EtherCAT master station based on am4377 controls STM32 slave station

This article is a igh Small routine , Used to control the EtherCAT From station . Master station control 3 Gebeifu EL2008 The slave station realizes every second 1 Secondary light off , Read per second stm32 Slave station AD Data and print it out in the serial port ,stm32 Slave station 8 The channel output is controlled by 8 Channel input control （ use key control led Light out ）.
The program refers to igh Provided example.
The experimental equipment is equipped with xenomai and igh Of am4377 Development board 、 Biff EL2008 From the station and Taobao store “ Easy element electron ” Of stm32 From station .

igh Master station code

#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  So called offset , It is also equivalent to an operation symbol , No need to write initialization , The user layer only uses its address 
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;
    }
    // Get the slave server configuration 
    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);
    // Process data SM To configure 
    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);
    // Create process data fields 
    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;
}

makefile

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   

The code of the control part

		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));  

experimental result