--- a/examples/user/main.c Wed May 04 11:17:20 2016 +0200
+++ b/examples/user/main.c Thu Jun 09 13:52:22 2016 +0200
@@ -35,6 +35,8 @@
#include <sys/time.h>
#include <sys/types.h>
#include <unistd.h>
+#include <time.h> /* clock_gettime() */
+#include <sys/mman.h> /* mlockall() */
/****************************************************************************/
@@ -42,13 +44,18 @@
/****************************************************************************/
-// Application parameters
-#define FREQUENCY 100
-#define PRIORITY 1
-
-// Optional features
-#define CONFIGURE_PDOS 1
-#define SDO_ACCESS 0
+/** Task period in ns. */
+#define PERIOD_NS (1000000)
+
+#define MAX_SAFE_STACK (8 * 1024) /* The maximum stack size which is
+ guranteed safe to access without
+ faulting */
+
+/****************************************************************************/
+
+/* Constants */
+#define NSEC_PER_SEC (1000000000)
+#define FREQUENCY (NSEC_PER_SEC / PERIOD_NS)
/****************************************************************************/
@@ -62,10 +69,6 @@
static ec_slave_config_t *sc_ana_in = NULL;
static ec_slave_config_state_t sc_ana_in_state = {};
-// Timer
-static unsigned int sig_alarms = 0;
-static unsigned int user_alarms = 0;
-
/****************************************************************************/
// process data
@@ -102,8 +105,6 @@
/*****************************************************************************/
-#if CONFIGURE_PDOS
-
// Analog in --------------------------
static ec_pdo_entry_info_t el3102_pdo_entries[] = {
@@ -165,13 +166,6 @@
{1, EC_DIR_INPUT},
{0xff}
};
-#endif
-
-/*****************************************************************************/
-
-#if SDO_ACCESS
-static ec_sdo_request_t *sdo;
-#endif
/*****************************************************************************/
@@ -181,10 +175,12 @@
ecrt_domain_state(domain1, &ds);
- if (ds.working_counter != domain1_state.working_counter)
+ if (ds.working_counter != domain1_state.working_counter) {
printf("Domain1: WC %u.\n", ds.working_counter);
- if (ds.wc_state != domain1_state.wc_state)
+ }
+ if (ds.wc_state != domain1_state.wc_state) {
printf("Domain1: State %u.\n", ds.wc_state);
+ }
domain1_state = ds;
}
@@ -197,12 +193,15 @@
ecrt_master_state(master, &ms);
- if (ms.slaves_responding != master_state.slaves_responding)
+ if (ms.slaves_responding != master_state.slaves_responding) {
printf("%u slave(s).\n", ms.slaves_responding);
- if (ms.al_states != master_state.al_states)
+ }
+ if (ms.al_states != master_state.al_states) {
printf("AL states: 0x%02X.\n", ms.al_states);
- if (ms.link_up != master_state.link_up)
+ }
+ if (ms.link_up != master_state.link_up) {
printf("Link is %s.\n", ms.link_up ? "up" : "down");
+ }
master_state = ms;
}
@@ -215,51 +214,28 @@
ecrt_slave_config_state(sc_ana_in, &s);
- if (s.al_state != sc_ana_in_state.al_state)
+ if (s.al_state != sc_ana_in_state.al_state) {
printf("AnaIn: State 0x%02X.\n", s.al_state);
- if (s.online != sc_ana_in_state.online)
+ }
+ if (s.online != sc_ana_in_state.online) {
printf("AnaIn: %s.\n", s.online ? "online" : "offline");
- if (s.operational != sc_ana_in_state.operational)
- printf("AnaIn: %soperational.\n",
- s.operational ? "" : "Not ");
+ }
+ if (s.operational != sc_ana_in_state.operational) {
+ printf("AnaIn: %soperational.\n", s.operational ? "" : "Not ");
+ }
sc_ana_in_state = s;
}
/*****************************************************************************/
-#if SDO_ACCESS
-void read_sdo(void)
-{
- switch (ecrt_sdo_request_state(sdo)) {
- case EC_REQUEST_UNUSED: // request was not used yet
- ecrt_sdo_request_read(sdo); // trigger first read
- break;
- case EC_REQUEST_BUSY:
- fprintf(stderr, "Still busy...\n");
- break;
- case EC_REQUEST_SUCCESS:
- fprintf(stderr, "SDO value: 0x%04X\n",
- EC_READ_U16(ecrt_sdo_request_data(sdo)));
- ecrt_sdo_request_read(sdo); // trigger next read
- break;
- case EC_REQUEST_ERROR:
- fprintf(stderr, "Failed to read SDO!\n");
- ecrt_sdo_request_read(sdo); // retry reading
- break;
- }
-}
-#endif
-
-/****************************************************************************/
-
void cyclic_task()
{
// receive process data
ecrt_master_receive(master);
