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Update ethercat.h

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This commit is contained in:
Divya Rajashekhar Laxetti 2020-01-22 10:26:31 +01:00 • committed by Steffen Vogel
parent 69256b0d79
commit 4258b74ecc
2 changed files with 50 additions and 10 deletions
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5
include/villas/nodes/ethercat.h
View file

@ -77,7 +77,6 @@ struct ethercat {
/* Internal datastructures */
/** @see node_type::type_start */
int ethercat_type_start(struct super_node *sn);
@ -96,6 +95,10 @@ int ethercat_read(struct node *n, struct sample *smps[], unsigned cnt, unsigned
/** @see node_type::write */
int ethercat_write(struct node *n, struct sample *smps[], unsigned cnt, unsigned *release);
/** @see node_type::parse */
int ethercat_parse(struct node *n, json_t *cfg);
/** @} */
#ifdef __cplusplus

55
lib/nodes/ethercat.c
View file

@ -153,34 +153,34 @@ int ethercat_start(struct node *n)
memset(&w->domain_regs[2*ETHERCAT_NUM_CHANNELS], 0, sizeof(ec_pdo_entry_reg_t));
// Configure analog in
printf("Configuring PDOs...\n");
info("Configuring PDOs...\n");
if (!(w->sc_in = ecrt_master_slave_config(master, ETHERCAT_ALIAS, ETHERCAT_POS_SLAVE_IN, ETHERCAT_VID_BECKHOFF, ETHERCAT_PID_EL3008))) {
fprintf(stderr, "Failed to get slave configuration.\n");
warning("Failed to get slave configuration.\n");
return -1;
}
if (ecrt_slave_config_pdos(w->sc_in, EC_END, slave_4_syncs)) {
fprintf(stderr, "Failed to configure PDOs.\n");
error("Failed to configure PDOs.\n");
return -1;
}
// Configure analog out
if (!(w->sc_out = ecrt_master_slave_config(master, ETHERCAT_ALIAS, ETHERCAT_POS_SLAVE_OUT, ETHERCAT_VID_BECKHOFF, ETHERCAT_PID_EL4038))) {
fprintf(stderr, "Failed to get slave configuration.\n");
warning("Failed to get slave configuration.\n");
return -1;
}
if (ecrt_slave_config_pdos(w->sc_out, EC_END, slave_3_syncs)) {
fprintf(stderr, "Failed to configure PDOs.\n");
warning("Failed to configure PDOs.\n");
return -1;
}
if (ecrt_domain_reg_pdo_entry_list(w->domain, w->domain_regs)) {
fprintf(stderr, "PDO entry registration failed!\n");
error("PDO entry registration failed!\n");
return -1;
}
printf("Activating master...\n");
info("Activating master...\n");
if (ecrt_master_activate(master)) {
return -1;
}
@ -196,9 +196,9 @@ int ethercat_stop(struct node *n)
{
int ret;
struct ethercat *w = (struct ethercat *) n->_vd;
printf("releasing master\n");
info("releasing master\n");
ecrt_release_master(master);
printf("have a nice day!\n");
info("have a nice day!\n");
ret = queue_signalled_destroy(&w->queue);
if (ret)
@ -275,6 +275,42 @@ int ethercat_write(struct node *n, struct sample *smps[], unsigned cnt, unsigned
return 1;
}
int ethercat_parse(struct node *n, json_t *cfg)
{
struct ethercat *w = (struct ethercat *) n->_vd;
//const char *local, *remote;
//const char *layer = NULL;
const char *format = "villas.binary";
int ret;
json_error_t err;
ret = json_unpack_ex(cfg, &err, 0, "{ s?: i, s?: { s: i, s?: i, s?: i }, s?: { s: i, s?: i, s?: i } }",
"alias", &alias,
"out",
"num_channels", &w->in.num_channels,
"pid", &w->out.pid,
"vid", &w->out.vid,
"in",
"num_channels", &w->in.num_channels,
"pid", &w->in.pid,
"vid", &w->in.vid,
);
if (ret)
jerror(&err, "Failed to parse configuration of node %s", node_name(n));
/* Format */
w->format = format_type_lookup(format);
if (!w->format)
error("Invalid format '%s' for node %s", format, node_name(n));
return 0;
}
// int ethercat_poll_fds(struct node *n, int *fds)
// {
// struct ethercat *w = (struct ethercat *) n->_vd;
@ -293,6 +329,7 @@ static struct plugin p = {
.size = sizeof(struct ethercat),
.type.start = ethercat_type_start,
.start = ethercat_start,
.parse = ethercat_parse,
.stop = ethercat_stop,
.read = ethercat_read,
.write = ethercat_write,