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ethercat/examples/xenomai/main.c

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/******************************************************************************
*
* $Id$
*
* main.c Copyright (C) 2009-2010 Moehwald GmbH B.Benner
* 2011 IgH Andreas Stewering-Bone
*
* This file is part of ethercatrtdm interface to IgH EtherCAT master
*
* The Moehwald ethercatrtdm interface is free software; you can
* redistribute it and/or modify it under the terms of the GNU Lesser General
* Public License as published by the Free Software Foundation; version 2.1
* of the License.
*
* 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 userspace library 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 Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with the IgH EtherCAT master userspace library. If not, see
* <http://www.gnu.org/licenses/>.
*
* 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 <sys/mman.h>
#include <rtdm/rtdm.h>
#include <native/task.h>
#include <native/sem.h>
#include <native/mutex.h>
#include <native/timer.h>
#include <rtdk.h>
#include <pthread.h>
/****************************************************************************/
#include "../../include/ecrt.h"
#include "../../include/ec_rtdm.h"
RT_TASK my_task;
int rt_fd = -1;
int run=0;
unsigned int sync_ref_counter = 0;
CstructMstrAttach MstrAttach;
/****************************************************************************/
// Optional features
#define CONFIGURE_PDOS 1
//#define SDO_ACCESS 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 = {};
//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;
/****************************************************************************/
static uint8_t *domain1_pd = NULL;
// process data
#define BusCoupler01_Pos 0, 0
#define DigOutSlave01_Pos 0, 1
#define DigOutSlave02_Pos 0, 2
#define DigInSlave01_Pos 0, 3
#define AnaOutSlave01_Pos 0, 4
#define AnaInSlave01_Pos 0, 5
#define BusCoupler02_Pos 0, 6
#define AnaInSlave02_Pos 0, 7
#define DPSlave01_Pos 0, 8
#define Beckhoff_EK1100 0x00000002, 0x044c2c52
#define Beckhoff_EL1014 0x00000002, 0x03f63052
#define Beckhoff_EL2004 0x00000002, 0x07d43052
#define Beckhoff_EL4132 0x00000002, 0x10243052
#define Beckhoff_EL3102 0x00000002, 0x0c1e3052
#define Beckhoff_EL4102 0x00000002, 0x10063052
#define Beckhoff_EL6731 0x00000002, 0x1a4b3052
#define Beckhoff_EL6600 0x00000002, 0x19c93052
#define Beckhoff_EL3602 0x00000002, 0x0e123052
#define Beckhoff_EL5151 0x00000002, 0x141f3052
// offsets for PDO entries
static unsigned int off_dig_out0 = 0;
static unsigned int off_dig_out1 = 0;
static unsigned int off_dig_out2 = 0;
static unsigned int off_dig_out3 = 0;
static unsigned int off_dig_out4 = 0;
static unsigned int off_dig_out5 = 0;
static unsigned int off_dig_out6 = 0;
static unsigned int off_dig_out7 = 0;
static unsigned int off_dig_in0 = 0;
static unsigned int off_dig_in1 = 0;
static unsigned int off_dig_in2 = 0;
static unsigned int off_dig_in3 = 0;
static unsigned int off_ana_out0 = 0;
