diff --git a/lib/nodes/ethercat_test/Makefile b/lib/nodes/ethercat_test/Makefile deleted file mode 100644 index c941f7135..000000000 --- a/lib/nodes/ethercat_test/Makefile +++ /dev/null @@ -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) diff --git a/lib/nodes/ethercat_test/main.c b/lib/nodes/ethercat_test/main.c deleted file mode 100644 index 7fee62b6e..000000000 --- a/lib/nodes/ethercat_test/main.c +++ /dev/null @@ -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 -#include -#include -#include -#include -#include -#include -#include -#include -#include /* clock_gettime() */ -#include /* mlockall() */ - -/****************************************************************************/ - -#include - -/****************************************************************************/ - -/** 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; -} - -/****************************************************************************/