bkinnightskytw
/
ethercat
mirror of https://gitlab.com/bkinnightskytw/ethercat.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Migrated user-space example to use clock_nanosleep().

This commit is contained in:
Florian Pose 2016-06-09 13:52:22 +02:00
parent a5cfa32f4b
commit 2da13023f4
2 changed files with 76 additions and 115 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
examples/user/Makefile.am
View File

@ -31,6 +31,6 @@ noinst_PROGRAMS = ec_user_example
ec_user_example_SOURCES = main.c
ec_user_example_CFLAGS = -I$(top_srcdir)/include -Wall
ec_user_example_LDFLAGS = -L$(top_builddir)/lib/.libs -lethercat
ec_user_example_LDFLAGS = -L$(top_builddir)/lib/.libs -lethercat -lrt
#------------------------------------------------------------------------------

189
examples/user/main.c
View File

@ -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
/** Task period in ns. */
#define PERIOD_NS (1000000)
// Optional features
#define CONFIGURE_PDOS 1
#define SDO_ACCESS 0
#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_domain_state_t domain1_state = {};
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 @@ static unsigned int blink = 0;
/*****************************************************************************/
#if CONFIGURE_PDOS
// Analog in --------------------------
static ec_pdo_entry_info_t el3102_pdo_entries[] = {
@ -165,13 +166,6 @@ static ec_sync_info_t el2004_syncs[] = {
{1, EC_DIR_INPUT},
{0xff}
};
#endif
/*****************************************************************************/
#if SDO_ACCESS
static ec_sdo_request_t *sdo;
#endif
/*****************************************************************************/
@ -181,10 +175,12 @@ void check_domain1_state(void)
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 @@ void check_master_state(void)
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 @@ void check_slave_config_states(void)
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 @@ void cyclic_task()
// 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 cyclic_task()
/****************************************************************************/
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 @@ void signal_handler(int signum) {
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)
if (!master) {
return -1;
}
domain1 = ecrt_master_create_domain(master);
if (!domain1)
if (!domain1) {
return -1;
}
if (!(sc_ana_in = ecrt_master_slave_config(
master, AnaInSlavePos, Beckhoff_EL3102))) {
@ -332,16 +303,6 @@ int main(int argc, char **argv)
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 @@ int main(int argc, char **argv)
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)
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 @@ int main(int argc, char **argv)
}
printf("Activating master...\n");
if (ecrt_master_activate(master))
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;
/* Lock memory */
if (mlockall(MCL_CURRENT | MCL_FUTURE) == -1) {
fprintf(stderr, "Warning: Failed to lock memory: %s\n",
strerror(errno));
}
printf("Started.\n");
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();
ret = clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME,
&wakeup_time, NULL);
if (ret) {
fprintf(stderr, "clock_nanosleep(): %s\n", strerror(ret));
break;
}
#if 0
struct timeval t;
gettimeofday(&t, NULL);
printf("%u.%06u\n", t.tv_sec, t.tv_usec);
#endif
cyclic_task();
while (sig_alarms != user_alarms) {
cyclic_task();
user_alarms++;
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 0;
return ret;
}
/****************************************************************************/