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ethercat/examples/rtai_rtdm/main.c

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/******************************************************************************
*
* $Id$
*
* main.c Copyright (C) 2011 IgH Andreas Stewering-Bone
*
* This file is part of ethercatrtdm interface to IgH EtherCAT master
*
* The IgH EtherCAT master 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 <sched.h>
#include <stdio.h>
#include <stdlib.h>
#include <fcntl.h>
#include <signal.h>
#include <rtai_lxrt.h>
#include <rtdm/rtdm.h>
#include "../../include/ecrt.h"
#include "../../include/ec_rtdm.h"
#define rt_printf(X,Y)
#define NSEC_PER_SEC 1000000000
RT_TASK* task; // Stores a handle.
int priority=0; // Highest
int stack_size=0; // Use default (512)
int msg_size=0; // Use default (256)
static unsigned int cycle = 1000; /* 1 ms */
int rt_fd = -1;
int run=0;
unsigned int sync_ref_counter = 0;
CstructMstrAttach MstrAttach;
/****************************************************************************/
// 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 = {};
/****************************************************************************/
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 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_in0 = 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;
// 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 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_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}
};
/*****************************************************************************/
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(void)
{
RTIME now_ns;
uint64_t now;
now_ns = rt_get_cpu_time_ns();
now = (uint64_t)now_ns;
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) ;
}
}
/*****************************************************************************/
/**********************************************************/
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();
rt_task_make_periodic(task, rt_get_time() + 10*period, period);
while(1) {
rt_task_wait_period();
counter++;
if (counter>60000) {
run=0;
}
if(run == 0) {
rt_make_soft_real_time();
stop_rt_timer();
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, &param ) == -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;
}
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