/***************************************************************************** * * $Id$ * * 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 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++; } ecrt_master_application_time(master, EC_TIMEVAL2NANO(&app_time)); if (sync_ref_counter) { sync_ref_counter--; } else { sync_ref_counter = 9; ecrt_master_sync_reference_clock(master); } 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_signals(sc, 10000000, 4400000, 0, 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; } /****************************************************************************/