etherlab/plc_etherlab.c
author Edouard Tisserant <edouard.tisserant@gmail.com>
Mon, 16 Jan 2023 16:22:44 +0100
branchwxPython4
changeset 3717 da9ffd572551
parent 2641 c9deff128c37
permissions -rw-r--r--
IDE: fix segfault when unselecting network discovery in URI editor
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/*
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Template C code used to produce target Ethercat C code
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Copyright (C) 2011-2014: Laurent BESSARD, Edouard TISSERANT
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Distributed under the terms of the GNU Lesser General Public License as
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published by the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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See COPYING file for copyrights details.
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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 "beremiz.h"
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#include "iec_types_all.h"
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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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// Distributed Clock variables;
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%(dc_variable)s
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unsigned long long comp_period_ns = 500000ULL;
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int comp_count = 1;
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int comp_count_max;
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#define DC_FILTER_CNT          1024
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// EtherCAT slave-time-based DC Synchronization variables.
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static uint64_t dc_start_time_ns = 0LL;
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static uint64_t dc_time_ns = 0;
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static uint8_t  dc_started = 0;
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static int32_t  dc_diff_ns = 0;
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static int32_t  prev_dc_diff_ns = 0;
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static int64_t  dc_diff_total_ns = 0LL;
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static int64_t  dc_delta_total_ns = 0LL;
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static int      dc_filter_idx = 0;
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static int64_t  dc_adjust_ns;
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static int64_t  system_time_base = 0LL;
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static uint64_t dc_first_app_time = 0LL;
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unsigned long long frame_period_ns = 0ULL;
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int debug_count = 0;
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int slave_dc_used = 0;
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void dc_init(void);
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uint64_t system_time_ns(void);
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RTIME system2count(uint64_t time);
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void sync_distributed_clocks(void);
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void update_master_clock(void);
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RTIME calculate_sleeptime(uint64_t wakeup_time);
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uint64_t calculate_first(void);
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/*****************************************************************************/
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%(pdos_configuration_declaration)s
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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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#define SLOGF(level, format, args...)\
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{\
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    char sbuf[256];\
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    int slen = snprintf(sbuf , sizeof(sbuf) , format , ##args);\
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    LogMessage(level, sbuf, slen);\
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}
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/* EtherCAT 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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    abort_code = 0;
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    result_size = 0;
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    master = ecrt_request_master(%(master_number)d);
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    if (!master) {
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        SLOGF(LOG_CRITICAL, "EtherCAT master request failed!");
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        return -1;
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    }
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    if(!(domain1 = ecrt_master_create_domain(master))){
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        SLOGF(LOG_CRITICAL, "EtherCAT Domain Creation failed!");
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        goto ecat_failed;
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    }
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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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        SLOGF(LOG_CRITICAL, "EtherCAT PDO registration failed!");
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        goto ecat_failed;
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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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/*
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%(slaves_initialization)s
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*/
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    // configure DC SYNC0/1 Signal
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%(config_dc)s
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    // select reference clock
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#if DC_ENABLE
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   129
    {
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   130
        int ret;
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   131
        
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        ret = ecrt_master_select_reference_clock(master, slave0);
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   133
        if (ret <0) {
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            fprintf(stderr, "Failed to select reference clock : %%s\n",
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                strerror(-ret));
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            return ret;
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        }
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    }
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#endif
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    // extracting default value for not mapped entry in output PDOs
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/*
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%(slaves_output_pdos_default_values_extraction)s
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   144
*/
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   146
#if DC_ENABLE
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    dc_init();
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   148
#endif
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   149
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    if (ecrt_master_activate(master)){
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        SLOGF(LOG_CRITICAL, "EtherCAT Master activation failed");
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        goto ecat_failed;
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    }
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    if (!(domain1_pd = ecrt_domain_data(domain1))) {
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        SLOGF(LOG_CRITICAL, "Failed to map EtherCAT process data");
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        goto ecat_failed;
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    }
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    SLOGF(LOG_INFO, "Master %(master_number)d activated.");
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    first_sent = 0;
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    return 0;
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ecat_failed:
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    ecrt_release_master(master);
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    return -1;
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}
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void __cleanup_%(location)s(void)
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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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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_master_receive(master);
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        ecrt_domain_process(domain1);
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%(retrieve_variables)s
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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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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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*/
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void __publish_%(location)s(void)
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{
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%(publish_variables)s
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    ecrt_domain_queue(domain1);
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    {
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        /*
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        RTIME current_time = rt_timer_read();
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        // Limit spining max 1/5 of common_ticktime
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        RTIME maxdeadline = current_time + (common_ticktime__ / 5);
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        RTIME deadline = _last_occur ? 
