author | Laurent Bessard |
Fri, 16 Nov 2012 23:43:45 +0100 | |
changeset 2094 | 72b74099b873 |
parent 2081 | b1801bf4365c |
child 2106 | 4ec3b833f2d5 |
permissions | -rw-r--r-- |
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/* |
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* Etherlab execution code |
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* |
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* */ |
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#include <rtdm/rtdm.h> |
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#include <native/task.h> |
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#include <native/timer.h> |
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#include "ecrt.h" |
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#include "ec_rtdm.h" |
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#ifdef _WINDOWS_H |
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#include "iec_types.h" |
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#else |
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#include "iec_std_lib.h" |
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#endif |
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extern unsigned long long common_ticktime__; |
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// declaration of interface variables |
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%(located_variables_declaration)s |
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// process data |
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uint8_t *domain1_pd = NULL; |
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%(used_pdo_entry_offset_variables_declaration)s |
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const static ec_pdo_entry_reg_t domain1_regs[] = { |
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%(used_pdo_entry_configuration)s |
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{} |
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}; |
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/*****************************************************************************/ |
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%(pdos_configuration_declaration)s |
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int rt_fd = -1; |
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CstructMstrAttach MstrAttach; |
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char rt_dev_file[64]; |
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long long wait_period_ns = 100000LL; |
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// EtherCAT |
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static ec_master_t *master = NULL; |
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static ec_domain_t *domain1 = NULL; |
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static int first_sent=0; |
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%(slaves_declaration)s |
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/* Beremiz plugin functions */ |
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int __init_%(location)s(int argc,char **argv) |
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{ |
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uint32_t abort_code; |
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size_t result_size; |
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int rtstatus; |
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MstrAttach.masterindex = %(master_number)d; |
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master = ecrt_request_master(MstrAttach.masterindex); |
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if (!master) return -1; |
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domain1 = ecrt_master_create_domain(master); |
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if (!domain1) return -1; |
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// slaves PDO configuration |
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%(slaves_configuration)s |
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if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) { |
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fprintf(stderr, "PDO entry registration failed!\n"); |
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return -1; |
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} |
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ecrt_master_set_send_interval(master, common_ticktime__); |
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// slaves initialization |
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%(slaves_initialization)s |
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|
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// extracting default value for not mapped entry in output PDOs |
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%(slaves_output_pdos_default_values_extraction)s |
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sprintf(&rt_dev_file[0],"%%s%%u",EC_RTDM_DEV_FILE_NAME,0); |
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rt_fd = rt_dev_open( &rt_dev_file[0], 0); |
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if (rt_fd < 0) { |
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fprintf(stderr, "Can't open %%s\n", &rt_dev_file[0]); |
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return -1; |
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} |
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// attach the master over rtdm driver |
