[etherlab-users] Beginner: Modifying the example code "user"
Justin Hunt
jphunt3 at asu.edu
Wed Apr 5 03:31:30 CEST 2017
Hi Gavin,
Thank you for the reply, I really appreciate your time. I worked today to
implement your instructions. Here is what I did:
1) I changed the original definition "#define Beckhoff_EL3102 0x00000002,
0x0c1e3052" to include the vendor ID and product code of my sensor, which I
got from using Konsole command "ethercat slaves -v." So now it reads
"#define Beckhoff_EL3102 0x00000732, 0x26483052"
2) I updated the domain1_regs to include only analog input from the index
and sub index of the sensor force value I wish to read, like so:
const static ec_pdo_entry_reg_t domain1_regs[] = {
{AnaInSlavePos, Beckhoff_EL3102, 0x6000, 2, &off_ana_in_value},
{}
I am not sure if these two changes address your instructions correctly. I
can however compile and run the code now. I tried to add the following line
under cyclic_task() to see if I could stream the data to the Konsole, but
it does not see to work:
printf("AnaIn: value %u\n", EC_READ_U32(domain1_pd + off_ana_in_value));
included below is the complete code in case it is needed.
***********************************************************
*****************/
#include <errno.h>
#include <signal.h>
#include <stdio.h>
#include <string.h>
#include <sys/resource.h>
#include <sys/time.h>
#include <sys/types.h>
#include <unistd.h>
/***********************************************************
*****************/
#include "ecrt.h"
/***********************************************************
*****************/
// Application parameters
#define FREQUENCY 100
#define PRIORITY 1
// Optional features
#define CONFIGURE_PDOS 1
#define SDO_ACCESS 0
/***********************************************************
*****************/
// 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 = {};
// Timer
static unsigned int sig_alarms = 0;
static unsigned int user_alarms = 0;
/***********************************************************
*****************/
// process data
static uint8_t *domain1_pd = NULL;
#define BusCouplerPos 0, 0 //#define assigns 0, 0 to the name BusCouplerPos
#define DigOutSlavePos 0, 2
#define AnaInSlavePos 0, 3
#define AnaOutSlavePos 0, 4
#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_EL3102 0x00000732, 0x26483052
#define Beckhoff_EL4102 0x00000002, 0x10063052
//test
// offsets for PDO entries
static unsigned int off_ana_in_status;
static unsigned int off_ana_in_value;
//static unsigned int off_ana_out;
//static unsigned int off_dig_out;
const static ec_pdo_entry_reg_t domain1_regs[] = {
{AnaInSlavePos, Beckhoff_EL3102, 0x6000, 2, &off_ana_in_value},
{}
};
static unsigned int counter = 0;
static unsigned int blink = 0;
/***********************************************************
******************/
#if CONFIGURE_PDOS
static ec_pdo_entry_info_t el3102_pdo_entries[] = {
{0x7010, 1, 32}, /* Control 1 */
{0x7010, 2, 32}, /* Control 2 */
{0x6000, 1, 32}, /* Fx/Gage0 */
{0x6000, 2, 32}, /* Fy/Gage1 */
{0x6000, 3, 32}, /* Fz/Gage2 */
{0x6000, 4, 32}, /* Tx/Gage3 */
{0x6000, 5, 32}, /* Ty/Gage3 */
{0x6000, 6, 32}, /* Tz/Gage3 */
{0x6010, 0, 32}, /* SubIndex 000 */
{0x6020, 0, 32}, /* SubIndex 000 */
};
static ec_pdo_info_t el3102_pdos[] = {
{0x1601, 2, el3102_pdo_entries + 0}, /* DO RxPDO-Map */
{0x1a00, 8, el3102_pdo_entries + 2}, /* DI TxPDO-Map */
};
ec_sync_info_t el3102_syncs[] = {
{0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
{1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
{2, EC_DIR_OUTPUT, 1, el3102_pdos + 0, EC_WD_ENABLE},
{3, EC_DIR_INPUT, 1, el3102_pdos + 1, EC_WD_DISABLE},
{0xff}
};
#endif
/***********************************************************
******************/
#if SDO_ACCESS
static ec_sdo_request_t *sdo;
#endif
/***********************************************************
