Hi Gavin, Thank you for the reply, I really appreciate your time. I worked today to implement your instructions. Here is what I did:
1) I changed the original definition "#define Beckhoff_EL3102 0x00000002, 0x0c1e3052" to include the vendor ID and product code of my sensor, which I got from using Konsole command "ethercat slaves -v." So now it reads "#define Beckhoff_EL3102 0x00000732, 0x26483052" 2) I updated the domain1_regs to include only analog input from the index and sub index of the sensor force value I wish to read, like so: const static ec_pdo_entry_reg_t domain1_regs[] = { {AnaInSlavePos, Beckhoff_EL3102, 0x6000, 2, &off_ana_in_value}, {} I am not sure if these two changes address your instructions correctly. I can however compile and run the code now. I tried to add the following line under cyclic_task() to see if I could stream the data to the Konsole, but it does not see to work: printf("AnaIn: value %u\n", EC_READ_U32(domain1_pd + off_ana_in_value)); included below is the complete code in case it is needed. *********************************************************** *****************/ #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 "ecrt.h" /*********************************************************** *****************/ // Application parameters #define FREQUENCY 100 #define PRIORITY 1 // Optional features #define CONFIGURE_PDOS 1 #define SDO_ACCESS 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, 0 //#define assigns 0, 0 to the name BusCouplerPos #define DigOutSlavePos 0, 2 #define AnaInSlavePos 0, 3 #define AnaOutSlavePos 0, 4 #define Beckhoff_EK1100 0x00000002, 0x044c2c52 //#define Beckhoff_EL2004 0x00000002, 0x07d43052 #define Beckhoff_EL2032 0x00000002, 0x07f03052 #define Beckhoff_EL3152 0x00000002, 0x0c503052 //#define Beckhoff_EL3102 0x00000002, 0x0c1e3052 #define Beckhoff_EL3102 0x00000732, 0x26483052 #define Beckhoff_EL4102 0x00000002, 0x10063052 //test // offsets for PDO entries static unsigned int off_ana_in_status; static unsigned int off_ana_in_value; //static unsigned int off_ana_out; //static unsigned int off_dig_out; const static ec_pdo_entry_reg_t domain1_regs[] = { {AnaInSlavePos, Beckhoff_EL3102, 0x6000, 2, &off_ana_in_value}, {} }; static unsigned int counter = 0; static unsigned int blink = 0; /*********************************************************** ******************/ #if CONFIGURE_PDOS static ec_pdo_entry_info_t el3102_pdo_entries[] = { {0x7010, 1, 32}, /* Control 1 */ {0x7010, 2, 32}, /* Control 2 */ {0x6000, 1, 32}, /* Fx/Gage0 */ {0x6000, 2, 32}, /* Fy/Gage1 */ {0x6000, 3, 32}, /* Fz/Gage2 */ {0x6000, 4, 32}, /* Tx/Gage3 */ {0x6000, 5, 32}, /* Ty/Gage3 */ {0x6000, 6, 32}, /* Tz/Gage3 */ {0x6010, 0, 32}, /* SubIndex 000 */ {0x6020, 0, 32}, /* SubIndex 000 */ }; static ec_pdo_info_t el3102_pdos[] = { {0x1601, 2, el3102_pdo_entries + 0}, /* DO RxPDO-Map */ {0x1a00, 8, el3102_pdo_entries + 2}, /* DI TxPDO-Map */ }; ec_sync_info_t el3102_syncs[] = { {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, {2, EC_DIR_OUTPUT, 1, el3102_pdos + 0, EC_WD_ENABLE}, {3, EC_DIR_INPUT, 1, el3102_pdos + 1, EC_WD_DISABLE}, {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; //printf("test"); 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("test"); printf("Link is %s.