static unsigned int off_ana_out1 = 0;
static unsigned int off_ana_in0_status = 0;
static unsigned int off_ana_in0_value = 0;
static unsigned int off_ana_in1_status = 0;
static unsigned int off_ana_in1_value = 0;
static unsigned int off_ana_in2_status = 0;
static unsigned int off_ana_in2_value = 0;
static unsigned int off_ana_in3_status = 0;
static unsigned int off_ana_in3_value = 0;
//static unsigned int off_dp_slave;
// process data
unsigned int bit_position0=0; /* Pointer to a variable to store a bit */
unsigned int bit_position1=0; /* Pointer to a variable to store a bit */
unsigned int bit_position2=0; /* Pointer to a variable to store a bit */
unsigned int bit_position3=0; /* Pointer to a variable to store a bit */
const static ec_pdo_entry_reg_t domain1_regs[] = {
{DigOutSlave01_Pos, Beckhoff_EL2004, 0x7000, 0x01, &off_dig_out0, &bit_position0},
{DigOutSlave01_Pos, Beckhoff_EL2004, 0x7010, 0x01, &off_dig_out1, &bit_position1},
{DigOutSlave01_Pos, Beckhoff_EL2004, 0x7020, 0x01, &off_dig_out2, &bit_position2},
{DigOutSlave01_Pos, Beckhoff_EL2004, 0x7030, 0x01, &off_dig_out3, &bit_position3},
{DigInSlave01_Pos, Beckhoff_EL1014, 0x6000, 0x01, &off_dig_in0},
{AnaOutSlave01_Pos, Beckhoff_EL4132, 0x3001, 0x01, &off_ana_out0},
{AnaOutSlave01_Pos, Beckhoff_EL4132, 0x3002, 0x01, &off_ana_out1},
{AnaInSlave01_Pos, Beckhoff_EL3102, 0x3101, 0x01, &off_ana_in0_status},
{AnaInSlave01_Pos, Beckhoff_EL3102, 0x3101, 0x02, &off_ana_in0_value},
{AnaInSlave01_Pos, Beckhoff_EL3102, 0x3102, 0x01, &off_ana_in1_status},
{AnaInSlave01_Pos, Beckhoff_EL3102, 0x3102, 0x02, &off_ana_in1_value},
{}
};
char rt_dev_file[64];
static unsigned int counter = 0;
static unsigned int blink = 0;
static ec_slave_config_t *sc_dig_out_01 = NULL;
static ec_slave_config_t *sc_dig_out_02 = NULL;
static ec_slave_config_t *sc_dig_in_01 = NULL;
static ec_slave_config_t *sc_ana_out_01 = NULL;
static ec_slave_config_t *sc_ana_in_01 = NULL;
static ec_slave_config_t *sc_dpslv_01 = NULL;
static ec_slave_config_t *sc_ana_in_02 = NULL;
/*****************************************************************************/
/* Slave 1, "EL2004"
* Vendor ID: 0x00000002
* Product code: 0x07d43052
* Revision number: 0x00100000
*/
ec_pdo_entry_info_t slave_1_pdo_entries[] = {
{0x7000, 0x01, 1}, /* Output */
{0x7010, 0x01, 1}, /* Output */
{0x7020, 0x01, 1}, /* Output */
{0x7030, 0x01, 1}, /* Output */
};
ec_pdo_info_t slave_1_pdos[] = {
{0x1600, 1, slave_1_pdo_entries + 0}, /* Channel 1 */
{0x1601, 1, slave_1_pdo_entries + 1}, /* Channel 2 */
{0x1602, 1, slave_1_pdo_entries + 2}, /* Channel 3 */
{0x1603, 1, slave_1_pdo_entries + 3}, /* Channel 4 */
};
ec_sync_info_t slave_1_syncs[] = {
{0, EC_DIR_OUTPUT, 4, slave_1_pdos + 0, EC_WD_ENABLE},
{0xff}
};
/* Slave 2, "EL2004"
* Vendor ID: 0x00000002
* Product code: 0x07d43052
* Revision number: 0x00100000
*/
ec_pdo_entry_info_t slave_2_pdo_entries[] = {
{0x7000, 0x01, 1}, /* Output */
{0x7010, 0x01, 1}, /* Output */
{0x7020, 0x01, 1}, /* Output */
{0x7030, 0x01, 1}, /* Output */
};