******************/
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: WC %u.\n", ds.working_counter);
if (ds.wc_state != domain1_state.wc_state)
printf("Domain1: State %u.\n", ds.wc_state);
domain1_state = ds;
}
/***********************************************************
******************/
void check_master_state(void)
{
ec_master_state_t ms;
//printf("test");
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)
printf("AL states: 0x%02X.\n", ms.al_states);
if (ms.link_up != master_state.link_up)
//printf("test");
printf("Link is %s.\n", ms.link_up ? "up" : "down");
master_state = ms;
}
/***********************************************************
******************/
//printf("enter");
void check_slave_config_states(void)
{
ec_slave_config_state_t s;
ecrt_slave_config_state(sc_ana_in, &s);
//printf("test");
if (s.al_state != sc_ana_in_state.al_state)
printf("AnaIn: State 0x%02X.\n", 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;
}
/***********************************************************
******************/
#if SDO_ACCESS
void read_sdo(void)
{
switch (ecrt_sdo_request_state(sdo)) {
case EC_REQUEST_UNUSED: // request was not used yet
ecrt_sdo_request_read(sdo); // trigger first read
break;
case EC_REQUEST_BUSY:
fprintf(stderr, "Still busy...\n");
break;
case EC_REQUEST_SUCCESS:
fprintf(stderr, "SDO value: 0x%04X\n",
EC_READ_U32(ecrt_sdo_request_data(sdo)));
ecrt_sdo_request_read(sdo); // trigger next read
break;
case EC_REQUEST_ERROR:
fprintf(stderr, "Failed to read SDO!\n");
ecrt_sdo_request_read(sdo); // retry reading
break;
}
}
#endif
/***********************************************************
*****************/
void cyclic_task()
{
// receive process data
ecrt_master_receive(master);
ecrt_domain_process(domain1);
// check process data state (optional)
check_domain1_state();
printf("AnaIn: value %u\n", EC_READ_U32(domain1_pd + off_ana_in_value));
if (counter) {
counter--;
} else { // do this at 1 Hz
counter = FREQUENCY;
// calculate new process data
blink = !blink;
//printf("test");
// check for master state (optional)
//check_master_state();
//printf("test1");
// check for islave configuration state(s) (optional)
check_slave_config_states();
#if SDO_ACCESS
// read process data SDO
read_sdo();
#endif
}
#if 0
// read process data
// printf("test2");
printf("AnaIn: state %u value %u\n",
EC_READ_U8(domain1_pd + off_ana_in_status),
EC_READ_U32(domain1_pd + off_ana_in_value));
#endif
// #if 1
// // write process data
// EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x06 : 0x09);
// #endif
// send process data
ecrt_domain_queue(domain1);
ecrt_master_send(master);
}
/***********************************************************
*****************/
void signal_handler(int signum) {
switch (signum) {
case SIGALRM:
sig_alarms++;
break;
}
}
/***********************************************************
*****************/
int main(int argc, char **argv)
{
ec_slave_config_t *sc;
struct sigaction sa;
struct itimerval tv;
master = ecrt_request_master(0);
if (!master)
return -1;
domain1 = ecrt_master_create_domain(master);
if (!domain1)
return -1;
if (!(sc_ana_in = ecrt_master_slave_config(
master, AnaInSlavePos, Beckhoff_EL3102))) {
fprintf(stderr, "Failed to get slave configuration.\n");
return -1;
}
#if SDO_ACCESS
fprintf(stderr, "Creating SDO requests...\n");
if (!(sdo = ecrt_slave_config_create_sdo_request(sc_ana_in, 0x6000, 2,
2))) {
fprintf(stderr, "Failed to create SDO request.\n");
return -1;
}
ecrt_sdo_request_timeout(sdo, 500); // ms
#endif
#if CONFIGURE_PDOS
printf("Configuring PDOs...\n");
if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3102_syncs)) {
fprintf(stderr, "Failed to configure PDOs.\n");
return -1;
}
// if (!(sc = ecrt_master_slave_config(
// master, AnaOutSlavePos, Beckhoff_EL4102))) {
// fprintf(stderr, "Failed to get slave configuration.\n");
