AM6442: EtherCAT master cant be able to connect slave device

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

#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 <time.h> /* clock_gettime() */
#include <sys/mman.h> /* mlockall() */
#include <sched.h> /* 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 TEST  0, 0
#define AM243X 0xe000059d, 0x54490025

// offsets for PDO entries
static unsigned int led;
static unsigned int counter = 0;
static unsigned int blink = 0;

const static ec_pdo_entry_reg_t domain1_regs[] = {
    {TEST,AM243X,0x2000,0x02, &led}
};



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

/* Master 0, Slave 0, "TI EtherCAT Toolkit for AM243X.R5F"                                   
 * Vendor ID:       0xe000059d                                                               
 * Product code:    0x54490025                                                               
 * Revision number: 0x00010000                                                               
 */                                                                                          
                                                                                             
ec_pdo_entry_info_t slave_0_pdo_entries[] = {                                                
    {0x2000, 0x02, 8}, /* i2c-leds */                                                        
    {0x2000, 0x03, 8}, /* SubIndex 3 */                                                      
    {0x2000, 0x04, 16}, /* SubIndex 4 */                                                     
    {0x2000, 0x01, 32}, /* SubIndex 1 */                                                     
    {0x2002, 0x02, 8}, /* SubIndex 2 */                                                      
    {0x2002, 0x04, 16}, /* SubIndex 4 */                                                     
    {0x2002, 0x03, 8}, /* SubIndex 3 */                                                      
    {0x2002, 0x01, 32}, /* SubIndex 1 */                                                     
};                                                                                           
                                                                                             
ec_pdo_info_t slave_0_pdos[] = {                                                             
    {0x1600, 3, slave_0_pdo_entries + 0}, /* RxPDO */                                        
    {0x1601, 1, slave_0_pdo_entries + 3}, /* RxPDO2 */                                       
    {0x1a00, 3, slave_0_pdo_entries + 4}, /* TxPDO */                                        
    {0x1a01, 1, slave_0_pdo_entries + 7}, /* TxPDO2 */                                       
};                                                                                           
                                                                                             
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, 2, slave_0_pdos + 0, EC_WD_ENABLE},                                   
    {3, EC_DIR_INPUT, 2, slave_0_pdos + 2, EC_WD_DISABLE},                                   
    {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;

        // check for master state (optional)
        check_master_state();

        // check for slave configuration state(s) (optional)
        check_slave_config_states();
    }

    // write process data
    //EC_WRITE_U8(domain1_pd + led, 0xff);
    EC_WRITE_U8(domain1_pd + led, 0x7);
    //EC_WRITE_U8(domain1_pd + led, 0x3);
    //EC_WRITE_U8(domain1_pd + led, 0x1);
    //EC_WRITE_U8(domain1_pd + led, 0x0);
    
    

    // 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)
{
    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, TEST, AM243X))) {
        fprintf(stderr, "Failed to get slave configuration.\n");
        return -1;
    }

    printf("Configuring PDOs...\n");
    if (ecrt_slave_config_pdos(sc_ana_in, EC_END, slave_0_syncs)) {
        fprintf(stderr, "Failed to configure PDOs.\n");
        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.\n", param.sched_priority);
    if (sched_setscheduler(0, SCHED_FIFO, &param) == -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;
}

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

/*****************************************************************************
 *
 *  $Id$
 *
 *  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 <time.h>
#include <sys/mman.h>
#include <malloc.h>

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

#include "ecrt.h"

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

// Application parameters
#define FREQUENCY 1000
#define CLOCK_TO_USE CLOCK_REALTIME
#define MEASURE_TIMING

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

#define NSEC_PER_SEC (1000000000L)
#define PERIOD_NS (NSEC_PER_SEC / FREQUENCY)

#define DIFF_NS(A, B) (((B).tv_sec - (A).tv_sec) * NSEC_PER_SEC + \
	(B).tv_nsec - (A).tv_nsec)

#define TIMESPEC2NS(T) ((uint64_t) (T).tv_sec * NSEC_PER_SEC + (T).tv_nsec)

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

// 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 = {};

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

// process data
static uint8_t *domain1_pd = NULL;

#define DigOutSlavePos 0, 0

#define AM64X    0x0000059D, 0x54490022     //--> was 0xE000059D in mainv2.c but both work

