553 lines
15 KiB
C
553 lines
15 KiB
C
/******************************************************************************
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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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ec_pdo_info_t slave_1_pdos[] = {
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{0x1600, 1, slave_1_pdo_entries + 0}, /* Channel 1 */
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{0x1601, 1, slave_1_pdo_entries + 1}, /* Channel 2 */
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{0x1602, 1, slave_1_pdo_entries + 2}, /* Channel 3 */
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{0x1603, 1, slave_1_pdo_entries + 3}, /* Channel 4 */
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};
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ec_sync_info_t slave_1_syncs[] = {
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{0, EC_DIR_OUTPUT, 4, slave_1_pdos + 0, EC_WD_ENABLE},
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{0xff}
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};
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/*****************************************************************************
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* Realtime task
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****************************************************************************/
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/** Get the time in ns for the current cpu, adjusted by system_time_base.
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*
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* \attention Rather than calling rt_get_time_ns() directly, all application
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* time calls should use this method instead.
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*
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* \ret The time in ns.
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*/
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uint64_t system_time_ns(void)
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{
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RTIME time = rt_get_time_ns();
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if (system_time_base > time) {
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rt_printk("%s() error: system_time_base greater than"
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" system time (system_time_base: %lld, time: %llu\n",
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__func__, system_time_base, time);
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return time;
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}
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else {
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return time - system_time_base;
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}
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}
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/****************************************************************************/
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/** Convert system time to RTAI time in counts (via the system_time_base).
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*/
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RTIME system2count(
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uint64_t time
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)
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{
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RTIME ret;
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if ((system_time_base < 0) &&
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((uint64_t) (-system_time_base) > time)) {
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rt_printk("%s() error: system_time_base less than"
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" system time (system_time_base: %lld, time: %llu\n",
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__func__, system_time_base, time);
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ret = time;
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}
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else {
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ret = time + system_time_base;
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}
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return nano2count(ret);
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}
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/*****************************************************************************/
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/** Synchronise the distributed clocks
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*/
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void sync_distributed_clocks(void)
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{
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#if SYNC_MASTER_TO_REF
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uint32_t ref_time = 0;
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uint64_t prev_app_time = dc_time_ns;
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#endif
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dc_time_ns = system_time_ns();
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// set master time in nano-seconds
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ecrt_master_application_time(master, dc_time_ns);
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#if SYNC_MASTER_TO_REF
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// get reference clock time to synchronize master cycle
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ecrt_master_reference_clock_time(master, &ref_time);
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dc_diff_ns = (uint32_t) prev_app_time - ref_time;
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#else
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// sync reference clock to master
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ecrt_master_sync_reference_clock(master);
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#endif
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// call to sync slaves to ref slave
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ecrt_master_sync_slave_clocks(master);
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}
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/*****************************************************************************/
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/** Return the sign of a number
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*
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* ie -1 for -ve value, 0 for 0, +1 for +ve value
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*
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* \retval the sign of the value
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*/
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#define sign(val) \
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({ typeof (val) _val = (val); \
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((_val > 0) - (_val < 0)); })
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/*****************************************************************************/
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/** Update the master time based on ref slaves time diff
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*
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* called after the ethercat frame is sent to avoid time jitter in
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* sync_distributed_clocks()
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*/
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void update_master_clock(void)
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{
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#if SYNC_MASTER_TO_REF
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// calc drift (via un-normalised time diff)
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int32_t delta = dc_diff_ns - prev_dc_diff_ns;
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prev_dc_diff_ns = dc_diff_ns;
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// normalise the time diff
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dc_diff_ns =
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((dc_diff_ns + (cycle_ns / 2)) % cycle_ns) - (cycle_ns / 2);
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// only update if primary master
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if (dc_started) {
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// add to totals
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dc_diff_total_ns += dc_diff_ns;
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dc_delta_total_ns += delta;
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dc_filter_idx++;
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if (dc_filter_idx >= DC_FILTER_CNT) {
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// add rounded delta average
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dc_adjust_ns +=
