Hi,
I case it helps someone, here is a working example based on
examples/user/main.c.
The sample just make the LEDs blink on the EL2004 digital output module.
Regards,
Christian & Joachim
/*****************************************************************************
*
* $Id$
*
* 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 <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 <time.h> /* clock_gettime() */
#include <sys/mman.h> /* mlockall() */
#include <sched.h> /* sched_setscheduler() */
/****************************************************************************/
#include "ecrt.h"
/****************************************************************************/
/** Task period in ns. */
#define PERIOD_NS (1000000)
#define MAX_SAFE_STACK (8 * 1024) /* The maximum stack size which is
guranteed safe to access without
faulting */
/****************************************************************************/
/* Constants */
#define NSEC_PER_SEC (1000000000)
#define FREQUENCY (NSEC_PER_SEC / PERIOD_NS)
/****************************************************************************/
// 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 = {};
/****************************************************************************/
// process data
static uint8_t *domain1_pd = NULL;
#define BusCouplerPos 0, 0
#define DigOutSlavePos 0, 1
#define Beckhoff_EK1100 0x00000002, 0x044c2c52
#define Beckhoff_EL2004 0x00000002, 0x07d43052
// offsets for PDO entries
static unsigned int off_dig_out;
const static ec_pdo_entry_reg_t domain1_regs[] = {
{DigOutSlavePos, Beckhoff_EL2004, 0x7000, 1, &off_dig_out},
{}
};
static unsigned int counter = 0;
static unsigned int blink = 0;
/*****************************************************************************/
// Digital out ------------------------
static ec_pdo_entry_info_t el2004_pdo_entries[] = {
{0x7000, 0x01, 1}, /* Output */
{0x7010, 0x01, 1}, /* Output */
{0x7020, 0x01, 1}, /* Output */
{0x7030, 0x01, 1}, /* Output */
};
static ec_pdo_info_t el2004_pdos[] = {
{0x1600, 1, el2004_pdo_entries + 0}, /* Channel 1 */
{0x1601, 1, el2004_pdo_entries + 1}, /* Channel 2 */
{0x1602, 1, el2004_pdo_entries + 2}, /* Channel 3 */
{0x1603, 1, el2004_pdo_entries + 3}, /* Channel 4 */
};
static ec_sync_info_t el2004_syncs[] = {
{0, EC_DIR_OUTPUT, 4, el2004_pdos + 0, EC_WD_ENABLE},
{0xff}
};
/*****************************************************************************/
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()
{
// receive process data
ecrt_master_receive(master);
ecrt_domain_process(domain1);
// check process data state
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();
}
// write process data
EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x06 : 0x09);
// send process data
ecrt_domain_queue(domain1);
ecrt_master_send(master);
}
/****************************************************************************/
void stack_prefault(void)
{
unsigned char dummy[MAX_SAFE_STACK];
memset(dummy, 0, MAX_SAFE_STACK);
}
/****************************************************************************/
int main(int argc, char **argv)
{
ec_slave_config_t *sc;
struct timespec wakeup_time;
int ret = 0;
master = ecrt_request_master(0);
if (!master) {
return -1;
}
domain1 = ecrt_master_create_domain(master);
if (!domain1) {
return -1;
}
printf("Configuring PDOs...\n");
if (!(sc = ecrt_master_slave_config(
master, DigOutSlavePos, Beckhoff_EL2004))) {
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;
}
// 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;
}
/* Set priority */
struct sched_param param = {};
param.sched_priority = sched_get_priority_max(SCHED_FIFO);
printf("Using priority %i.", param.sched_priority);
if (sched_setscheduler(0, SCHED_FIFO, ¶m) == -1) {
perror("sched_setscheduler failed");
}
/* Lock memory */
if (mlockall(MCL_CURRENT | MCL_FUTURE) == -1) {
fprintf(stderr, "Warning: Failed to lock memory: %s\n",
strerror(errno));
}
stack_prefault();
printf("Starting RT task with dt=%u ns.\n", PERIOD_NS);
clock_gettime(CLOCK_MONOTONIC, &wakeup_time);
wakeup_time.tv_sec += 1; /* start in future */
wakeup_time.tv_nsec = 0;
while (1) {
ret = clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME,
&wakeup_time, NULL);
if (ret) {
fprintf(stderr, "clock_nanosleep(): %s\n", strerror(ret));
break;
}
cyclic_task();
wakeup_time.tv_nsec += PERIOD_NS;
while (wakeup_time.tv_nsec >= NSEC_PER_SEC) {
wakeup_time.tv_nsec -= NSEC_PER_SEC;
wakeup_time.tv_sec++;
}
}
return ret;
}
/****************************************************************************/
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