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            _last_occur + common_ticktime__ : 
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            current_time + _max_jitter; 
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        if(deadline > maxdeadline) deadline = maxdeadline;
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        _current_lag = deadline - current_time;
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        if(_last_publish != 0){
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            RTIME period = current_time - _last_publish;
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            if(period > common_ticktime__ )
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                _max_jitter = max(_max_jitter, period - common_ticktime__);
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            else
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                _max_jitter = max(_max_jitter, common_ticktime__ - period);
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        }
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        _last_publish = current_time;
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        _last_occur = current_time;
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        while(current_time < deadline) {
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            _last_occur = current_time; //Drift backward by default
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            current_time = rt_timer_read();
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        }
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        if( _max_jitter * 10 < common_ticktime__ && _current_lag < _max_jitter){
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            //Consuming security margin ?
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            _last_occur = current_time; //Drift forward
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        }
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   229
        */
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    }
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#if DC_ENABLE
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    if (comp_count == 0)
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        sync_distributed_clocks();
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   235
#endif
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   236
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    ecrt_master_send(master);
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    first_sent = 1;
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   240
#if DC_ENABLE
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   241
    if (comp_count == 0)
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   242
        update_master_clock();
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   243
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   244
    comp_count++;
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   246
    if (comp_count == comp_count_max)
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        comp_count = 0;
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   248
#endif
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}
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   252
/* Test Function For Parameter (SDO) Set */
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/*
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void GetSDOData(void){
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    uint32_t abort_code, test_value;
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    size_t result_size;
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    uint8_t value[4];
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    abort_code = 0;
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    result_size = 0;
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    test_value = 0;
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    if (ecrt_master_sdo_upload(master, 0, 0x1000, 0x0, (uint8_t *)value, 4, &result_size, &abort_code)) {
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        SLOGF(LOG_CRITICAL, "EtherCAT failed to get SDO Value");
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        }
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        test_value = EC_READ_S32((uint8_t *)value);
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        SLOGF(LOG_INFO, "SDO Value %%d", test_value);
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}
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*/
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int GetMasterData(void){
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    master = ecrt_open_master(0);
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    if (!master) {
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        SLOGF(LOG_CRITICAL, "EtherCAT master request failed!");
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        return -1;
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    }
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    return 0;
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}
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void ReleaseMasterData(void){
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    ecrt_release_master(master);
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}
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uint32_t GetSDOData(uint16_t slave_pos, uint16_t idx, uint8_t subidx, int size){
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    uint32_t abort_code, return_value;
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    size_t result_size;
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    uint8_t value[size];
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    abort_code = 0;
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    result_size = 0;
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    if (ecrt_master_sdo_upload(master, slave_pos, idx, subidx, (uint8_t *)value, size, &result_size, &abort_code)) {
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        SLOGF(LOG_CRITICAL, "EtherCAT failed to get SDO Value %%d %%d", idx, subidx);
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    }
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    return_value = EC_READ_S32((uint8_t *)value);
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    //SLOGF(LOG_INFO, "SDO Value %%d", return_value);
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    return return_value;
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}
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/*****************************************************************************/
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void dc_init(void)
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{
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    slave_dc_used = 1;
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    frame_period_ns = common_ticktime__;
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    if (frame_period_ns <= comp_period_ns) {
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        comp_count_max = comp_period_ns / frame_period_ns;
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        comp_count = 0;
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    } else  {
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        comp_count_max = 1;
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        comp_count = 0;
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    }
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    /* Set the initial master time */
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    dc_start_time_ns = system_time_ns();
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    dc_time_ns = dc_start_time_ns;
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   321
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    /* by woonggy */
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    dc_first_app_time = dc_start_time_ns;
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    /*
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     * Attention : The initial application time is also used for phase
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     * calculation for the SYNC0/1 interrupts. Please be sure to call it at
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     * the correct phase to the realtime cycle.