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((dc_delta_total_ns + (DC_FILTER_CNT / 2)) / DC_FILTER_CNT);
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// and add adjustment for general diff (to pull in drift)
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dc_adjust_ns += sign(dc_diff_total_ns / DC_FILTER_CNT);
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// limit crazy numbers (0.1% of std cycle time)
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if (dc_adjust_ns < -1000) {
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dc_adjust_ns = -1000;
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}
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if (dc_adjust_ns > 1000) {
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dc_adjust_ns = 1000;
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}
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// reset
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dc_diff_total_ns = 0LL;
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dc_delta_total_ns = 0LL;
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dc_filter_idx = 0;
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}
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// add cycles adjustment to time base (including a spot adjustment)
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system_time_base += dc_adjust_ns + sign(dc_diff_ns);
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}
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else {
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dc_started = (dc_diff_ns != 0);
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if (dc_started) {
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// output first diff
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rt_printk("First master diff: %d.\n", dc_diff_ns);
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// record the time of this initial cycle
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dc_start_time_ns = dc_time_ns;
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}
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}
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#endif
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}
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/****************************************************************************/
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void rt_check_domain_state(void)
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{
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ec_domain_state_t ds = {};
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ecrt_domain_state(domain1, &ds);
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if (ds.working_counter != domain1_state.working_counter) {
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rt_printf("Domain1: WC %u.\n", ds.working_counter);
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}
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if (ds.wc_state != domain1_state.wc_state) {
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rt_printf("Domain1: State %u.\n", ds.wc_state);
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}
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domain1_state = ds;
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}
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/****************************************************************************/
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void rt_check_master_state(void)
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{
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ec_master_state_t ms;
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ecrt_master_state(master, &ms);
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if (ms.slaves_responding != master_state.slaves_responding) {
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rt_printf("%u slave(s).\n", ms.slaves_responding);
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}
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if (ms.al_states != master_state.al_states) {
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rt_printf("AL states: 0x%02X.\n", ms.al_states);
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}
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if (ms.link_up != master_state.link_up) {
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rt_printf("Link is %s.\n", ms.link_up ? "up" : "down");
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}
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master_state = ms;
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}
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/****************************************************************************/
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/** Wait for the next period
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*/
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void wait_period(void)
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{
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while (1)
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{
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RTIME wakeup_count = system2count(wakeup_time);
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RTIME current_count = rt_get_time();
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if ((wakeup_count < current_count)
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|| (wakeup_count > current_count + (50 * cycle_ns))) {
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rt_printk("%s(): unexpected wake time!\n", __func__);
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}
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switch (rt_sleep_until(wakeup_count)) {
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case RTE_UNBLKD:
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rt_printk("rt_sleep_until(): RTE_UNBLKD\n");
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continue;
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case RTE_TMROVRN:
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rt_printk("rt_sleep_until(): RTE_TMROVRN\n");
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overruns++;
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if (overruns % 100 == 0) {
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// in case wake time is broken ensure other processes get
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// some time slice (and error messages can get displayed)
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rt_sleep(cycle_ns / 100);
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}
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break;
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default:
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break;
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}
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// done if we got to here
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break;
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}
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// calc next wake time (in sys time)
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wakeup_time += cycle_ns;
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}
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/****************************************************************************/
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void my_cyclic(void)
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{
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int cycle_counter = 0;
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unsigned int blink = 0;
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// oneshot mode to allow adjustable wake time
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rt_set_oneshot_mode();
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// set first wake time in a few cycles
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wakeup_time = system_time_ns() + 10 * cycle_ns;
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// start the timer
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start_rt_timer(nano2count(cycle_ns));
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rt_make_hard_real_time();
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while (run) {
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// wait for next period (using adjustable system time)
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wait_period();
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cycle_counter++;
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if (!run) {
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break;
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}
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// receive EtherCAT
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ecrt_master_receive(master);
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ecrt_domain_process(domain1);
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rt_check_domain_state();
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if (!(cycle_counter % 1000)) {
