基于AM4377的EtherCAT主站控制stm32从站

#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 <sys/mman.h>

#include <rtdm/rtdm.h>

#include <native/task.h>

#include <native/sem.h>

#include <native/mutex.h>

#include <native/timer.h>

#include <rtdk.h>

#include <pthread.h>

#include "ecrt.h"

RT_TASK my_task;

static int run = 1;

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

// 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 uint8_t *domain1_pd = NULL;

static ec_slave_config_t *sc_el2008_1 = NULL;

static ec_slave_config_t *sc_el2008_2 = NULL;

static ec_slave_config_t *sc_el2008_3 = NULL;

static ec_slave_config_t *sc_stm = NULL;

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

// process data

#define BusCoupler01_Pos  0, 0

#define DigOutSlave01_Pos 0, 1

#define DigOutSlave02_Pos 0, 2

#define DigOutSlave03_Pos 0, 3

#define DigOutSlave04_Pos 0, 4

#define Beckhoff_EK1100 0x00000002, 0x044c2c52

#define Beckhoff_EL2008 0x00000002, 0x07d83052

#define stm32_lan9252 0x00000009, 0x00009252

// offsets for PDO entries 所谓偏移，也相当于一个操作符号，不需要去写初始化，用户层只使用其地址

static unsigned int off_dig_out0;

static unsigned int off_dig_out1;

static unsigned int off_dig_out2;

static unsigned int off_dig_out3;

static unsigned int off_dig_out4;

static unsigned int off_dig_out5;

// process data

const static ec_pdo_entry_reg_t domain1_regs[] = {

   {DigOutSlave01_Pos, Beckhoff_EL2008, 0x7000, 0x01, &off_dig_out0, NULL},

   {DigOutSlave02_Pos, Beckhoff_EL2008, 0x7000, 0x01, &off_dig_out1, NULL},

   {DigOutSlave03_Pos, Beckhoff_EL2008, 0x7000, 0x01, &off_dig_out2, NULL},

   {DigOutSlave04_Pos, stm32_lan9252, 0x7010, 0x01, &off_dig_out3, NULL},

   {DigOutSlave04_Pos, stm32_lan9252, 0x6000, 0x01, &off_dig_out4, NULL},

   {DigOutSlave04_Pos, stm32_lan9252, 0x6020, 0x11, &off_dig_out5, NULL},

   {}

};

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

/* Slave 1, "EL2008"

 * Vendor ID:       0x00000002

 * Product code:    0x07d83052

 * Revision number:"#x00100000"

 */

ec_pdo_entry_info_t slave_1_pdo_entries[] = {

    {0x7000, 0x01, 1}, /* Output */

    {0x7010, 0x01, 1}, /* Output */

    {0x7020, 0x01, 1}, /* Output */

    {0x7030, 0x01, 1}, /* Output */

    {0x7040, 0x01, 1}, /* Output */

    {0x7050, 0x01, 1}, /* Output */

    {0x7060, 0x01, 1}, /* Output */

    {0x7070, 0x01, 1} /* Output */

};

ec_pdo_info_t slave_1_pdos[] = {

    {0x1600, 1, slave_1_pdo_entries + 0}, /* Channel 1 */

    {0x1601, 1, slave_1_pdo_entries + 1}, /* Channel 2 */

    {0x1602, 1, slave_1_pdo_entries + 2}, /* Channel 3 */

    {0x1603, 1, slave_1_pdo_entries + 3}, /* Channel 4 */

    {0x1604, 1, slave_1_pdo_entries + 4},

    {0x1605, 1, slave_1_pdo_entries + 5},

    {0x1606, 1, slave_1_pdo_entries + 6},

    {0x1607, 1, slave_1_pdo_entries + 7} /* Channel 8 */

};

ec_sync_info_t slave_el2008_syncs[] = {

   {0, EC_DIR_OUTPUT, 8, slave_1_pdos + 0, EC_WD_ENABLE},

   {0xff}

};

/* Master 0, Slave 4, "LAN9252-EVB-HBI"

