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Added example with DC-sync #382
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Original file line number | Diff line number | Diff line change |
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set(SOURCES dcsync_test.c) | ||
add_executable(dcsync_test ${SOURCES}) | ||
target_link_libraries(dcsync_test soem) | ||
install(TARGETS dcsync_test DESTINATION bin) |
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/** \file | ||
* \brief Example code for Simple Open EtherCAT master with Distributed Clock Sync | ||
* | ||
* Usage : dcsync_test [ifname1] [cycletime] | ||
* ifname is NIC interface, f.e. eth0 | ||
* cycletime in us, f.e. 1000 | ||
* | ||
* This is a script based on redundancy test to run EtherCAT master with DC Sync. | ||
* | ||
* (c)Arthur Ketels 2008 | ||
* | ||
* modified by Stefano Dalla Gasperina 2020 | ||
*/ | ||
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#include <stdio.h> | ||
#include <stdlib.h> | ||
#include <sys/time.h> | ||
#include <unistd.h> | ||
#include <sched.h> | ||
#include <string.h> | ||
#include <sys/time.h> | ||
#include <time.h> | ||
#include <pthread.h> | ||
#include <math.h> | ||
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#include "ethercat.h" | ||
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#define NSEC_PER_SEC 1000000000 | ||
#define EC_TIMEOUTMON 500 | ||
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struct sched_param schedp; | ||
char IOmap[4096]; | ||
pthread_t thread1, thread2; | ||
struct timeval tv, t1, t2; | ||
int dorun = 0; | ||
int deltat, tmax = 0; | ||
int64 toff, gl_delta; | ||
int DCdiff; | ||
int os; | ||
uint8 ob; | ||
uint16 ob2; | ||
uint8 *digout = 0; | ||
int expectedWKC; | ||
boolean needlf; | ||
volatile int wkc; | ||
boolean inOP; | ||
uint8 currentgroup = 0; | ||
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/* Slave Distributed Clock Configuration */ | ||
boolean dcsync_enable = TRUE; | ||
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static int slave_dc_config(uint16 slave) | ||
{ | ||
// ec_dcsync0(slave, active, cycletime, calc and copy time) | ||
ec_dcsync0(slave, dcsync_enable, 1000000U, 1000U); | ||
printf("ec_dcsync0 called on slave %u\n",slave); | ||
return 0; | ||
} | ||
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void redtest(char *ifname) | ||
{ | ||
int cnt, i, oloop, iloop; | ||
int j; | ||
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printf("Starting DC-sync test\n"); | ||
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/* initialise SOEM, bind socket to ifname */ | ||
if (ec_init(ifname)) | ||
{ | ||
printf("ec_init on %s succeeded.\n",ifname); | ||
/* find and auto-config slaves */ | ||
if (ec_config_init(FALSE) > 0) // == ec_config_init + ec_config_map | ||
{ | ||
printf("%d slaves found and configured.\n",ec_slavecount); | ||
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// PO2SOconfig is for registering a hook function that will be called when the slave does the transition | ||
// between Pre-OP and Safe-OP. | ||
if ((ec_slavecount >= 1)) { | ||
for (cnt = 1; cnt <= ec_slavecount; cnt++) { | ||
printf("Found %s at position %d\n", ec_slave[cnt].name, cnt); | ||
ec_slave[cnt].PO2SOconfig = &slave_dc_config; | ||
} | ||
} | ||
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/* Locate DC slaves, measure propagation delays. */ | ||
ec_configdc(); | ||
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ec_config_map(&IOmap); | ||
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/* wait for all slaves to reach SAFE_OP state */ | ||
ec_statecheck(0, EC_STATE_SAFE_OP, EC_TIMEOUTSTATE); | ||
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/* read indevidual slave state and store in ec_slave[] */ | ||
ec_readstate(); | ||
for(cnt = 1; cnt <= ec_slavecount ; cnt++) | ||
{ | ||
/* BEGIN USER CODE */ | ||
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printf("Slave:%d Name:%s Output size:%3dbits Input size:%3dbits State:%2d delay:%d.%d\n", | ||
cnt, ec_slave[cnt].name, ec_slave[cnt].Obits, ec_slave[cnt].Ibits, | ||
ec_slave[cnt].state, (int)ec_slave[cnt].pdelay, ec_slave[cnt].hasdc); | ||