// return -1;
// }
//
// if (ecrt_slave_config_pdos(sc, EC_END, el4102_syncs)) {
// fprintf(stderr, "Failed to configure PDOs.\n");
// return -1;
// }
//
// if (!(sc = ecrt_master_slave_config(
// master, DigOutSlavePos, Beckhoff_EL2032))) {
// fprintf(stderr, "Failed to get slave configuration.\n");
// return -1;
// }
// if (ecrt_slave_config_pdos(sc, EC_END, el2004_syncs)) {
// fprintf(stderr, "Failed to configure PDOs.\n");
// return -1;
// }
#endif
// Create configuration for bus coupler
sc = ecrt_master_slave_config(master, BusCouplerPos, Beckhoff_EL3102);
if (!sc)
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;
}
#if PRIORITY
pid_t pid = getpid();
if (setpriority(PRIO_PROCESS, pid, -19))
fprintf(stderr, "Warning: Failed to set priority: %s\n",
strerror(errno));
#endif
sa.sa_handler = signal_handler;
sigemptyset(&sa.sa_mask);
sa.sa_flags = 0;
if (sigaction(SIGALRM, &sa, 0)) {
fprintf(stderr, "Failed to install signal handler!\n");
return -1;
}
printf("Starting timer...\n");
tv.it_interval.tv_sec = 0;
tv.it_interval.tv_usec = 100000 / FREQUENCY;
tv.it_value.tv_sec = 0;
tv.it_value.tv_usec = 1000;
if (setitimer(ITIMER_REAL, &tv, NULL)) {
fprintf(stderr, "Failed to start timer: %s\n", strerror(errno));
return 1;
}
printf("Started.\n");
while (1) {
//printf("test");
pause();
#if 0
struct timeval t;
gettimeofday(&t, NULL);
printf("%u.%06u\n", t.tv_sec, t.tv_usec);
#endif
while (sig_alarms != user_alarms) {
cyclic_task();
//fprintf("t");
user_alarms++;
}
}
return 0;
}
/***********************************************************
*****************/
On Mon, Apr 3, 2017 at 7:10 PM, Gavin Lambert <gavinl at compacsort.com> wrote:
> You’re halfway there. You also need to update the domain1_regs to
> reflect the layout of your network (type and position of all slave devices)
> and to define variables to receive the offsets into domain memory to use
> for transferring the corresponding PDOs.
>
>
>
> *From:* Justin Hunt
> *Sent:* Tuesday, 4 April 2017 13:50
> *To:* etherlab-users at etherlab.org
> *Subject:* [etherlab-users] Beginner: Modifying the example code "user"
>
>
>
> Hello all,
>
>
>
> I have an force sensor with ethercat communication. I got EtherCAT Master
> installed on my system (thanks to this form's help) and have been using the
> terminal commands included in the PDF manual to collect data, which has
> been working great.
>
>
>
> I would now like to try to implement the equivalent commands in C++ so
> that I can stream the data and sample at a higher rate. However I am
> struggling to do so. I have tried to modify the example code "user" with
> the pdo entry info I get from the "ethercat cstruct" Konsole command, which
> outputs:
>
> ec_pdo_entry_info_t slave_0_pdo_entries[] = {
> {0x7010, 0x01, 32}, /* Control 1 */
> {0x7010, 0x02, 32}, /* Control 2 */
> {0x6000, 0x01, 32}, /* Fx/Gage0 */
> {0x6000, 0x02, 32}, /* Fy/Gage1 */
> {0x6000, 0x03, 32}, /* Fz/Gage2 */
> {0x6000, 0x04, 32}, /* Tx/Gage3 */
> {0x6000, 0x05, 32}, /* Ty/Gage3 */
> {0x6000, 0x06, 32}, /* Tz/Gage3 */
> {0x6010, 0x00, 32}, /* SubIndex 000 */
> {0x6020, 0x00, 32}, /* SubIndex 000 */
> };
>
> ec_pdo_info_t slave_0_pdos[] = {
> {0x1601, 2, slave_0_pdo_entries + 0}, /* DO RxPDO-Map */
> {0x1a00, 8, slave_0_pdo_entries + 2}, /* DI TxPDO-Map */
> };
>
> ec_sync_info_t slave_0_syncs[] = {
> {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
> {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
> {2, EC_DIR_OUTPUT, 1, slave_0_pdos + 0, EC_WD_ENABLE},
> {3, EC_DIR_INPUT, 1, slave_0_pdos + 1, EC_WD_DISABLE},
> {0xff}
> };
>
> Since I am working with an analog force sensor, I replaced the analog
> input of the example code "user" with the above info and compiled the code.
> It compiles fine but when I try to run it I get the following error:
>
> Configuring PDOs...
