author | Florian Pose <fp@igh-essen.com> |
Thu, 07 May 2015 15:53:42 +0200 | |
branch | stable-1.5 |
changeset 2631 | 827abf3c50de |
parent 2523 | c5c81a52fc30 |
permissions | -rw-r--r-- |
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/****************************************************************************** |
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* |
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* $Id$ |
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* |
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* Copyright (C) 2011 IgH Andreas Stewering-Bone |
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* 2012 Florian Pose <fp@igh-essen.com> |
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* |
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* This file is part of the IgH EtherCAT master |
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* |
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* The IgH EtherCAT Master is free software; you can redistribute it and/or |
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* modify it under the terms of the GNU General Public License version 2, as |
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* published by the Free Software Foundation. |
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* |
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* The IgH EtherCAT master is distributed in the hope that it will be useful, |
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* but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General |
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* Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License along |
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* with the IgH EtherCAT master. If not, see <http://www.gnu.org/licenses/>. |
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* |
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* --- |
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* |
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* The license mentioned above concerns the source code only. Using the |
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* EtherCAT technology and brand is only permitted in compliance with the |
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* industrial property and similar rights of Beckhoff Automation GmbH. |
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* |
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*****************************************************************************/ |
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#include <sched.h> |
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#include <stdio.h> |
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#include <stdlib.h> |
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#include <fcntl.h> |
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#include <signal.h> |
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#include <rtai_lxrt.h> |
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#include <rtdm/rtdm.h> |
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#include "ecrt.h" |
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#define rt_printf(X, Y) |
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#define NSEC_PER_SEC 1000000000 |
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RT_TASK *task; |
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static unsigned int cycle_ns = 1000000; /* 1 ms */ |
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static int run = 1; |
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/****************************************************************************/ |
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// EtherCAT |
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static ec_master_t *master = NULL; |
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static ec_master_state_t master_state = {}; |
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static ec_domain_t *domain1 = NULL; |
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static ec_domain_state_t domain1_state = {}; |
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static uint8_t *domain1_pd = NULL; |
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static ec_slave_config_t *sc_dig_out_01 = NULL; |
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/****************************************************************************/ |
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// EtherCAT distributed clock variables |
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#define DC_FILTER_CNT 1024 |
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#define SYNC_MASTER_TO_REF 1 |
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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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#if SYNC_MASTER_TO_REF |
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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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#endif |
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static int64_t system_time_base = 0LL; |
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static uint64_t wakeup_time = 0LL; |
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static uint64_t overruns = 0LL; |
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/****************************************************************************/ |
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// process data |
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#define BusCoupler01_Pos 0, 0 |
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#define DigOutSlave01_Pos 0, 1 |
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#define Beckhoff_EK1100 0x00000002, 0x044c2c52 |
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#define Beckhoff_EL2004 0x00000002, 0x07d43052 |
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// offsets for PDO entries |
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static unsigned int off_dig_out0 = 0; |
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// process data |
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const static ec_pdo_entry_reg_t domain1_regs[] = { |
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{DigOutSlave01_Pos, Beckhoff_EL2004, 0x7000, 0x01, &off_dig_out0, NULL}, |
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{} |
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}; |
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/****************************************************************************/ |
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/* Slave 1, "EL2004" |
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* Vendor ID: 0x00000002 |
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* Product code: 0x07d43052 |
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* Revision number: 0x00100000 |
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*/ |
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ec_pdo_entry_info_t slave_1_pdo_entries[] = { |
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{0x7000, 0x01, 1}, /* Output */ |
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{0x7010, 0x01, 1}, /* Output */ |
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{0x7020, 0x01, 1}, /* Output */ |
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{0x7030, 0x01, 1}, /* Output */ |
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}; |
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120 |
|
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121 |
ec_pdo_info_t slave_1_pdos[] = { |
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122 |
{0x1600, 1, slave_1_pdo_entries + 0}, /* Channel 1 */ |
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|
123 |
{0x1601, 1, slave_1_pdo_entries + 1}, /* Channel 2 */ |
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|
124 |
{0x1602, 1, slave_1_pdo_entries + 2}, /* Channel 3 */ |
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|
125 |
{0x1603, 1, slave_1_pdo_entries + 3}, /* Channel 4 */ |
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|
126 |
}; |
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|
127 |
|
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|
128 |
ec_sync_info_t slave_1_syncs[] = { |
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|
129 |
{0, EC_DIR_OUTPUT, 4, slave_1_pdos + 0, EC_WD_ENABLE}, |
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|
