driver.h>
|
||||
|
||||
|
||||
#ifdef ENABLE_XENOMAI
|
||||
#include <native/task.h>
|
||||
#include <native/sem.h>
|
||||
#include <native/mutex.h>
|
||||
#include <native/timer.h>
|
||||
#endif
|
||||
|
||||
#ifdef ENABLE_RTAI
|
||||
#include <rtai_sched.h>
|
||||
#include <rtai_sem.h>
|
||||
#endif
|
||||
|
||||
|
||||
#include <rtdm/rtdm_driver.h>
|
||||
|
||||
#include "../include/ecrt.h"
|
||||
#include "../include/ec_rtdm.h"
|
||||
|
||||
#ifdef ENABLE_XENOMAI
|
||||
#define my_mutex_create(X,Y) rt_mutex_create(X, Y)
|
||||
#define my_mutex_acquire(X,Y) rt_mutex_acquire(X,Y)
|
||||
#define my_mutex_release(X) rt_mutex_release(X)
|
||||
#define my_mutex_delete(X) rt_mutex_delete(X)
|
||||
#endif
|
||||
|
||||
#ifdef ENABLE_RTAI
|
||||
#define my_mutex_create(X,Y) rt_sem_init(X, 1)
|
||||
#define my_mutex_acquire(X,Y) rt_sem_wait(X)
|
||||
#define my_mutex_release(X) rt_sem_signal(X)
|
||||
#define my_mutex_delete(X) rt_sem_delete(X)
|
||||
#define TM_INFINITE
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
|
||||
#define EC_RTDM_MAX_MASTERS 5 /**< Maximum number of masters. */
|
||||
|
||||
#define EC_RTDM_GINFO(fmt, args...) \
|
||||
|
|
@ -66,8 +95,13 @@
|
|||
typedef struct _EC_RTDM_DRV_STRUCT {
|
||||
unsigned int isattached;
|
||||
ec_master_t * master;
|
||||
ec_domain_t * domain;
|
||||
RT_MUTEX masterlock;
|
||||
ec_domain_t * domain;
|
||||
#ifdef ENABLE_XENOMAI
|
||||
RT_MUTEX masterlock;
|
||||
#endif
|
||||
#ifdef ENABLE_RTAI
|
||||
SEM masterlock;
|
||||
#endif
|
||||
unsigned int sendcnt;
|
||||
unsigned int reccnt;
|
||||
unsigned int sendcntlv;
|
||||
|
|
@ -139,9 +173,9 @@ void send_callback(void *cb_data)
|
|||
pdrvstruc = (EC_RTDM_DRV_STRUCT*)cb_data;
|
||||
if (pdrvstruc->master)
|
||||
{
|
||||
rt_mutex_acquire(&pdrvstruc->masterlock,TM_INFINITE);
|
||||
my_mutex_acquire(&pdrvstruc->masterlock,TM_INFINITE);
|
||||
ecrt_master_send_ext(pdrvstruc->master);
|
||||
rt_mutex_release(&pdrvstruc->masterlock);
|
||||
my_mutex_release(&pdrvstruc->masterlock);
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -154,9 +188,9 @@ void receive_callback(void *cb_data)
|
|||
pdrvstruc = (EC_RTDM_DRV_STRUCT*)cb_data;
|
||||
if (pdrvstruc->master)
|
||||
{
|
||||
rt_mutex_acquire(&pdrvstruc->masterlock,TM_INFINITE);
|
||||
my_mutex_acquire(&pdrvstruc->masterlock,TM_INFINITE);
|
||||
ecrt_master_receive(pdrvstruc->master);
|
||||
rt_mutex_release(&pdrvstruc->masterlock);
|
||||
my_mutex_release(&pdrvstruc->masterlock);
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -171,7 +205,7 @@ void detach_master(EC_RTDM_DRV_STRUCT * pdrvstruc)
|
|||
EC_RTDM_INFO(pdrvstruc->masterno,"reseting callbacks!\n");
|
||||
ecrt_master_callbacks(pdrvstruc->master,NULL,NULL,NULL);
|
||||
EC_RTDM_INFO(pdrvstruc->masterno,"deleting mutex!\n");
|
||||
rt_mutex_delete(&pdrvstruc->masterlock);
|
||||
my_mutex_delete(&pdrvstruc->masterlock);
|
||||
pdrvstruc->master = NULL;
|
||||
pdrvstruc->isattached=0;
|
||||
