mirror of
https://git.rwth-aachen.de/acs/public/villas/node/
synced 2025-03-09 00:00:00 +01:00
ethercat: bugfixes
This commit is contained in:
Divya Laxetti
parent
692da638af
commit
69256b0d79
5 changed files with 388 additions and 378 deletions
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@ -23,19 +23,23 @@
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find_path(ETHERLAB_INCLUDE_DIR
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NAMES ecrt.h
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PATHS
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/opt/etherlab/include
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)
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find_library(ETHERLAB_LIBRARY
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NAMES ethercat
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PATHS
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/opt/etherlab/lib
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)
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include(FindPackageHandleStandardArgs)
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# handle the QUIETLY and REQUIRED arguments and set VILLASNODE_FOUND to TRUE
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# if all listed variables are TRUE
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find_package_handle_standard_args(Etherlab DEFAULT_MSG
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ETHERLAB_LIBRARY ETHERLAB_INCLUDE_DIR)
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find_package_handle_standard_args(Etherlab DEFAULT_MSG ETHERLAB_LIBRARY ETHERLAB_INCLUDE_DIR)
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mark_as_advanced(ETHERLAB_INCLUDE_DIR ETHERLAB_LIBRARY)
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set(ETHERLAB_LIBRARIES ${ETHERLAB_LIBRARY})
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set(ETHERLAB_INCLUDE_DIRS ${ETHERLAB_INCLUDE_DIR})
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set(ETHERLAB_FOUND TRUE)
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@ -37,20 +37,42 @@
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#include <villas/io.h>
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#include <villas/config.h>
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// Include hard-coded Ethercat Bus configuration
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#include <villas/nodes/ethercat_config.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include <ecrt.h>
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#define DEFAULT_ETHERCAT_QUEUE_LENGTH (DEFAULT_QUEUE_LENGTH * 64)
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#define DEFAULT_ETHERCAT_SAMPLE_LENGTH DEFAULT_SAMPLE_LENGTH
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/* Forward declaration */
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struct lws;
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/** Internal data per ethercat node */
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struct ethercat {
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/* Settings */
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struct {
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int num_channels;
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} in, out;
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struct pool pool;
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struct queue_signalled queue; /**< For samples which are received from WebSockets */
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ec_domain_t *domain;
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ec_slave_config_t *sc_in;
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ec_slave_config_t *sc_out;
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uint8_t *domain_pd;
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// Offsets for PDO entries
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unsigned int off_out_values[ETHERCAT_NUM_CHANNELS];
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unsigned int off_in_values[ETHERCAT_NUM_CHANNELS];
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ec_pdo_entry_reg_t domain_regs[2 * ETHERCAT_NUM_CHANNELS + 1];
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};
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/* Internal datastructures */
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@ -68,9 +90,6 @@ int ethercat_start(struct node *n);
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/** @see node_type::close */
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int ethercat_stop(struct node *n);
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/** @see node_type::close */
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int ethercat_destroy(struct node *n);
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/** @see node_type::read */
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int ethercat_read(struct node *n, struct sample *smps[], unsigned cnt, unsigned *release);
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195
include/villas/nodes/ethercat_config.h
Normal file
195
include/villas/nodes/ethercat_config.h
Normal file
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@ -0,0 +1,195 @@
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/** Configuration for Ethercat Node-type
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*
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* @file
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* @author Niklas Eiling <niklas.eiling@eonerc.rwth-aachen.de>
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* @author Steffen Vogel <stvogel@eonerc.rwth-aachen.de>
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* @copyright 2018, Institute for Automation of Complex Power Systems, EONERC
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* @license GNU General Public License (version 3)
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*