130 |
{0xff} |
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|
131 |
}; |
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|
132 |
|
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|
133 |
/***************************************************************************** |
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|
134 |
* Realtime task |
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|
135 |
****************************************************************************/ |
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|
136 |
|
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|
137 |
/** Get the time in ns for the current cpu, adjusted by system_time_base. |
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|
138 |
* |
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|
139 |
* \attention Rather than calling rt_get_time_ns() directly, all application |
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|
140 |
* time calls should use this method instead. |
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|
141 |
* |
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|
142 |
* \ret The time in ns. |
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|
143 |
*/ |
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|
144 |
uint64_t system_time_ns(void) |
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|
145 |
{ |
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|
146 |
RTIME time = rt_get_time_ns(); |
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|
147 |
|
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|
148 |
if (system_time_base > time) { |
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|
149 |
rt_printk("%s() error: system_time_base greater than" |
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|
150 |
" system time (system_time_base: %lld, time: %llu\n", |
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|
151 |
__func__, system_time_base, time); |
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152 |
return time; |
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|
153 |
} |
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|
154 |
else { |
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|
155 |
return time - system_time_base; |
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|
156 |
} |
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|
157 |
} |
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|
158 |
|
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|
159 |
/****************************************************************************/ |
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|
160 |
|
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|
161 |
/** Convert system time to RTAI time in counts (via the system_time_base). |
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|
162 |
*/ |
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|
163 |
RTIME system2count( |
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|
164 |
uint64_t time |
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|
165 |
) |
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diff
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|
166 |
{ |
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|
167 |
RTIME ret; |
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diff
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|
168 |
|
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diff
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|
169 |
if ((system_time_base < 0) && |
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|
170 |
((uint64_t) (-system_time_base) > time)) { |
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|
171 |
rt_printk("%s() error: system_time_base less than" |
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|
172 |
" system time (system_time_base: %lld, time: %llu\n", |
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|
173 |
__func__, system_time_base, time); |
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|
174 |
ret = time; |
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diff
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|
175 |
} |
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|
176 |
else { |
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|
177 |
ret = time + system_time_base; |
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diff
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|
178 |
} |
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|
179 |
|
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|
180 |
return nano2count(ret); |
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diff
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|
181 |
} |
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parents:
diff
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|
182 |
|
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Added interface to select the reference clock and to sync to it.
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diff
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|
183 |
/*****************************************************************************/ |
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Added interface to select the reference clock and to sync to it.
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parents:
diff
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|
184 |
|
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diff
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|
185 |
/** Synchronise the distributed clocks |
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diff
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|
186 |
*/ |
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Added interface to select the reference clock and to sync to it.
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parents:
diff
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|
187 |
void sync_distributed_clocks(void) |
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|
188 |
{ |
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Added interface to select the reference clock and to sync to it.
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parents:
diff
changeset
|
189 |
#if SYNC_MASTER_TO_REF |
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Added interface to select the reference clock and to sync to it.
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|
190 |
uint32_t ref_time = 0; |
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Added interface to select the reference clock and to sync to it.
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parents:
diff
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|
191 |
uint64_t prev_app_time = dc_time_ns; |
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Added interface to select the reference clock and to sync to it.
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diff
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|
192 |
#endif |
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parents:
diff
changeset
|
193 |
|
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Added interface to select the reference clock and to sync to it.
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diff
changeset
|
194 |
dc_time_ns = system_time_ns(); |
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Added interface to select the reference clock and to sync to it.
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parents:
diff
changeset
|
195 |
|
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Added interface to select the reference clock and to sync to it.
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diff
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|
196 |
// set master time in nano-seconds |
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diff
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|
197 |
ecrt_master_application_time(master, dc_time_ns); |
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parents:
diff
changeset
|
198 |
|
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parents:
diff
changeset
|
199 |
#if SYNC_MASTER_TO_REF |
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diff
changeset
|
200 |
// get reference clock time to synchronize master cycle |
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parents:
diff
changeset
|
201 |
ecrt_master_reference_clock_time(master, &ref_time); |
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Added interface to select the reference clock and to sync to it.