ec_pdo_info_t slave_2_pdos[] = {
{0x1600, 1, slave_2_pdo_entries + 0}, /* Channel 1 */
{0x1601, 1, slave_2_pdo_entries + 1}, /* Channel 2 */
{0x1602, 1, slave_2_pdo_entries + 2}, /* Channel 3 */
{0x1603, 1, slave_2_pdo_entries + 3}, /* Channel 4 */
};
ec_sync_info_t slave_2_syncs[] = {
{0, EC_DIR_OUTPUT, 4, slave_2_pdos + 0, EC_WD_ENABLE},
{0xff}
};
/* Slave 3, "EL1014"
* Vendor ID: 0x00000002
* Product code: 0x03f63052
* Revision number: 0x00100000
*/
ec_pdo_entry_info_t slave_3_pdo_entries[] = {
{0x6000, 0x01, 1}, /* Input */
{0x6010, 0x01, 1}, /* Input */
{0x6020, 0x01, 1}, /* Input */
{0x6030, 0x01, 1}, /* Input */
};
ec_pdo_info_t slave_3_pdos[] = {
{0x1a00, 1, slave_3_pdo_entries + 0}, /* Channel 1 */
{0x1a01, 1, slave_3_pdo_entries + 1}, /* Channel 2 */
{0x1a02, 1, slave_3_pdo_entries + 2}, /* Channel 3 */
{0x1a03, 1, slave_3_pdo_entries + 3}, /* Channel 4 */
};
ec_sync_info_t slave_3_syncs[] = {
{0, EC_DIR_INPUT, 4, slave_3_pdos + 0, EC_WD_DISABLE},
{0xff}
};
/* Slave 4, "EL4132"
* Vendor ID: 0x00000002
* Product code: 0x10243052
* Revision number: 0x03f90000
*/
ec_pdo_entry_info_t slave_4_pdo_entries[] = {
{0x3001, 0x01, 16}, /* Output */
{0x3002, 0x01, 16}, /* Output */
};
ec_pdo_info_t slave_4_pdos[] = {
{0x1600, 1, slave_4_pdo_entries + 0}, /* RxPDO 01 mapping */
{0x1601, 1, slave_4_pdo_entries + 1}, /* RxPDO 02 mapping */
};
ec_sync_info_t slave_4_syncs[] = {
{0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
{1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
{2, EC_DIR_OUTPUT, 2, slave_4_pdos + 0, EC_WD_DISABLE},
{3, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
{0xff}
};
/* Slave 5, "EL3102"
* Vendor ID: 0x00000002
* Product code: 0x0c1e3052
* Revision number: 0x00000000
*/
ec_pdo_entry_info_t slave_5_pdo_entries[] = {
{0x3101, 0x01, 8}, /* Status */
{0x3101, 0x02, 16}, /* Value */
{0x3102, 0x01, 8}, /* Status */
{0x3102, 0x02, 16}, /* Value */
};
ec_pdo_info_t slave_5_pdos[] = {
{0x1a00, 2, slave_5_pdo_entries + 0}, /* TxPDO 001 mapping */
{0x1a01, 2, slave_5_pdo_entries + 2}, /* TxPDO 002 mapping */
};
ec_sync_info_t slave_5_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_5_pdos + 0, EC_WD_DISABLE},
{0xff}
};
/* Slave 6, "EL6731-0010"
* Vendor ID: 0x00000002
* Product code: 0x1a4b3052
* Revision number: 0x0011000a
*/
ec_sync_info_t slave_6_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, 0, NULL, EC_WD_DISABLE},
};
/* Slave 7, "EL6601"
* Vendor ID: 0x00000002
* Product code: 0x19c93052
* Revision number: 0x00110000
*/
/*
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, 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}
};
/*****************************************************************************/
#if SDO_ACCESS
static ec_sdo_request_t *sdo;
uint8_t *sdo_adr = NULL;
#endif
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()
{
RTIME now;
now = rt_timer_read();
if (rt_fd>=0)
{
ecrt_rtdm_master_application_time(rt_fd, &now);
}
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) ;
}
}