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     */
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    ecrt_master_application_time(master, dc_start_time_ns);
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}
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/****************************************************************************/
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   334
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/*
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 * Get the time in ns for the current cpu, adjusted by system_time_base.
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 *
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 * \attention Rather than calling rt_timer_read() directly, all application
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 * time calls should use this method instead.
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 *
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 * \ret The time in ns.
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 */
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uint64_t system_time_ns(void)
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{
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    RTIME time = rt_timer_read();   // wkk
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    if (unlikely(system_time_base > (SRTIME) time)) {
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        fprintf(stderr, "%%s() error: system_time_base greater than"
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                " system time (system_time_base: %%ld, time: %%llu\n",
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                __func__, system_time_base, time);
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        return time;
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    }
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    else {
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        return time - system_time_base;
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    }
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}
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parents: 2165
diff changeset
   357
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   358
/****************************************************************************/
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   359
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   360
// Convert system time to Xenomai time in counts (via the system_time_base).
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   361
RTIME system2count(uint64_t time)
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   362
{
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   363
    RTIME ret;
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   364
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   365
    if ((system_time_base < 0) &&
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   366
            ((uint64_t) (-system_time_base) > time)) {
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   367
        fprintf(stderr, "%%s() error: system_time_base less than"
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   368
                " system time (system_time_base: %%I64d, time: %%ld\n",
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   369
                __func__, system_time_base, time);
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   370
        ret = time;
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   371
    }
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   372
    else {
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   373
        ret = time + system_time_base;
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   374
    }
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   375
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   376
    return (RTIME) rt_timer_ns2ticks(ret); // wkk
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   377
}
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   378
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   379
/*****************************************************************************/
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   380
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   381
// Synchronise the distributed clocks
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   382
void sync_distributed_clocks(void)
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   383
{
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   384
    uint32_t ref_time = 0;
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   385
    RTIME prev_app_time = dc_time_ns;
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   386
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   387
    // get reference clock time to synchronize master cycle
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   388
    if(!ecrt_master_reference_clock_time(master, &ref_time)) {
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   389
        dc_diff_ns = (uint32_t) prev_app_time - ref_time;
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   390
    }
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   391
    // call to sync slaves to ref slave
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   392
    ecrt_master_sync_slave_clocks(master);
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   393
    // set master time in nano-seconds
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   394
    dc_time_ns = system_time_ns();
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   395
    ecrt_master_application_time(master, dc_time_ns);
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   396
}
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   397
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   398
/*****************************************************************************/
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   399
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   400
/*
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   401
 * Return the sign of a number
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   402
 * ie -1 for -ve value, 0 for 0, +1 for +ve value
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   403
 * \ret val the sign of the value
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   404
 */
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   405
#define sign(val) \
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   406
        ({ typeof (val) _val = (val); \
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   407
        ((_val > 0) - (_val < 0)); })
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   408
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   409
/*****************************************************************************/
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   410
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   411
/*
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   412
 * Update the master time based on ref slaves time diff
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   413
 * called after the ethercat frame is sent to avoid time jitter in
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   414
 * sync_distributed_clocks()
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   415
 */
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   416
void update_master_clock(void)
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   417
{
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   418
    // calc drift (via un-normalised time diff)
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   419
    int32_t delta = dc_diff_ns - prev_dc_diff_ns;
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   420
    prev_dc_diff_ns = dc_diff_ns;
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   421
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   422
    // normalise the time diff
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   423
    dc_diff_ns = dc_diff_ns >= 0 ?