> Failed to register PDO entry: No such file or directory
> PDO entry registration failed!
>
> Any ideas why it can't register the PDO entry? I included my complete code
> below in case having a look helps. Thank you for your time all.
>
>
> /***********************************************************
> ******************
> *
> * $Id: main.c,v 6a6dec6fc806 2012/09/19 17:46:58 fp $
> *
> * 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.
> *
> ***********************************************************
> *****************/
>
> #include <errno.h>
> #include <signal.h>
> #include <stdio.h>
> #include <string.h>
> #include <sys/resource.h>
> #include <sys/time.h>
> #include <sys/types.h>
> #include <unistd.h>
>
> /***********************************************************
> *****************/
>
> #include "ecrt.h"
>
> /***********************************************************
> *****************/
>
> // Application parameters
> #define FREQUENCY 100
> #define PRIORITY 1
>
> // Optional features
> #define CONFIGURE_PDOS 1
> #define SDO_ACCESS 0
>
> /***********************************************************
> *****************/
>
> // 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 = {};
>
> // Timer
> static unsigned int sig_alarms = 0;
> static unsigned int user_alarms = 0;
>
> /***********************************************************
> *****************/
>
> // process data
> static uint8_t *domain1_pd = NULL;
>
> #define BusCouplerPos 0, 0 //#define assigns 0, 0 to the name
> BusCouplerPos
> #define DigOutSlavePos 0, 2
> #define AnaInSlavePos 0, 3
> #define AnaOutSlavePos 0, 4
>
> #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
> //test
> // offsets for PDO entries
> static unsigned int off_ana_in_status;
> static unsigned int off_ana_in_value;
> static unsigned int off_ana_out;
> static unsigned int off_dig_out;
>
> const static ec_pdo_entry_reg_t domain1_regs[] = {
> {AnaInSlavePos, Beckhoff_EL3102, 0x6000, 1, &off_ana_in_status},
> {AnaInSlavePos, Beckhoff_EL3102, 0x6000, 2, &off_ana_in_value},
> {AnaOutSlavePos, Beckhoff_EL4102, 0x6000, 1, &off_ana_out},
> {DigOutSlavePos, Beckhoff_EL2032, 0x6000, 1, &off_dig_out},
> {}
> };
>
> static unsigned int counter = 0;
> static unsigned int blink = 0;
>
> /***********************************************************
> ******************/
>
> #if CONFIGURE_PDOS
>
> // Analog in --------------------------
>
> // static ec_pdo_entry_info_t el3102_pdo_entries[] = {
> // {0x3101, 1, 8}, // channel 1 status
> // {0x3101, 2, 16}, // channel 1 value
> // {0x3102, 1, 8}, // channel 2 status
> // {0x3102, 2, 16}, // channel 2 value
> // {0x6401, 1, 16}, // channel 1 value (alt.)
> // {0x6401, 2, 16} // channel 2 value (alt.)
> // };
> //
> // static ec_pdo_info_t el3102_pdos[] = {
> // {0x1A00, 2, el3102_pdo_entries},
> // {0x1A01, 2, el3102_pdo_entries + 2}
> // };
> //
> // static ec_sync_info_t el3102_syncs[] = {
> // {2, EC_DIR_OUTPUT},
> // {3, EC_DIR_INPUT, 2, el3102_pdos},
> // {0xff}
> // };
>
> static ec_pdo_entry_info_t el3102_pdo_entries[] = {
> {0x7010, 1, 32}, /* Control 1 */
> {0x7010, 2, 32}, /* Control 2 */
> {0x6000, 1, 32}, /* Fx/Gage0 */
> {0x6000, 2, 32}, /* Fy/Gage1 */
> {0x6000, 3, 32}, /* Fz/Gage2 */
> {0x6000, 4, 32}, /* Tx/Gage3 */
> {0x6000, 5, 32}, /* Ty/Gage3 */
> {0x6000, 6, 32}, /* Tz/Gage3 */
> {0x6010, 0, 32}, /* SubIndex 000 */
> {0x6020, 0, 32}, /* SubIndex 000 */
> };
>
> static ec_pdo_info_t el3102_pdos[] = {
> {0x1601, 2, el3102_pdo_entries + 0}, /* DO RxPDO-Map */
> {0x1a00, 8, el3102_pdo_entries + 2}, /* DI TxPDO-Map */
> };
> ec_sync_info_t el3102_syncs[] = {
