--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/etherlab/plc_etherlab.c Sat Jun 23 09:08:13 2018 +0200
@@ -0,0 +1,168 @@
+/*
+
+Template C code used to produce target Ethercat C code
+
+Copyright (C) 2011-2014: Laurent BESSARD, Edouard TISSERANT
+
+Distributed under the terms of the GNU Lesser General Public License as
+published by the Free Software Foundation; either version 2 of the License, or
+(at your option) any later version.
+
+See COPYING file for copyrights details.
+
+*/
+
+#include <rtdm/rtdm.h>
+#include <native/task.h>
+#include <native/timer.h>
+
+#include "ecrt.h"
+
+#include "beremiz.h"
+#include "iec_types_all.h"
+
+// declaration of interface variables
+%(located_variables_declaration)s
+
+// process data
+uint8_t *domain1_pd = NULL;
+%(used_pdo_entry_offset_variables_declaration)s
+
+const static ec_pdo_entry_reg_t domain1_regs[] = {
+%(used_pdo_entry_configuration)s
+ {}
+};
+/*****************************************************************************/
+
+%(pdos_configuration_declaration)s
+
+long long wait_period_ns = 100000LL;
+
+// EtherCAT
+static ec_master_t *master = NULL;
+static ec_domain_t *domain1 = NULL;
+static int first_sent=0;
+%(slaves_declaration)s
+#define SLOGF(level, format, args...)\
+{\
+ char sbuf[256];\
+ int slen = snprintf(sbuf , sizeof(sbuf) , format , ##args);\
+ LogMessage(level, sbuf, slen);\
+}
+
+/* Beremiz plugin functions */
+int __init_%(location)s(int argc,char **argv)
+{
+ uint32_t abort_code;
+ size_t result_size;
+
+ abort_code = 0;
+ result_size = 0;
+
+ master = ecrt_request_master(%(master_number)d);
+ if (!master) {
+ SLOGF(LOG_CRITICAL, "EtherCAT master request failed!");
+ return -1;
+ }
+
+ if(!(domain1 = ecrt_master_create_domain(master))){
+ SLOGF(LOG_CRITICAL, "EtherCAT Domain Creation failed!");
+ goto ecat_failed;
+ }
+
+ // slaves PDO configuration
+%(slaves_configuration)s
+
+ if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
+ SLOGF(LOG_CRITICAL, "EtherCAT PDO registration failed!");
+ goto ecat_failed;
+ }
+
+ ecrt_master_set_send_interval(master, common_ticktime__);
+
+ // slaves initialization
+%(slaves_initialization)s
+
+ // extracting default value for not mapped entry in output PDOs
+%(slaves_output_pdos_default_values_extraction)s
+
+ if (ecrt_master_activate(master)){
+ SLOGF(LOG_CRITICAL, "EtherCAT Master activation failed");
+ goto ecat_failed;
+ }
+
+ if (!(domain1_pd = ecrt_domain_data(domain1))) {
+ SLOGF(LOG_CRITICAL, "Failed to map EtherCAT process data");
+ goto ecat_failed;
+ }
+
+ SLOGF(LOG_INFO, "Master %(master_number)d activated.");
+
+ first_sent = 0;
+
+ return 0;
+
+ecat_failed:
+ ecrt_release_master(master);
+ return -1;
+
+}
+
+void __cleanup_%(location)s(void)
+{
+ //release master
+ ecrt_release_master(master);
+ first_sent = 0;
+}
+
+void __retrieve_%(location)s(void)
+{
+ // receive ethercat
+ if(first_sent){
+ ecrt_master_receive(master);
+ ecrt_domain_process(domain1);
+%(retrieve_variables)s
+ }
+
+}
+
+static RTIME _last_occur=0;
+static RTIME _last_publish=0;
+RTIME _current_lag=0;
+RTIME _max_jitter=0;
+static inline RTIME max(RTIME a,RTIME b){return a>b?a:b;}
+
+void __publish_%(location)s(void)
+{
+%(publish_variables)s
+ ecrt_domain_queue(domain1);
+ {
+ RTIME current_time = rt_timer_read();
+ // Limit spining max 1/5 of common_ticktime
+ RTIME maxdeadline = current_time + (common_ticktime__ / 5);
+ RTIME deadline = _last_occur ?
+ _last_occur + common_ticktime__ :
+ current_time + _max_jitter;
+ if(deadline > maxdeadline) deadline = maxdeadline;
+ _current_lag = deadline - current_time;
+ if(_last_publish != 0){
+ RTIME period = current_time - _last_publish;
+ if(period > common_ticktime__ )
+ _max_jitter = max(_max_jitter, period - common_ticktime__);
+ else
+ _max_jitter = max(_max_jitter, common_ticktime__ - period);
+ }
+ _last_publish = current_time;
+ _last_occur = current_time;
+ while(current_time < deadline) {
+ _last_occur = current_time; //Drift backward by default
+ current_time = rt_timer_read();
+ }
+ if( _max_jitter * 10 < common_ticktime__ && _current_lag < _max_jitter){
+ //Consuming security margin ?
+ _last_occur = current_time; //Drift forward
+ }
+ }
+ ecrt_master_send(master);
+ first_sent = 1;
+}