author | Laurent Bessard |
Wed, 24 Apr 2013 17:27:31 +0200 | |
changeset 2133 | ba0b2ca7db26 |
parent 2123 | 68beaf825a20 |
child 2165 | 02a2b5dee5e3 |
permissions | -rw-r--r-- |
2022
c2295d311402
First working implementation of Beremiz plugin for etherlab
laurent
parents:
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1 |
/* |
2032
766078d83e22
Adding support for DS402 node subplugin (only simple state transition implemented)
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2 |
* Etherlab execution code |
2022
c2295d311402
First working implementation of Beremiz plugin for etherlab
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|
3 |
* |
c2295d311402
First working implementation of Beremiz plugin for etherlab
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4 |
* */ |
c2295d311402
First working implementation of Beremiz plugin for etherlab
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c2295d311402
First working implementation of Beremiz plugin for etherlab
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6 |
#include <rtdm/rtdm.h> |
c2295d311402
First working implementation of Beremiz plugin for etherlab
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|
7 |
#include <native/task.h> |
c2295d311402
First working implementation of Beremiz plugin for etherlab
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8 |
#include <native/timer.h> |
c2295d311402
First working implementation of Beremiz plugin for etherlab
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9 |
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c2295d311402
First working implementation of Beremiz plugin for etherlab
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10 |
#include "ecrt.h" |
c2295d311402
First working implementation of Beremiz plugin for etherlab
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11 |
|
2106 | 12 |
#include "beremiz.h" |
13 |
#include "iec_types_all.h" |
|
2036
7c31fab22c74
Adding support for setting TargetPosition only if PositionSetPoint value from MCL is valid
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parents:
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14 |
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2022
c2295d311402
First working implementation of Beremiz plugin for etherlab
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15 |
// declaration of interface variables |
c2295d311402
First working implementation of Beremiz plugin for etherlab
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16 |
%(located_variables_declaration)s |
c2295d311402
First working implementation of Beremiz plugin for etherlab
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17 |
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c2295d311402
First working implementation of Beremiz plugin for etherlab
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18 |
// process data |
2032
766078d83e22
Adding support for DS402 node subplugin (only simple state transition implemented)
laurent
parents:
2028
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19 |
uint8_t *domain1_pd = NULL; |
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c2295d311402
First working implementation of Beremiz plugin for etherlab
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20 |
%(used_pdo_entry_offset_variables_declaration)s |
c2295d311402
First working implementation of Beremiz plugin for etherlab
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21 |
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c2295d311402
First working implementation of Beremiz plugin for etherlab
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22 |
const static ec_pdo_entry_reg_t domain1_regs[] = { |
c2295d311402
First working implementation of Beremiz plugin for etherlab
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|
23 |
%(used_pdo_entry_configuration)s |
c2295d311402
First working implementation of Beremiz plugin for etherlab
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|
24 |
{} |
c2295d311402
First working implementation of Beremiz plugin for etherlab
laurent
parents:
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|
25 |
}; |
c2295d311402
First working implementation of Beremiz plugin for etherlab
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|
26 |
/*****************************************************************************/ |
c2295d311402
First working implementation of Beremiz plugin for etherlab
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27 |
|
c2295d311402
First working implementation of Beremiz plugin for etherlab
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|
28 |
%(pdos_configuration_declaration)s |
c2295d311402
First working implementation of Beremiz plugin for etherlab
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29 |
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c2295d311402
First working implementation of Beremiz plugin for etherlab
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30 |
long long wait_period_ns = 100000LL; |
c2295d311402
First working implementation of Beremiz plugin for etherlab
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31 |
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c2295d311402
First working implementation of Beremiz plugin for etherlab
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32 |
// EtherCAT |
c2295d311402
First working implementation of Beremiz plugin for etherlab
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33 |
static ec_master_t *master = NULL; |
c2295d311402
First working implementation of Beremiz plugin for etherlab
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34 |
static ec_domain_t *domain1 = NULL; |
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
|
35 |
static int first_sent=0; |
2022
c2295d311402
First working implementation of Beremiz plugin for etherlab
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36 |
%(slaves_declaration)s |
2107 | 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 |
} |
|
2022
c2295d311402
First working implementation of Beremiz plugin for etherlab
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43 |
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c2295d311402
First working implementation of Beremiz plugin for etherlab
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44 |
/* Beremiz plugin functions */ |
c2295d311402
First working implementation of Beremiz plugin for etherlab
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45 |
int __init_%(location)s(int argc,char **argv) |
c2295d311402
First working implementation of Beremiz plugin for etherlab
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|
46 |
{ |
2032
766078d83e22
Adding support for DS402 node subplugin (only simple state transition implemented)
laurent
parents:
2028
diff
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|
47 |
uint32_t abort_code; |
2039
3a218f6bd805
Adding support for uploading default value for unused entries in output pdos from slaves before starting master
laurent
parents:
2036
diff
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|
48 |
size_t result_size; |
2032
766078d83e22
Adding support for DS402 node subplugin (only simple state transition implemented)
laurent
parents:
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diff
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|
49 |
|
2123
68beaf825a20
Added initialization of abort_code and result_size to prevent warning message if not used in following code
Laurent Bessard
parents:
2117
diff
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|
50 |
abort_code = 0; |
68beaf825a20
Added initialization of abort_code and result_size to prevent warning message if not used in following code
Laurent Bessard
parents:
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diff
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|
51 |
result_size = 0; |
68beaf825a20
Added initialization of abort_code and result_size to prevent warning message if not used in following code
Laurent Bessard
parents:
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|
52 |
|
2117
accc4cbca8d3
Now failure in template based part of C code also release the master for later use...