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/* END USER CODE */ | ||
} | ||
expectedWKC = (ec_group[0].outputsWKC * 2) + ec_group[0].inputsWKC; | ||
printf("Calculated workcounter %d\n", expectedWKC); | ||
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printf("Request operational state for all slaves\n"); | ||
ec_slave[0].state = EC_STATE_OPERATIONAL; | ||
/* request OP state for all slaves */ | ||
ec_writestate(0); | ||
/* activate cyclic process data */ | ||
dorun = 1; | ||
/* wait for all slaves to reach OP state */ | ||
ec_statecheck(0, EC_STATE_OPERATIONAL, 5 * EC_TIMEOUTSTATE); | ||
oloop = ec_slave[0].Obytes; | ||
if ((oloop == 0) && (ec_slave[0].Obits > 0)) oloop = 1; | ||
if (oloop > 8) oloop = 8; | ||
iloop = ec_slave[0].Ibytes; | ||
if ((iloop == 0) && (ec_slave[0].Ibits > 0)) iloop = 1; | ||
if (iloop > 8) iloop = 8; | ||
if (ec_slave[0].state == EC_STATE_OPERATIONAL ) | ||
{ | ||
printf("Operational state reached for all slaves.\n"); | ||
inOP = TRUE; | ||
/* acyclic loop 5000 x 20ms = 10s */ | ||
for(i = 1; i <= 5000; i++) | ||
{ | ||
/* BEGIN USER CODE */ | ||
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printf("Processdata cycle %5d , Wck %3d, DCtime %12ld, dt %12ld, O:", | ||
dorun, wkc , ec_DCtime, gl_delta); | ||
for(j = 0 ; j < oloop; j++) | ||
{ | ||
printf(" %2.2x", *(ec_slave[0].outputs + j)); | ||
} | ||
printf(" I:"); | ||
for(j = 0 ; j < iloop; j++) | ||
{ | ||
printf(" %2.2x", *(ec_slave[0].inputs + j)); | ||
} | ||
printf("\r"); | ||
fflush(stdout); | ||
osal_usleep(20000); | ||
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/* END USER CODE */ | ||
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} | ||
dorun = 0; | ||
inOP = FALSE; | ||
} | ||
else | ||
{ | ||
printf("Not all slaves reached operational state.\n"); | ||
ec_readstate(); | ||
for(i = 1; i<=ec_slavecount ; i++) | ||
{ | ||
if(ec_slave[i].state != EC_STATE_OPERATIONAL) | ||
{ | ||
printf("Slave %d State=0x%2.2x StatusCode=0x%4.4x : %s\n", | ||
i, ec_slave[i].state, ec_slave[i].ALstatuscode, ec_ALstatuscode2string(ec_slave[i].ALstatuscode)); | ||
} | ||
} | ||
} | ||
printf("Request safe operational state for all slaves\n"); | ||
ec_slave[0].state = EC_STATE_SAFE_OP; | ||
/* request SAFE_OP state for all slaves */ | ||
ec_writestate(0); | ||
} | ||
else | ||
{ | ||
printf("No slaves found!\n"); | ||
} | ||
printf("End DC-sync test, close socket\n"); | ||
/* stop SOEM, close socket */ | ||
ec_close(); | ||
} | ||
else | ||
{ | ||
printf("No socket connection on %s\nExcecute as root\n",ifname); | ||
} | ||
} | ||
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/* add ns to timespec */ | ||
void add_timespec(struct timespec *ts, int64 addtime) | ||
{ | ||
int64 sec, nsec; | ||
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nsec = addtime % NSEC_PER_SEC; | ||
sec = (addtime - nsec) / NSEC_PER_SEC; | ||
ts->tv_sec += sec; | ||
ts->tv_nsec += nsec; | ||
if ( ts->tv_nsec > NSEC_PER_SEC ) | ||
{ | ||
nsec = ts->tv_nsec % NSEC_PER_SEC; | ||
ts->tv_sec += (ts->tv_nsec - nsec) / NSEC_PER_SEC; | ||
ts->tv_nsec = nsec; | ||
} | ||
} | ||
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/* PI calculation to get linux time synced to DC time */ | ||
void ec_sync(int64 reftime, int64 cycletime , int64 *offsettime) | ||
{ | ||
static int64 integral = 0; | ||
int64 delta; | ||
/* set linux sync point 50us later than DC sync, just as example */ | ||
delta = (reftime - 50000) % cycletime; | ||
if(delta> (cycletime / 2)) { delta= delta - cycletime; } | ||
if(delta>0){ integral++; } | ||
if(delta<0){ integral--; } | ||
*offsettime = -(delta / 100) - (integral / 20); | ||
gl_delta = delta; | ||
} | ||
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/* RT EtherCAT thread */ | ||
OSAL_THREAD_FUNC_RT ecatthread(void *ptr) | ||
{ | ||
struct timespec ts, tleft; | ||
int ht; | ||
int64 cycletime; | ||
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clock_gettime(CLOCK_MONOTONIC, &ts); | ||
ht = (ts.tv_nsec / 1000000) + 1; /* round to nearest ms */ | ||
ts.tv_nsec = ht * 1000000; | ||
cycletime = *(int*)ptr * 1000; /* cycletime in ns */ | ||
toff = 0; | ||
dorun = 0; | ||
ec_send_processdata(); | ||