EC_RTDM_INFO(pdrvstruc->masterno,"master detach done!\n");
|
||||
|
|
@ -278,11 +312,11 @@ int ec_rtdm_ioctl_rt(struct rtdm_dev_context *context,
|
|||
}
|
||||
if (pdrvstruc->master)
|
||||
{
|
||||
rt_mutex_acquire(&pdrvstruc->masterlock,TM_INFINITE);
|
||||
my_mutex_acquire(&pdrvstruc->masterlock,TM_INFINITE);
|
||||
|
||||
ecrt_master_state(pdrvstruc->master, &ms);
|
||||
|
||||
rt_mutex_release(&pdrvstruc->masterlock);
|
||||
my_mutex_release(&pdrvstruc->masterlock);
|
||||
|
||||
}
|
||||
if (rtdm_rw_user_ok(user_info, arg, sizeof(ms)))
|
||||
|
|
@ -304,11 +338,11 @@ int ec_rtdm_ioctl_rt(struct rtdm_dev_context *context,
|
|||
}
|
||||
if (pdrvstruc->domain)
|
||||
{
|
||||
rt_mutex_acquire(&pdrvstruc->masterlock,TM_INFINITE);
|
||||
my_mutex_acquire(&pdrvstruc->masterlock,TM_INFINITE);
|
||||
|
||||
ecrt_domain_state(pdrvstruc->domain, &ds);
|
||||
|
||||
rt_mutex_release(&pdrvstruc->masterlock);
|
||||
my_mutex_release(&pdrvstruc->masterlock);
|
||||
}
|
||||
if (rtdm_rw_user_ok(user_info, arg, sizeof(ds)))
|
||||
{
|
||||
|
|
@ -326,10 +360,10 @@ int ec_rtdm_ioctl_rt(struct rtdm_dev_context *context,
|
|||
{
|
||||
if (pdrvstruc->master)
|
||||
{
|
||||
rt_mutex_acquire(&pdrvstruc->masterlock,TM_INFINITE);
|
||||
my_mutex_acquire(&pdrvstruc->masterlock,TM_INFINITE);
|
||||
ecrt_master_receive(pdrvstruc->master);
|
||||
pdrvstruc->reccnt++;
|
||||
rt_mutex_release(&pdrvstruc->masterlock);
|
||||
my_mutex_release(&pdrvstruc->masterlock);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -338,9 +372,9 @@ int ec_rtdm_ioctl_rt(struct rtdm_dev_context *context,
|
|||
{
|
||||
if (pdrvstruc->isattached)
|
||||
{
|
||||
rt_mutex_acquire(&pdrvstruc->masterlock,TM_INFINITE);
|
||||
my_mutex_acquire(&pdrvstruc->masterlock,TM_INFINITE);
|
||||
ecrt_domain_process(pdrvstruc->domain);
|
||||
rt_mutex_release(&pdrvstruc->masterlock);
|
||||
my_mutex_release(&pdrvstruc->masterlock);
|
||||
}
|
||||
}
|
||||
break;
|
||||
|
|
@ -351,10 +385,10 @@ int ec_rtdm_ioctl_rt(struct rtdm_dev_context *context,
|
|||
{
|
||||
if (pdrvstruc->master)
|
||||
{
|
||||
rt_mutex_acquire(&pdrvstruc->masterlock,TM_INFINITE);
|
||||
my_mutex_acquire(&pdrvstruc->masterlock,TM_INFINITE);
|
||||
ecrt_master_send(pdrvstruc->master);
|
||||
pdrvstruc->sendcnt++;
|
||||
rt_mutex_release(&pdrvstruc->masterlock);
|
||||
my_mutex_release(&pdrvstruc->masterlock);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -363,9 +397,9 @@ int ec_rtdm_ioctl_rt(struct rtdm_dev_context *context,
|
|||
{
|
||||
if (pdrvstruc->isattached)
|
||||
{
|
||||
rt_mutex_acquire(&pdrvstruc->masterlock,TM_INFINITE);
|
||||
my_mutex_acquire(&pdrvstruc->masterlock,TM_INFINITE);
|
||||
ecrt_domain_queue(pdrvstruc->domain);
|
||||
rt_mutex_release(&pdrvstruc->masterlock);
|
||||
my_mutex_release(&pdrvstruc->masterlock);
|
||||
}
|
||||
}
|
||||
break;
|
||||
|
|
@ -385,10 +419,10 @@ int ec_rtdm_ioctl_rt(struct rtdm_dev_context *context,
|
|||
|
||||
if (pdrvstruc->master)
|
||||
{
|
||||
