mirror of
https://git.rwth-aachen.de/acs/public/villas/node/
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Update lib/nodes/ethercat.c
This commit is contained in:
Divya Rajashekhar Laxetti
parent
76cbaad2b9
commit
692da638af
1 changed files with 328 additions and 7 deletions
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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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@ -22,6 +22,7 @@
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*********************************************************************************/
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#include <stdio.h>
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#include <stdint.h>
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#include <stdlib.h>
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#include <unistd.h>
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#include <string.h>
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@ -36,15 +37,256 @@
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#include <villas/format_type.h>
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#include <villas/formats/msg_format.h>
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/* Private static storage */
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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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#define NSEC_PER_SEC (1000000000)
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#define FREQUENCY (NSEC_PER_SEC / PERIOD_NS)
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/****************************************************************************/
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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},
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{AnaOutSlavePos, Beckhoff_EL4038, 0x7050, 0x01, off_ana_out_values+5},
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{AnaOutSlavePos, Beckhoff_EL4038, 0x7060, 0x01, off_ana_out_values+6},
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{AnaOutSlavePos, Beckhoff_EL4038, 0x7070, 0x01, off_ana_out_values+7},
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{AnaInSlavePos, Beckhoff_EL3008, 0x6000, 0x11, off_ana_in_values},
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{AnaInSlavePos, Beckhoff_EL3008, 0x6010, 0x11, off_ana_in_values+1},
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{AnaInSlavePos, Beckhoff_EL3008, 0x6020, 0x11, off_ana_in_values+2},
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{AnaInSlavePos, Beckhoff_EL3008, 0x6030, 0x11, off_ana_in_values+3},
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{AnaInSlavePos, Beckhoff_EL3008, 0x6040, 0x11, off_ana_in_values+4},
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{AnaInSlavePos, Beckhoff_EL3008, 0x6050, 0x11, off_ana_in_values+5},
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{AnaInSlavePos, Beckhoff_EL3008, 0x6060, 0x11, off_ana_in_values+6},
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{AnaInSlavePos, Beckhoff_EL3008, 0x6070, 0x11, off_ana_in_values+7},
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{}
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};
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static unsigned int counter = 0;
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//static unsigned int blink = 0;
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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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int ethercat_type_start(struct super_node *sn)
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{
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/* TODO: type start ethercat */
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ec_slave_config_t *sc;
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struct timespec_wakeup_time;
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int ret = 0;
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void stack_prefault(void)
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{
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unsigned char dummy[MAX_SAFE_STACK];
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memset(dummy, 0, MAX_SAFE_STACK);
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}
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master = ecrt_request_master(0);
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if(!master) {
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return -1;
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}
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domain1 = ecrt_master_create_domain(master);
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if(!domain1){
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return -1;
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}
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//Create configuration for bus coupler
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sc = ecrt_master_slave_config(master, BusCouplerPos< Beckhoff_EK1100);
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if(!sc){
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return -1;
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}
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return 0;
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}
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@ -62,7 +304,46 @@ int ethercat_start(struct node *n)
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if (ret)
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return ret;
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/* TODO: start ethercat connection */
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//Configure analog in
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printf("Configuring PDOs...\n");
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if (!(sc_ana_in = ecrt_master_slave_config(
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master, AnaInSlavePos, Beckhoff_EL3008))) {
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fprintf(stderr, "Failed to get slave configuration.\n");
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return -1;
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}
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if (ecrt_slave_config_pdos(sc_ana_in, EC_END, slave_4_syncs)) {
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fprintf(stderr, "Failed to configure PDOs.\n");
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return -1;
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}
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//Configure analog out
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if (!(sc_ana_out = ecrt_master_slave_config(
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master, AnaOutSlavePos, Beckhoff_EL4038))) {
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fprintf(stderr, "Failed to get slave configuration.\n");
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return -1;
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}
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if (ecrt_slave_config_pdos(sc_ana_out, EC_END, slave_3_syncs)) {
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fprintf(stderr, "Failed to configure PDOs.\n");
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return -1;
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}
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if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
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fprintf(stderr, "PDO entry registration failed!\n");
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return -1;
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}
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printf("Activating master...\n");
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if (ecrt_master_activate(master)) {
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return -1;
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}
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if (!(domain1_pd = ecrt_domain_data(domain1))) {
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return -1;
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}
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return 0;
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}
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@ -71,8 +352,9 @@ int ethercat_stop(struct node *n)
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{
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int ret;
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struct ethercat *w = (struct ethercat *) n->_vd;
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/* TODO: stop ethercat connection */
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printf("releasing master"\n);
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ecrt_release_master(master);
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printf("have a nice day!\n")
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ret = queue_signalled_destroy(&w->queue);
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if (ret)
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@ -109,6 +391,22 @@ int ethercat_read(struct node *n, struct sample *smps[], unsigned cnt, unsigned
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if (avail < 0)
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return avail;
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// receive process data
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ecrt_master_receive(master);
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ecrt_domain_process(domain1);
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#if 1
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//read process data
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for(int i=0; i<8; ++i) {
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int16_t ain_value + EC_READ_S16(domain1_pd + Off_ana_in_values[i]);
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float ain_voltage = 10.0 * (float) ain_value/INT16_MAX;
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printf("AnaIn(%d): value=%f Volts\n", i, ain_voltage);
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}
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printf("\n");
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#endif
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sample_copy_many(smps, cpys, avail);
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sample_decref_many(cpys, avail);
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@ -129,7 +427,30 @@ int ethercat_write(struct node *n, struct sample *smps[], unsigned cnt, unsigned
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sample_copy_many(cpys, smps, avail);
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/* TODO: write samples to ethercat driver */
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#if 1
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// write process data
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for(int i=0; i<8; ++i) {
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float aout_voltage = i * 1.0;
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in16_t aout_value = aout_voltage / 10.0 * INT16_MAX;
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if (counter == 0)
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printf("AnaOut(%d) : value=%f Volts\n", i, aout_voltage);
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EC_WRITE_U16(domain1_pd + off_ana_out_values[i], 0x8000);
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}
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//EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x06 : 0x09);
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#endif
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// send process data
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//printf("queue\n");
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ecrt_domain_queue(domain1);
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//printf("send\n");
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ecrt_master_send(master);
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}
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sample_decref_many(cpys, avail);
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