\n", ms.link_up ? "up" : "down"); master_state = ms; } /*********************************************************** ******************/ //printf("enter"); void check_slave_config_states(void) { ec_slave_config_state_t s; ecrt_slave_config_state(sc_ana_in, &s); //printf("test"); 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_U32(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; } } #endif /*********************************************************** *****************/ void cyclic_task() { // receive process data ecrt_master_receive(master); ecrt_domain_process(domain1); // check process data state (optional) check_domain1_state(); printf("AnaIn: value %u\n", EC_READ_U32(domain1_pd + off_ana_in_value)); if (counter) { counter--; } else { // do this at 1 Hz counter = FREQUENCY; // calculate new process data blink = !blink; //printf("test"); // check for master state (optional) //check_master_state(); //printf("test1"); // check for islave configuration state(s) (optional) check_slave_config_states(); #if SDO_ACCESS // read process data SDO read_sdo(); #endif } #if 0 // read process data // printf("test2"); printf("AnaIn: state %u value %u\n", EC_READ_U8(domain1_pd + off_ana_in_status), EC_READ_U32(domain1_pd + off_ana_in_value)); #endif // #if 1 // // write process data // EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x06 : 0x09); // #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, AnaInSlavePos, Beckhoff_EL3102))) { 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, 0x6000, 2, 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, el3102_syncs)) { fprintf(stderr, "Failed to configure PDOs.\n"); return -1; } // if (!(sc = ecrt_master_slave_config( // master, AnaOutSlavePos, Beckhoff_EL4102))) { // fprintf(stderr, "Failed to get slave configuration.\n"); // return -1; // } // // if (ecrt_slave_config_pdos(sc, EC_END, el4102_syncs)) { // fprintf(stderr, "Failed to configure PDOs.\n"); // return -1; // } // // if (!(sc = ecrt_master_slave_config( // master, DigOutSlavePos, Beckhoff_EL2032))) { // fprintf(stderr, "Failed to get slave configuration.\n"); // return -1; // } // if (ecrt_slave_config_pdos(sc, EC_END, el2004_syncs)) { // fprintf(stderr, "Failed to configure PDOs.\n"); // return -1; // } #endif // Create configuration for bus coupler sc = ecrt_master_slave_config(master, BusCouplerPos, Beckhoff_EL3102); if (!sc) return -1; 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 = 100000 / 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) { //printf("test"); 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(); //fprintf("t"); user_alarms++; } } return 0; } /*********************************************************** *****************/ On Mon, Apr 3, 2017 at 7:10 PM, Gavin Lambert <gav...@compacsort.com> wrote: > You’re halfway there. You also need to update the domain1_regs to > reflect the layout of your network (type and position of all slave devices) > and to define variables to receive the offsets into domain memory to use > for transferring the corresponding PDOs. > > > > *From:* Justin Hunt > *Sent:* Tuesday, 4 April 2017 13:50 > *To:* etherlab-users@etherlab.org > *Subject:* [etherlab-users] Beginner: Modifying the example code "user" > > > > Hello all, > > > > I have an force sensor with ethercat communication. I got EtherCAT Master > installed on my system (thanks to this form's help) and have been using the > terminal commands included in the PDF manual to collect data, which has > been working great. > > > > I would now like to try to implement the equivalent commands in C++ so > that I can stream the data and sample at a higher rate. However I am > struggling to do so. I have tried to modify the example code "user" with > the pdo entry info I get from the "ethercat cstruct" Konsole command, which > outputs: > > ec_pdo_entry_info_t slave_0_pdo_entries[] = { > {0x7010, 0x01, 32}, /* Control 1 */ > {0x7010, 0x02, 32}, /* Control 2 */ > {0x6000, 0x01, 32}, /* Fx/Gage0 */ > {0x6000, 0x02, 32}, /* Fy/Gage1 */ > {0x6000, 0x03, 32}, /* Fz/Gage2 */ > {0x6000, 0x04, 32}, /* Tx/Gage3 */ > {0x6000, 0x05, 32}, /* Ty/Gage3 */ > {0x6000, 0x06, 32}, /* Tz/Gage3 */ > {0x6010, 0x00, 32}, /* SubIndex 000 */ > {0x6020, 0x00, 32}, /* SubIndex 000 */ > }; > > ec_pdo_info_t slave_0_pdos[] = { > {0x1601, 