rt_mutex_acquire(&pdrvstruc->masterlock,TM_INFINITE);
|
||||
my_mutex_acquire(&pdrvstruc->masterlock,TM_INFINITE);
|
||||
|
||||
ecrt_master_application_time(pdrvstruc->master, app_time);
|
||||
rt_mutex_release(&pdrvstruc->masterlock);
|
||||
my_mutex_release(&pdrvstruc->masterlock);
|
||||
|
||||
}
|
||||
}
|
||||
|
|
@ -401,11 +435,11 @@ int ec_rtdm_ioctl_rt(struct rtdm_dev_context *context,
|
|||
}
|
||||
if (pdrvstruc->master)
|
||||
{
|
||||
rt_mutex_acquire(&pdrvstruc->masterlock,TM_INFINITE);
|
||||
my_mutex_acquire(&pdrvstruc->masterlock,TM_INFINITE);
|
||||
|
||||
ecrt_master_sync_reference_clock(pdrvstruc->master);
|
||||
|
||||
rt_mutex_release(&pdrvstruc->masterlock);
|
||||
my_mutex_release(&pdrvstruc->masterlock);
|
||||
|
||||
}
|
||||
}
|
||||
|
|
@ -418,11 +452,11 @@ int ec_rtdm_ioctl_rt(struct rtdm_dev_context *context,
|
|||
}
|
||||
if (pdrvstruc->master)
|
||||
{
|
||||
rt_mutex_acquire(&pdrvstruc->masterlock,TM_INFINITE);
|
||||
my_mutex_acquire(&pdrvstruc->masterlock,TM_INFINITE);
|
||||
|
||||
ecrt_master_sync_slave_clocks(pdrvstruc->master);
|
||||
|
||||
rt_mutex_release(&pdrvstruc->masterlock);
|
||||
my_mutex_release(&pdrvstruc->masterlock);
|
||||
|
||||
}
|
||||
}
|
||||
|
|
@ -435,9 +469,9 @@ int ec_rtdm_ioctl_rt(struct rtdm_dev_context *context,
|
|||
}
|
||||
if (pdrvstruc->master)
|
||||
{
|
||||
rt_mutex_acquire(&pdrvstruc->masterlock,TM_INFINITE);
|
||||
my_mutex_acquire(&pdrvstruc->masterlock,TM_INFINITE);
|
||||
ecrt_master_sync_monitor_queue(pdrvstruc->master);
|
||||
rt_mutex_release(&pdrvstruc->masterlock);
|
||||
my_mutex_release(&pdrvstruc->masterlock);
|
||||
}
|
||||
}
|
||||
break;
|
||||
|
|
@ -450,9 +484,9 @@ int ec_rtdm_ioctl_rt(struct rtdm_dev_context *context,
|
|||
}
|
||||
if (pdrvstruc->master)
|
||||
{
|
||||
rt_mutex_acquire(&pdrvstruc->masterlock,TM_INFINITE);
|
||||
my_mutex_acquire(&pdrvstruc->masterlock,TM_INFINITE);
|
||||
ret = ecrt_master_sync_monitor_process(pdrvstruc->master);
|
||||
rt_mutex_release(&pdrvstruc->masterlock);
|
||||
my_mutex_release(&pdrvstruc->masterlock);
|
||||
if (rtdm_safe_copy_to_user(user_info, arg, &ret, sizeof(ret)))
|
||||
{
|
||||
EC_RTDM_ERR(pdrvstruc->masterno,"copy to user param failed!\n");
|
||||
|
|
@ -525,7 +559,7 @@ int ec_rtdm_ioctl_rt(struct rtdm_dev_context *context,
|
|||
// set device name
|
||||
snprintf(&pdrvstruc->mutexname[0],sizeof(pdrvstruc->mutexname)-1,"ETHrtdmLOCK%d",pdrvstruc->masterno);
|
||||
EC_RTDM_INFO(pdrvstruc->masterno,"Creating Master mutex %s!\n",&pdrvstruc->mutexname[0]);
|
||||
rt_mutex_create(&pdrvstruc->masterlock,&pdrvstruc->mutexname[0]);
|
||||
my_mutex_create(&pdrvstruc->masterlock,&pdrvstruc->mutexname[0]);
|
||||
//ecrt_release_master(mstr);
|
||||
ecrt_master_callbacks(pdrvstruc->master, send_callback, receive_callback, pdrvstruc);
|
||||
EC_RTDM_INFO(pdrvstruc->masterno,"MSTR ATTACH done domain=%u!\n",(unsigned int)pdrvstruc->domain);
|
||||
|
|
|
|||
Loading…
Reference in New Issue