> {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
> {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
> {2, EC_DIR_OUTPUT, 1, el3102_pdos + 0, EC_WD_ENABLE},
> {3, EC_DIR_INPUT, 1, el3102_pdos + 1, EC_WD_DISABLE},
> {0xff}
> };
>
>
>
>
> /*
> // Analog out -------------------------
>
> static ec_pdo_entry_info_t el4102_pdo_entries[] = {
> {0x3001, 1, 16}, // channel 1 value
> {0x3002, 1, 16}, // channel 2 value
> };
>
> static ec_pdo_info_t el4102_pdos[] = {
> {0x1600, 1, el4102_pdo_entries},
> {0x1601, 1, el4102_pdo_entries + 1}
> };
>
> static ec_sync_info_t el4102_syncs[] = {
> {2, EC_DIR_OUTPUT, 2, el4102_pdos},
> {3, EC_DIR_INPUT},
> {0xff}
> };
>
> // Digital out ------------------------
>
> static ec_pdo_entry_info_t el2004_channels[] = {
> {0x3001, 1, 1}, // Value 1
> {0x3001, 2, 1}, // Value 2
> {0x3001, 3, 1}, // Value 3
> {0x3001, 4, 1} // Value 4
> };
>
> static ec_pdo_info_t el2004_pdos[] = {
> {0x1600, 1, &el2004_channels[0]},
> {0x1601, 1, &el2004_channels[1]},
> {0x1602, 1, &el2004_channels[2]},
> {0x1603, 1, &el2004_channels[3]}
> };
>
> static ec_sync_info_t el2004_syncs[] = {
> {0, EC_DIR_OUTPUT, 4, el2004_pdos},
> {1, EC_DIR_INPUT},
> {0xff}
> };*/
> #endif
>
> /***********************************************************
> ******************/
>
> #if SDO_ACCESS
> static ec_sdo_request_t *sdo;
> #endif
>
> /***********************************************************
> ******************/
>
> 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: WC %u.\n", ds.working_counter);
> if (ds.wc_state != domain1_state.wc_state)
> printf("Domain1: State %u.\n", ds.wc_state);
>
> domain1_state = ds;
> }
>
> /***********************************************************
> ******************/
>
> void check_master_state(void)
> {
> ec_master_state_t ms;
> //printf("test");
> 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)
> printf("AL states: 0x%02X.\n", ms.al_states);
> if (ms.link_up != master_state.link_up)
> printf("test");
> printf("Link is %s.\n", ms.link_up ? "up" : "down");
> master_state = ms;
>
> }
>
> /***********************************************************
> ******************/
> //printf("enter");
> void check_slave_config_states(void)
>
> {
>
> ec_slave_config_state_t s;
>
> ecrt_slave_config_state(sc_ana_in, &s);
> printf("test");
> if (s.al_state != sc_ana_in_state.al_state)
> printf("AnaIn: State 0x%02X.\n", 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;
> }
>
> /***********************************************************
> ******************/
>
> #if SDO_ACCESS
> void read_sdo(void)
> {
> switch (ecrt_sdo_request_state(sdo)) {
> case EC_REQUEST_UNUSED: // request was not used yet
> ecrt_sdo_request_read(sdo); // trigger first read
> break;
> case EC_REQUEST_BUSY:
> fprintf(stderr, "Still busy...\n");
> break;
> case EC_REQUEST_SUCCESS:
> fprintf(stderr, "SDO value: 0x%04X\n",
> EC_READ_U32(ecrt_sdo_request_data(sdo)));
> ecrt_sdo_request_read(sdo); // trigger next read
> break;
> case EC_REQUEST_ERROR:
> fprintf(stderr, "Failed to read SDO!\n");
> ecrt_sdo_request_read(sdo); // retry reading
> break;
> }
> }
> #endif
>
> /***********************************************************
> *****************/
>
> void cyclic_task()
> {
> // receive process data
> ecrt_master_receive(master);
> ecrt_domain_process(domain1);
>
> // check process data state (optional)
> check_domain1_state();
>
> if (counter) {
> counter--;
> } else { // do this at 1 Hz
> counter = FREQUENCY;
>
> // calculate new process data
> blink = !blink;
> //printf("test");
> // check for master state (optional)
> //check_master_state();
> printf("test");