2, slave_0_pdo_entries + 0}, /* DO RxPDO-Map */ > {0x1a00, 8, slave_0_pdo_entries + 2}, /* DI TxPDO-Map */ > }; > > ec_sync_info_t slave_0_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_0_pdos + 0, EC_WD_ENABLE}, > {3, EC_DIR_INPUT, 1, slave_0_pdos + 1, EC_WD_DISABLE}, > {0xff} > }; > > Since I am working with an analog force sensor, I replaced the analog > input of the example code "user" with the above info and compiled the code. > It compiles fine but when I try to run it I get the following error: > > Configuring PDOs... > Failed to register PDO entry: No such file or directory > PDO entry registration failed! > > Any ideas why it can't register the PDO entry? I included my complete code > below in case having a look helps. Thank you for your time all. > > > /*********************************************************** > ****************** > * > * $Id: main.c,v 6a6dec6fc806 2012/09/19 17:46:58 fp $ > * > * 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 <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 "ecrt.h" > > /*********************************************************** > *****************/ > > // Application parameters > #define FREQUENCY 100 > #define PRIORITY 1 > > // Optional features > #define CONFIGURE_PDOS 1 > #define SDO_ACCESS 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, 0 //#define assigns 0, 0 to the name > BusCouplerPos > #define DigOutSlavePos 0, 2 > #define AnaInSlavePos 0, 3 > #define AnaOutSlavePos 0, 4 > > #define Beckhoff_EK1100 0x00000002, 0x044c2c52 > //#define Beckhoff_EL2004 0x00000002, 0x07d43052 > #define Beckhoff_EL2032 0x00000002, 0x07f03052 > #define Beckhoff_EL3152 0x00000002, 0x0c503052 > #define Beckhoff_EL3102 0x00000002, 0x0c1e3052 > #define Beckhoff_EL4102 0x00000002, 0x10063052 > //test > // offsets for PDO entries > static unsigned int off_ana_in_status; > static unsigned int off_ana_in_value; > static unsigned int off_ana_out; > static unsigned int off_dig_out; > > const static ec_pdo_entry_reg_t domain1_regs[] = { > {AnaInSlavePos, Beckhoff_EL3102, 0x6000, 1, &off_ana_in_status}, > {AnaInSlavePos, Beckhoff_EL3102, 0x6000, 2, &off_ana_in_value}, > {AnaOutSlavePos, Beckhoff_EL4102, 0x6000, 1, &off_ana_out}, > {DigOutSlavePos, Beckhoff_EL2032, 0x6000, 1, &off_dig_out}, > {} > }; > > static unsigned int counter = 0; > static unsigned int blink = 0; > > /*********************************************************** > ******************/ > > #if CONFIGURE_PDOS > > // Analog in -------------------------- > > // static ec_pdo_entry_info_t el3102_pdo_entries[] = { > // {0x3101, 1, 8}, // channel 1 status > // {0x3101, 2, 16}, // channel 1 value > // {0x3102, 1, 8}, // channel 2 status > // {0x3102, 2, 16}, // channel 2 value > // {0x6401, 1, 16}, // channel 1 value (alt.) > // {0x6401, 2, 16} // channel 2 value (alt.) > // }; > // > // static ec_pdo_info_t el3102_pdos[] = { > // {0x1A00, 2, el3102_pdo_entries}, > // {0x1A01, 2, el3102_pdo_entries + 2} > // }; > // > // static ec_sync_info_t el3102_syncs[] = { > // {2, EC_DIR_OUTPUT}, > // {3, EC_DIR_INPUT, 2, el3102_pdos}, > // {0xff} > // }; > > static ec_pdo_entry_info_t el3102_pdo_entries[] = { > {0x7010, 1, 32}, /* Control 1 */ > {0x7010, 2, 32}, /* Control 2 */ > {0x6000, 1, 32}, /* Fx/Gage0 */ > {0x6000, 2, 32}, /* Fy/Gage1 */ > {0x6000, 3, 32}, /* Fz/Gage2 */ > {0x6000, 4, 32}, /* Tx/Gage3 */ > {0x6000, 5, 32}, /* Ty/Gage3 */ > {0x6000, 6, 32}, /* Tz/Gage3 */ > {0x6010, 0, 32}, /* SubIndex 000 */ > {0x6020, 0, 32}, /* SubIndex 000 */ > }; > > static ec_pdo_info_t el3102_pdos[] = { > {0x1601, 2, el3102_pdo_entries + 0}, /* DO RxPDO-Map */ > {0x1a00, 8, el3102_pdo_entries + 2}, /* DI TxPDO-Map */ > }; > ec_sync_info_t el3102_syncs[] = { > {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, > {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, > {2, EC_DIR_OUTPUT, 