/***************************************************************************** * * $Id$ * * 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 #include #include #include #include #include #include #include /****************************************************************************/ #include "ecrt.h" /****************************************************************************/ // Application parameters #define FREQUENCY 100 #define PRIORITY 0 /****************************************************************************/ // 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 = {}; static ec_slave_config_t *sc_ana_in = NULL; static ec_slave_config_state_t sc_ana_in_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, 3 #define DigOutSlavePos 0, 0 //#define Beckhoff_EK1100 0x00000002, 0x044c2c52 #define Beckhoff_EK1100 0x00000002, 0x04562c52 #define Beckhoff_EL1008 0x00000002, 0x03f03052 #define Beckhoff_EL2004 0x00000002, 0x07d43052 #define Beckhoff_EL2008 0x00000002, 0x07d83052 #define Beckhoff_EL2032 0x00000002, 0x07f03052 #define Beckhoff_EL3152 0x00000002, 0x0c503052 #define Beckhoff_EL3102 0x00000002, 0x0c1e3052 #define Beckhoff_EL4102 0x00000002, 0x10063052 // offsets for PDO entries static unsigned int off_dig_in[1]; static unsigned int off_dig_out[2]; /*****************************************************************************/ // Digital in ------------------------ static ec_pdo_entry_info_t el1008_channels[] = { {0x6000, 1, 1}, {0x6010, 1, 1}, {0x6020, 1, 1}, {0x6030, 1, 1}, {0x6040, 1, 1}, {0x6050, 1, 1}, {0x6060, 1, 1}, {0x6070, 1, 1}, }; static ec_pdo_info_t el1008_pdos[] = { {0x1a00, 1, &el1008_channels[0]}, {0x1a01, 1, &el1008_channels[1]}, {0x1a02, 1, &el1008_channels[2]}, {0x1a03, 1, &el1008_channels[3]}, {0x1a04, 1, &el1008_channels[4]}, {0x1a05, 1, &el1008_channels[5]}, {0x1a06, 1, &el1008_channels[6]}, {0x1a07, 1, &el1008_channels[7]} }; static ec_sync_info_t el1008_syncs[] = { {2, EC_DIR_OUTPUT}, {3, EC_DIR_INPUT, 8, el1008_pdos}, {0xff} }; // Digital out ------------------------ static ec_pdo_entry_info_t el2008_channels[] = { {0x7000, 1, 1}, {0x7010, 1, 1}, {0x7020, 1, 1}, {0x7030, 1, 1}, {0x7040, 1, 1}, {0x7050, 1, 1}, {0x7060, 1, 1}, {0x7070, 1, 1}, }; static ec_pdo_info_t el2008_pdos[] = { {0x1600, 1, &el2008_channels[0]}, {0x1601, 1, &el2008_channels[1]}, {0x1602, 1, &el2008_channels[2]}, {0x1603, 1, &el2008_channels[3]}, {0x1604, 1, &el2008_channels[4]}, {0x1605, 1, &el2008_channels[5]}, {0x1606, 1, &el2008_channels[6]}, {0x1607, 1, &el2008_channels[7]} }; static ec_sync_info_t el2008_syncs[] = { {0, EC_DIR_OUTPUT, 8, el2008_pdos}, {1, EC_DIR_INPUT}, {0xff} }; /*****************************************************************************/ 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 check_slave_config_states(void) { ec_slave_config_state_t s; ecrt_slave_config_state(sc_ana_in, &s); if (s.al_state != sc_ana_in_state.al_state) printf("AnaIn: State 0x%02X.\n", s.al_state); if (s.online != sc_ana_in_state.online) printf("AnaIn: %s.\n", s.online ? "online" : "offline"); if (s.operational != sc_ana_in_state.operational) printf("AnaIn: %soperational.\n", s.operational ? "" : "Not "); sc_ana_in_state = s; } /****************************************************************************/ void cyclic_task() { static unsigned int counter = 10; static uint8_t outputValue = 0; static int numAsyncCycles = 0; uint8_t inputValue = 0; static uint8_t error = 0; // receive process data ecrt_master_receive(master); ecrt_domain_process(domain1); // check process data state (optional) check_domain1_state(); inputValue = EC_READ_U8(domain1_pd + off_dig_in[0]); if(inputValue != outputValue) { numAsyncCycles++; } else { numAsyncCycles = 0; } if(numAsyncCycles > 2) { if(error != 0xff) { error++; } } if (counter) { counter--; } else { counter = 5; //update delay // calculate new process data outputValue++; // check for master state (optional) check_master_state(); // check for islave configuration state(s) (optional) check_slave_config_states(); } // write process data EC_WRITE_U8(domain1_pd + off_dig_out[1], outputValue); EC_WRITE_U8(domain1_pd + off_dig_out[0], error); // send process data ecrt_domain_queue(domain1); ecrt_master_send(master); } /****************************************************************************/ void signal_handler(int signum) { switch (signum) { case SIGALRM: sig_alarms++; break; } } /****************************************************************************/ int Init_EL2008(uint16_t position) { ec_slave_config_t *sc; if (!(sc = ecrt_master_slave_config(master, 0, position, Beckhoff_EL2008))) { fprintf(stderr, "Failed to get EL2008 configuration #%u.\n", position); return -1; } if (ecrt_slave_config_pdos(sc, EC_END, el2008_syncs)) { fprintf(stderr, "Failed to configure PDOs #%u.\n", position); return -1; } if (0 > (off_dig_out[position] = ecrt_slave_config_reg_pdo_entry(sc, 0x7000, 1, domain1, NULL))) { fprintf(stderr, "Failed to configure reg PDOs #%u.\n", position); return -1; } fprintf(stderr, "EL2008 #%u configured offset: %d.\n", position, off_dig_out[position]); return 0; } int main(int argc, char **argv) { ec_slave_config_t *sc; struct sigaction sa; struct itimerval tv; uint16_t i; master = ecrt_request_master(0); if (!master) return -1; domain1 = ecrt_master_create_domain(master); if (!domain1) return -1; printf("Configuring PDOs...\n"); if (!(sc_ana_in = ecrt_master_slave_config(master, 0, 2, Beckhoff_EL1008))) { fprintf(stderr, "Failed to get digital in configuration.\n"); return -1; } if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el1008_syncs)) { fprintf(stderr, "Failed to configure PDOs.\n"); return -1; } if (0 > (off_dig_in[0] = ecrt_slave_config_reg_pdo_entry(sc_ana_in, 0x6000, 1, domain1, NULL))) { fprintf(stderr, "Failed to configure reg PDOs.\n"); return -1; } printf("EL1008 configured.\n"); for(i = 0; i < 2; ++i) { if(Init_EL2008(i)) { fprintf(stderr, "Failed to initialize EL2008 #%u.\n", i); return -1; } } // Create configuration for bus coupler sc = ecrt_master_slave_config(master, BusCouplerPos, Beckhoff_EK1100); if (!sc) return -1; fprintf(stderr, "EK1100 configured.\n"); 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; } 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; } /****************************************************************************/