1 ../../../ccat/unittest/main.c |
1 /***************************************************************************** |
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2 * |
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3 * $Id: main.c,v 6a6dec6fc806 2012/09/19 17:46:58 fp $ |
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4 * |
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5 * Copyright (C) 2007-2009 Florian Pose, Ingenieurgemeinschaft IgH |
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6 * |
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7 * This file is part of the IgH EtherCAT Master. |
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8 * |
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9 * The IgH EtherCAT Master is free software; you can redistribute it and/or |
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10 * modify it under the terms of the GNU General Public License version 2, as |
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11 * published by the Free Software Foundation. |
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12 * |
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13 * The IgH EtherCAT Master is distributed in the hope that it will be useful, |
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14 * but WITHOUT ANY WARRANTY; without even the implied warranty of |
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15 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General |
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16 * Public License for more details. |
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17 * |
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18 * You should have received a copy of the GNU General Public License along |
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19 * with the IgH EtherCAT Master; if not, write to the Free Software |
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20 * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
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21 * |
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22 * --- |
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23 * |
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24 * The license mentioned above concerns the source code only. Using the |
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25 * EtherCAT technology and brand is only permitted in compliance with the |
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26 * industrial property and similar rights of Beckhoff Automation GmbH. |
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27 * |
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28 ****************************************************************************/ |
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29 |
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30 #include <errno.h> |
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31 #include <signal.h> |
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32 #include <stdio.h> |
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33 #include <string.h> |
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34 #include <sys/resource.h> |
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35 #include <sys/time.h> |
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36 #include <sys/types.h> |
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37 #include <unistd.h> |
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38 |
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39 /****************************************************************************/ |
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40 |
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41 #include "ecrt.h" |
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42 |
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43 /****************************************************************************/ |
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44 |
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45 // Application parameters |
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46 #define FREQUENCY 100 |
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47 #define PRIORITY 0 |
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48 |
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49 /****************************************************************************/ |
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50 |
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51 // EtherCAT |
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52 static ec_master_t *master = NULL; |
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53 static ec_master_state_t master_state = {}; |
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54 |
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55 static ec_domain_t *domain1 = NULL; |
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56 static ec_domain_state_t domain1_state = {}; |
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57 |
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58 static ec_slave_config_t *sc_ana_in = NULL; |
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59 static ec_slave_config_state_t sc_ana_in_state = {}; |
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60 |
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61 // Timer |
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62 static unsigned int sig_alarms = 0; |
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63 static unsigned int user_alarms = 0; |
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64 |
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65 /****************************************************************************/ |
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66 |
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67 // process data |
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68 static uint8_t *domain1_pd = NULL; |
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69 |
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70 #define BusCouplerPos 0, 3 |
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71 #define DigOutSlavePos 0, 0 |
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72 |
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73 //#define Beckhoff_EK1100 0x00000002, 0x044c2c52 |
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74 #define Beckhoff_EK1100 0x00000002, 0x04562c52 |
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75 #define Beckhoff_EL1008 0x00000002, 0x03f03052 |
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76 #define Beckhoff_EL2004 0x00000002, 0x07d43052 |
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77 #define Beckhoff_EL2008 0x00000002, 0x07d83052 |
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78 #define Beckhoff_EL2032 0x00000002, 0x07f03052 |
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79 #define Beckhoff_EL3152 0x00000002, 0x0c503052 |
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80 #define Beckhoff_EL3102 0x00000002, 0x0c1e3052 |
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81 #define Beckhoff_EL4102 0x00000002, 0x10063052 |
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82 |
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83 // offsets for PDO entries |
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84 static unsigned int off_dig_in[1]; |
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85 static unsigned int off_dig_out[2]; |
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86 |
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87 |
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88 /*****************************************************************************/ |
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89 // Digital in ------------------------ |