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MstrAttach.domainindex = ecrt_domain_index(domain1); |
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rtstatus = ecrt_rtdm_master_attach(rt_fd, &MstrAttach); |
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if (rtstatus < 0) { |
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fprintf(stderr, "Cannot attach to master over rtdm\n"); |
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return -1; |
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} |
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if (ecrt_master_activate(master)) |
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return -1; |
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if (!(domain1_pd = ecrt_domain_data(domain1))) { |
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fprintf(stderr, "domain1_pd: 0x%%.6lx\n", (unsigned long)domain1_pd); |
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return -1; |
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} |
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fprintf(stdout, "Master %(master_number)d activated...\n"); |
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|
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first_sent = 0; |
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|
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return 0; |
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} |
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void __cleanup_%(location)s(void) |
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{ |
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if (rt_fd >= 0) { |
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rt_dev_close(rt_fd); |
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} |
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//release master |
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ecrt_release_master(master); |
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first_sent = 0; |
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} |
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|
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void __retrieve_%(location)s(void) |
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{ |
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// receive ethercat |
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if(first_sent){ |
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ecrt_rtdm_master_recieve(rt_fd); |
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ecrt_rtdm_domain_process(rt_fd); |
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%(retrieve_variables)s |
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} |
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|
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} |
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|
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static RTIME _last_occur=0; |
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static RTIME _last_publish=0; |
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Edouard Tisserant
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RTIME _current_lag=0; |
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RTIME _max_jitter=0; |
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static inline RTIME max(RTIME a,RTIME b){return a>b?a:b;} |
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|
2022
c2295d311402
First working implementation of Beremiz plugin for etherlab
laurent
parents:
diff
changeset
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135 |
void __publish_%(location)s(void) |
c2295d311402
First working implementation of Beremiz plugin for etherlab
laurent
parents:
diff
changeset
|
136 |
{ |
c2295d311402
First working implementation of Beremiz plugin for etherlab
laurent
parents:
diff
changeset
|
137 |
%(publish_variables)s |
2075
21eb91dc7071
Different etherlab sequencing within retrieve and publish. Now, timer is polled after PLC exec until frame have to be sent. This slightly reduce jitter, compared to previous sequencing
Edouard Tisserant
parents:
2039
diff
changeset
|
138 |
ecrt_rtdm_domain_queque(rt_fd); |
21eb91dc7071
Different etherlab sequencing within retrieve and publish. Now, timer is polled after PLC exec until frame have to be sent. This slightly reduce jitter, compared to previous sequencing
Edouard Tisserant
parents:
2039
diff
changeset
|
139 |
{ |
2076
22e9993348f6
Better jitter compensation before sending Ethercat frame. Jitter can be compensed in both directions, within some limits
Edouard Tisserant
parents:
2075
diff
changeset
|
140 |
RTIME current_time = rt_timer_read(); |
22e9993348f6
Better jitter compensation before sending Ethercat frame. Jitter can be compensed in both directions, within some limits
Edouard Tisserant
parents:
2075
diff
changeset
|
141 |
// Limit spining max 1/5 of common_ticktime |
22e9993348f6
Better jitter compensation before sending Ethercat frame. Jitter can be compensed in both directions, within some limits
Edouard Tisserant
parents:
2075
diff
changeset
|
142 |
RTIME maxdeadline = current_time + (common_ticktime__ / 5); |
22e9993348f6
Better jitter compensation before sending Ethercat frame. Jitter can be compensed in both directions, within some limits
Edouard Tisserant
parents:
2075
diff
changeset
|
143 |
RTIME deadline = _last_occur ? |
22e9993348f6
Better jitter compensation before sending Ethercat frame. Jitter can be compensed in both directions, within some limits
Edouard Tisserant