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* VILLASnode
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*********************************************************************************/
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#pragma once
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#define ETHERCAT_NUM_CHANNELS 8
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#define ETHERCAT_VOLTAGE_RANGE 10.0
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#define ETHERCAT_ALIAS 0
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#define ETHERCAT_POS_COUPLER 0
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#define ETHERCAT_POS_SLAVE_OUT 1
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#define ETHERCAT_POS_SLAVE_IN 2
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#define ETHERCAT_VID_BECKHOFF 0x00000002
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#define ETHERCAT_PID_EK1100 0x044c2c52
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#define ETHERCAT_PID_EL2004 0x07d43052
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#define ETHERCAT_PID_EL2032 0x07f03052
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#define ETHERCAT_PID_EL3152 0x0c503052
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#define ETHERCAT_PID_EL3102 0x0c1e3052
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#define ETHERCAT_PID_EL4102 0x10063052
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// CWD Bus
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#define ETHERCAT_PID_EL4038 0x0fc63052
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#define ETHERCAT_PID_EL3008 0x0bc03052
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#define ETHERCAT_PID_FC1100 0x044c0c62
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#include <ecrt.h>
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/*****************************************************************************/
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/* Master 0, Slave 3, "EL4038"
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* Vendor ID: 0x00000002
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* Product code: 0x0fc63052
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* Revision number: 0x00140000
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*/
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static ec_pdo_entry_info_t slave_3_pdo_entries[] = {
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{0x7000, 0x01, 16}, /* Analog output */
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{0x7010, 0x01, 16}, /* Analog output */
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{0x7020, 0x01, 16}, /* Analog output */
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{0x7030, 0x01, 16}, /* Analog output */
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{0x7040, 0x01, 16}, /* Analog output */
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{0x7050, 0x01, 16}, /* Analog output */
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{0x7060, 0x01, 16}, /* Analog output */
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{0x7070, 0x01, 16}, /* Analog output */
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};
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static ec_pdo_info_t slave_3_pdos[] = {
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{0x1600, 1, slave_3_pdo_entries + 0}, /* AO RxPDO-Map Outputs Ch.1 */
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{0x1601, 1, slave_3_pdo_entries + 1}, /* AO RxPDO-Map Outputs Ch.2 */
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{0x1602, 1, slave_3_pdo_entries + 2}, /* AO RxPDO-Map Outputs Ch.3 */
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{0x1603, 1, slave_3_pdo_entries + 3}, /* AO RxPDO-Map Outputs Ch.4 */
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{0x1604, 1, slave_3_pdo_entries + 4}, /* AO RxPDO-Map Outputs Ch.5 */
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{0x1605, 1, slave_3_pdo_entries + 5}, /* AO RxPDO-Map Outputs Ch.6 */
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{0x1606, 1, slave_3_pdo_entries + 6}, /* AO RxPDO-Map Outputs Ch.7 */
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{0x1607, 1, slave_3_pdo_entries + 7}, /* AO RxPDO-Map Outputs Ch.8 */
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};
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static ec_sync_info_t slave_3_syncs[] = {
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{0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
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{1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
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{2, EC_DIR_OUTPUT, 8, slave_3_pdos + 0, EC_WD_DISABLE},
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{3, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
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{0xff}
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};
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/* Master 0, Slave 4, "EL3008"
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* Vendor ID: 0x00000002
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* Product code: 0x0bc03052
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* Revision number: 0x00150000
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*/
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static ec_pdo_entry_info_t slave_4_pdo_entries[] = {
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{0x6000, 0x01, 1}, /* Underrange */
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{0x6000, 0x02, 1}, /* Overrange */
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{0x6000, 0x03, 2}, /* Limit 1 */
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{0x6000, 0x05, 2}, /* Limit 2 */
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{0x6000, 0x07, 1}, /* Error */
