etherlab/plc_etherlab.c
author Edouard Tisserant
Wed, 02 Apr 2014 15:03:32 +0200
changeset 2152 e6946c298a42
parent 2123 68beaf825a20
child 2165 02a2b5dee5e3
permissions -rw-r--r--
Cherry-pick and re-commit to legitimate ancestor of commit 'Ethercat Management Function Refactoring Source by RTES Lab.' from youcu <youcu1022@gmail.com>
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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 "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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/*****************************************************************************/
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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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/* 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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    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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%(slaves_initialization)s
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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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    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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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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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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        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;
22e9993348f6 Better jitter compensation before sending Ethercat frame. Jitter can be compensed in both directions, within some limits
Edouard Tisserant
parents: 2075
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   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
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   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
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   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
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   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
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   151
        }
22e9993348f6 Better jitter compensation before sending Ethercat frame. Jitter can be compensed in both directions, within some limits
Edouard Tisserant
parents: 2075
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   152
        if( _max_jitter * 10 < common_ticktime__ && _current_lag < _max_jitter){
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Edouard Tisserant
parents: 2075
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            //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
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   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
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   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
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   156
    }
2108
6bcfd50d5a47 Updated generated code to etherlab 1.5.2
Edouard Tisserant
parents: 2107
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   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
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   158
    first_sent = 1;
2022
c2295d311402 First working implementation of Beremiz plugin for etherlab
laurent
parents:
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   159
}