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parents:
diff
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|
202 |
dc_diff_ns = (uint32_t) prev_app_time - ref_time; |
e93efb4af231
Added interface to select the reference clock and to sync to it.
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parents:
diff
changeset
|
203 |
#else |
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Added interface to select the reference clock and to sync to it.
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parents:
diff
changeset
|
204 |
// sync reference clock to master |
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Added interface to select the reference clock and to sync to it.
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diff
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|
205 |
ecrt_master_sync_reference_clock(master); |
e93efb4af231
Added interface to select the reference clock and to sync to it.
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parents:
diff
changeset
|
206 |
#endif |
e93efb4af231
Added interface to select the reference clock and to sync to it.
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parents:
diff
changeset
|
207 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
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parents:
diff
changeset
|
208 |
// call to sync slaves to ref slave |
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Added interface to select the reference clock and to sync to it.
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parents:
diff
changeset
|
209 |
ecrt_master_sync_slave_clocks(master); |
e93efb4af231
Added interface to select the reference clock and to sync to it.
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parents:
diff
changeset
|
210 |
} |
e93efb4af231
Added interface to select the reference clock and to sync to it.
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parents:
diff
changeset
|
211 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
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parents:
diff
changeset
|
212 |
/*****************************************************************************/ |
e93efb4af231
Added interface to select the reference clock and to sync to it.
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parents:
diff
changeset
|
213 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
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parents:
diff
changeset
|
214 |
/** Return the sign of a number |
e93efb4af231
Added interface to select the reference clock and to sync to it.
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parents:
diff
changeset
|
215 |
* |
e93efb4af231
Added interface to select the reference clock and to sync to it.
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parents:
diff
changeset
|
216 |
* ie -1 for -ve value, 0 for 0, +1 for +ve value |
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diff
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|
217 |
* |
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Added interface to select the reference clock and to sync to it.
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parents:
diff
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|
218 |
* \retval the sign of the value |
e93efb4af231
Added interface to select the reference clock and to sync to it.
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diff
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|
219 |
*/ |
e93efb4af231
Added interface to select the reference clock and to sync to it.
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parents:
diff
changeset
|
220 |
#define sign(val) \ |
e93efb4af231
Added interface to select the reference clock and to sync to it.
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parents:
diff
changeset
|
221 |
({ typeof (val) _val = (val); \ |
e93efb4af231
Added interface to select the reference clock and to sync to it.
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parents:
diff
changeset
|
222 |
((_val > 0) - (_val < 0)); }) |
e93efb4af231
Added interface to select the reference clock and to sync to it.
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parents:
diff
changeset
|
223 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
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parents:
diff
changeset
|
224 |
/*****************************************************************************/ |
e93efb4af231
Added interface to select the reference clock and to sync to it.
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parents:
diff
changeset
|
225 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
226 |
/** Update the master time based on ref slaves time diff |
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parents:
diff
changeset
|
227 |
* |
e93efb4af231
Added interface to select the reference clock and to sync to it.
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parents:
diff
changeset
|
228 |
* called after the ethercat frame is sent to avoid time jitter in |
e93efb4af231
Added interface to select the reference clock and to sync to it.
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parents:
diff
changeset
|
229 |
* sync_distributed_clocks() |
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Added interface to select the reference clock and to sync to it.
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parents:
diff
changeset
|
230 |
*/ |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
231 |
void update_master_clock(void) |
e93efb4af231
Added interface to select the reference clock and to sync to it.
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parents:
diff
changeset
|
232 |
{ |
e93efb4af231
Added interface to select the reference clock and to sync to it.
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parents:
diff
changeset
|
233 |
#if SYNC_MASTER_TO_REF |
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Added interface to select the reference clock and to sync to it.
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parents:
diff
changeset
|
234 |
// calc drift (via un-normalised time diff) |
e93efb4af231
Added interface to select the reference clock and to sync to it.
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parents:
diff
changeset
|
235 |
int32_t delta = dc_diff_ns - prev_dc_diff_ns; |
e93efb4af231
Added interface to select the reference clock and to sync to it.