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{0x0000, 0x00, 1}, /* Gap */
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{0x0000, 0x00, 6}, /* Gap */
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{0x6000, 0x0f, 1}, /* TxPDO State */
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{0x6000, 0x10, 1}, /* TxPDO Toggle */
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{0x6000, 0x11, 16}, /* Value */
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{0x6010, 0x01, 1}, /* Underrange */
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{0x6010, 0x02, 1}, /* Overrange */
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{0x6010, 0x03, 2}, /* Limit 1 */
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{0x6010, 0x05, 2}, /* Limit 2 */
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{0x6010, 0x07, 1}, /* Error */
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{0x0000, 0x00, 1}, /* Gap */
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{0x0000, 0x00, 6}, /* Gap */
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{0x6010, 0x0f, 1}, /* TxPDO State */
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{0x6010, 0x10, 1}, /* TxPDO Toggle */
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{0x6010, 0x11, 16}, /* Value */
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{0x6020, 0x01, 1}, /* Underrange */
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{0x6020, 0x02, 1}, /* Overrange */
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{0x6020, 0x03, 2}, /* Limit 1 */
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{0x6020, 0x05, 2}, /* Limit 2 */
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{0x6020, 0x07, 1}, /* Error */
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{0x0000, 0x00, 1}, /* Gap */
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{0x0000, 0x00, 6}, /* Gap */
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{0x6020, 0x0f, 1}, /* TxPDO State */
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{0x6020, 0x10, 1}, /* TxPDO Toggle */
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{0x6020, 0x11, 16}, /* Value */
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{0x6030, 0x01, 1}, /* Underrange */
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{0x6030, 0x02, 1}, /* Overrange */
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{0x6030, 0x03, 2}, /* Limit 1 */
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{0x6030, 0x05, 2}, /* Limit 2 */
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{0x6030, 0x07, 1}, /* Error */
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{0x0000, 0x00, 1}, /* Gap */
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{0x0000, 0x00, 6}, /* Gap */
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{0x6030, 0x0f, 1}, /* TxPDO State */
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{0x6030, 0x10, 1}, /* TxPDO Toggle */
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{0x6030, 0x11, 16}, /* Value */
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{0x6040, 0x01, 1}, /* Underrange */
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{0x6040, 0x02, 1}, /* Overrange */
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{0x6040, 0x03, 2}, /* Limit 1 */
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{0x6040, 0x05, 2}, /* Limit 2 */
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{0x6040, 0x07, 1}, /* Error */
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{0x0000, 0x00, 1}, /* Gap */
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{0x0000, 0x00, 6}, /* Gap */
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{0x6040, 0x0f, 1}, /* TxPDO State */
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{0x6040, 0x10, 1}, /* TxPDO Toggle */
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{0x6040, 0x11, 16}, /* Value */
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{0x6050, 0x01, 1}, /* Underrange */
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{0x6050, 0x02, 1}, /* Overrange */
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{0x6050, 0x03, 2}, /* Limit 1 */
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{0x6050, 0x05, 2}, /* Limit 2 */
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{0x6050, 0x07, 1}, /* Error */
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{0x0000, 0x00, 1}, /* Gap */
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{0x0000, 0x00, 6}, /* Gap */
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{0x6050, 0x0f, 1}, /* TxPDO State */
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{0x6050, 0x10, 1}, /* TxPDO Toggle */
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{0x6050, 0x11, 16}, /* Value */
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{0x6060, 0x01, 1}, /* Underrange */
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{0x6060, 0x02, 1}, /* Overrange */
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{0x6060, 0x03, 2}, /* Limit 1 */
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{0x6060, 0x05, 2}, /* Limit 2 */
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{0x6060, 0x07, 1}, /* Error */
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{0x0000, 0x00, 1}, /* Gap */
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{0x0000, 0x00, 6}, /* Gap */
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{0x6060, 0x0f, 1}, /* TxPDO State */
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{0x6060, 0x10, 1}, /* TxPDO Toggle */
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{0x6060, 0x11, 16}, /* Value */
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{0x6070, 0x01, 1}, /* Underrange */
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{0x6070, 0x02, 1}, /* Overrange */
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{0x6070, 0x03, 2}, /* Limit 1 */
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{0x6070, 0x05, 2}, /* Limit 2 */
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{0x6070, 0x07, 1}, /* Error */
