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ethercat
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Zyklische Ausgaben um "Verzögerte" Rahmen erweitert.

This commit is contained in:
Florian Pose 2006-02-28 11:36:29 +00:00
parent eadaf72e40
commit a84b1adce5
3 changed files with 34 additions and 17 deletions
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16
master/domain.c
View File

@ -279,7 +279,7 @@ int EtherCAT_rt_domain_xio(ec_domain_t *domain /**< Dom
frame = &domain->frame;
working_counter_sum = 0;
ec_output_lost_frames(master); // Evtl. verlorene Frames ausgeben
ec_cyclic_output(master);
rdtscl(start_ticks); // Sendezeit nehmen
timeout_ticks = domain->timeout_us * cpu_khz / 1000;
@ -309,10 +309,16 @@ int EtherCAT_rt_domain_xio(ec_domain_t *domain /**< Dom
master->bus_time = (end_ticks - start_ticks) * 1000 / cpu_khz;
if (unlikely(end_ticks - start_ticks >= timeout_ticks)) {
master->device.state = EC_DEVICE_STATE_READY;
master->frames_lost++;
ec_output_lost_frames(master);
return -1;
if (master->device.state == EC_DEVICE_STATE_RECEIVED) {
master->frames_delayed++;
ec_cyclic_output(master);
}
else {
master->device.state = EC_DEVICE_STATE_READY;
master->frames_lost++;
ec_cyclic_output(master);
return -1;
}
}
if (unlikely(ec_frame_receive(frame) < 0)) {

26
master/master.c
View File

@ -39,7 +39,8 @@ void ec_master_init(ec_master_t *master /**< EtherCAT-Master */)
master->debug_level = 0;
master->bus_time = 0;
master->frames_lost = 0;
master->t_lost_output = 0;
master->frames_delayed = 0;
master->t_last_cyclic_output = 0;
}
/*****************************************************************************/
@ -84,7 +85,8 @@ void ec_master_reset(ec_master_t *master
master->debug_level = 0;
master->bus_time = 0;
master->frames_lost = 0;
master->t_lost_output = 0;
master->frames_delayed = 0;
master->t_last_cyclic_output = 0;
}
/*****************************************************************************/
@ -237,22 +239,30 @@ int ec_scan_for_slaves(ec_master_t *master /**< EtherCAT-Master */)
/*****************************************************************************/
/**
Gibt die Anzahl verlorener Frames aus.
Ausgaben während des zyklischen Betriebs.
Diese Funktion sorgt dafür, dass Ausgaben (Zählerstände) während
des zyklischen Betriebs nicht zu oft getätigt werden.
Die Ausgabe erfolgt gesammelt höchstens einmal pro Sekunde.
*/
void ec_output_lost_frames(ec_master_t *master /**< EtherCAT-Master */)
void ec_cyclic_output(ec_master_t *master /**< EtherCAT-Master */)
{
unsigned long int t;
if (master->frames_lost) {
rdtscl(t);
if ((t - master->t_lost_output) / cpu_khz > 1000) {
rdtscl(t);
if ((t - master->t_last_cyclic_output) / cpu_khz > 1000) {
if (master->frames_lost) {
EC_WARN("%u frame(s) LOST!\n", master->frames_lost);
master->frames_lost = 0;
master->t_lost_output = t;
}
if (master->frames_delayed) {
EC_WARN("%u frame(s) DELAYED!\n", master->frames_delayed);
master->frames_delayed = 0;
}
master->t_last_cyclic_output = t;
}
}

9
master/master.h
View File

@ -36,9 +36,10 @@ struct ec_master
unsigned int domain_count; /**< Anzahl Domänen */
int debug_level; /**< Debug-Level im Master-Code */
unsigned int bus_time; /**< Letzte Bus-Zeit in Mikrosekunden */
unsigned int frames_lost; /**< Anzahl verlorene Frames */
unsigned long t_lost_output; /**< Timer-Ticks bei der letzten Ausgabe von
verlorenen Frames */
unsigned int frames_lost; /**< Anzahl verlorener Frames */
unsigned int frames_delayed; /**< Anzahl verzögerter Frames */
unsigned long t_last_cyclic_output; /**< Timer-Ticks bei den letzten
zyklischen Ausgaben */
};
/*****************************************************************************/
@ -59,7 +60,7 @@ ec_slave_t *ec_address(const ec_master_t *, const char *);
// Misc
void ec_output_debug_data(const ec_master_t *);
void ec_output_lost_frames(ec_master_t *);
void ec_cyclic_output(ec_master_t *);
/*****************************************************************************/