// offsets for PDO entries
static int off_dig_out;

static unsigned int counter = 0;
static unsigned int blink = 0;
static unsigned int sync_ref_counter = 0;
const struct timespec cycletime = {0, PERIOD_NS};

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

struct timespec timespec_add(struct timespec time1, struct timespec time2)
{
	struct timespec result;

	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;
	}

	return result;
}

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

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 cyclic_task()
{
    struct timespec wakeupTime, time;
#ifdef MEASURE_TIMING
    struct timespec startTime, endTime, lastStartTime = {};
    uint32_t period_ns = 0, exec_ns = 0, latency_ns = 0,
             latency_min_ns = 0, latency_max_ns = 0,
             period_min_ns = 0, period_max_ns = 0,
             exec_min_ns = 0, exec_max_ns = 0;
#endif

    // 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);

#ifdef MEASURE_TIMING
        clock_gettime(CLOCK_TO_USE, &startTime);
        latency_ns = DIFF_NS(wakeupTime, startTime);
        period_ns = DIFF_NS(lastStartTime, startTime);
        exec_ns = DIFF_NS(lastStartTime, endTime);
        lastStartTime = startTime;

        if (latency_ns > latency_max_ns) {
            latency_max_ns = latency_ns;
        }
        if (latency_ns < latency_min_ns) {
            latency_min_ns = latency_ns;
        }
        if (period_ns > period_max_ns) {
            period_max_ns = period_ns;
        }
        if (period_ns < period_min_ns) {
            period_min_ns = period_ns;
        }
        if (exec_ns > exec_max_ns) {
            exec_max_ns = exec_ns;
        }
        if (exec_ns < exec_min_ns) {
            exec_min_ns = exec_ns;
        }
#endif

		// 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;

			// check for master state (optional)
			check_master_state();

#ifdef MEASURE_TIMING
            // output timing stats
            printf("period     %10u ... %10u\n",
                    period_min_ns, period_max_ns);
            printf("exec       %10u ... %10u\n",
                    exec_min_ns, exec_max_ns);
            printf("latency    %10u ... %10u\n",
                    latency_min_ns, latency_max_ns);
            period_max_ns = 0;
            period_min_ns = 0xffffffff;
            exec_max_ns = 0;
            exec_min_ns = 0xffffffff;
            latency_max_ns = 0;
            latency_min_ns = 0xffffffff;
#endif

			// calculate new process data
			blink = !blink;
		}

		// write process data
		EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x66 : 0x99); //--> domain1_pd pointer + off_dig_out (an offset)

		// write application time to master
		clock_gettime(CLOCK_TO_USE, &time);
		ecrt_master_application_time(master, TIMESPEC2NS(time));

		if (sync_ref_counter) {
			sync_ref_counter--;
		} else {
			sync_ref_counter = 1; // sync every cycle
			ecrt_master_sync_reference_clock(master);
		}
		ecrt_master_sync_slave_clocks(master);

		// send process data
		ecrt_domain_queue(domain1);
		ecrt_master_send(master);

#ifdef MEASURE_TIMING
        clock_gettime(CLOCK_TO_USE, &endTime);
#endif
	}
}

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

int main(int argc, char **argv)
{
    ec_slave_config_t *sc;

	if (mlockall(MCL_CURRENT | MCL_FUTURE) == -1) {
		perror("mlockall failed");
		return -1;
	}

    master = ecrt_request_master(0);
    if (!master)
        return -1;

    domain1 = ecrt_master_create_domain(master);
    if (!domain1)
        return -1;

    if (!(sc = ecrt_master_slave_config(
                    master, DigOutSlavePos, AM64X))) {
        fprintf(stderr, "Failed to get slave configuration.\n");
        return -1;
    }

    off_dig_out = ecrt_slave_config_reg_pdo_entry(sc,
            0x2000, 0x02, domain1, NULL);
    if (off_dig_out < 0)
        return -1;

    // configure SYNC signals for this slave
	ecrt_slave_config_dc(sc, 0x2000, PERIOD_NS, 4400000, 0, 0);

    printf("Activating master...\n");
    if (ecrt_master_activate(master))
        return -1;

    if (!(domain1_pd = ecrt_domain_data(domain1))) {
        return -1;
    }

    pid_t pid = getpid();
    if (setpriority(PRIO_PROCESS, pid, -19))
        fprintf(stderr, "Warning: Failed to set priority: %s\n",
                strerror(errno));

	printf("Starting cyclic function.\n");
    cyclic_task();

    return 0;
}

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