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{0x0000, 0x00, 1}, /* Gap */
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{0x0000, 0x00, 6}, /* Gap */
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{0x6070, 0x0f, 1}, /* TxPDO State */
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{0x6070, 0x10, 1}, /* TxPDO Toggle */
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{0x6070, 0x11, 16}, /* Value */
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};
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static ec_pdo_info_t slave_4_pdos[] = {
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{0x1a00, 10, slave_4_pdo_entries + 0}, /* AI TxPDO-Map Standard Ch.1 */
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{0x1a02, 10, slave_4_pdo_entries + 10}, /* AI TxPDO-Map Standard Ch.2 */
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{0x1a04, 10, slave_4_pdo_entries + 20}, /* AI TxPDO-Map Standard Ch.3 */
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{0x1a06, 10, slave_4_pdo_entries + 30}, /* AI TxPDO-Map Standard Ch.4 */
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{0x1a08, 10, slave_4_pdo_entries + 40}, /* AI TxPDO-Map Standard Ch.5 */
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{0x1a0a, 10, slave_4_pdo_entries + 50}, /* AI TxPDO-Map Standard Ch.6 */
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{0x1a0c, 10, slave_4_pdo_entries + 60}, /* AI TxPDO-Map Standard Ch.7 */
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{0x1a0e, 10, slave_4_pdo_entries + 70}, /* AI TxPDO-Map Standard Ch.8 */
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};
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static ec_sync_info_t slave_4_syncs[] = {
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{0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
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{1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
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{2, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
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{3, EC_DIR_INPUT, 8, slave_4_pdos + 0, EC_WD_DISABLE},
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{0xff}
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};
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@ -171,10 +171,10 @@ if(WITH_NODE_EXAMPLE)
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endif()
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# Enable Ethercat support
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if(ETHERCAT_FOUND AND WITH_IO)
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if(ETHERLAB_FOUND AND WITH_IO)
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list(APPEND NODE_SRC ethercat.c)
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list(APPEND INCLUDE_DIRS ${ETHERCAT_INCLUDE_DIRS})
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list(APPEND LIBRARIES ${ETHERCAT_LIBRARIES})
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list(APPEND INCLUDE_DIRS ${ETHERLAB_INCLUDE_DIRS})
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list(APPEND LIBRARIES ${ETHERLAB_LIBRARIES})
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endif()
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add_library(nodes STATIC ${NODE_SRC})
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@ -1,4 +1,4 @@
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//** Node type: Ethercat
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/** Node type: Ethercat
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*
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* @author Niklas Eiling <niklas.eiling@eonerc.rwth-aachen.de>
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* @author Steffen Vogel <stvogel@eonerc.rwth-aachen.de>
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@ -33,23 +33,50 @@
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#include <villas/utils.h>
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#include <villas/buffer.h>
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#include <villas/plugin.h>
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#include <villas/nodes/ethercat.h>
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#include <villas/log.h>
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#include <villas/format_type.h>
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#include <villas/formats/msg_format.h>
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/****************************************************************************/
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#include <villas/nodes/ethercat.h>
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/** TODOs
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*
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* - Implement ethercat_parse()
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*
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"{ s: i, s: { s: i }, s: { } }",
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"alias", &w->alias,
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"in",
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"num_channels", &w->in.num_channels,
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"pid", ...
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"vid", ...
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"out",
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- alias
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- coupler_pos
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- in.pos
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- in.num_channels
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- in.voltage_range
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- in.vid
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- in.pid
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- out...