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   424
            ((dc_diff_ns + (int32_t)(frame_period_ns / 2)) %%
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   425
                    (int32_t)frame_period_ns) - (frame_period_ns / 2) :
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   426
                    ((dc_diff_ns - (int32_t)(frame_period_ns / 2)) %%
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   427
                            (int32_t)frame_period_ns) - (frame_period_ns / 2) ;
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   428
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   429
    // only update if primary master
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   430
    if (dc_started) {
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   431
        // add to totals
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   432
        dc_diff_total_ns += dc_diff_ns;
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   433
        dc_delta_total_ns += delta;
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   434
        dc_filter_idx++;
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   435
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   436
        if (dc_filter_idx >= DC_FILTER_CNT) {
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   437
            dc_adjust_ns += dc_delta_total_ns >= 0 ?
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   438
                    ((dc_delta_total_ns + (DC_FILTER_CNT / 2)) / DC_FILTER_CNT) :
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   439
                    ((dc_delta_total_ns - (DC_FILTER_CNT / 2)) / DC_FILTER_CNT) ;
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   440
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   441
            // and add adjustment for general diff (to pull in drift)
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   442
            dc_adjust_ns += sign(dc_diff_total_ns / DC_FILTER_CNT);
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   443
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   444
            // limit crazy numbers (0.1%% of std cycle time)
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   445
            if (dc_adjust_ns < -1000) {
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   446
                dc_adjust_ns = -1000;
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   447
            }
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   448
            if (dc_adjust_ns > 1000) {
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   449
                dc_adjust_ns =  1000;
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   450
            }
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   451
            // reset
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   452
            dc_diff_total_ns = 0LL;
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   453
            dc_delta_total_ns = 0LL;
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   454
            dc_filter_idx = 0;
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   455
        }
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   456
        // add cycles adjustment to time base (including a spot adjustment)
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   457
        system_time_base += dc_adjust_ns + sign(dc_diff_ns);
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   458
    }
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   459
    else {
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   460
        dc_started = (dc_diff_ns != 0);
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   461
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   462
        if (dc_started) {
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   463
#if DC_ENABLE && DEBUG_MODE
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   464
            // output first diff
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   465
            fprintf(stderr, "First master diff: %%d\n", dc_diff_ns);
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   466
#endif
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   467
            // record the time of this initial cycle
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   468
            dc_start_time_ns = dc_time_ns;
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   469
        }
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   470
    }
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   471
}
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   472
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   473
/*****************************************************************************/
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   474
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   475
/*
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   476
 * Calculate the sleeptime
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   477
 */
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   478
RTIME calculate_sleeptime(uint64_t wakeup_time)
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   479
{
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   480
    RTIME wakeup_count = system2count (wakeup_time);
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   481
    RTIME current_count = rt_timer_read();
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   482
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   483
    if ((wakeup_count < current_count) || (wakeup_count > current_count + (50 * frame_period_ns)))  {
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   484
        fprintf(stderr, "%%s(): unexpected wake time! wc = %%lld\tcc = %%lld\n", __func__, wakeup_count, current_count);
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   485
    }
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   486
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   487
    return wakeup_count;
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   488
}
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   489
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   490
/*****************************************************************************/
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   491
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   492
/*
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   493
 * Calculate the sleeptime
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   494
 */
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   495
uint64_t calculate_first(void)
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   496
{
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   497
    uint64_t dc_remainder = 0LL;
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   498
    uint64_t dc_phase_set_time = 0LL;
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   499
    
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   500
    dc_phase_set_time = system_time_ns()+ frame_period_ns * 10;
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   501
    dc_remainder = (dc_phase_set_time - dc_first_app_time) %% frame_period_ns;
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   502
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   503
    return dc_phase_set_time + frame_period_ns - dc_remainder;
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   504
}
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   505
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   506
/*****************************************************************************/