diff --git a/lib/nodes/ethercat_test/Makefile b/lib/nodes/ethercat_test/Makefile new file mode 100644 index 000000000..917421290 --- /dev/null +++ b/lib/nodes/ethercat_test/Makefile @@ -0,0 +1,25 @@ +BINARY=ethertest +ETHERCAT_ROOT=/projects/ethercat/etherlab-master +CC=gcc +SRC=main.c + +INC_PATH=$(ETHERCAT_ROOT)/include +LIB_PATH=$(ETHERCAT_ROOT)/lib/.libs + +LD_FLAGS=-lethercat -lrt +C_FLAGS=-Wall + +OBJECTS=$(SRC:.c=.o) + +.PHONY: all clean + +all: $(BINARY) + +$(BINARY): $(OBJECTS) + $(CC) -L$(LIB_PATH) $^ -o $@ $(LD_FLAGS) + +%.o : %.c + $(CC) -I$(INC_PATH) $(C_FLAGS) -c -o $@ $< + +clean: + rm -f *.o $(BINARY) diff --git a/lib/nodes/ethercat_test/main.c b/lib/nodes/ethercat_test/main.c new file mode 100644 index 000000000..37497321d --- /dev/null +++ b/lib/nodes/ethercat_test/main.c @@ -0,0 +1,535 @@ +/***************************************************************************** + * + * $Id$ + * + * 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 /* clock_gettime() */ +#include /* mlockall() */ + +/****************************************************************************/ + +#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 = {}; + +static ec_slave_config_t *sc_ana_in = NULL; +static ec_slave_config_state_t sc_ana_in_state = {}; + +static ec_slave_config_t *sc_ana_out = NULL; +static ec_slave_config_state_t sc_ana_out_state = {}; + +/****************************************************************************/ + +// process data +static uint8_t *domain1_pd = NULL; + +#define MediaConvACSPos 0, 0 +#define MediaConvCWDPos 0, 1 +#define BusCouplerPos 0, 2 +#define AnaOutSlavePos 0, 3 +#define AnaInSlavePos 0, 4 +#define PCISlave 0, 5 + +#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 + +//CWD Bus +#define Beckhoff_EL4038 0x00000002, 0x0fc63052 +#define Beckhoff_EL3008 0x00000002, 0x0bc03052 +#define Beckhoff_FC1100 0x00000002, 0x044c0c62 + +// offsets for PDO entries +static unsigned int off_ana_out_values[8] = {0}; +static unsigned int off_ana_in_values[8]; + +const static ec_pdo_entry_reg_t domain1_regs[] = { + {AnaOutSlavePos, Beckhoff_EL4038, 0x7000, 0x01, off_ana_out_values}, + {AnaOutSlavePos, Beckhoff_EL4038, 0x7010, 0x01, off_ana_out_values+1}, + {AnaOutSlavePos, Beckhoff_EL4038, 0x7020, 0x01, off_ana_out_values+2}, + {AnaOutSlavePos, Beckhoff_EL4038, 0x7030, 0x01, off_ana_out_values+3}, + {AnaOutSlavePos, Beckhoff_EL4038, 0x7040, 0x01, off_ana_out_values+4}, + {AnaOutSlavePos, Beckhoff_EL4038, 0x7050, 0x01, off_ana_out_values+5}, + {AnaOutSlavePos, Beckhoff_EL4038, 0x7060, 0x01, off_ana_out_values+6}, + {AnaOutSlavePos, Beckhoff_EL4038, 0x7070, 0x01, off_ana_out_values+7}, + {AnaInSlavePos, Beckhoff_EL3008, 0x6000, 0x11, off_ana_in_values}, + {AnaInSlavePos, Beckhoff_EL3008, 0x6010, 0x11, off_ana_in_values+1}, + {AnaInSlavePos, Beckhoff_EL3008, 0x6020, 0x11, off_ana_in_values+2}, + {AnaInSlavePos, Beckhoff_EL3008, 0x6030, 0x11, off_ana_in_values+3}, + {AnaInSlavePos, Beckhoff_EL3008, 0x6040, 0x11, off_ana_in_values+4}, + {AnaInSlavePos, Beckhoff_EL3008, 0x6050, 