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- coupler_vid
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- coupler_pid
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* - Implement ethercat_print()
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* - Implement ethercat_destroy()
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* - Replace printf() by calls to info(), warning(), error()
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*/
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#include "ecrt.h"
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/****************************************************************************/
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/** Task period in ns. */
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#define PERIOD_NS (1000000)
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#define MAX_SAFE_STACK (8 * 1024) /* The maximum stack size which is
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guranteed safe to access without
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faulting */
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/****************************************************************************/
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/* Constants */
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@ -60,231 +87,22 @@
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/* Forward declarations */
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static struct plugin p;
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static ec_master_t *master = NULL;
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static ec_domain_t *domain1 = NULL;
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static ec_slave_config_t *sc_ana_in = NULL;
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static ec_slave_config_t *sc_ana_out = NULL;
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// process data
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static uint8_t *domain1_pd = NULL;
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#define BusCouplerPos 0, 0
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#define AnaOutSlavePos 0, 1
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#define AnaInSlavePos 0, 2
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#define Beckhoff_EK1100 0x00000002, 0x044c2c52
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#define Beckhoff_EL2004 0x00000002, 0x07d43052
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#define Beckhoff_EL2032 0x00000002, 0x07f03052
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#define Beckhoff_EL3152 0x00000002, 0x0c503052
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#define Beckhoff_EL3102 0x00000002, 0x0c1e3052
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#define Beckhoff_EL4102 0x00000002, 0x10063052
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//CWD Bus
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#define Beckhoff_EL4038 0x00000002, 0x0fc63052
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#define Beckhoff_EL3008 0x00000002, 0x0bc03052
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#define Beckhoff_FC1100 0x00000002, 0x044c0c62
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// offsets for PDO entries
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static unsigned int off_ana_out_values[8] = {0};
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static unsigned int off_ana_in_values[8] = {0};
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const static ec_pdo_entry_reg_t domain1_regs[] = {