/*****************************************************************************/
#if SDO_ACCESS
void read_sdo(void)
{
switch (ecrt_sdo_request_state(sdo))
{
case EC_REQUEST_UNUSED: // request was not used yet
ecrt_sdo_request_read(sdo); // trigger first read
break;
case EC_REQUEST_BUSY:
fprintf(stderr, "Still busy...\n");
break;
case EC_REQUEST_SUCCESS:
fprintf(stderr, "SDO value: 0x%04X\n",
EC_READ_U16(ecrt_sdo_request_data(sdo)));
ecrt_sdo_request_read(sdo); // trigger next read
break;
case EC_REQUEST_ERROR:
fprintf(stderr, "Failed to read SDO!\n");
ecrt_sdo_request_read(sdo); // retry reading
break;
}
}
void PrintSDOState(void)
{
switch (ecrt_sdo_request_state(sdo))
{
case EC_REQUEST_UNUSED: // request was not used yet
fprintf(stderr, "SDO State: EC_REQUEST_UNUSED\n"); // trigger first read
break;
case EC_REQUEST_BUSY:
fprintf(stderr, "SDO State: EC_REQUEST_BUSY\n");
break;
case EC_REQUEST_SUCCESS:
fprintf(stderr, "SDO State: EC_REQUEST_SUCCESS\n");
break;
case EC_REQUEST_ERROR:
fprintf(stderr, "SDO State: EC_REQUEST_ERROR\n");
break;
default:
fprintf(stderr, "SDO State: undefined\n");
break;
}
}
#endif
static int cyccount=0;
/****************************************************************************/
void signal_handler(int signum) {
switch (signum) {
case SIGALRM:
sig_alarms++;
break;
}
}
/**********************************************************/
/* REAL TIME TASK */
/**********************************************************/
void my_task_proc(void *arg)
{
int counter = 0;
int divcounter = 0;
int divider = 10;
int ret;
RTIME periodns;
float period;
period=1E-3; //1kHz
periodns=(RTIME)(((double)period * 1E9) + 0.4999999);
rt_task_set_periodic(NULL, TM_NOW, periodns);
run=1;
ret = rt_task_set_mode(0, T_PRIMARY, NULL);
if (ret) {
rt_printf("error while rt_task_set_mode, code %d\n",ret);
return;
}
while (run) {
rt_task_wait_period(NULL);
counter++;
if (counter>600000) {
run=0;
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);
}
}
/**********************************************************/
/* CLEANING UP */
/**********************************************************/
void cleanup_all(void)
{
printf("delete my_task\n");
rt_task_delete(&my_task);
if (rt_fd >= 0) {
printf("closing rt device %s\n", &rt_dev_file[0]);
rt_dev_close(rt_fd);
}
}
/****************************************************************************/
void catch_signal(int sig) {
cleanup_all();
printf("exit\n");
exit(0);
return;
}
/****************************************************************************/
int main(int argc, char **argv)
{
ec_slave_config_t *sc;
int rtstatus;
mlockall(MCL_CURRENT | MCL_FUTURE);
/* Perform auto-init of rt_print buffers if the task doesn't do so */
rt_print_auto_init(1);
signal(SIGTERM, catch_signal);
signal(SIGINT, catch_signal);
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;
}
// DP Slave Parameter Set
/* printf( "Creating SDO requests...\n");
if (!(sdo = ecrt_slave_config_create_sdo_request(sc_ana_in_02, 0x8000, 0x06, 1))) {
fprintf(stderr, "Failed to create SDO request.\n");
return -1;
}