Edouard Tisserant
parents:
2116
diff
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53 |
master = ecrt_request_master(%(master_number)d); |
accc4cbca8d3
Now failure in template based part of C code also release the master for later use...
Edouard Tisserant
parents:
2116
diff
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|
54 |
if (!master) { |
2116
2b1980a038b1
Better logging, saffer failure at init (allows restart)
Edouard Tisserant
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|
55 |
SLOGF(LOG_CRITICAL, "EtherCAT master request failed!"); |
2b1980a038b1
Better logging, saffer failure at init (allows restart)
Edouard Tisserant
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|
56 |
return -1; |
2b1980a038b1
Better logging, saffer failure at init (allows restart)
Edouard Tisserant
parents:
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|
57 |
} |
2022
c2295d311402
First working implementation of Beremiz plugin for etherlab
laurent
parents:
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|
58 |
|
2117
accc4cbca8d3
Now failure in template based part of C code also release the master for later use...
Edouard Tisserant
parents:
2116
diff
changeset
|
59 |
if(!(domain1 = ecrt_master_create_domain(master))){ |
2116
2b1980a038b1
Better logging, saffer failure at init (allows restart)
Edouard Tisserant
parents:
2108
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|
60 |
SLOGF(LOG_CRITICAL, "EtherCAT Domain Creation failed!"); |
2b1980a038b1
Better logging, saffer failure at init (allows restart)
Edouard Tisserant
parents:
2108
diff
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|
61 |
goto ecat_failed; |
2b1980a038b1
Better logging, saffer failure at init (allows restart)
Edouard Tisserant
parents:
2108
diff
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|
62 |
} |
2022
c2295d311402
First working implementation of Beremiz plugin for etherlab
laurent
parents:
diff
changeset
|
63 |
|
2079
49242019a9ca
Fix C code Generator to use CoE section contained in the slave ESI file for defining Ethercat network configuration
Laurent Bessard
parents:
2076
diff
changeset
|
64 |
// slaves PDO configuration |
49242019a9ca
Fix C code Generator to use CoE section contained in the slave ESI file for defining Ethercat network configuration
Laurent Bessard
parents:
2076
diff
changeset
|
65 |
%(slaves_configuration)s |
2022
c2295d311402
First working implementation of Beremiz plugin for etherlab
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|
66 |
|
c2295d311402
First working implementation of Beremiz plugin for etherlab
laurent
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|
67 |
if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) { |
2116
2b1980a038b1
Better logging, saffer failure at init (allows restart)
Edouard Tisserant
parents:
2108
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|
68 |
SLOGF(LOG_CRITICAL, "EtherCAT PDO registration failed!"); |
2b1980a038b1
Better logging, saffer failure at init (allows restart)
Edouard Tisserant
parents:
2108
diff
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|
69 |
goto ecat_failed; |
2022
c2295d311402
First working implementation of Beremiz plugin for etherlab
laurent
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|
70 |
} |
c2295d311402
First working implementation of Beremiz plugin for etherlab
laurent
parents:
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|
71 |
|
2117
accc4cbca8d3
Now failure in template based part of C code also release the master for later use...