0x11, off_ana_in_values+5}, + {AnaInSlavePos, Beckhoff_EL3008, 0x6060, 0x11, off_ana_in_values+6}, + {AnaInSlavePos, Beckhoff_EL3008, 0x6070, 0x11, off_ana_in_values+7}, + {} +}; + +static unsigned int counter = 0; +//static unsigned int blink = 0; + +/*****************************************************************************/ + +/* Master 0, Slave 3, "EL4038" + * Vendor ID: 0x00000002 + * Product code: 0x0fc63052 + * Revision number: 0x00140000 + */ + +static ec_pdo_entry_info_t slave_3_pdo_entries[] = { + {0x7000, 0x01, 16}, /* Analog output */ + {0x7010, 0x01, 16}, /* Analog output */ + {0x7020, 0x01, 16}, /* Analog output */ + {0x7030, 0x01, 16}, /* Analog output */ + {0x7040, 0x01, 16}, /* Analog output */ + {0x7050, 0x01, 16}, /* Analog output */ + {0x7060, 0x01, 16}, /* Analog output */ + {0x7070, 0x01, 16}, /* Analog output */ +}; + +static ec_pdo_info_t slave_3_pdos[] = { + {0x1600, 1, slave_3_pdo_entries + 0}, /* AO RxPDO-Map Outputs Ch.1 */ + {0x1601, 1, slave_3_pdo_entries + 1}, /* AO RxPDO-Map Outputs Ch.2 */ + {0x1602, 1, slave_3_pdo_entries + 2}, /* AO RxPDO-Map Outputs Ch.3 */ + {0x1603, 1, slave_3_pdo_entries + 3}, /* AO RxPDO-Map Outputs Ch.4 */ + {0x1604, 1, slave_3_pdo_entries + 4}, /* AO RxPDO-Map Outputs Ch.5 */ + {0x1605, 1, slave_3_pdo_entries + 5}, /* AO RxPDO-Map Outputs Ch.6 */ + {0x1606, 1, slave_3_pdo_entries + 6}, /* AO RxPDO-Map Outputs Ch.7 */ + {0x1607, 1, slave_3_pdo_entries + 7}, /* AO RxPDO-Map Outputs Ch.8 */ +}; + +static ec_sync_info_t slave_3_syncs[] = { + {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, + {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, + {2, EC_DIR_OUTPUT, 8, slave_3_pdos + 0, EC_WD_DISABLE}, + {3, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, + {0xff} +}; + +/* Master 0, Slave 4, "EL3008" + * Vendor ID: 0x00000002 + * Product code: 0x0bc03052 + * Revision number: 0x00150000 + */ + +static ec_pdo_entry_info_t slave_4_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, 1}, /* Gap */ + {0x0000, 0x00, 6}, /* Gap */ + {0x6000, 0x0f, 1}, /* TxPDO State */ + {0x6000, 0x10, 1}, /* TxPDO Toggle */ + {0x6000, 0x11, 16}, /* 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, 1}, /* Gap */ + {0x0000, 0x00, 6}, /* Gap */ + {0x6010, 0x0f, 1}, /* TxPDO State */ + {0x6010, 0x10, 1}, /* TxPDO Toggle */ + {0x6010, 0x11, 16}, /* Value */ + {0x6020, 0x01, 1}, /* Underrange */ + {0x6020, 0x02, 1}, /* Overrange */ + {0x6020, 0x03, 2}, /* Limit 1 */ + {0x6020, 0x05, 2}, /* Limit 2 */ + {0x6020, 0x07, 1}, /* Error */ + {0x0000, 0x00, 1}, /* Gap */ + {0x0000, 0x00, 6}, /* Gap */ + {0x6020, 0x0f, 1}, /* TxPDO State */ + {0x6020, 0x10, 1}, /* TxPDO Toggle */ + {0x6020, 0x11, 16}, /* Value */ + {0x6030, 0x01, 1}, /* Underrange */ + {0x6030, 0x02, 1}, /* Overrange */ + {0x6030, 0x03, 2}, /* Limit 1 */ + {0x6030, 0x05, 2}, /* Limit 2 */ + {0x6030, 0x07, 1}, /* Error */ + {0x0000, 0x00, 1}, /* Gap */ + {0x0000, 0x00, 6}, /* Gap */ + {0x6030, 0x0f, 1}, /* TxPDO State */ + {0x6030, 0x10, 1}, /* TxPDO Toggle */ + {0x6030, 0x11, 16}, /* Value */ + {0x6040, 0x01, 