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DC example
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@raziebe
raziebe committed Dec 15, 2012
1 parent 7eeff13 commit 276190c
Showing 1 changed file with 120 additions and 87 deletions.
207 changes: 120 additions & 87 deletions virtual_slave/main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -3,26 +3,28 @@
#include <stdio.h>
#include <string.h>
#include <sys/resource.h>
#include <time.h>
#include <sys/time.h>
#include <sys/types.h>
#include <unistd.h>

/****************************************************************************/

#include "ecrt.h"
#include "slaves.h"
/****************************************************************************/
#if __BYTE_ORDER == __LITTLE_ENDIAN
#pragma "using little endian"
#endif

// Application parameters
#define FREQUENCY 100
#define PRIORITY 1
#define NSEC_PER_SEC (1000000000L)
#define PERIOD_NS (NSEC_PER_SEC / FREQUENCY)

// Optional features
#define CONFIGURE_PDOS 1
#define SDO_ACCESS 0

#define TIMESPEC2NS(T) ((uint64_t) (T).tv_sec * NSEC_PER_SEC + (T).tv_nsec)
#define CLOCK_TO_USE CLOCK_REALTIME
#define NSEC_PER_SEC (1000000000L)
#define PERIOD_NS (NSEC_PER_SEC / FREQUENCY)
#define TWO_SLAVES
/****************************************************************************/

// EtherCAT
Expand All @@ -32,10 +34,7 @@ static ec_master_state_t master_state = {};
static ec_domain_t *domain1 = NULL;
static ec_domain_state_t domain1_state = {};

// Timer
static unsigned int sig_alarms = 0;
static unsigned int user_alarms = 0;

const struct timespec cycletime = {0, PERIOD_NS};
/****************************************************************************/

// process data
Expand All @@ -54,69 +53,36 @@ static unsigned int off_ana_out[2]={-1};
const static ec_pdo_entry_reg_t domain1_regs[] = {
{AnaInSlavePos1, LIBIX_VP, 0x1a00, 0x02, &off_ana_out[0]},
{AnaInSlavePos1, LIBIX_VP, 0x1600, 0x02, &off_ana_in[0]},
#ifdef TWO_SLAVES
{AnaInSlavePos2, LIBIX_VP, 0x1a00, 0x02, &off_ana_out[1]},
{AnaInSlavePos2, LIBIX_VP, 0x1600, 0x02, &off_ana_in[1]},
#endif
{}
};

static unsigned int counter = 0;
static unsigned int blink = 0;

/*****************************************************************************/

void check_domain1_state(void)
struct timespec timespec_add(struct timespec time1, struct timespec time2)
{
ec_domain_state_t ds;
struct timespec result;

ecrt_domain_state(domain1, &ds);
if ((time1.tv_nsec + time2.tv_nsec) >= NSEC_PER_SEC) {
result.tv_sec = time1.tv_sec + time2.tv_sec + 1;
result.tv_nsec = time1.tv_nsec + time2.tv_nsec - NSEC_PER_SEC;
} else {
result.tv_sec = time1.tv_sec + time2.tv_sec;
result.tv_nsec = time1.tv_nsec + time2.tv_nsec;
}

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 cyclic_task()
{
// receive process data
ecrt_master_receive(master);
ecrt_domain_process(domain1);

check_domain1_state();
if (counter) {
counter--;
} else{ // do this at 1 Hz
counter = FREQUENCY;
// calculate new process data
blink = !blink;
}
EC_WRITE_U8(domain1_pd + off_ana_out[0] , counter);
EC_WRITE_U8(domain1_pd + off_ana_out[1] , counter);
printf("READ FROM SLAVES 0x%x 0x%x\n",
EC_READ_U8(domain1_pd + off_ana_in[0] ),
EC_READ_U8(domain1_pd + off_ana_in[1] ) );
// send process data
ecrt_domain_queue(domain1);
ecrt_master_send(master);
}

void signal_handler(int signum)
{
switch (signum) {
case SIGALRM:
sig_alarms++;
break;
}
return result;
}
/*****************************************************************************/

int main(int argc, char **argv)
int config_slaves(void)
{
ec_slave_config_t *sc1;
ec_slave_config_t *sc2;
struct sigaction sa;
struct itimerval tv;

master = ecrt_request_master(0);
if (!master)
Expand All @@ -131,28 +97,34 @@ int main(int argc, char **argv)
fprintf(stderr, "Failed to get slave configuration.\n");
return -1;
}
#ifdef TWO_SLAVES
if (!(sc2 = ecrt_master_slave_config(
master, AnaInSlavePos2, LIBIX_VP))) {
fprintf(stderr, "Failed to get slave configuration.\n");
return -1;
}

#endif
printf("Configuring PDOs...\n");
if (ecrt_slave_config_pdos(sc1, EC_END, slave_0_syncs)) {
fprintf(stderr, "Failed to configure PDOs.\n");
return -1;
}

#ifdef TWO_SLAVES
if (ecrt_slave_config_pdos(sc2, EC_END, slave_1_syncs)) {
fprintf(stderr, "Failed to configure PDOs.\n");
return -1;
}

#endif
if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
fprintf(stderr, "PDO entry registration failed!\n");
return -1;
}

ecrt_slave_config_dc(sc1, 0x0700, PERIOD_NS, 4400000, 0, 0);
#ifdef TWO_SLAVES
ecrt_slave_config_dc(sc2, 0x0700, PERIOD_NS, 4400000, 0, 0);
#endif
printf("Activating master...\n");
if (ecrt_master_activate(master))
return -1;
Expand All @@ -161,36 +133,97 @@ int main(int argc, char **argv)
return -1;
}

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("Offsets in=%d,%d out=%d,%d\n",
off_ana_in[0], off_ana_in[1],
off_ana_out[0], off_ana_out[1]);
ecrt_slave_config_dc(sc, 0x0700, PERIOD_NS, 4400000, 0, 0);

printf("Started.\n");
while (1) {
pause();
while (sig_alarms != user_alarms) {
cyclic_task();
user_alarms++;
}
}
return 0;
}

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;

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("Link is %s.\n", ms.link_up ? "up" : "down");

master_state = ms;
}

int debug = 0;

void cyclic_task(void)
{
struct timespec wakeupTime, time;

// get current time
clock_gettime(CLOCK_TO_USE, &wakeupTime);

while(1) {
wakeupTime = timespec_add(wakeupTime, cycletime);
clock_nanosleep(CLOCK_TO_USE, TIMER_ABSTIME, &wakeupTime, NULL);
// receive process data
ecrt_master_receive(master);
ecrt_domain_process(domain1);

// check process data state (optional)
check_domain1_state();

// write application time to master
clock_gettime(CLOCK_TO_USE, &time);
if (counter) {
counter--;
} else { // do this at 1 Hz
counter = FREQUENCY;
// check for master state (optional)
check_master_state();
printf("time=%u\n",
(uint32_t)TIMESPEC2NS(time));
if (debug++ == 15)
exit(0);
}
ecrt_master_application_time(master, TIMESPEC2NS(time));
/* master writes to 910 */
ecrt_master_sync_reference_clock(master);
/*
* the reference slave propagarte its time to all other slaves.
* note that this is actually the master time.
*/
ecrt_master_sync_slave_clocks(master);
// send process data
ecrt_domain_queue(domain1);
ecrt_master_send(master);
}
}

/****************************************************************************/

int main(int argc, char **argv)
{
if (config_slaves())
return -1;
cyclic_task();
return 0;
}

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