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90 static ec_pdo_entry_info_t el1008_channels[] = { |
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91 {0x6000, 1, 1}, |
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92 {0x6010, 1, 1}, |
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93 {0x6020, 1, 1}, |
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94 {0x6030, 1, 1}, |
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95 {0x6040, 1, 1}, |
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96 {0x6050, 1, 1}, |
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97 {0x6060, 1, 1}, |
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98 {0x6070, 1, 1}, |
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99 }; |
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100 |
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101 static ec_pdo_info_t el1008_pdos[] = { |
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102 {0x1a00, 1, &el1008_channels[0]}, |
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103 {0x1a01, 1, &el1008_channels[1]}, |
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104 {0x1a02, 1, &el1008_channels[2]}, |
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105 {0x1a03, 1, &el1008_channels[3]}, |
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106 {0x1a04, 1, &el1008_channels[4]}, |
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107 {0x1a05, 1, &el1008_channels[5]}, |
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108 {0x1a06, 1, &el1008_channels[6]}, |
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109 {0x1a07, 1, &el1008_channels[7]} |
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110 }; |
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111 |
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112 static ec_sync_info_t el1008_syncs[] = { |
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113 {2, EC_DIR_OUTPUT}, |
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114 {3, EC_DIR_INPUT, 8, el1008_pdos}, |
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115 {0xff} |
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116 }; |
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117 |
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118 // Digital out ------------------------ |
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119 static ec_pdo_entry_info_t el2008_channels[] = { |
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120 {0x7000, 1, 1}, |
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121 {0x7010, 1, 1}, |
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122 {0x7020, 1, 1}, |
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123 {0x7030, 1, 1}, |
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124 {0x7040, 1, 1}, |
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125 {0x7050, 1, 1}, |
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126 {0x7060, 1, 1}, |
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127 {0x7070, 1, 1}, |
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128 }; |
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129 |
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130 static ec_pdo_info_t el2008_pdos[] = { |
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131 {0x1600, 1, &el2008_channels[0]}, |
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132 {0x1601, 1, &el2008_channels[1]}, |
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133 {0x1602, 1, &el2008_channels[2]}, |
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134 {0x1603, 1, &el2008_channels[3]}, |
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135 {0x1604, 1, &el2008_channels[4]}, |
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136 {0x1605, 1, &el2008_channels[5]}, |
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137 {0x1606, 1, &el2008_channels[6]}, |
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138 {0x1607, 1, &el2008_channels[7]} |
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139 }; |
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140 |
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141 static ec_sync_info_t el2008_syncs[] = { |
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142 {0, EC_DIR_OUTPUT, 8, el2008_pdos}, |
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143 {1, EC_DIR_INPUT}, |
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144 {0xff} |
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145 }; |
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146 |
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147 /*****************************************************************************/ |
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148 |
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149 void check_domain1_state(void) |
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150 { |
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151 ec_domain_state_t ds; |
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152 |
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153 ecrt_domain_state(domain1, &ds); |
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154 |
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155 if (ds.working_counter != domain1_state.working_counter) |
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156 printf("Domain1: WC %u.\n", ds.working_counter); |
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157 if (ds.wc_state != domain1_state.wc_state) |
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158 printf("Domain1: State %u.\n", ds.wc_state); |
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159 |
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160 domain1_state = ds; |
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161 } |
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162 |
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163 /*****************************************************************************/ |
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164 |
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165 void check_master_state(void) |
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166 { |
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167 ec_master_state_t ms; |
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168 |
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169 ecrt_master_state(master, &ms); |
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170 |
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171 if (ms.slaves_responding != master_state.slaves_responding) |
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172 printf("%u slave(s).\n", ms.slaves_responding); |
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173 if (ms.al_states != master_state.al_states) |
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174 printf("AL states: 0x%02X.\n", ms.al_states); |
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175 if (ms.link_up != master_state.link_up) |
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176 printf("Link is %s.\n", ms.link_up ? "up" : "down"); |
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177 |
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178 master_state = ms; |
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179 } |
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180 |
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181 /*****************************************************************************/ |
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182 |
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183 void check_slave_config_states(void) |
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184 { |
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185 ec_slave_config_state_t s; |
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186 |
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187 ecrt_slave_config_state(sc_ana_in, &s); |