 * Vendor ID:       0x00000009

 * Product code:    0x00009252

 * Revision number: 0x00000001

 */

ec_pdo_entry_info_t slave_stm_pdo_entries[] = {

    {0x7010, 0x01, 1}, /* LED 1 */

    {0x7010, 0x02, 1}, /* LED 2 */

    {0x7010, 0x03, 1}, /* LED 3 */

    {0x7010, 0x04, 1}, /* LED 4 */

    {0x7010, 0x05, 1}, /* LED 5 */

    {0x7010, 0x06, 1}, /* LED 6 */

    {0x7010, 0x07, 1}, /* LED 7 */

    {0x7010, 0x08, 1}, /* LED 8 */

    {0x0000, 0x00, 8}, /* Gap */

    {0x6000, 0x01, 1}, /* Switch 1 */

    {0x6000, 0x02, 1}, /* Switch 2 */

    {0x6000, 0x03, 1}, /* Switch 3 */

    {0x6000, 0x04, 1}, /* Switch 4 */

    {0x6000, 0x05, 1}, /* Switch 5 */

    {0x6000, 0x06, 1}, /* Switch 6 */

    {0x6000, 0x07, 1}, /* Switch 7 */

    {0x6000, 0x08, 1}, /* Switch 8 */

    {0x0000, 0x00, 8}, /* Gap */

    {0x6020, 0x01, 1}, /* Underrange */

    {0x6020, 0x02, 1}, /* Overrange */

    {0x6020, 0x03, 2}, /* Limit 1 */

    {0x6020, 0x05, 2}, /* Limit 2 */

    {0x0000, 0x00, 8}, /* Gap */

    {0x1802, 0x07, 1}, /* TxPDOState */

    {0x1802, 0x09, 1}, /* TxPDO Toggle */

    {0x6020, 0x11, 16}, /* Analog input */

};

ec_pdo_info_t slave_stm_pdos[] = {

    {0x1601, 9, slave_stm_pdo_entries + 0}, /* DO RxPDO-Map */

    {0x1a00, 9, slave_stm_pdo_entries + 9}, /* DI TxPDO-Map */

    {0x1a02, 8, slave_stm_pdo_entries + 18}, /* AI TxPDO-Map */

};

//sm0 for MBoxOut;sm1 for MBoxIn;sm2 for Outputs;sm3 for Inputs

ec_sync_info_t slave_stm_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_stm_pdos + 0, EC_WD_ENABLE},

    {3, EC_DIR_INPUT, 2, slave_stm_pdos + 1, EC_WD_DISABLE},

    {0xff}

};

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

 * Realtime task

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

void rt_check_domain_state(void)

{

    ec_domain_state_t ds = {};

    ecrt_domain_state(domain1, &ds);

    if (ds.working_counter != domain1_state.working_counter) {

        rt_printf("Domain1: WC %u.\n", ds.working_counter);

    }

    if (ds.wc_state != domain1_state.wc_state) {

        rt_printf("Domain1: State %u.\n", ds.wc_state);

    }

    domain1_state = ds;

}

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

void rt_check_master_state(void)

{

    ec_master_state_t ms;

    ecrt_master_state(master, &ms);

    if (ms.slaves_responding != master_state.slaves_responding) {

        rt_printf("%u slave(s).\n", ms.slaves_responding);

    }

    if (ms.al_states != master_state.al_states) {

        rt_printf("AL states: 0x%02X.\n", ms.al_states);

    }

    if (ms.link_up != master_state.link_up) {

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

    }

    master_state = ms;

}

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

#define _ms 1000000

void my_task_proc(void *arg)

{

    int cycle_counter = 0;

    unsigned int blink = 0;

    rt_task_set_periodic(NULL, TM_NOW, 1*_ms); // ns

        while (cycle_counter<10000) {

                rt_task_wait_period(NULL);

                cycle_counter++;

                // receive EtherCAT frames

                ecrt_master_receive(master);

                ecrt_domain_process(domain1);

                rt_check_domain_state();

                if (!(cycle_counter % 1000)) {

                        rt_check_master_state();

                }

                if (!(cycle_counter % 1000)) {

                        blink = !blink;

            printf("ad input... %d\n",EC_READ_U16(domain1_pd + off_dig_out5));

                }

                EC_WRITE_U8(domain1_pd + off_dig_out0, blink ? 0xFF: 0x00);

        EC_WRITE_U8(domain1_pd + off_dig_out1, blink ? 0xFF: 0x00);

        EC_WRITE_U8(domain1_pd + off_dig_out2, blink ? 0xFF: 0x00);

        EC_WRITE_U8(domain1_pd + off_dig_out3, EC_READ_U8(domain1_pd + off_dig_out4));   

                // send process data

                ecrt_domain_queue(domain1);

                ecrt_master_send(master);

        }

    run = 0;

}

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

 * Signal handler

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

void signal_handler(int sig)

{

    run = 0;