ecrt_sdo_request_timeout(sdo, 500); // ms
EC_WRITE_U8(ecrt_sdo_request_data(sdo), 00);
PrintSDOState();
ecrt_sdo_request_write(sdo);
PrintSDOState();
*/
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
printf("Get Configuring EL6731...\n");
sc_dpslv_01 = ecrt_master_slave_config(master, DPSlave01_Pos, Beckhoff_EL6731);
if (!sc_dpslv_01) {
fprintf(stderr, "Failed to get slave configuration.\n");
return -1;
}
printf("Configuring EL6731...\n");
if (ecrt_slave_config_pdos(sc_dpslv_01, EC_END, slave_7_syncs))
{
fprintf(stderr, "Failed to configure PDOs.\n");
return -1;
}
#if SDO_ACCESS
// DP Slave Parameter Set
fprintf(stderr, "Creating SDO requests...\n");
if (!(sdo = ecrt_slave_config_create_sdo_request(sc_dpslv_01, 0x8000, 0, 1))) {
fprintf(stderr, "Failed to create SDO request.\n");
return -1;
}
ecrt_sdo_request_timeout(sdo, 500); // ms
EC_WRITE_U8(ecrt_sdo_request_data(sdo), 0);
PrintSDOState();
ecrt_sdo_request_write(sdo);
PrintSDOState();
// Station Address
if (!(sdo = ecrt_slave_config_create_sdo_request(sc_dpslv_01, 0x8000, 1, 2))) {
fprintf(stderr, "Failed to create SDO request.\n");
return -1;
}
ecrt_sdo_request_timeout(sdo, 500); // ms
EC_WRITE_U16(ecrt_sdo_request_data(sdo), 5);
//EC_WRITE_U8(ecrt_sdo_request_data(sdo), 00);
//EC_WRITE_U8(ecrt_sdo_request_data(sdo)+1, 10);
PrintSDOState();
ecrt_sdo_request_write(sdo);
PrintSDOState();
// Device Type (DP Ident Number)
if (!(sdo = ecrt_slave_config_create_sdo_request(sc_dpslv_01, 0x8000, 4, 4))) {
fprintf(stderr, "Failed to create SDO request.\n");
return -1;
}
ecrt_sdo_request_timeout(sdo, 500); // ms
sdo_adr = ecrt_sdo_request_data(sdo);
EC_WRITE_U32(sdo_adr, 0x095F);
//EC_WRITE_U8(sdo_ad, 0x00); // Device Type
//EC_WRITE_U8(sdo_adr+1, 0x00);
//EC_WRITE_U8(sdo_adr+2, 0x09);
//EC_WRITE_U8(sdo_adr+3, 0x5F);
PrintSDOState();
ecrt_sdo_request_write(sdo);
PrintSDOState();
// DP CfgData Slave
if (!(sdo = ecrt_slave_config_create_sdo_request(sc_dpslv_01, 0x8002, 0, 244))) {
fprintf(stderr, "Failed to create SDO request.\n");
return -1;
}
ecrt_sdo_request_timeout(sdo, 500); // ms
sdo_adr = ecrt_sdo_request_data(sdo);
EC_WRITE_U8(sdo_adr, 0x10); // Device Type
EC_WRITE_U8(sdo_adr+1, 0x20);
PrintSDOState();
ecrt_sdo_request_write(sdo);
PrintSDOState();
// DP Slave Parameter Set
if (!(sdo = ecrt_slave_config_create_sdo_request(sc_dpslv_01, 0x8000, 0, 1))) {
fprintf(stderr, "Failed to create SDO request.\n");
return -1;
}
ecrt_sdo_request_timeout(sdo, 500); // ms
EC_WRITE_U8(ecrt_sdo_request_data(sdo), 0x33); // DP Slave Parameter Set
PrintSDOState();
ecrt_sdo_request_write(sdo);
PrintSDOState();
#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);
int ret;
run=1;
ret = rt_task_create(&my_task,"my_task",0,80,T_FPU);
printf("starting my_task\n");
ret = rt_task_start(&my_task,&my_task_proc,NULL);
while (run)
{
sched_yield();
}
rt_task_delete(&my_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;
}
/****************************************************************************/
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