Edouard Tisserant
parents:
2116
diff
changeset
|
72 |
ecrt_master_set_send_interval(master, common_ticktime__); |
2036
7c31fab22c74
Adding support for setting TargetPosition only if PositionSetPoint value from MCL is valid
laurent
parents:
2032
diff
changeset
|
73 |
|
2079
49242019a9ca
Fix C code Generator to use CoE section contained in the slave ESI file for defining Ethercat network configuration
Laurent Bessard
parents:
2076
diff
changeset
|
74 |
// slaves initialization |
2032
766078d83e22
Adding support for DS402 node subplugin (only simple state transition implemented)
laurent
parents:
2028
diff
changeset
|
75 |
%(slaves_initialization)s |
766078d83e22
Adding support for DS402 node subplugin (only simple state transition implemented)
laurent
parents:
2028
diff
changeset
|
76 |
|
2079
49242019a9ca
Fix C code Generator to use CoE section contained in the slave ESI file for defining Ethercat network configuration
Laurent Bessard
parents:
2076
diff
changeset
|
77 |
// extracting default value for not mapped entry in output PDOs |
2039
3a218f6bd805
Adding support for uploading default value for unused entries in output pdos from slaves before starting master
laurent
parents:
2036
diff
changeset
|
78 |
%(slaves_output_pdos_default_values_extraction)s |
3a218f6bd805
Adding support for uploading default value for unused entries in output pdos from slaves before starting master
laurent
parents:
2036
diff
changeset
|
79 |
|
2116
2b1980a038b1
Better logging, saffer failure at init (allows restart)
Edouard Tisserant
parents:
2108
diff
changeset
|
80 |
if (ecrt_master_activate(master)){ |
2b1980a038b1
Better logging, saffer failure at init (allows restart)
Edouard Tisserant
parents:
2108
diff
changeset
|
81 |
SLOGF(LOG_CRITICAL, "EtherCAT Master activation failed"); |
2b1980a038b1
Better logging, saffer failure at init (allows restart)
Edouard Tisserant
parents:
2108
diff
changeset
|
82 |
goto ecat_failed; |
2b1980a038b1
Better logging, saffer failure at init (allows restart)
Edouard Tisserant
parents:
2108
diff
changeset
|
83 |
} |
2022
c2295d311402
First working implementation of Beremiz plugin for etherlab
laurent
parents:
diff
changeset
|
84 |
|
c2295d311402
First working implementation of Beremiz plugin for etherlab
laurent
parents:
diff
changeset
|
85 |
if (!(domain1_pd = ecrt_domain_data(domain1))) { |
2116
2b1980a038b1
Better logging, saffer failure at init (allows restart)
Edouard Tisserant
parents:
2108
diff
changeset
|
86 |
SLOGF(LOG_CRITICAL, "Failed to map EtherCAT process data"); |
2b1980a038b1
Better logging, saffer failure at init (allows restart)
Edouard Tisserant
parents:
2108
diff
changeset
|
87 |
goto ecat_failed; |
2022
c2295d311402
First working implementation of Beremiz plugin for etherlab
laurent
parents:
diff
changeset
|
88 |
} |
c2295d311402
First working implementation of Beremiz plugin for etherlab
laurent
parents:
diff
changeset
|
89 |
|
2116
2b1980a038b1
Better logging, saffer failure at init (allows restart)
Edouard Tisserant
parents:
2108
diff
changeset
|
90 |
SLOGF(LOG_INFO, "Master %(master_number)d activated."); |
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
|
91 |
|
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
|
92 |
first_sent = 0; |
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
|
93 |
|
2022
c2295d311402
First working implementation of Beremiz plugin for etherlab
laurent
parents:
diff
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|
94 |
return 0; |
2116
2b1980a038b1
Better logging, saffer failure at init (allows restart)
Edouard Tisserant
parents:
2108
diff
changeset
|
95 |
|
2b1980a038b1
Better logging, saffer failure at init (allows restart)
Edouard Tisserant
parents:
2108
diff
changeset
|
96 |
ecat_failed: |
2117
accc4cbca8d3
Now failure in template based part of C code also release the master for later use...
