beremiz

Different etherlab sequencing within retrieve and publish. Now, timer is polled after PLC exec until frame have to be sent. This slightly reduce jitter, compared to previous sequencing

2012-09-19, Edouard Tisserant
21eb91dc7071
Parents bf2fa4cb62a9
Children 22e9993348f614dfb786c53e
Different etherlab sequencing within retrieve and publish. Now, timer is polled after PLC exec until frame have to be sent. This slightly reduce jitter, compared to previous sequencing
1 files changed, 33 insertions(+), 9 deletions(-)
  • +33 -9
    etherlab/plc_etherlab.c
    • --- a/etherlab/plc_etherlab.c Thu Sep 13 11:07:51 2012 +0200
    +++ b/etherlab/plc_etherlab.c Wed Sep 19 03:30:58 2012 +0200
    @@ -46,6 +46,7 @@
    // EtherCAT
    static ec_master_t *master = NULL;
    static ec_domain_t *domain1 = NULL;
    +static int first_sent=0;
    %(slaves_declaration)s
    /* Beremiz plugin functions */
    @@ -103,7 +104,9 @@
    }
    fprintf(stdout, "Master %(master_number)d activated...\n");
    -
    +
    + first_sent = 0;
    +
    return 0;
    }
    @@ -114,24 +117,45 @@
    }
    //release master
    ecrt_release_master(master);
    + first_sent = 0;
    }
    void __retrieve_%(location)s(void)
    {
    - // send process data
    - ecrt_rtdm_domain_queque(rt_fd);
    - ecrt_rtdm_master_send(rt_fd);
    -
    - rt_task_sleep(rt_timer_ns2tsc(wait_period_ns));
    +// // send process data
    +// ecrt_rtdm_domain_queque(rt_fd);
    +// ecrt_rtdm_master_send(rt_fd);
    +//
    +// rt_task_sleep(rt_timer_ns2tsc(wait_period_ns));
    // receive ethercat
    - ecrt_rtdm_master_recieve(rt_fd);
    - ecrt_rtdm_domain_process(rt_fd);
    + if(first_sent){
    + ecrt_rtdm_master_recieve(rt_fd);
    + ecrt_rtdm_domain_process(rt_fd);
    +%(retrieve_variables)s
    + }
    -%(retrieve_variables)s
    }
    +static RTIME _last_occur=0;
    +RTIME _current_lag=0;
    +
    void __publish_%(location)s(void)
    {
    %(publish_variables)s
    + ecrt_rtdm_domain_queque(rt_fd);
    + {
    + RTIME _current_time = rt_timer_read();
    + RTIME deadline = _last_occur ?
    + _last_occur + common_ticktime__:
    + _current_time;
    + _last_occur = _current_time;
    + _current_lag = deadline - _current_time;
    + while(_current_time < deadline) {
    + _last_occur = _current_time;
    + _current_time = rt_timer_read();
    + }
    + }
    + ecrt_rtdm_master_send(rt_fd);
    + first_sent = 1;
    }