> // check for islave configuration state(s) (optional)
> check_slave_config_states();
>
> #if SDO_ACCESS
> // read process data SDO
> read_sdo();
> #endif
>
> }
>
> #if 0
> // read process data
> printf("AnaIn: state %u value %u\n",
> EC_READ_U8(domain1_pd + off_ana_in_status),
> EC_READ_U32(domain1_pd + off_ana_in_value));
> #endif
>
> #if 1
> // write process data
> EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x06 : 0x09);
> #endif
>
> // send process data
> ecrt_domain_queue(domain1);
> ecrt_master_send(master);
> }
>
> /***********************************************************
> *****************/
>
> void signal_handler(int signum) {
> switch (signum) {
> case SIGALRM:
> sig_alarms++;
> break;
> }
> }
>
> /***********************************************************
> *****************/
>
> int main(int argc, char **argv)
> {
> ec_slave_config_t *sc;
> struct sigaction sa;
> struct itimerval tv;
>
> master = ecrt_request_master(0);
> if (!master)
> return -1;
>
> domain1 = ecrt_master_create_domain(master);
> if (!domain1)
> return -1;
>
> if (!(sc_ana_in = ecrt_master_slave_config(
> master, AnaInSlavePos, Beckhoff_EL3102))) {
> fprintf(stderr, "Failed to get slave configuration.\n");
> return -1;
> }
>
> #if SDO_ACCESS
> fprintf(stderr, "Creating SDO requests...\n");
> if (!(sdo = ecrt_slave_config_create_sdo_request(sc_ana_in, 0x3102,
> 2, 2))) {
> fprintf(stderr, "Failed to create SDO request.\n");
> return -1;
> }
> ecrt_sdo_request_timeout(sdo, 500); // ms
> #endif
>
> #if CONFIGURE_PDOS
> printf("Configuring PDOs...\n");
> if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3102_syncs)) {
> fprintf(stderr, "Failed to configure PDOs.\n");
> return -1;
> }
>
> // if (!(sc = ecrt_master_slave_config(
> // master, AnaOutSlavePos, Beckhoff_EL4102))) {
> // fprintf(stderr, "Failed to get slave configuration.\n");
> // return -1;
> // }
> //
> // if (ecrt_slave_config_pdos(sc, EC_END, el4102_syncs)) {
> // fprintf(stderr, "Failed to configure PDOs.\n");
> // return -1;
> // }
> //
> // if (!(sc = ecrt_master_slave_config(
> // master, DigOutSlavePos, Beckhoff_EL2032))) {
> // fprintf(stderr, "Failed to get slave configuration.\n");
> // return -1;
> // }
>
> // if (ecrt_slave_config_pdos(sc, EC_END, el2004_syncs)) {
> // fprintf(stderr, "Failed to configure PDOs.\n");
> // return -1;
> // }
> #endif
>
> // Create configuration for bus coupler
> sc = ecrt_master_slave_config(master, BusCouplerPos, Beckhoff_EK1100);
> if (!sc)
> 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;
> }
>
> #if PRIORITY
> pid_t pid = getpid();
> if (setpriority(PRIO_PROCESS, pid, -19))
> fprintf(stderr, "Warning: Failed to set priority: %s\n",
> strerror(errno));
> #endif
>
> sa.sa_handler = signal_handler;
> sigemptyset(&sa.sa_mask);
> sa.sa_flags = 0;
> if (sigaction(SIGALRM, &sa, 0)) {
> fprintf(stderr, "Failed to install signal handler!\n");
> return -1;
> }
>
> printf("Starting timer...\n");
> tv.it_interval.tv_sec = 0;
> tv.it_interval.tv_usec = 1000000 / FREQUENCY;
> tv.it_value.tv_sec = 0;
> tv.it_value.tv_usec = 1000;
> if (setitimer(ITIMER_REAL, &tv, NULL)) {
> fprintf(stderr, "Failed to start timer: %s\n", strerror(errno));
> return 1;
> }
>
> printf("Started.\n");
> while (1) {
> //printf("test");
> pause();
>
> #if 0
> struct timeval t;
> gettimeofday(&t, NULL);
> printf("%u.%06u\n", t.tv_sec, t.tv_usec);
> #endif
>
> while (sig_alarms != user_alarms) {
> cyclic_task();
> user_alarms++;
> }
> }
>
> return 0;
> }
>
> /***********************************************************
> *****************/
>
>
>
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