Edouard Tisserant
parents:
2116
diff
changeset
|
97 |
ecrt_release_master(master); |
2116
2b1980a038b1
Better logging, saffer failure at init (allows restart)
Edouard Tisserant
parents:
2108
diff
changeset
|
98 |
return -1; |
2b1980a038b1
Better logging, saffer failure at init (allows restart)
Edouard Tisserant
parents:
2108
diff
changeset
|
99 |
|
2022
c2295d311402
First working implementation of Beremiz plugin for etherlab
laurent
parents:
diff
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|
100 |
} |
c2295d311402
First working implementation of Beremiz plugin for etherlab
laurent
parents:
diff
changeset
|
101 |
|
c2295d311402
First working implementation of Beremiz plugin for etherlab
laurent
parents:
diff
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|
102 |
void __cleanup_%(location)s(void) |
c2295d311402
First working implementation of Beremiz plugin for etherlab
laurent
parents:
diff
changeset
|
103 |
{ |
2117
accc4cbca8d3
Now failure in template based part of C code also release the master for later use...
Edouard Tisserant
parents:
2116
diff
changeset
|
104 |
//release master |
accc4cbca8d3
Now failure in template based part of C code also release the master for later use...
Edouard Tisserant
parents:
2116
diff
changeset
|
105 |
ecrt_release_master(master); |
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
|
106 |
first_sent = 0; |
2022
c2295d311402
First working implementation of Beremiz plugin for etherlab
laurent
parents:
diff
changeset
|
107 |
} |
c2295d311402
First working implementation of Beremiz plugin for etherlab
laurent
parents:
diff
changeset
|
108 |
|
c2295d311402
First working implementation of Beremiz plugin for etherlab
laurent
parents:
diff
changeset
|
109 |
void __retrieve_%(location)s(void) |
c2295d311402
First working implementation of Beremiz plugin for etherlab
laurent
parents:
diff
changeset
|
110 |
{ |
c2295d311402
First working implementation of Beremiz plugin for etherlab
laurent
parents:
diff
changeset
|
111 |
// receive ethercat |
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
|
112 |
if(first_sent){ |
2108
6bcfd50d5a47
Updated generated code to etherlab 1.5.2
Edouard Tisserant
parents:
2107
diff
changeset
|
113 |
ecrt_master_receive(master); |
6bcfd50d5a47
Updated generated code to etherlab 1.5.2
Edouard Tisserant
parents:
2107
diff
changeset
|
114 |
ecrt_domain_process(domain1); |
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
|
115 |
%(retrieve_variables)s |
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
|
116 |
} |
2022
c2295d311402
First working implementation of Beremiz plugin for etherlab
laurent
parents:
diff
changeset
|
117 |
|
c2295d311402
First working implementation of Beremiz plugin for etherlab
laurent
parents:
diff
changeset
|
118 |
} |
c2295d311402
First working implementation of Beremiz plugin for etherlab
laurent
parents:
diff
changeset
|
119 |
|
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
|
120 |
static RTIME _last_occur=0; |
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
|
121 |
static RTIME _last_publish=0; |
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
|
122 |
RTIME _current_lag=0; |
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
|
123 |
RTIME _max_jitter=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
|
124 |
static inline RTIME max(RTIME a,RTIME b){return a>b?a:b;} |
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
|
125 |
|
2022
c2295d311402
First working implementation of Beremiz plugin for etherlab
laurent
parents:
diff
changeset
|
126 |
void __publish_%(location)s(void) |
c2295d311402
First working implementation of Beremiz plugin for etherlab
laurent
parents:
diff
changeset
|
127 |
{ |
c2295d311402
First working implementation of Beremiz plugin for etherlab
laurent
parents:
diff
changeset
|
128 |
%(publish_variables)s |
2108
6bcfd50d5a47
Updated generated code to etherlab 1.5.2
Edouard Tisserant
parents:
2107
diff
changeset
|
129 |
ecrt_domain_queue(domain1); |
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
|
130 |
{ |
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
|
131 |
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
|
132 |
// 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
|
133 |
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
|
134 |
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
|
135 |
_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
|
136 |
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
|
137 |
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
|
138 |
_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
|
139 |
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
|
140 |
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
|
141 |
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
|
142 |
_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
|
143 |
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
|
144 |
_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
|
145 |
} |
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 |
_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
|
147 |
_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
|
148 |
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
|
149 |
_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
|
150 |
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
|
151 |
} |
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 |
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
|
153 |
//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
|
154 |
_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
|
155 |
} |
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
|
156 |
} |
2108
6bcfd50d5a47
Updated generated code to etherlab 1.5.2
Edouard Tisserant
parents:
2107
diff
changeset
|
157 |
ecrt_master_send(master); |
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
|
158 |
first_sent = 1; |
2022
c2295d311402
First working implementation of Beremiz plugin for etherlab
laurent
parents:
diff
changeset
|
159 |
} |