1}, /* Underrange */ + {0x6040, 0x02, 1}, /* Overrange */ + {0x6040, 0x03, 2}, /* Limit 1 */ + {0x6040, 0x05, 2}, /* Limit 2 */ + {0x6040, 0x07, 1}, /* Error */ + {0x0000, 0x00, 1}, /* Gap */ + {0x0000, 0x00, 6}, /* Gap */ + {0x6040, 0x0f, 1}, /* TxPDO State */ + {0x6040, 0x10, 1}, /* TxPDO Toggle */ + {0x6040, 0x11, 16}, /* Value */ + {0x6050, 0x01, 1}, /* Underrange */ + {0x6050, 0x02, 1}, /* Overrange */ + {0x6050, 0x03, 2}, /* Limit 1 */ + {0x6050, 0x05, 2}, /* Limit 2 */ + {0x6050, 0x07, 1}, /* Error */ + {0x0000, 0x00, 1}, /* Gap */ + {0x0000, 0x00, 6}, /* Gap */ + {0x6050, 0x0f, 1}, /* TxPDO State */ + {0x6050, 0x10, 1}, /* TxPDO Toggle */ + {0x6050, 0x11, 16}, /* Value */ + {0x6060, 0x01, 1}, /* Underrange */ + {0x6060, 0x02, 1}, /* Overrange */ + {0x6060, 0x03, 2}, /* Limit 1 */ + {0x6060, 0x05, 2}, /* Limit 2 */ + {0x6060, 0x07, 1}, /* Error */ + {0x0000, 0x00, 1}, /* Gap */ + {0x0000, 0x00, 6}, /* Gap */ + {0x6060, 0x0f, 1}, /* TxPDO State */ + {0x6060, 0x10, 1}, /* TxPDO Toggle */ + {0x6060, 0x11, 16}, /* Value */ + {0x6070, 0x01, 1}, /* Underrange */ + {0x6070, 0x02, 1}, /* Overrange */ + {0x6070, 0x03, 2}, /* Limit 1 */ + {0x6070, 0x05, 2}, /* Limit 2 */ + {0x6070, 0x07, 1}, /* Error */ + {0x0000, 0x00, 1}, /* Gap */ + {0x0000, 0x00, 6}, /* Gap */ + {0x6070, 0x0f, 1}, /* TxPDO State */ + {0x6070, 0x10, 1}, /* TxPDO Toggle */ + {0x6070, 0x11, 16}, /* Value */ +}; + +static ec_pdo_info_t slave_4_pdos[] = { + {0x1a00, 10, slave_4_pdo_entries + 0}, /* AI TxPDO-Map Standard Ch.1 */ + {0x1a02, 10, slave_4_pdo_entries + 10}, /* AI TxPDO-Map Standard Ch.2 */ + {0x1a04, 10, slave_4_pdo_entries + 20}, /* AI TxPDO-Map Standard Ch.3 */ + {0x1a06, 10, slave_4_pdo_entries + 30}, /* AI TxPDO-Map Standard Ch.4 */ + {0x1a08, 10, slave_4_pdo_entries + 40}, /* AI TxPDO-Map Standard Ch.5 */ + {0x1a0a, 10, slave_4_pdo_entries + 50}, /* AI TxPDO-Map Standard Ch.6 */ + {0x1a0c, 10, slave_4_pdo_entries + 60}, /* AI TxPDO-Map Standard Ch.7 */ + {0x1a0e, 10, slave_4_pdo_entries + 70}, /* AI TxPDO-Map Standard Ch.8 */ +}; + +static 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, 0, NULL, EC_WD_DISABLE}, + {3, EC_DIR_INPUT, 8, slave_4_pdos + 0, EC_WD_DISABLE}, + {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; +} + +/*****************************************************************************/ + +static const char* MASTER_AL_STATES[] = {"INIT", + "PREOP", + "SAFEOP", + "OP"}; + +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) { + if (ms.al_states > 3) { + printf("AL states: unknown: 0x%02X\n", ms.al_states); + } else { + printf("AL states: %s.\n", MASTER_AL_STATES[ms.al_states]); + } + } + if (ms.link_up != master_state.link_up) { + printf("Link is %s.\n", ms.link_up ? "up" : "down"); + } + + master_state = ms; +} + +/*****************************************************************************/ + +static const char* SLAVE_AL_STATES[] = {[1]="INIT", + [2]="PREOP", + [4]="SAFEOP", + [8]="OP"}; + +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) { + if (s.al_state > 8) { + printf("AnaIn state: unknown: 0x%02X\n", s.al_state); + } else { + printf("AnaIn state: %s.