}

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

 * Main function=

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

int main(int argc, char *argv[])

{

    int ret;

    /* Perform auto-init of rt_print buffers if the task doesn't do so */

    rt_print_auto_init(1);

    // rt_print_init(1000,"LEE_RT");

    signal(SIGTERM, signal_handler);

    signal(SIGINT, signal_handler);

    mlockall(MCL_CURRENT | MCL_FUTURE);

    printf("Requesting master...\n");

    master = ecrt_request_master(0);

    if (!master) {

        return -1;

    }

    printf("Creating slave configurations...\n");

    // Create configuration for bus coupler EK1100

    ec_slave_config_t *sc;

    sc = ecrt_master_slave_config(master, BusCoupler01_Pos, Beckhoff_EK1100);

    if (!sc) {

        return -1;

    }

    //获从站服配置

    sc_el2008_1 = ecrt_master_slave_config(master, DigOutSlave01_Pos, Beckhoff_EL2008);

    sc_el2008_2 = ecrt_master_slave_config(master, DigOutSlave02_Pos, Beckhoff_EL2008);

    sc_el2008_3 = ecrt_master_slave_config(master, DigOutSlave03_Pos, Beckhoff_EL2008);

    sc_stm = ecrt_master_slave_config(master, DigOutSlave04_Pos, stm32_lan9252);

    //过程数据SM配置

    ecrt_slave_config_pdos(sc_el2008_1, EC_END, slave_el2008_syncs);

    ecrt_slave_config_pdos(sc_el2008_2, EC_END, slave_el2008_syncs);

    ecrt_slave_config_pdos(sc_el2008_3, EC_END, slave_el2008_syncs);

    ecrt_slave_config_pdos(sc_stm, EC_END, slave_stm_syncs);

    //创建过程数据域

    domain1 = ecrt_master_create_domain(master);

    ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs);

    printf("Activating master...\n");

    ecrt_master_activate(master);

    if (!(domain1_pd = ecrt_domain_data(domain1))) {

        fprintf(stderr, "Failed to get domain1 data pointer.\n");

        return -1;

    }

    ret = rt_task_create(&my_task, "my_task", 0, 99, T_FPU);

    if (ret < 0) {

        fprintf(stderr, "Failed to create task: %s\n", strerror(-ret));

        return -1;

    }

    printf("Starting my_task...\n");

    ret = rt_task_start(&my_task, &my_task_proc, NULL);

    if (ret < 0) {

        fprintf(stderr, "Failed to start task: %s\n", strerror(-ret));

        return -1;

    }

    while (run) {

        sched_yield();

    }

    printf("Deleting realtime task...\n");

    rt_task_delete(&my_task);

    printf("End of Program\n");

    ecrt_release_master(master);

    return 0;

}

CC       = arm-linux-gnueabihf-gcc

INCPATH  = -I./igh-output/include -I./xenomai-Output/include -I./xenomai-Output/include/posix

LIBS     = -L./igh-output/lib -lethercat_rtdm -L./xenomai-Output/lib -lrtdm -lpthread_rt -lnative  -lxenomai -lpthread -lrt -lm

LFLAGS   = -Wl,@./xenomai-Output/lib/posix.wrappers 

DEFINES  = -D_GNU_SOURCE -D_REENTRANT -D__XENO__ 

CFLAGS   = $(DEFINES)



TARGET        = overwatch

####### Output directory

OBJECTS_DIR   = ./

####### Files

SOURCES       = overwatch.c         

OBJECTS       = overwatch.o        

####### Build rules

$(TARGET):  $(OBJECTS)  

        $(CC) $(LFLAGS) -o $(TARGET) $(OBJECTS)  $(LIBS)



####### Compile

$(OBJECTS): $(SOURCES)

        $(CC) $(INCPATH) $(CFLAGS) -o $(OBJECTS) -c $(SOURCES)



clean:

        rm  overwatch *.o   

                if (!(cycle_counter % 1000)) {

                        blink = !blink;

            printf("ad input... %d\n",EC_READ_U16(domain1_pd + off_dig_out5));

                }

                EC_WRITE_U8(domain1_pd + off_dig_out0, blink ? 0xFF: 0x00);

        EC_WRITE_U8(domain1_pd + off_dig_out1, blink ? 0xFF: 0x00);

        EC_WRITE_U8(domain1_pd + off_dig_out2, blink ? 0xFF: 0x00);

        EC_WRITE_U8(domain1_pd + off_dig_out3, EC_READ_U8(domain1_pd + off_dig_out4));