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parents:
diff
changeset
|
236 |
prev_dc_diff_ns = dc_diff_ns; |
e93efb4af231
Added interface to select the reference clock and to sync to it.
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parents:
diff
changeset
|
237 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
238 |
// normalise the time diff |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
239 |
dc_diff_ns = |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
240 |
((dc_diff_ns + (cycle_ns / 2)) % cycle_ns) - (cycle_ns / 2); |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
241 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
242 |
// only update if primary master |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
243 |
if (dc_started) { |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
244 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
245 |
// add to totals |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
246 |
dc_diff_total_ns += dc_diff_ns; |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
247 |
dc_delta_total_ns += delta; |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
248 |
dc_filter_idx++; |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
249 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
250 |
if (dc_filter_idx >= DC_FILTER_CNT) { |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
251 |
// add rounded delta average |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
252 |
dc_adjust_ns += |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
253 |
((dc_delta_total_ns + (DC_FILTER_CNT / 2)) / DC_FILTER_CNT); |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
254 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
255 |
// and add adjustment for general diff (to pull in drift) |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
256 |
dc_adjust_ns += sign(dc_diff_total_ns / DC_FILTER_CNT); |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
257 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
258 |
// limit crazy numbers (0.1% of std cycle time) |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
259 |
if (dc_adjust_ns < -1000) { |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
260 |
dc_adjust_ns = -1000; |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
261 |
} |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
262 |
if (dc_adjust_ns > 1000) { |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
263 |
dc_adjust_ns = 1000; |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
264 |
} |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
265 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
266 |
// reset |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
267 |
dc_diff_total_ns = 0LL; |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
268 |
dc_delta_total_ns = 0LL; |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
269 |
dc_filter_idx = 0; |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
270 |
} |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
271 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
272 |
// add cycles adjustment to time base (including a spot adjustment) |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
273 |
system_time_base += dc_adjust_ns + sign(dc_diff_ns); |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
274 |
} |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
275 |
else { |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
276 |
dc_started = (dc_diff_ns != 0); |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
277 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
278 |
if (dc_started) { |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
279 |
// output first diff |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
280 |
rt_printk("First master diff: %d.\n", dc_diff_ns); |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
281 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
282 |
// record the time of this initial cycle |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
283 |
dc_start_time_ns = dc_time_ns; |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
284 |
} |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
285 |
} |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
286 |
#endif |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
287 |
} |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
288 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
289 |
/****************************************************************************/ |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
290 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
291 |
void rt_check_domain_state(void) |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
292 |
{ |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
293 |
ec_domain_state_t ds = {}; |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
294 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
295 |
ecrt_domain_state(domain1, &ds); |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
296 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
297 |
if (ds.working_counter != domain1_state.working_counter) { |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
298 |
rt_printf("Domain1: WC %u.\n", ds.working_counter); |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
299 |
} |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
300 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
301 |
if (ds.wc_state != domain1_state.wc_state) { |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
302 |
rt_printf("Domain1: State %u.\n", ds.wc_state); |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
303 |
} |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
304 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
305 |
domain1_state = ds; |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
306 |
} |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
307 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
308 |
/****************************************************************************/ |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
309 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
310 |
void rt_check_master_state(void) |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
311 |
{ |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
312 |
ec_master_state_t ms; |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
313 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
314 |
ecrt_master_state(master, &ms); |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
315 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
316 |
if (ms.slaves_responding != master_state.slaves_responding) { |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
317 |
rt_printf("%u slave(s).\n", ms.slaves_responding); |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
318 |
} |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
319 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
320 |
if (ms.al_states != master_state.al_states) { |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
321 |
rt_printf("AL states: 0x%02X.\n", ms.al_states); |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
322 |
} |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
323 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
324 |
if (ms.link_up != master_state.link_up) { |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
325 |
rt_printf("Link is %s.\n", ms.link_up ? "up" : "down"); |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
326 |
} |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
327 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
328 |
master_state = ms; |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
329 |
} |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
330 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
331 |
/****************************************************************************/ |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
332 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
333 |
/** Wait for the next period |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
334 |
*/ |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
335 |
void wait_period(void) |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
336 |
{ |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
337 |
while (1) |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
338 |
{ |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
339 |
RTIME wakeup_count = system2count(wakeup_time); |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
340 |
RTIME current_count = rt_get_time(); |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
341 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
