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ethercat: remove old testing code

This commit is contained in:
Divya Laxetti 2020-01-27 12:14:26 +01:00 committed by Steffen Vogel
parent dd155818ca
commit c3c0035989
2 changed files with 0 additions and 597 deletions

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@ -1,25 +0,0 @@
BINARY=ethertest
ETHERCAT_ROOT=/opt/etherlab
CC=gcc
SRC=main.c
INC_PATH=$(ETHERCAT_ROOT)/include
LIB_PATH=$(ETHERCAT_ROOT)/lib
LD_FLAGS=-lethercat -lrt
C_FLAGS=-Wall -std=c99
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)

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@ -1,572 +0,0 @@
/*****************************************************************************
*
* $Id$
*
* 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.
*
****************************************************************************/
#define _POSIX_C_SOURCE 200112L
#include <errno.h>
#include <signal.h>
#include <stdio.h>
#include <stdint.h>
#include <string.h>
#include <sys/resource.h>
#include <sys/time.h>
#include <sys/types.h>
#include <unistd.h>
#include <time.h> /* clock_gettime() */
#include <sys/mman.h> /* mlockall() */
/****************************************************************************/
#include <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;
#if 0
#define MediaConvACSPos 0, 0
#define MediaConvCWDPos 0, 1
#define BusCouplerPos 0, 2
#define AnaOutSlavePos 0, 3
#define AnaInSlavePos 0, 4
#define PCISlavePos 0, 5
#else
#define BusCouplerPos 0, 0
#define AnaOutSlavePos 0, 1
#define AnaInSlavePos 0, 2
#endif
#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] = {0};
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}
};
/*****************************************************************************/
static const char* DOMAIN_STATES[] = {[0]="ZERO",
[1]="INCOMPLETE",
[2]="COMPLETE",
};
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: new working counter %u.\n", ds.working_counter);
}*/
if (ds.wc_state != domain1_state.wc_state) {
printf("Domain1: State %s.\n", DOMAIN_STATES[ds.wc_state]);
}
domain1_state = ds;
}
/*****************************************************************************/
static const char* MASTER_AL_STATES[] = {[1]="INIT",
[2]="PREOP",
[4]="SAFEOP",
[8]="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 >= (1<<4)) {
printf("AL states: unknown: 0x%02X\n", ms.al_states);
} else {
printf("AL states: ");
for (unsigned char i = 1; i < (1<<4); i <<= 1) {
if (ms.al_states & i) {
printf("%s, ", MASTER_AL_STATES[i]);
}
}
printf("\n");
}
}
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) {
int16_t ain_value = EC_READ_S16(domain1_pd + off_ana_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
// 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) {
float aout_voltage = i * 1.0;
int16_t aout_value = aout_voltage / 10.0 * INT16_MAX;
if (counter == 0)
printf("AnaOut(%d): value=%f Volts\n", i, aout_voltage);
EC_WRITE_U16(domain1_pd + off_ana_out_values[i], aout_value);
}
//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;
}
// Configure PCI Slave
/*sc = ecrt_master_slave_config(master, PCISlavePos, Beckhoff_FC1100);
if (!sc) {
fprintf(stderr, "failed to configure PCI Card (FC1100)\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 != 10000; ++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;
}
/****************************************************************************/