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188 |
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189 if (s.al_state != sc_ana_in_state.al_state) |
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190 printf("AnaIn: State 0x%02X.\n", s.al_state); |
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191 if (s.online != sc_ana_in_state.online) |
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192 printf("AnaIn: %s.\n", s.online ? "online" : "offline"); |
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193 if (s.operational != sc_ana_in_state.operational) |
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194 printf("AnaIn: %soperational.\n", |
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195 s.operational ? "" : "Not "); |
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196 |
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197 sc_ana_in_state = s; |
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198 } |
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199 |
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200 /****************************************************************************/ |
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201 |
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202 void cyclic_task() |
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203 { |
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204 static unsigned int counter = 10; |
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205 static uint8_t outputValue = 0; |
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206 static int numAsyncCycles = 0; |
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207 uint8_t inputValue = 0; |
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208 static uint8_t error = 0; |
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209 |
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210 // receive process data |
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211 ecrt_master_receive(master); |
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212 ecrt_domain_process(domain1); |
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213 |
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214 // check process data state (optional) |
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215 check_domain1_state(); |
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216 |
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217 |
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218 inputValue = EC_READ_U8(domain1_pd + off_dig_in[0]); |
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219 |
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220 if(inputValue != outputValue) { |
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221 numAsyncCycles++; |
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222 } else { |
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223 numAsyncCycles = 0; |
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224 } |
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225 |
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226 if(numAsyncCycles > 2) { |
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227 if(error != 0xff) { |
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228 error++; |
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229 } |
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230 } |
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231 |
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232 |
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233 if (counter) { |
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234 counter--; |
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235 } else { |
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236 counter = 5; //update delay |
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237 |
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238 |
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239 |
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240 // calculate new process data |
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241 outputValue++; |
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242 |
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243 // check for master state (optional) |
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244 check_master_state(); |
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245 |
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246 // check for islave configuration state(s) (optional) |
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247 check_slave_config_states(); |
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248 } |
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249 |
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250 // write process data |
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251 EC_WRITE_U8(domain1_pd + off_dig_out[1], outputValue); |
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252 EC_WRITE_U8(domain1_pd + off_dig_out[0], error); |
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253 |
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254 // send process data |
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255 ecrt_domain_queue(domain1); |
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256 ecrt_master_send(master); |
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257 } |
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258 |
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259 /****************************************************************************/ |
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260 |
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261 void signal_handler(int signum) { |
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262 switch (signum) { |
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263 case SIGALRM: |
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264 sig_alarms++; |
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265 break; |
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266 } |
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267 } |
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268 |
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269 /****************************************************************************/ |
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270 |
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271 int Init_EL2008(uint16_t position) |
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272 { |
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273 ec_slave_config_t *sc; |
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274 if (!(sc = ecrt_master_slave_config(master, 0, position, Beckhoff_EL2008))) { |
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275 fprintf(stderr, "Failed to get EL2008 configuration #%u.\n", position); |
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276 return -1; |
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277 } |
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278 if (ecrt_slave_config_pdos(sc, EC_END, el2008_syncs)) { |
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279 fprintf(stderr, "Failed to configure PDOs #%u.\n", position); |
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280 return -1; |
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281 } |
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282 if (0 > (off_dig_out[position] = ecrt_slave_config_reg_pdo_entry(sc, 0x7000, 1, domain1, NULL))) { |
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283 fprintf(stderr, "Failed to configure reg PDOs #%u.\n", position); |
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284 return -1; |
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285 } |
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286 fprintf(stderr, "EL2008 #%u configured offset: %d.\n", position, off_dig_out[position]); |