342 |
if ((wakeup_count < current_count) |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
343 |
|| (wakeup_count > current_count + (50 * cycle_ns))) { |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
344 |
rt_printk("%s(): unexpected wake time!\n", __func__); |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
345 |
} |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
346 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
347 |
switch (rt_sleep_until(wakeup_count)) { |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
348 |
case RTE_UNBLKD: |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
349 |
rt_printk("rt_sleep_until(): RTE_UNBLKD\n"); |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
350 |
continue; |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
351 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
352 |
case RTE_TMROVRN: |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
353 |
rt_printk("rt_sleep_until(): RTE_TMROVRN\n"); |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
354 |
overruns++; |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
355 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
356 |
if (overruns % 100 == 0) { |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
357 |
// in case wake time is broken ensure other processes get |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
358 |
// some time slice (and error messages can get displayed) |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
359 |
rt_sleep(cycle_ns / 100); |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
360 |
} |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
361 |
break; |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
362 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
363 |
default: |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
364 |
break; |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
365 |
} |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
366 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
367 |
// done if we got to here |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
368 |
break; |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
369 |
} |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
370 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
371 |
// calc next wake time (in sys time) |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
372 |
wakeup_time += cycle_ns; |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
373 |
} |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
374 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
375 |
/****************************************************************************/ |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
376 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
377 |
void my_cyclic(void) |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
378 |
{ |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
379 |
int cycle_counter = 0; |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
380 |
unsigned int blink = 0; |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
381 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
382 |
// oneshot mode to allow adjustable wake time |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
383 |
rt_set_oneshot_mode(); |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
384 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
385 |
// set first wake time in a few cycles |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
386 |
wakeup_time = system_time_ns() + 10 * cycle_ns; |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
387 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
388 |
// start the timer |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
389 |
start_rt_timer(nano2count(cycle_ns)); |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
390 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
391 |
rt_make_hard_real_time(); |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
392 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
393 |
while (run) { |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
394 |
// wait for next period (using adjustable system time) |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
395 |
wait_period(); |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
396 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
397 |
cycle_counter++; |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
398 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
399 |
if (!run) { |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
400 |
break; |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
401 |
} |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
402 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
403 |
// receive EtherCAT |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
404 |
ecrt_master_receive(master); |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
405 |
ecrt_domain_process(domain1); |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
406 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
407 |
rt_check_domain_state(); |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
408 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
409 |
if (!(cycle_counter % 1000)) { |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
410 |
rt_check_master_state(); |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
411 |
} |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
412 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
413 |
if (!(cycle_counter % 200)) { |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
414 |
blink = !blink; |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
415 |
} |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
416 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
417 |
EC_WRITE_U8(domain1_pd + off_dig_out0, blink ? 0x00 : 0x0F); |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
418 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
419 |
// queue process data |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
420 |
ecrt_domain_queue(domain1); |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
421 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
422 |
// sync distributed clock just before master_send to set |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
423 |
// most accurate master clock time |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
424 |
sync_distributed_clocks(); |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
425 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
426 |
// send EtherCAT data |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
427 |
ecrt_master_send(master); |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
428 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
429 |
// update the master clock |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
430 |
// Note: called after ecrt_master_send() to reduce time |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
431 |
// jitter in the sync_distributed_clocks() call |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
432 |
update_master_clock(); |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
433 |
} |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
434 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
435 |
rt_make_soft_real_time(); |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
436 |
stop_rt_timer(); |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
437 |
} |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
438 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
439 |
/**************************************************************************** |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
440 |
* Signal handler |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
441 |
***************************************************************************/ |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
442 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
443 |
void signal_handler(int sig) |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
444 |
{ |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
445 |
run = 0; |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
446 |
} |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
447 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
448 |
/**************************************************************************** |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
449 |
* Main function |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
450 |
***************************************************************************/ |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
451 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