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{AnaOutSlavePos, Beckhoff_EL4038, 0x7000, 0x01, off_ana_out_values},
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{AnaOutSlavePos, Beckhoff_EL4038, 0x7010, 0x01, off_ana_out_values+1},
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{AnaOutSlavePos, Beckhoff_EL4038, 0x7020, 0x01, off_ana_out_values+2},
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{AnaOutSlavePos, Beckhoff_EL4038, 0x7030, 0x01, off_ana_out_values+3},
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{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}
|
||||
};
|
||||
|
||||
|
||||
int ethercat_type_start(struct super_node *sn)
|
||||
{
|
||||
ec_slave_config_t *sc;
|
||||
struct timespec_wakeup_time;
|
||||
int ret = 0;
|
||||
|
||||
void stack_prefault(void)
|
||||
{
|
||||
unsigned char dummy[MAX_SAFE_STACK];
|
||||
|
||||
memset(dummy, 0, MAX_SAFE_STACK);
|
||||
}
|
||||
|
||||
master = ecrt_request_master(0);
|
||||
if(!master) {
|
||||
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){
|
||||
// Create configuration for bus coupler
|
||||
sc = ecrt_master_slave_config(master, ETHERCAT_ALIAS, ETHERCAT_POS_COUPLER, ETHERCAT_VID_BECKHOFF, ETHERCAT_PID_EK1100);
|
||||
if (!sc) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
|
|
@ -293,57 +111,83 @@ int ethercat_type_start(struct super_node *sn)
|
|||
|
||||
int ethercat_start(struct node *n)
|
||||
{
|
||||
int ret;
|
||||
struct ethercat *w = (struct ethercat *) n->_vd;
|
||||
|
||||
ret = pool_init(&w->pool, DEFAULT_ETHERCAT_QUEUE_LENGTH, SAMPLE_LENGTH(DEFAULT_ETHERCAT_SAMPLE_LENGTH), &memory_hugepage);
|
||||
if (ret)
|
||||
return ret;
|
||||
// int ret = pool_init(&w->pool, DEFAULT_ETHERCAT_QUEUE_LENGTH, SAMPLE_LENGTH(DEFAULT_ETHERCAT_SAMPLE_LENGTH), &memory_hugepage);
|
||||
// if (ret)
|
||||
// return ret;
|
||||
|
||||
ret = queue_signalled_init(&w->queue, DEFAULT_ETHERCAT_QUEUE_LENGTH, &memory_hugepage, 0);
|
||||
if (ret)
|
||||
return ret;
|
||||
// ret = queue_signalled_init(&w->queue, DEFAULT_ETHERCAT_QUEUE_LENGTH, &memory_hugepage, 0);
|
||||
// if (ret)
|
||||
// return ret;
|
||||
|
||||
//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;
|
||||
}
|
||||
w->domain = ecrt_master_create_domain(master);
|
||||
if (!w->domain) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
if (ecrt_slave_config_pdos(sc_ana_in, EC_END, slave_4_syncs)) {
|
||||
fprintf(stderr, "Failed to configure PDOs.\n");
|
||||
return -1;
|
||||
}
|
||||
// Prepare list of domain registers
|
||||
for (int i = 0; i < ETHERCAT_NUM_CHANNELS; i++)
|
||||
{
|
||||
w->off_out_values[i] = 0;
|
||||
w->off_in_values[i] = 0;
|
||||
|
||||
//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;
|
||||
}
|
||||
w->domain_regs[i].alias = ETHERCAT_ALIAS;
|
||||
w->domain_regs[i].position = ETHERCAT_POS_SLAVE_OUT;
|
||||
w->domain_regs[i].vendor_id = ETHERCAT_VID_BECKHOFF;
|
||||
w->domain_regs[i].product_code = ETHERCAT_PID_EL4038;
|
||||
w->domain_regs[i].index = 0x7000 + i * 0x10;
|
||||
w->domain_regs[i].subindex = 0x1;
|
||||
w->domain_regs[i].offset = w->off_out_values + i;
|
||||
|
||||
if (ecrt_slave_config_pdos(sc_ana_out, EC_END, slave_3_syncs)) {
|
||||
fprintf(stderr, "Failed to configure PDOs.\n");
|
||||
return -1;
|
||||
}
|
||||
w->domain_regs[i+ETHERCAT_NUM_CHANNELS].alias = ETHERCAT_ALIAS;
|
||||
w->domain_regs[i+ETHERCAT_NUM_CHANNELS].position = ETHERCAT_POS_SLAVE_IN;
|
||||
w->domain_regs[i+ETHERCAT_NUM_CHANNELS].vendor_id = ETHERCAT_VID_BECKHOFF;
|
||||
w->domain_regs[i+ETHERCAT_NUM_CHANNELS].product_code = ETHERCAT_PID_EL3008;
|
||||
w->domain_regs[i+ETHERCAT_NUM_CHANNELS].index = 0x6000 + i * 0x10;
|
||||
w->domain_regs[i+ETHERCAT_NUM_CHANNELS].subindex = 0x11;
|
||||
