/***************************************************************************** * * $Id$ * * 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 0 #define SDO_ACCESS 0 /****************************************************************************/ // EtherCAT static int flag = 0; 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 DrivePos 0, 0 #define Danaher_S300 0x0000006a, 0x03000600 // offsets for PDO entries static unsigned int off_vel_out = -1; static unsigned int off_vel_cmd = -1; static unsigned int off_vel_in = -1; static unsigned int off_vel_sts = -1; static unsigned int off_vel_trq = -1; const static ec_pdo_entry_reg_t domain1_regs[] = { {DrivePos, Danaher_S300, 0x606b, 0, &off_vel_out}, {DrivePos, Danaher_S300, 0x6040, 0, &off_vel_cmd}, {DrivePos, Danaher_S300, 0x6064, 0, &off_vel_in}, {DrivePos, Danaher_S300, 0x6077, 0, &off_vel_trq}, {DrivePos, Danaher_S300, 0x6041, 0, &off_vel_sts}, {} }; static unsigned int counter = 0; static unsigned int blink = 0; /*****************************************************************************/ #if CONFIGURE_PDOS // velocity out -------------------------- static ec_pdo_entry_info_t S300_pdo_entries[] = { {0x606b, 0, 32}, {0x6040, 0, 16}, {0x6064, 0, 32}, {0x6077, 0, 16}, {0x6041, 0, 16}, }; static ec_pdo_info_t S300_pdos[] = { {0x1702, 2, S300_pdo_entries}, {0x1b01, 2, S300_pdo_entries + 2}, //was 0x1b01 }; static ec_sync_info_t S300_syncs[] = { {2, EC_DIR_OUTPUT, 1, S300_pdos,EC_WD_DEFAULT}, {3, EC_DIR_INPUT, 1, S300_pdos + 1,EC_WD_DEFAULT}, {0xff} }; #endif /*****************************************************************************/ #if SDO_ACCESS static ec_sdo_request_t *sdo; #endif /*****************************************************************************/ 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; } /*****************************************************************************/ #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 write_sdo(void) { switch (ecrt_sdo_request_state(sdo)) { case EC_REQUEST_UNUSED: // request was not used yet ecrt_sdo_request_write(sdo); // trigger first write break; case EC_REQUEST_BUSY: fprintf(stderr, "Still busy...\n"); break; case EC_REQUEST_SUCCESS: if(flag < 3){ if(flag == 0){ EC_WRITE_U16(ecrt_sdo_request_data(sdo),0x00); } else if(flag == 1) { EC_WRITE_U16(ecrt_sdo_request_data(sdo),0x06); } else if(flag == 2) { EC_WRITE_U16(ecrt_sdo_request_data(sdo),0x0f); } ecrt_sdo_request_write(sdo); // trigger next write flag++; printf( "written SDO %d\n",flag); } break; case EC_REQUEST_ERROR: fprintf(stderr, "Failed to write SDO! %d\n",flag); ecrt_sdo_request_write(sdo); // retry writing break; } } #endif /****************************************************************************/ 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; printf("Input: vel %x trq %x stat %x\n", EC_READ_U32(domain1_pd + off_vel_in), EC_READ_U16(domain1_pd + off_vel_trq), EC_READ_U16(domain1_pd + off_vel_sts)); // check for master state (optional) check_master_state(); // check for islave configuration state(s) (optional) check_slave_config_states(); #if SDO_ACCESS // write process data SDO write_sdo(); #endif } #if 0 // read process data printf("Input: state %u value %u\n", EC_READ_U32(domain1_pd + off_vel_in), EC_READ_U8(domain1_pd + off_vel_sts)); #endif #if 0 // write process data EC_WRITE_U32(domain1_pd + off_vel_out, blink ? 0x00 : 0x00); if(flag == 0){ EC_WRITE_U16(domain1_pd + off_vel_cmd, 0x00); flag = 1; } else if(flag == 1) { EC_WRITE_U16(domain1_pd + off_vel_cmd, 0x06); flag = 2; } else if(flag == 2) { EC_WRITE_U16(domain1_pd + off_vel_cmd, 0x0f); flag = 3; } #endif // 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; if (!(sc_ana_in = ecrt_master_slave_config( master, DrivePos, Danaher_S300))) { fprintf(stderr, "Failed to get slave configuration.\n"); return -1; } #if SDO_ACCESS fprintf(stderr, "Creating SDO requests...\n"); if (!(sdo = ecrt_slave_config_create_sdo_request(sc_ana_in, 0x6040, 0, 2))) { fprintf(stderr, "Failed to create SDO request.\n"); return -1; } ecrt_sdo_request_timeout(sdo, 500); // ms #endif #if CONFIGURE_PDOS printf("Configuring PDOs...\n"); if (ecrt_slave_config_pdos(sc_ana_in, EC_END, S300_syncs)) { fprintf(stderr, "Failed to configure PDOs.\n"); return -1; } #endif if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) { fprintf(stderr, "PDO entry registration failed!\n"); return -1; } 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; } /****************************************************************************/