parents:
2075
diff
changeset
|
144 |
_last_occur + common_ticktime__ : |
22e9993348f6
Better jitter compensation before sending Ethercat frame. Jitter can be compensed in both directions, within some limits
Edouard Tisserant
parents:
2075
diff
changeset
|
145 |
current_time + _max_jitter; |
22e9993348f6
Better jitter compensation before sending Ethercat frame. Jitter can be compensed in both directions, within some limits
Edouard Tisserant
parents:
2075
diff
changeset
|
146 |
if(deadline > maxdeadline) deadline = maxdeadline; |
22e9993348f6
Better jitter compensation before sending Ethercat frame. Jitter can be compensed in both directions, within some limits
Edouard Tisserant
parents:
2075
diff
changeset
|
147 |
_current_lag = deadline - current_time; |
22e9993348f6
Better jitter compensation before sending Ethercat frame. Jitter can be compensed in both directions, within some limits
Edouard Tisserant
parents:
2075
diff
changeset
|
148 |
if(_last_publish != 0){ |
22e9993348f6
Better jitter compensation before sending Ethercat frame. Jitter can be compensed in both directions, within some limits
Edouard Tisserant
parents:
2075
diff
changeset
|
149 |
RTIME period = current_time - _last_publish; |
22e9993348f6
Better jitter compensation before sending Ethercat frame. Jitter can be compensed in both directions, within some limits
Edouard Tisserant
parents:
2075
diff
changeset
|
150 |
if(period > common_ticktime__ ) |
22e9993348f6
Better jitter compensation before sending Ethercat frame. Jitter can be compensed in both directions, within some limits
Edouard Tisserant
parents:
2075
diff
changeset
|
151 |
_max_jitter = max(_max_jitter, period - common_ticktime__); |
22e9993348f6
Better jitter compensation before sending Ethercat frame. Jitter can be compensed in both directions, within some limits
Edouard Tisserant
parents:
2075
diff
changeset
|
152 |
else |
22e9993348f6
Better jitter compensation before sending Ethercat frame. Jitter can be compensed in both directions, within some limits
Edouard Tisserant
parents:
2075
diff
changeset
|
153 |
_max_jitter = max(_max_jitter, common_ticktime__ - period); |
22e9993348f6
Better jitter compensation before sending Ethercat frame. Jitter can be compensed in both directions, within some limits
Edouard Tisserant
parents:
2075
diff
changeset
|
154 |
} |
22e9993348f6
Better jitter compensation before sending Ethercat frame. Jitter can be compensed in both directions, within some limits
Edouard Tisserant
parents:
2075
diff
changeset
|
155 |
_last_publish = current_time; |
22e9993348f6
Better jitter compensation before sending Ethercat frame. Jitter can be compensed in both directions, within some limits
Edouard Tisserant
parents:
2075
diff
changeset
|
156 |
_last_occur = current_time; |
22e9993348f6
Better jitter compensation before sending Ethercat frame. Jitter can be compensed in both directions, within some limits
Edouard Tisserant
parents:
2075
diff
changeset
|
157 |
while(current_time < deadline) { |
22e9993348f6
Better jitter compensation before sending Ethercat frame. Jitter can be compensed in both directions, within some limits
Edouard Tisserant
parents:
2075
diff
changeset
|
158 |
_last_occur = current_time; //Drift backward by default |
22e9993348f6
Better jitter compensation before sending Ethercat frame. Jitter can be compensed in both directions, within some limits
Edouard Tisserant
parents:
2075
diff
changeset
|
159 |
current_time = rt_timer_read(); |
22e9993348f6
Better jitter compensation before sending Ethercat frame. Jitter can be compensed in both directions, within some limits
Edouard Tisserant
parents:
2075
diff
changeset
|
160 |
} |
22e9993348f6
Better jitter compensation before sending Ethercat frame. Jitter can be compensed in both directions, within some limits
Edouard Tisserant
parents:
2075
diff
changeset
|
161 |
if( _max_jitter * 10 < common_ticktime__ && _current_lag < _max_jitter){ |
22e9993348f6
Better jitter compensation before sending Ethercat frame. Jitter can be compensed in both directions, within some limits
Edouard Tisserant
parents:
2075
diff
changeset
|
162 |
//Consuming security margin ? |
22e9993348f6
Better jitter compensation before sending Ethercat frame. Jitter can be compensed in both directions, within some limits
Edouard Tisserant
parents:
2075
diff
changeset
|
163 |
_last_occur = current_time; //Drift forward |
2075
21eb91dc7071
Different etherlab sequencing within retrieve and publish. Now, timer is polled after PLC exec until frame have to be sent. This slightly reduce jitter, compared to previous sequencing
Edouard Tisserant
parents:
2039
diff
changeset
|
164 |
} |
21eb91dc7071
Different etherlab sequencing within retrieve and publish. Now, timer is polled after PLC exec until frame have to be sent. This slightly reduce jitter, compared to previous sequencing
Edouard Tisserant
parents:
2039
diff
changeset
|
165 |
} |
21eb91dc7071
Different etherlab sequencing within retrieve and publish. Now, timer is polled after PLC exec until frame have to be sent. This slightly reduce jitter, compared to previous sequencing
Edouard Tisserant
parents:
2039
diff
changeset
|
166 |
ecrt_rtdm_master_send(rt_fd); |
21eb91dc7071
Different etherlab sequencing within retrieve and publish. Now, timer is polled after PLC exec until frame have to be sent. This slightly reduce jitter, compared to previous sequencing
Edouard Tisserant
parents:
2039
diff
changeset
|
167 |
first_sent = 1; |
2022
c2295d311402
First working implementation of Beremiz plugin for etherlab
laurent
parents:
diff
changeset
|
168 |
} |