w->domain_regs[i+ETHERCAT_NUM_CHANNELS].offset = w->off_in_values + i;
|
||||
};
|
||||
|
||||
if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
|
||||
fprintf(stderr, "PDO entry registration failed!\n");
|
||||
return -1;
|
||||
}
|
||||
// End of list delimiter
|
||||
memset(&w->domain_regs[2*ETHERCAT_NUM_CHANNELS], 0, sizeof(ec_pdo_entry_reg_t));
|
||||
|
||||
printf("Activating master...\n");
|
||||
if (ecrt_master_activate(master)) {
|
||||
return -1;
|
||||
}
|
||||
// Configure analog in
|
||||
printf("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");
|
||||
return -1;
|
||||
}
|
||||
|
||||
if (!(domain1_pd = ecrt_domain_data(domain1))) {
|
||||
return -1;
|
||||
}
|
||||
if (ecrt_slave_config_pdos(w->sc_in, EC_END, slave_4_syncs)) {
|
||||
fprintf(stderr, "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");
|
||||
return -1;
|
||||
}
|
||||
|
||||
if (ecrt_slave_config_pdos(w->sc_out, EC_END, slave_3_syncs)) {
|
||||
fprintf(stderr, "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");
|
||||
return -1;
|
||||
}
|
||||
|
||||
printf("Activating master...\n");
|
||||
if (ecrt_master_activate(master)) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
if (!(w->domain_pd = ecrt_domain_data(w->domain))) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
|
@ -352,9 +196,9 @@ int ethercat_stop(struct node *n)
|
|||
{
|
||||
int ret;
|
||||
struct ethercat *w = (struct ethercat *) n->_vd;
|
||||
printf("releasing master"\n);
|
||||
ecrt_release_master(master);
|
||||
printf("have a nice day!\n")
|
||||
printf("releasing master\n");
|
||||
ecrt_release_master(master);
|
||||
printf("have a nice day!\n");
|
||||
|
||||
ret = queue_signalled_destroy(&w->queue);
|
||||
if (ret)
|
||||
|
|
@ -367,144 +211,92 @@ int ethercat_stop(struct node *n)
|
|||
return 0;
|
||||
}
|
||||
|
||||
int ethercat_destroy(struct node *n)
|
||||
{
|
||||
struct websocket *w = (struct websocket *) n->_vd;
|
||||
int ret;
|
||||
|
||||
/* TODO: destroy ethercat connection */
|
||||
|
||||
if (ret)
|
||||
return ret;
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
int ethercat_read(struct node *n, struct sample *smps[], unsigned cnt, unsigned *release)
|
||||
{
|
||||
int avail;
|
||||
|
||||
struct ethercat *w = (struct ethercat *) n->_vd;
|
||||
struct sample *cpys[cnt];
|
||||
|
||||
avail = queue_signalled_pull_many(&w->queue, (void **) cpys, cnt);
|
||||
if (avail < 0)
|
||||
return avail;
|
||||
// int avail;
|
||||
// struct sample *cpys[cnt];
|
||||
|
||||
// receive process data
|
||||
ecrt_master_receive(master);
|
||||
ecrt_domain_process(domain1);
|
||||
// avail = queue_signalled_pull_many(&w->queue, (void **) cpys, cnt);
|
||||
// if (avail < 0)
|
||||
// return avail;
|
||||
|
||||
#if 1
|
||||
//read process data
|
||||
for(int i=0; i<8; ++i) {
|
||||
int16_t ain_value + EC_READ_S16(domain1_pd + Off_ana_in_values[i]);
|
||||
// Receive process data
|
||||
ecrt_master_receive(master);
|
||||
ecrt_domain_process(w->domain);
|
||||
|
||||
if (cnt < 1)
|
||||
return 0;
|
||||
|
||||
// Read process data
|
||||
for (int i = 0; i < MIN(ETHERCAT_NUM_CHANNELS, smps[0]->capacity); ++i) {
|
||||
int16_t ain_value = EC_READ_S16(w->domain_pd + w->off_in_values[i]);
|
||||
|
||||
float ain_voltage = 10.0 * (float) ain_value/INT16_MAX;
|
||||
printf("AnaIn(%d): value=%f Volts\n", i, ain_voltage);
|
||||
}
|
||||
printf("\n");
|
||||
#endif
|
||||
smps[0]->data[i].f = ETHERCAT_VOLTAGE_RANGE * (float) ain_value / INT16_MAX;
|
||||
}
|
||||
|
||||
// sample_copy_many(smps, cpys, avail);
|
||||
// sample_decref_many(cpys, avail);
|
||||
|
||||
sample_copy_many(smps, cpys, avail);
|
||||
sample_decref_many(cpys, avail);
|
||||
|
||||