1, el3102_pdos + 0, EC_WD_ENABLE}, > {3, EC_DIR_INPUT, 1, el3102_pdos + 1, EC_WD_DISABLE}, > {0xff} > }; > > > > > /* > // Analog out ------------------------- > > static ec_pdo_entry_info_t el4102_pdo_entries[] = { > {0x3001, 1, 16}, // channel 1 value > {0x3002, 1, 16}, // channel 2 value > }; > > static ec_pdo_info_t el4102_pdos[] = { > {0x1600, 1, el4102_pdo_entries}, > {0x1601, 1, el4102_pdo_entries + 1} > }; > > static ec_sync_info_t el4102_syncs[] = { > {2, EC_DIR_OUTPUT, 2, el4102_pdos}, > {3, EC_DIR_INPUT}, > {0xff} > }; > > // Digital out ------------------------ > > static ec_pdo_entry_info_t el2004_channels[] = { > {0x3001, 1, 1}, // Value 1 > {0x3001, 2, 1}, // Value 2 > {0x3001, 3, 1}, // Value 3 > {0x3001, 4, 1} // Value 4 > }; > > static ec_pdo_info_t el2004_pdos[] = { > {0x1600, 1, &el2004_channels[0]}, > {0x1601, 1, &el2004_channels[1]}, > {0x1602, 1, &el2004_channels[2]}, > {0x1603, 1, &el2004_channels[3]} > }; > > static ec_sync_info_t el2004_syncs[] = { > {0, EC_DIR_OUTPUT, 4, el2004_pdos}, > {1, EC_DIR_INPUT}, > {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; > //printf("test"); > 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("test"); > printf("Link is %s.\n", ms.link_up ? "up" : "down"); > master_state = ms; > > } > > /*********************************************************** > ******************/ > //printf("enter"); > void check_slave_config_states(void) > > { > > ec_slave_config_state_t s; > > ecrt_slave_config_state(sc_ana_in, &s); > printf("test"); > 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_U32(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; > } > } > #endif > > /*********************************************************** > *****************/ > > void cyclic_task() > { > // 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("test"); > // check for master state (optional) > //check_master_state(); > printf("test"); > // check for islave configuration state(s) (optional) > check_slave_config_states(); > > #if SDO_ACCESS > // read process data SDO > read_sdo(); > #endif > > } > > #if 0 > // read process data > printf("AnaIn: state %u value %u\n", > EC_READ_U8(domain1_pd + off_ana_in_status), > EC_READ_U32(domain1_pd + off_ana_in_value)); > #endif > > #if 1 > // write process data > EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x06 : 0x09); > #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, AnaInSlavePos, Beckhoff_EL3102))) { > 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, 0x3102, > 2, 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, el3102_syncs)) { > fprintf(stderr, "Failed to configure PDOs.\n"); > return -1; > } > > // if (!(sc = ecrt_master_slave_config( > // master, AnaOutSlavePos, Beckhoff_EL4102))) { > // fprintf(stderr, "Failed to get slave configuration.\n"); > // return -1; > // } > // > // if (ecrt_slave_config_pdos(sc, EC_END, el4102_syncs)) { > // fprintf(stderr, "Failed to configure PDOs.\n"); > // return -1; > // } > // > // if (!(sc = ecrt_master_slave_config( > // master, DigOutSlavePos, Beckhoff_EL2032))) { > // fprintf(stderr, "Failed to get slave configuration.\n"); > // return -1; > // } > > // if (ecrt_slave_config_pdos(sc, EC_END, el2004_syncs)) { > // fprintf(stderr, "Failed to configure PDOs.\n"); > // return -1; > // } > #endif > > // Create configuration for bus coupler > sc = ecrt_master_slave_config(master, BusCouplerPos, Beckhoff_EK1100); > if (!sc) > return -1; > > 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) { > //printf("test"); > 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; > } > > /*********************************************************** > *****************/ > > >
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