\n", SLAVE_AL_STATES[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; + + + ecrt_slave_config_state(sc_ana_out, &s); + + if (s.al_state != sc_ana_out_state.al_state) { + if (s.al_state > 8) { + printf("AnaOut state: unknown: 0x%02X\n", s.al_state); + } else { + printf("AnaOut state: %s.\n", SLAVE_AL_STATES[s.al_state]); + } + } + if (s.online != sc_ana_out_state.online) { + printf("AnaOut: %s.\n", s.online ? "online" : "offline"); + } + if (s.operational != sc_ana_out_state.operational) { + printf("AnaOut: %soperational.\n", s.operational ? "" : "Not "); + } + + sc_ana_out_state = s; +} + +/*****************************************************************************/ + +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; + + +#if 1 + //read process data + for(int i=0; i<8; ++i) { + printf("AnaIn(%d): value=%d\n", + i, EC_READ_S16(domain1_pd + off_ana_in_values[i])); + } + printf("\n"); +#endif + // check for master state (optional) + check_master_state(); + + // check for slave configuration state(s) (optional) + check_slave_config_states(); + } + + +#if 1 + // write process data + for(int i=0; i<8; ++i) { + EC_WRITE_U16(domain1_pd + off_ana_out_values[i], 0x7FFF); + } + //EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x06 : 0x09); +#endif + + // send process data + printf("queue\n"); + ecrt_domain_queue(domain1); + printf("send\n"); + 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; + } + + // Create configuration for bus coupler + sc = ecrt_master_slave_config(master, BusCouplerPos, Beckhoff_EK1100); + if (!sc) { + return -1; + } + + //Configure analog in + printf("Configuring PDOs...\n"); + if (!(sc_ana_in = ecrt_master_slave_config( + master, AnaInSlavePos, Beckhoff_EL3008))) { + fprintf(stderr, "Failed to get slave configuration.\n"); + return -1; + } + + if (ecrt_slave_config_pdos(sc_ana_in, EC_END, slave_4_syncs)) { + fprintf(stderr, "Failed to configure PDOs.\n"); + return -1; + } + + //Configure analog out + if (!(sc_ana_out = ecrt_master_slave_config( + master, AnaOutSlavePos, Beckhoff_EL4038))) { + fprintf(stderr, "Failed to get slave configuration.\n"); + return -1; + } + + if (ecrt_slave_config_pdos(sc_ana_out, EC_END, slave_3_syncs)) { + fprintf(stderr, "Failed to configure PDOs.\n"); + 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 */ + + pid_t pid = getpid(); + if (setpriority(PRIO_PROCESS, pid, -19)) { + fprintf(stderr, "Warning: Failed to set priority: %s\n", + strerror(errno)); + } + + /* 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; + + for (int i=0; i != 1000; ++i) { + ret = clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, + &wakeup_time, NULL); + if (ret) { + fprintf(stderr, "clock_nanosleep(): %s\n", strerror(ret)); + return -1;//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++; + } + } + printf("releasing master\n"); + ecrt_release_master(master); + printf("have a nice day!\n"); + + return ret; +} + +/****************************************************************************/