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rt_check_master_state();
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}
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if (!(cycle_counter % 200)) {
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blink = !blink;
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}
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EC_WRITE_U8(domain1_pd + off_dig_out0, blink ? 0x00 : 0x0F);
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// queue process data
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ecrt_domain_queue(domain1);
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// sync distributed clock just before master_send to set
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// most accurate master clock time
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sync_distributed_clocks();
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// send EtherCAT data
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ecrt_master_send(master);
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// update the master clock
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// Note: called after ecrt_master_send() to reduce time
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// jitter in the sync_distributed_clocks() call
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update_master_clock();
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}
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rt_make_soft_real_time();
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stop_rt_timer();
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}
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/****************************************************************************
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* Signal handler
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***************************************************************************/
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void signal_handler(int sig)
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{
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run = 0;
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}
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/****************************************************************************
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* Main function
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***************************************************************************/
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int main(int argc, char *argv[])
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{
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ec_slave_config_t *sc_ek1100;
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int ret;
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signal(SIGTERM, signal_handler);
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signal(SIGINT, signal_handler);
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mlockall(MCL_CURRENT | MCL_FUTURE);
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printf("Requesting master...\n");
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master = ecrt_request_master(0);
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if (!master) {
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return -1;
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}
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domain1 = ecrt_master_create_domain(master);
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if (!domain1) {
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return -1;
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}
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printf("Creating slave configurations...\n");
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// Create configuration for bus coupler
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sc_ek1100 =
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ecrt_master_slave_config(master, BusCoupler01_Pos, Beckhoff_EK1100);
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if (!sc_ek1100) {
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return -1;
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}
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sc_dig_out_01 =
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ecrt_master_slave_config(master, DigOutSlave01_Pos, Beckhoff_EL2004);
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if (!sc_dig_out_01) {
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fprintf(stderr, "Failed to get slave configuration.\n");
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return -1;
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}
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if (ecrt_slave_config_pdos(sc_dig_out_01, EC_END, slave_1_syncs)) {
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fprintf(stderr, "Failed to configure PDOs.\n");
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return -1;
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}
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if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
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fprintf(stderr, "PDO entry registration failed!\n");
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return -1;
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}
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/* Set the initial master time and select a slave to use as the DC
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* reference clock, otherwise pass NULL to auto select the first capable
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* slave. Note: This can be used whether the master or the ref slave will
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* be used as the systems master DC clock.
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*/
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dc_start_time_ns = system_time_ns();
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dc_time_ns = dc_start_time_ns;
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/* Attention: The initial application time is also used for phase
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* calculation for the SYNC0/1 interrupts. Please be sure to call it at
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* the correct phase to the realtime cycle.
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*/
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ecrt_master_application_time(master, dc_start_time_ns);
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ret = ecrt_master_select_reference_clock(master, sc_ek1100);
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if (ret < 0) {
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fprintf(stderr, "Failed to select reference clock: %s\n",
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strerror(-ret));
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return ret;
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}
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printf("Activating master...\n");
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if (ecrt_master_activate(master)) {
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return -1;
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}
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if (!(domain1_pd = ecrt_domain_data(domain1))) {
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fprintf(stderr, "Failed to get domain data pointer.\n");
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return -1;
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}
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/* Create cyclic RT-thread */
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struct sched_param param;
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param.sched_priority = sched_get_priority_max(SCHED_FIFO) - 1;
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if (sched_setscheduler(0, SCHED_FIFO, ¶m) == -1) {
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puts("ERROR IN SETTING THE SCHEDULER");
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perror("errno");
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return -1;
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}
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task = rt_task_init(nam2num("ec_rtai_rtdm_example"),
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0 /* priority */, 0 /* stack size */, 0 /* msg size */);
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my_cyclic();
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rt_task_delete(task);
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printf("End of Program\n");
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ecrt_release_master(master);
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return 0;
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}
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/****************************************************************************/
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