while(1) | ||
{ | ||
/* calculate next cycle start */ | ||
add_timespec(&ts, cycletime + toff); | ||
/* wait to cycle start */ | ||
clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &ts, &tleft); | ||
if (dorun>0) | ||
{ | ||
/* BEGIN USER CODE */ | ||
wkc = ec_receive_processdata(EC_TIMEOUTRET); | ||
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dorun++; | ||
/* if we have some digital output, cycle */ | ||
if( digout ) *digout = (uint8) ((dorun / 16) & 0xff); | ||
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if (ec_slave[0].hasdc) | ||
{ | ||
/* calulate toff to get linux time and DC synced */ | ||
ec_sync(ec_DCtime, cycletime, &toff); | ||
} | ||
ec_send_processdata(); | ||
/* END USER CODE */ | ||
} | ||
} | ||
} | ||
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OSAL_THREAD_FUNC ecatcheck() | ||
{ | ||
int slave; | ||
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while(1) | ||
{ | ||
if( inOP && ((wkc < expectedWKC) || ec_group[currentgroup].docheckstate)) | ||
{ | ||
if (needlf) | ||
{ | ||
needlf = FALSE; | ||
printf("\n"); | ||
} | ||
/* one ore more slaves are not responding */ | ||
ec_group[currentgroup].docheckstate = FALSE; | ||
ec_readstate(); | ||
for (slave = 1; slave <= ec_slavecount; slave++) | ||
{ | ||
if ((ec_slave[slave].group == currentgroup) && (ec_slave[slave].state != EC_STATE_OPERATIONAL)) | ||
{ | ||
ec_group[currentgroup].docheckstate = TRUE; | ||
if (ec_slave[slave].state == (EC_STATE_SAFE_OP + EC_STATE_ERROR)) | ||
{ | ||
printf("ERROR : slave %d is in SAFE_OP + ERROR, attempting ack.\n", slave); | ||
ec_slave[slave].state = (EC_STATE_SAFE_OP + EC_STATE_ACK); | ||
ec_writestate(slave); | ||
} | ||
else if(ec_slave[slave].state == EC_STATE_SAFE_OP) | ||
{ | ||
printf("WARNING : slave %d is in SAFE_OP, change to OPERATIONAL.\n", slave); | ||
ec_slave[slave].state = EC_STATE_OPERATIONAL; | ||
ec_writestate(slave); | ||
} | ||
else if(ec_slave[slave].state > EC_STATE_NONE) | ||
{ | ||
if (ec_reconfig_slave(slave, EC_TIMEOUTMON)) | ||
{ | ||
ec_slave[slave].islost = FALSE; | ||
printf("MESSAGE : slave %d reconfigured\n",slave); | ||
} | ||
} | ||
else if(!ec_slave[slave].islost) | ||
{ | ||
/* re-check state */ | ||
ec_statecheck(slave, EC_STATE_OPERATIONAL, EC_TIMEOUTRET); | ||
if (ec_slave[slave].state == EC_STATE_NONE) | ||
{ | ||
ec_slave[slave].islost = TRUE; | ||
printf("ERROR : slave %d lost\n",slave); | ||
} | ||
} | ||
} | ||
if (ec_slave[slave].islost) | ||
{ | ||
if(ec_slave[slave].state == EC_STATE_NONE) | ||
{ | ||
if (ec_recover_slave(slave, EC_TIMEOUTMON)) | ||
{ | ||
ec_slave[slave].islost = FALSE; | ||
printf("MESSAGE : slave %d recovered\n",slave); | ||
} | ||
} | ||
else | ||
{ | ||
ec_slave[slave].islost = FALSE; | ||
printf("MESSAGE : slave %d found\n",slave); | ||
} | ||
} | ||
} | ||
if(!ec_group[currentgroup].docheckstate) | ||
printf("OK : all slaves resumed OPERATIONAL.\n"); | ||
} | ||
osal_usleep(10000); | ||
} | ||
} | ||
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#define stack64k (64 * 1024) | ||
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int main(int argc, char *argv[]) | ||
{ | ||
int ctime; | ||
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printf("SOEM (Simple Open EtherCAT Master)\nDC-sync test\n"); | ||
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if (argc > 2) | ||
{ | ||
dorun = 0; | ||
ctime = atoi(argv[2]); | ||
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/* create RT thread */ | ||
osal_thread_create_rt(&thread1, stack64k * 2, &ecatthread, (void*) &ctime); | ||
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/* create thread to handle slave error handling in OP */ | ||
osal_thread_create(&thread2, stack64k * 4, &ecatcheck, NULL); | ||
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/* start acyclic part */ | ||
redtest(argv[1]); | ||
} | ||
else | ||
{ | ||
printf("Usage: dcsync_test ifname cycletime\nifname = eth0 for example\ncycletime in us\n"); | ||
} | ||
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printf("End program\n"); | ||
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return (0); | ||
} |
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