return avail;
|
||||
return 1;
|
||||
}
|
||||
|
||||
int ethercat_write(struct node *n, struct sample *smps[], unsigned cnt, unsigned *release)
|
||||
{
|
||||
int avail;
|
||||
|
||||
struct ethercat *w = (struct ethercat *) n->_vd;
|
||||
struct sample *cpys[cnt];
|
||||
|
||||
/* Make copies of all samples */
|
||||
avail = sample_alloc_many(&w->pool, cpys, cnt);
|
||||
if (avail < cnt)
|
||||
warn("Pool underrun for node %s: avail=%u", node_name(n), avail);
|
||||
// struct sample *cpys[cnt];
|
||||
// int avail = sample_alloc_many(&w->pool, cpys, cnt);
|
||||
// if (avail < cnt)
|
||||
// warning("Pool underrun for node %s: avail=%u", node_name(n), avail);
|
||||
|
||||
sample_copy_many(cpys, smps, avail);
|
||||
// sample_copy_many(cpys, smps, avail);
|
||||
|
||||
|
||||
#if 1
|
||||
// write process data
|
||||
for(int i=0; i<8; ++i) {
|
||||
float aout_voltage = i * 1.0;
|
||||
if (cnt < 1)
|
||||
return 0;
|
||||
|
||||
in16_t aout_value = aout_voltage / 10.0 * INT16_MAX;
|
||||
// Write process data
|
||||
for (int i = 0; i < ETHERCAT_NUM_CHANNELS; ++i) {
|
||||
float aout_voltage = smps[0]->data[i].f;
|
||||
|
||||
if (counter == 0)
|
||||
printf("AnaOut(%d) : value=%f Volts\n", i, aout_voltage);
|
||||
int16_t aout_value = aout_voltage / ETHERCAT_VOLTAGE_RANGE * INT16_MAX;
|
||||
|
||||
EC_WRITE_U16(domain1_pd + off_ana_out_values[i], 0x8000);
|
||||
}
|
||||
//EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x06 : 0x09);
|
||||
#endif
|
||||
EC_WRITE_U16(w->domain_pd + w->off_out_values[i], aout_value);
|
||||
}
|
||||
|
||||
// send process data
|
||||
//printf("queue\n");
|
||||
ecrt_domain_queue(domain1);
|
||||
//printf("send\n");
|
||||
ecrt_master_send(master);
|
||||
// send process data
|
||||
ecrt_domain_queue(w->domain);
|
||||
ecrt_master_send(master);
|
||||
|
||||
//sample_decref_many(cpys, avail);
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
// int ethercat_poll_fds(struct node *n, int *fds)
|
||||
// {
|
||||
// struct ethercat *w = (struct ethercat *) n->_vd;
|
||||
|
||||
// fds[0] = queue_signalled_fd(&w->queue);
|
||||
|
||||
sample_decref_many(cpys, avail);
|
||||
|
||||
return cnt;
|
||||
}
|
||||
|
||||
int ethercat_parse(struct node *n, json_t *cfg)
|
||||
{
|
||||
struct ethercat *w = (struct ethercat *) n->_vd;
|
||||
int ret;
|
||||
|
||||
size_t i;
|
||||
json_t *json_dests = NULL;
|
||||
json_t *json_dest;
|
||||
json_error_t err;
|
||||
|
||||
/* TODO: parse json */
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
char * ethercat_print(struct node *n)
|
||||
{
|
||||
struct ethercat *w = (struct ethercat *) n->_vd;
|
||||
|
||||
char *buf = NULL;
|
||||
/* TODO: maybe use asprintf to build string? */
|
||||
|
||||
return buf;
|
||||
}
|
||||
|
||||
int ethercat_fd(struct node *n)
|
||||
{
|
||||
struct ethercat *w = (struct ethercat *) n->_vd;
|
||||
|
||||
return queue_signalled_fd(&w->queue);
|
||||
}
|
||||
// return 1;
|
||||
// }
|
||||
|
||||
static struct plugin p = {
|
||||
.name = "ethercat",
|
||||
.description = "Send and receive samples of an ethercat connection",
|
||||
.type = PLUGIN_TYPE_NODE,
|
||||
.node = {
|
||||
.vectorize = 0, /* unlimited */
|
||||
.vectorize = 1, /* we only process a single sample per call */
|
||||
.size = sizeof(struct ethercat),
|
||||
.type.start = ethercat_type_start,
|
||||
.start = ethercat_start,
|
||||
.stop = ethercat_stop,
|
||||
.destroy = ethercat_destroy,
|
||||
.read = ethercat_read,
|
||||
.write = ethercat_write,
|
||||
.print = ethercat_print,
|
||||
.parse = ethercat_parse,
|
||||
.fd = ethercat_fd
|
||||
// .poll_fds = ethercat_poll_fds
|
||||
}
|
||||
};
|
||||
|
||||
|
|
|
|||
Loading…
Add table
Reference in a new issue