diff --git a/test/linux/dcsync_test/dcsync_test.c b/test/linux/dcsync_test/dcsync_test.c index 3531b0f..2a8d0bc 100644 --- a/test/linux/dcsync_test/dcsync_test.c +++ b/test/linux/dcsync_test/dcsync_test.c @@ -45,16 +45,15 @@ 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; + printf("ec_dcsync0 called on slave %u\n",slave); + //ec_dcsync01(slave, TRUE, 2000000U, 0U, 0U); + return 0; } diff --git a/test/linux/dcsync_test/dcsync_test.c.autosave b/test/linux/dcsync_test/dcsync_test.c.autosave deleted file mode 100644 index 2a8d0bc..0000000 --- a/test/linux/dcsync_test/dcsync_test.c.autosave +++ /dev/null @@ -1,361 +0,0 @@ -/** \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); -}