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Comments and minor fix

pull/382/head
Stefano Dalla Gasperina 2020-03-17 10:19:35 -05:00
parent 6389202bd6
commit c5c5f4d6c6
1 changed files with 25 additions and 24 deletions
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49
test/linux/dcsync_test/dcsync_test.c
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@ -1,13 +1,15 @@
/** \file
* \brief Example code for Simple Open EtherCAT master
*
* Usage : red_test [ifname1] [ifname2] [cycletime]
* \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. 500
* cycletime in us, f.e. 1000
*
* This is a redundancy test.
* 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
*/
#include <stdio.h>
@ -44,7 +46,7 @@ volatile int wkc;
boolean inOP;
uint8 currentgroup = 0;
// Slave Distributed Clock Configuration
/* Slave Distributed Clock Configuration */
boolean dcsync_enable = TRUE;
static int slave_dc_config(uint16 slave)
@ -52,7 +54,6 @@ 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;
}
@ -62,16 +63,14 @@ void redtest(char *ifname)
int cnt, i, oloop, iloop;
int j;
printf("Starting Redundant test\n");
printf("Starting DC-sync 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);
@ -79,14 +78,12 @@ void redtest(char *ifname)
// 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;
}
}
/* Locate DC slaves, measure propagation delays. */
ec_configdc();
ec_config_map(&IOmap);
@ -98,16 +95,13 @@ void redtest(char *ifname)
ec_readstate();
for(cnt = 1; cnt <= ec_slavecount ; cnt++)
{
/* BEGIN USER CODE */
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;
// }
/* END USER CODE */
}
expectedWKC = (ec_group[0].outputsWKC * 2) + ec_group[0].inputsWKC;
printf("Calculated workcounter %d\n", expectedWKC);
@ -133,6 +127,8 @@ void redtest(char *ifname)
/* acyclic loop 5000 x 20ms = 10s */
for(i = 1; i <= 5000; i++)
{
/* BEGIN USER CODE */
printf("Processdata cycle %5d , Wck %3d, DCtime %12ld, dt %12ld, O:",
dorun, wkc , ec_DCtime, gl_delta);
for(j = 0 ; j < oloop; j++)
@ -147,6 +143,9 @@ void redtest(char *ifname)
printf("\r");
fflush(stdout);
osal_usleep(20000);
/* END USER CODE */
}
dorun = 0;
inOP = FALSE;
@ -173,7 +172,7 @@ void redtest(char *ifname)
{
printf("No slaves found!\n");
}
printf("End redundant test, close socket\n");
printf("End DC-sync test, close socket\n");
/* stop SOEM, close socket */
ec_close();
}
@ -236,6 +235,7 @@ OSAL_THREAD_FUNC_RT ecatthread(void *ptr)
clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &ts, &tleft);
if (dorun>0)
{
/* BEGIN USER CODE */
wkc = ec_receive_processdata(EC_TIMEOUTRET);
dorun++;
@ -248,11 +248,12 @@ OSAL_THREAD_FUNC_RT ecatthread(void *ptr)
ec_sync(ec_DCtime, cycletime, &toff);
}
ec_send_processdata();
/* END USER CODE */
}
}
}
OSAL_THREAD_FUNC ecatcheck() //void *ptr )
OSAL_THREAD_FUNC ecatcheck()
{
int slave;
@ -334,7 +335,7 @@ int main(int argc, char *argv[])
{
int ctime;
printf("SOEM (Simple Open EtherCAT Master)\nRedundancy test\n");
printf("SOEM (Simple Open EtherCAT Master)\nDC-sync test\n");
if (argc > 2)
{
@ -352,7 +353,7 @@ int main(int argc, char *argv[])
}
else
{
printf("Usage: red_test ifname1 ifname2 cycletime\nifname = eth0 for example\ncycletime in us\n");
printf("Usage: dcsync_test ifname cycletime\nifname = eth0 for example\ncycletime in us\n");
}
printf("End program\n");