From 38a26d4f5a0754370166eb7b1cb6fbe2c4ddd0ff Mon Sep 17 00:00:00 2001 From: Stefano Dalla Gasperina Date: Tue, 17 Mar 2020 07:05:15 -0500 Subject: [PATCH] Commit dcsync --- test/linux/dcsync_test/CMakeLists.txt | 4 + test/linux/dcsync_test/dcsync_test.c | 362 ++++++++++++++++++ test/linux/dcsync_test/dcsync_test.c.autosave | 361 +++++++++++++++++ 3 files changed, 727 insertions(+) create mode 100644 test/linux/dcsync_test/CMakeLists.txt create mode 100644 test/linux/dcsync_test/dcsync_test.c create mode 100644 test/linux/dcsync_test/dcsync_test.c.autosave diff --git a/test/linux/dcsync_test/CMakeLists.txt b/test/linux/dcsync_test/CMakeLists.txt new file mode 100644 index 0000000..22b5eab --- /dev/null +++ b/test/linux/dcsync_test/CMakeLists.txt @@ -0,0 +1,4 @@ +set(SOURCES dcsync_test.c) +add_executable(dcsync_test ${SOURCES}) +target_link_libraries(dcsync_test soem) +install(TARGETS dcsync_test DESTINATION bin) diff --git a/test/linux/dcsync_test/dcsync_test.c b/test/linux/dcsync_test/dcsync_test.c new file mode 100644 index 0000000..3531b0f --- /dev/null +++ b/test/linux/dcsync_test/dcsync_test.c @@ -0,0 +1,362 @@ +/** \file + * \brief Example code for Simple Open EtherCAT master + * + * Usage : red_test [ifname1] [ifname2] [cycletime] + * ifname is NIC interface, f.e. eth0 + * cycletime in us, f.e. 500 + * + * This is a redundancy test. + * + * (c)Arthur Ketels 2008 + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "ethercat.h" + +#define NSEC_PER_SEC 1000000000 +#define EC_TIMEOUTMON 500 + +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; + +// Slave Distributed Clock Configuration + +boolean dcsync_enable = TRUE; + +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); +//ec_dcsync01(slave, TRUE, 2000000U, 0U, 0U); +return 0; +} + + +void redtest(char *ifname) +{ + int cnt, i, oloop, iloop; + int j; + + printf("Starting Redundant test\n"); + + /* initialise SOEM, bind socket to ifname */ +// if (ec_init_redundant(ifname, ifname2)) + 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 +// if ( ec_config(FALSE, &IOmap) > 0 ) + { + printf("%d slaves found and configured.\n",ec_slavecount); + + // 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++) { +// if (ec_slave[cnt].eep_id == 0x1c2B3052) { // eep_id == ProductCode on ESI +// el7211_pos = cnt; + printf("Found %s at position %d\n", ec_slave[cnt].name, cnt); + ec_slave[cnt].PO2SOconfig = &slave_dc_config; + + } + } + + ec_configdc(); + + ec_config_map(&IOmap); + + /* wait for all slaves to reach SAFE_OP state */ + ec_statecheck(0, EC_STATE_SAFE_OP, EC_TIMEOUTSTATE); + + /* read indevidual slave state and store in ec_slave[] */ + ec_readstate(); + for(cnt = 1; cnt <= ec_slavecount ; cnt++) + { + 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); +// printf(" Out:%8.8x,%4d In:%8.8x,%4d\n", +// (int)ec_slave[cnt].outputs, ec_slave[cnt].Obytes, (int)ec_slave[cnt].inputs, ec_slave[cnt].Ibytes); + /* check for EL2004 or EL2008 */ +// if( !digout && ((ec_slave[cnt].eep_id == 0x0af83052) || (ec_slave[cnt].eep_id == 0x07d83052))) +// { +// digout = ec_slave[cnt].outputs; +// } + } + expectedWKC = (ec_group[0].outputsWKC * 2) + ec_group[0].inputsWKC; + printf("Calculated workcounter %d\n", expectedWKC); + + 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++) + { + 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); + } + 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 redundant test, close socket\n"); + /* stop SOEM, close socket */ + ec_close(); + } + else + { + printf("No socket connection on %s\nExcecute as root\n",ifname); + } +} + +/* add ns to timespec */ +void add_timespec(struct timespec *ts, int64 addtime) +{ + int64 sec, nsec; + + 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; + } +} + +/* 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; +} + +/* RT EtherCAT thread */ +OSAL_THREAD_FUNC_RT ecatthread(void *ptr) +{ + struct timespec ts, tleft; + int ht; + int64 cycletime; + + 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) + { + wkc = ec_receive_processdata(EC_TIMEOUTRET); + + dorun++; + /* if we have some digital output, cycle */ + if( digout ) *digout = (uint8) ((dorun / 16) & 0xff); + + if (ec_slave[0].hasdc) + { + /* calulate toff to get linux time and DC synced */ + ec_sync(ec_DCtime, cycletime, &toff); + } + ec_send_processdata(); + } + } +} + +OSAL_THREAD_FUNC ecatcheck() //void *ptr ) +{ + int slave; + + 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); + } +} + +#define stack64k (64 * 1024) + +int main(int argc, char *argv[]) +{ + int ctime; + + printf("SOEM (Simple Open EtherCAT Master)\nRedundancy test\n"); + + if (argc > 2) + { + dorun = 0; + ctime = atoi(argv[2]); + + /* create RT thread */ + osal_thread_create_rt(&thread1, stack64k * 2, &ecatthread, (void*) &ctime); + + /* create thread to handle slave error handling in OP */ + osal_thread_create(&thread2, stack64k * 4, &ecatcheck, NULL); + + /* start acyclic part */ + redtest(argv[1]); + } + else + { + printf("Usage: red_test ifname1 ifname2 cycletime\nifname = eth0 for example\ncycletime in us\n"); + } + + printf("End program\n"); + + return (0); +} diff --git a/test/linux/dcsync_test/dcsync_test.c.autosave b/test/linux/dcsync_test/dcsync_test.c.autosave new file mode 100644 index 0000000..2a8d0bc --- /dev/null +++ b/test/linux/dcsync_test/dcsync_test.c.autosave @@ -0,0 +1,361 @@ +/** \file + * \brief Example code for Simple Open EtherCAT master + * + * Usage : red_test [ifname1] [ifname2] [cycletime] + * ifname is NIC interface, f.e. eth0 + * cycletime in us, f.e. 500 + * + * This is a redundancy test. + * + * (c)Arthur Ketels 2008 + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "ethercat.h" + +#define NSEC_PER_SEC 1000000000 +#define EC_TIMEOUTMON 500 + +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; + +// Slave Distributed Clock Configuration +boolean dcsync_enable = TRUE; + +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); + //ec_dcsync01(slave, TRUE, 2000000U, 0U, 0U); + return 0; +} + + +void redtest(char *ifname) +{ + int cnt, i, oloop, iloop; + int j; + + printf("Starting Redundant test\n"); + + /* initialise SOEM, bind socket to ifname */ +// if (ec_init_redundant(ifname, ifname2)) + 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 +// if ( ec_config(FALSE, &IOmap) > 0 ) + { + printf("%d slaves found and configured.\n",ec_slavecount); + + // 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++) { +// if (ec_slave[cnt].eep_id == 0x1c2B3052) { // eep_id == ProductCode on ESI +// el7211_pos = cnt; + printf("Found %s at position %d\n", ec_slave[cnt].name, cnt); + ec_slave[cnt].PO2SOconfig = &slave_dc_config; + + } + } + + ec_configdc(); + + ec_config_map(&IOmap); + + /* wait for all slaves to reach SAFE_OP state */ + ec_statecheck(0, EC_STATE_SAFE_OP, EC_TIMEOUTSTATE); + + /* read indevidual slave state and store in ec_slave[] */ + ec_readstate(); + for(cnt = 1; cnt <= ec_slavecount ; cnt++) + { + 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); +// printf(" Out:%8.8x,%4d In:%8.8x,%4d\n", +// (int)ec_slave[cnt].outputs, ec_slave[cnt].Obytes, (int)ec_slave[cnt].inputs, ec_slave[cnt].Ibytes); + /* check for EL2004 or EL2008 */ +// if( !digout && ((ec_slave[cnt].eep_id == 0x0af83052) || (ec_slave[cnt].eep_id == 0x07d83052))) +// { +// digout = ec_slave[cnt].outputs; +// } + } + expectedWKC = (ec_group[0].outputsWKC * 2) + ec_group[0].inputsWKC; + printf("Calculated workcounter %d\n", expectedWKC); + + 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++) + { + 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); + } + 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 redundant test, close socket\n"); + /* stop SOEM, close socket */ + ec_close(); + } + else + { + printf("No socket connection on %s\nExcecute as root\n",ifname); + } +} + +/* add ns to timespec */ +void add_timespec(struct timespec *ts, int64 addtime) +{ + int64 sec, nsec; + + 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; + } +} + +/* 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; +} + +/* RT EtherCAT thread */ +OSAL_THREAD_FUNC_RT ecatthread(void *ptr) +{ + struct timespec ts, tleft; + int ht; + int64 cycletime; + + 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) + { + wkc = ec_receive_processdata(EC_TIMEOUTRET); + + dorun++; + /* if we have some digital output, cycle */ + if( digout ) *digout = (uint8) ((dorun / 16) & 0xff); + + if (ec_slave[0].hasdc) + { + /* calulate toff to get linux time and DC synced */ + ec_sync(ec_DCtime, cycletime, &toff); + } + ec_send_processdata(); + } + } +} + +OSAL_THREAD_FUNC ecatcheck() //void *ptr ) +{ + int slave; + + 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); + } +} + +#define stack64k (64 * 1024) + +int main(int argc, char *argv[]) +{ + int ctime; + + printf("SOEM (Simple Open EtherCAT Master)\nRedundancy test\n"); + + if (argc > 2) + { + dorun = 0; + ctime = atoi(argv[2]); + + /* create RT thread */ + osal_thread_create_rt(&thread1, stack64k * 2, &ecatthread, (void*) &ctime); + + /* create thread to handle slave error handling in OP */ + osal_thread_create(&thread2, stack64k * 4, &ecatcheck, NULL); + + /* start acyclic part */ + redtest(argv[1]); + } + else + { + printf("Usage: red_test ifname1 ifname2 cycletime\nifname = eth0 for example\ncycletime in us\n"); + } + + printf("End program\n"); + + return (0); +}