From e49a3aec81fa123d88a18d287531be05d01811c6 Mon Sep 17 00:00:00 2001 From: Nicolas Hiillos Date: Thu, 17 Aug 2023 11:07:45 +0300 Subject: [PATCH] Add ec_test --- source/ec_test.cpp | 370 +++++++++++++++++++++++++++++++++++++++++++++ source/main.cpp | 5 +- 2 files changed, 374 insertions(+), 1 deletion(-) create mode 100644 source/ec_test.cpp diff --git a/source/ec_test.cpp b/source/ec_test.cpp new file mode 100644 index 0000000..1505557 --- /dev/null +++ b/source/ec_test.cpp @@ -0,0 +1,370 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include /* clock_gettime() */ +#include /* mlockall() */ +#include /* sched_setscheduler() */ + +/****************************************************************************/ + +#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 = {}; + +/****************************************************************************/ + +// process data +static uint8_t *domain1_pd = NULL; + +#define BusCouplerPos 0, 0 +#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 + +// 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, 0x3101, 1, &off_ana_in_status}, + {AnaInSlavePos, Beckhoff_EL3102, 0x3101, 2, &off_ana_in_value}, + {AnaOutSlavePos, Beckhoff_EL4102, 0x3001, 1, &off_ana_out}, + {DigOutSlavePos, Beckhoff_EL2032, 0x3001, 1, &off_dig_out}, + {} +}; + +static unsigned int counter = 0; +static unsigned int blink = 0; + +/*****************************************************************************/ + +// 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} +}; + +// 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} +}; + +/*****************************************************************************/ + +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; +} + +/*****************************************************************************/ + +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) { + 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; +} + +/*****************************************************************************/ + +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; + + // calculate new process data + blink = !blink; + + // check for master state (optional) + check_master_state(); + + // check for slave configuration state(s) (optional) + check_slave_config_states(); + } + +#if 0 + // read process data + printf("AnaIn: state %u value %u\n", + EC_READ_U8(domain1_pd + off_ana_in_status), + EC_READ_U16(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 stack_prefault(void) +{ + unsigned char dummy[MAX_SAFE_STACK]; + + memset(dummy, 0, MAX_SAFE_STACK); +} + +/****************************************************************************/ + +//int main(int argc, char **argv) +int main_loop(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; + } + + if (!(sc_ana_in = ecrt_master_slave_config( + master, AnaInSlavePos, Beckhoff_EL3102))) { + fprintf(stderr, "Failed to get slave configuration.\n"); + return -1; + } + + 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; + } + + // 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; + } + + /* Set priority */ + + struct sched_param param = {}; + param.sched_priority = sched_get_priority_max(SCHED_FIFO); + + printf("Using priority %i.", param.sched_priority); + if (sched_setscheduler(0, SCHED_FIFO, ¶m) == -1) { + perror("sched_setscheduler failed"); + } + + /* 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; + + while (1) { + ret = clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, + &wakeup_time, NULL); + if (ret) { + fprintf(stderr, "clock_nanosleep(): %s\n", strerror(ret)); + 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++; + } + } + + return ret; +} diff --git a/source/main.cpp b/source/main.cpp index e002b9a..bf4840c 100644 --- a/source/main.cpp +++ b/source/main.cpp @@ -2,11 +2,14 @@ #include #include "lib.hpp" +#include "./ec_test.cpp" auto main() -> int { auto const lib = library {}; auto const message = "Hello from " + lib.name + "!"; std::cout << message << '\n'; - return 0; + + return main_loop(); + //return 0; }