ecrt_domain_process(domain1);
- // check process data state (optional)
+ // check process data state
check_domain1_state();
if (counter) {
@@ -273,14 +249,8 @@
// check for master state (optional)
check_master_state();
- // check for islave configuration state(s) (optional)
+ // check for slave configuration state(s) (optional)
check_slave_config_states();
-
-#if SDO_ACCESS
- // read process data SDO
- read_sdo();
-#endif
-
}
#if 0
@@ -302,12 +272,11 @@
/****************************************************************************/
-void signal_handler(int signum) {
- switch (signum) {
- case SIGALRM:
- sig_alarms++;
- break;
- }
+void stack_prefault(void)
+{
+ unsigned char dummy[MAX_SAFE_STACK];
+
+ memset(dummy, 0, MAX_SAFE_STACK);
}
/****************************************************************************/
@@ -315,16 +284,18 @@
int main(int argc, char **argv)
{
ec_slave_config_t *sc;
- struct sigaction sa;
- struct itimerval tv;
+ struct timespec wakeup_time;
+ int ret = 0;
master = ecrt_request_master(0);
- if (!master)
- return -1;
+ if (!master) {
+ return -1;
+ }
domain1 = ecrt_master_create_domain(master);
- if (!domain1)
- return -1;
+ if (!domain1) {
+ return -1;
+ }
if (!(sc_ana_in = ecrt_master_slave_config(
master, AnaInSlavePos, Beckhoff_EL3102))) {
@@ -332,16 +303,6 @@
return -1;
}
-#if SDO_ACCESS
- fprintf(stderr, "Creating SDO requests...\n");
- if (!(sdo = ecrt_slave_config_create_sdo_request(sc_ana_in, 0x3102, 2, 2))) {
- fprintf(stderr, "Failed to create SDO request.\n");
- return -1;
- }
- ecrt_sdo_request_timeout(sdo, 500); // ms
-#endif
-
-#if CONFIGURE_PDOS
printf("Configuring PDOs...\n");
if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3102_syncs)) {
fprintf(stderr, "Failed to configure PDOs.\n");
@@ -369,12 +330,12 @@
fprintf(stderr, "Failed to configure PDOs.\n");
return -1;
}
-#endif
// Create configuration for bus coupler
sc = ecrt_master_slave_config(master, BusCouplerPos, Beckhoff_EK1100);
- if (!sc)
- return -1;
+ if (!sc) {
+ return -1;
+ }
if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
fprintf(stderr, "PDO entry registration failed!\n");
@@ -382,55 +343,55 @@
}
printf("Activating master...\n");
- if (ecrt_master_activate(master))
- return -1;
+ if (ecrt_master_activate(master)) {
+ return -1;
+ }
if (!(domain1_pd = ecrt_domain_data(domain1))) {
return -1;
}
-#if PRIORITY
+ /* Set priority */
+
pid_t pid = getpid();
- if (setpriority(PRIO_PROCESS, pid, -19))
+ if (setpriority(PRIO_PROCESS, pid, -19)) {
fprintf(stderr, "Warning: Failed to set priority: %s\n",
strerror(errno));
-#endif
-
- sa.sa_handler = signal_handler;
- sigemptyset(&sa.sa_mask);
- sa.sa_flags = 0;
- if (sigaction(SIGALRM, &sa, 0)) {
- fprintf(stderr, "Failed to install signal handler!\n");
- return -1;
- }
-
- printf("Starting timer...\n");
- tv.it_interval.tv_sec = 0;
- tv.it_interval.tv_usec = 1000000 / FREQUENCY;
- tv.it_value.tv_sec = 0;
- tv.it_value.tv_usec = 1000;
- if (setitimer(ITIMER_REAL, &tv, NULL)) {
- fprintf(stderr, "Failed to start timer: %s\n", strerror(errno));
- return 1;
- }
-
- printf("Started.\n");
+ }
+
+ /* Lock memory */
+
+ if (mlockall(MCL_CURRENT | MCL_FUTURE) == -1) {
+ fprintf(stderr, "Warning: Failed to lock memory: %s\n",
+ strerror(errno));
+ }
+
+ stack_prefault();
+
+ printf("Starting RT task with dt=%u ns.\n", PERIOD_NS);
+
+ clock_gettime(CLOCK_MONOTONIC, &wakeup_time);
+ wakeup_time.tv_sec += 1; /* start in future */
+ wakeup_time.tv_nsec = 0;
+
while (1) {
- pause();
-
-#if 0
- struct timeval t;
- gettimeofday(&t, NULL);
- printf("%u.%06u\n", t.tv_sec, t.tv_usec);
-#endif
-
- while (sig_alarms != user_alarms) {
- cyclic_task();
- user_alarms++;
+ ret = clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME,
+ &wakeup_time, NULL);
+ if (ret) {
+ fprintf(stderr, "clock_nanosleep(): %s\n", strerror(ret));
+ break;
}
- }
-
- return 0;
-}
-
-/****************************************************************************/
+
+ cyclic_task();
+
+ wakeup_time.tv_nsec += PERIOD_NS;
+ while (wakeup_time.tv_nsec >= NSEC_PER_SEC) {
+ wakeup_time.tv_nsec -= NSEC_PER_SEC;
+ wakeup_time.tv_sec++;
+ }
+ }
+
+ return ret;
+}
+
+/****************************************************************************/