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287 return 0; |
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288 } |
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289 |
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290 int main(int argc, char **argv) |
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291 { |
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292 ec_slave_config_t *sc; |
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293 struct sigaction sa; |
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294 struct itimerval tv; |
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295 uint16_t i; |
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296 |
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297 master = ecrt_request_master(0); |
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298 if (!master) |
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299 return -1; |
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300 |
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301 domain1 = ecrt_master_create_domain(master); |
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302 if (!domain1) |
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303 return -1; |
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304 |
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305 printf("Configuring PDOs...\n"); |
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306 if (!(sc_ana_in = ecrt_master_slave_config(master, 0, 2, Beckhoff_EL1008))) { |
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307 fprintf(stderr, "Failed to get digital in configuration.\n"); |
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308 return -1; |
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309 } |
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310 if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el1008_syncs)) { |
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311 fprintf(stderr, "Failed to configure PDOs.\n"); |
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312 return -1; |
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313 } |
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314 if (0 > (off_dig_in[0] = ecrt_slave_config_reg_pdo_entry(sc_ana_in, 0x6000, 1, domain1, NULL))) { |
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315 fprintf(stderr, "Failed to configure reg PDOs.\n"); |
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316 return -1; |
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317 } |
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318 printf("EL1008 configured.\n"); |
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319 |
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320 for(i = 0; i < 2; ++i) { |
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321 if(Init_EL2008(i)) { |
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322 fprintf(stderr, "Failed to initialize EL2008 #%u.\n", i); |
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323 return -1; |
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324 } |
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325 } |
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326 |
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327 // Create configuration for bus coupler |
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328 sc = ecrt_master_slave_config(master, BusCouplerPos, Beckhoff_EK1100); |
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329 if (!sc) |
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330 return -1; |
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331 fprintf(stderr, "EK1100 configured.\n"); |
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332 |
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333 printf("Activating master...\n"); |
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334 if (ecrt_master_activate(master)) |
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335 return -1; |
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336 |
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337 if (!(domain1_pd = ecrt_domain_data(domain1))) { |
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338 return -1; |
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339 } |
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340 |
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341 #if PRIORITY |
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342 pid_t pid = getpid(); |
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343 if (setpriority(PRIO_PROCESS, pid, -19)) |
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344 fprintf(stderr, "Warning: Failed to set priority: %s\n", |
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345 strerror(errno)); |
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346 #endif |
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347 |
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348 sa.sa_handler = signal_handler; |
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349 sigemptyset(&sa.sa_mask); |
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350 sa.sa_flags = 0; |
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351 if (sigaction(SIGALRM, &sa, 0)) { |
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352 fprintf(stderr, "Failed to install signal handler!\n"); |
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353 return -1; |
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354 } |
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355 |
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356 printf("Starting timer...\n"); |
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357 tv.it_interval.tv_sec = 0; |
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358 tv.it_interval.tv_usec = 1000000 / FREQUENCY; |
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359 tv.it_value.tv_sec = 0; |
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360 tv.it_value.tv_usec = 1000; |
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361 if (setitimer(ITIMER_REAL, &tv, NULL)) { |
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362 fprintf(stderr, "Failed to start timer: %s\n", strerror(errno)); |
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363 return 1; |
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364 } |
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365 |
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366 printf("Started.\n"); |
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367 while (1) { |
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368 pause(); |
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369 |
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370 #if 0 |
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371 struct timeval t; |
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372 gettimeofday(&t, NULL); |
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373 printf("%u.%06u\n", t.tv_sec, t.tv_usec); |
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374 #endif |
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375 |
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376 while (sig_alarms != user_alarms) { |
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377 cyclic_task(); |
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378 user_alarms++; |
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379 } |
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380 } |
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381 |
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382 return 0; |
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383 } |
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384 |
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385 /****************************************************************************/ |