1

/*

     2

 * Etherlab execution code

     3

 *

     4

 * */

     5

     6

#include <rtdm/rtdm.h>

     7

#include <native/task.h>

     8

#include <native/timer.h>

     9

    10

#include "ecrt.h"

    11

    12

#include "beremiz.h"

    13

#include "iec_types_all.h"

    14

    15

// declaration of interface variables

    16

%(located_variables_declaration)s

    17

    18

// process data

    19

uint8_t *domain1_pd = NULL;

    20

%(used_pdo_entry_offset_variables_declaration)s

    21

    22

const static ec_pdo_entry_reg_t domain1_regs[] = {

    23

%(used_pdo_entry_configuration)s

    24

    {}

    25

};

    26

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

    27

    28

%(pdos_configuration_declaration)s

    29

    30

long long wait_period_ns = 100000LL;

    31

    32

// EtherCAT

    33

static ec_master_t *master = NULL;

    34

static ec_domain_t *domain1 = NULL;

    35

static int first_sent=0;

    36

%(slaves_declaration)s

    37

#define SLOGF(level, format, args...)\

    38

{\

    39

    char sbuf[256];\

    40

    int slen = snprintf(sbuf , sizeof(sbuf) , format , ##args);\

    41

    LogMessage(level, sbuf, slen);\

    42

}

    43

    44

/* Beremiz plugin functions */

    45

int __init_%(location)s(int argc,char **argv)

    46

{

    47

    uint32_t abort_code;

    48

    size_t result_size;

    49

    51

	if (!master) return -1;

    52

    53

	domain1 = ecrt_master_create_domain(master);

    54

	if (!domain1) return -1;

    55

    56

    // slaves PDO configuration

    57

%(slaves_configuration)s

    58

    59

    if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {

    60

        SLOGF(LOG_CRITICAL, "PDO entry registration failed!\n");

    61

        return -1;

    62

    }

    63

    64

	ecrt_master_set_send_interval(master, common_ticktime__);

    65

    66

    // slaves initialization

    67

%(slaves_initialization)s

    68

    69

    // extracting default value for not mapped entry in output PDOs

    70

%(slaves_output_pdos_default_values_extraction)s

    71

    72

    if (ecrt_master_activate(master))

    73

        return -1;

    74

    75

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

    76

        SLOGF(LOG_CRITICAL, "domain1_pd:  0x%%.6lx\n", (unsigned long)domain1_pd);

    77

        return -1;

    78

    }

    79

    80

    SLOGF(LOG_INFO, "Master %(master_number)d activated...\n");

    81

    82

    first_sent = 0;

    83

    84

    return 0;

    85

}

    86

    87

void __cleanup_%(location)s(void)

    88

{

    89

	//release master

    90

	ecrt_release_master(master);

    91

    first_sent = 0;

    92

}

    93

    94

void __retrieve_%(location)s(void)

    95

{

    96

    // receive ethercat

    97

    if(first_sent){

   100

%(retrieve_variables)s

   101

    }

   102

   103

}

   104

   105

static RTIME _last_occur=0;

   106

static RTIME _last_publish=0;

   107

RTIME _current_lag=0;

   108

RTIME _max_jitter=0;

   109

static inline RTIME max(RTIME a,RTIME b){return a>b?a:b;}

   110

   111

void __publish_%(location)s(void)

   112

{

   113

%(publish_variables)s

   115

    {

   116

        RTIME current_time = rt_timer_read();

   117

        // Limit spining max 1/5 of common_ticktime

   118

        RTIME maxdeadline = current_time + (common_ticktime__ / 5);

   119

        RTIME deadline = _last_occur ? 

   120

            _last_occur + common_ticktime__ : 

   121

            current_time + _max_jitter; 

   122

        if(deadline > maxdeadline) deadline = maxdeadline;

   123

        _current_lag = deadline - current_time;

   124

        if(_last_publish != 0){

   125

            RTIME period = current_time - _last_publish;

   126

            if(period > common_ticktime__ )

   127

                _max_jitter = max(_max_jitter, period - common_ticktime__);

   128

            else

   129

                _max_jitter = max(_max_jitter, common_ticktime__ - period);

   130

        }

   131

        _last_publish = current_time;

   132

        _last_occur = current_time;

   133

        while(current_time < deadline) {

   134

            _last_occur = current_time; //Drift backward by default

   135

            current_time = rt_timer_read();

   136

        }

   137

        if( _max_jitter * 10 < common_ticktime__ && _current_lag < _max_jitter){

   138

            //Consuming security margin ?

   139

            _last_occur = current_time; //Drift forward

   140

        }

   141

    }

   143

    first_sent = 1;

   144

}