452 |
int main(int argc, char *argv[]) |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
453 |
{ |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
454 |
ec_slave_config_t *sc_ek1100; |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
455 |
int ret; |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
456 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
457 |
signal(SIGTERM, signal_handler); |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
458 |
signal(SIGINT, signal_handler); |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
459 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
460 |
mlockall(MCL_CURRENT | MCL_FUTURE); |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
461 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
462 |
printf("Requesting master...\n"); |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
463 |
master = ecrt_request_master(0); |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
464 |
if (!master) { |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
465 |
return -1; |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
466 |
} |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
467 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
468 |
domain1 = ecrt_master_create_domain(master); |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
469 |
if (!domain1) { |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
470 |
return -1; |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
471 |
} |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
472 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
473 |
printf("Creating slave configurations...\n"); |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
474 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
475 |
// Create configuration for bus coupler |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
476 |
sc_ek1100 = |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
477 |
ecrt_master_slave_config(master, BusCoupler01_Pos, Beckhoff_EK1100); |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
478 |
if (!sc_ek1100) { |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
479 |
return -1; |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
480 |
} |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
481 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
482 |
sc_dig_out_01 = |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
483 |
ecrt_master_slave_config(master, DigOutSlave01_Pos, Beckhoff_EL2004); |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
484 |
if (!sc_dig_out_01) { |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
485 |
fprintf(stderr, "Failed to get slave configuration.\n"); |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
486 |
return -1; |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
487 |
} |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
488 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
489 |
if (ecrt_slave_config_pdos(sc_dig_out_01, EC_END, slave_1_syncs)) { |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
490 |
fprintf(stderr, "Failed to configure PDOs.\n"); |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
491 |
return -1; |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
492 |
} |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
493 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
494 |
if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) { |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
495 |
fprintf(stderr, "PDO entry registration failed!\n"); |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
496 |
return -1; |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
497 |
} |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
498 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
499 |
/* Set the initial master time and select a slave to use as the DC |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
500 |
* reference clock, otherwise pass NULL to auto select the first capable |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
501 |
* slave. Note: This can be used whether the master or the ref slave will |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
502 |
* be used as the systems master DC clock. |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
503 |
*/ |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
504 |
dc_start_time_ns = system_time_ns(); |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
505 |
dc_time_ns = dc_start_time_ns; |
2523
c5c81a52fc30
Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents:
2447
diff
changeset
|
506 |
|
c5c81a52fc30
Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents:
2447
diff
changeset
|
507 |
/* Attention: The initial application time is also used for phase |
c5c81a52fc30
Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents:
2447
diff
changeset
|
508 |
* calculation for the SYNC0/1 interrupts. Please be sure to call it at |
c5c81a52fc30
Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents:
2447
diff
changeset
|
509 |
* the correct phase to the realtime cycle. |
c5c81a52fc30
Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents:
2447
diff
changeset
|
510 |
*/ |
2447
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
511 |
ecrt_master_application_time(master, dc_start_time_ns); |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
512 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
513 |
ret = ecrt_master_select_reference_clock(master, sc_ek1100); |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
514 |
if (ret < 0) { |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
515 |
fprintf(stderr, "Failed to select reference clock: %s\n", |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
516 |
strerror(-ret)); |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
517 |
return ret; |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
518 |
} |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
519 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
520 |
printf("Activating master...\n"); |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
521 |
if (ecrt_master_activate(master)) { |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
522 |
return -1; |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
523 |
} |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
524 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
525 |
if (!(domain1_pd = ecrt_domain_data(domain1))) { |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
526 |
fprintf(stderr, "Failed to get domain data pointer.\n"); |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
527 |
return -1; |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
528 |
} |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
529 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
530 |
/* Create cyclic RT-thread */ |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
531 |
struct sched_param param; |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
532 |
param.sched_priority = sched_get_priority_max(SCHED_FIFO) - 1; |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
533 |
if (sched_setscheduler(0, SCHED_FIFO, ¶m) == -1) { |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
534 |
puts("ERROR IN SETTING THE SCHEDULER"); |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
535 |
perror("errno"); |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
536 |
return -1; |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
537 |
} |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
538 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
539 |
task = rt_task_init(nam2num("ec_rtai_rtdm_example"), |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
540 |
0 /* priority */, 0 /* stack size */, 0 /* msg size */); |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
541 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
542 |
my_cyclic(); |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
543 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
544 |
rt_task_delete(task); |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
545 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
546 |
printf("End of Program\n"); |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
547 |
ecrt_release_master(master); |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
548 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
549 |
return 0; |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
550 |
} |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
551 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
552 |
/****************************************************************************/ |