io_test 输出流水灯
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@ -0,0 +1,9 @@
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{
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"files.associations": {
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"time.h": "c",
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"time_t.h": "c",
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"struct_timeval.h": "c",
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"features.h": "c",
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"random": "c"
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}
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}
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@ -54,7 +54,7 @@ boolean osal_timer_is_expired (osal_timert * self)
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stop_time.tv_usec = self->stop_time.usec;
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is_not_yet_expired = timercmp (¤t_time, &stop_time, <);
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return is_not_yet_expired == FALSE;
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return is_not_yet_expired == FALSE; // !is_not_yet_expired
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}
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int osal_usleep(uint32 usec)
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@ -16,16 +16,22 @@
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#include <unistd.h>
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#include <sched.h>
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#include <string.h>
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#include <sys/time.h>
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#include <time.h>
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#include <pthread.h>
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#include <math.h>
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#include <inttypes.h>
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#include <stdbool.h>
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#include "ethercat.h"
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#define NSEC_PER_SEC 1000000000
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#define EC_TIMEOUTMON 500
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#define TEST_STEP_CYCLETIME (500 * 1000) // us
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#define INPUT_CHECK_TIMEOUT (50 * 1000) // us
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#define MAX_SLAVE 8
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#define ROL_U16(a, n) ((uint16_t)((a) << (n) | (a) >> (16 - n)))
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#define ARRAY_SIZE(a) (sizeof(a) / sizeof((a)[0]))
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struct sched_param schedp;
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char IOmap[4096];
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@ -45,14 +51,50 @@ volatile int wkc;
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boolean inOP;
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uint8 currentgroup = 0;
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void redtest(char *ifname, char *ifname2)
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typedef struct
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{
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int cnt, i, j, oloop, iloop;
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ssize_t input_bytes;
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ssize_t output_bytes;
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uint8_t outputs[4];
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uint8_t inputs[4];
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ec_timet input_change_ts[32];
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ec_timet output_change_ts[32];
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ec_timet in_out_diff_ts[32];
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ec_timet max_in_out_diff_ts[32];
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bool result[32];
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} io_test_t;
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printf("Starting Redundant test\n");
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io_test_t io_test[MAX_SLAVE] = {0};
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static uint16_t test_list[] =
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{
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ROL_U16(0x0201u, 0),
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ROL_U16(0x0201u, 1),
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ROL_U16(0x0201u, 2),
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ROL_U16(0x0201u, 3),
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ROL_U16(0x0201u, 4),
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ROL_U16(0x0201u, 5),
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ROL_U16(0x0201u, 6),
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ROL_U16(0x0201u, 7),
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ROL_U16(0x0201u, 8),
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ROL_U16(0x0201u, 9),
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ROL_U16(0x0201u, 10),
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ROL_U16(0x0201u, 11),
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ROL_U16(0x0201u, 12),
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ROL_U16(0x0201u, 13),
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ROL_U16(0x0201u, 14),
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ROL_U16(0x0201u, 15),
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0xFFFFu,
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};
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void tj30_test(char *ifname)
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{
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int cnt, i;
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printf("Starting TJ30-XXXX test\n");
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/* initialise SOEM, bind socket to ifname */
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(void)ifname2;
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// if (ec_init_redundant(ifname, ifname2))
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if (ec_init(ifname))
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{
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@ -76,10 +118,20 @@ void redtest(char *ifname, char *ifname2)
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ec_slave[cnt].state, (int)ec_slave[cnt].pdelay, ec_slave[cnt].hasdc);
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printf(" Out:%p,%4d In:%p,%4d\n",
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ec_slave[cnt].outputs, ec_slave[cnt].Obytes, ec_slave[cnt].inputs, ec_slave[cnt].Ibytes);
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/* check for EL2004 or EL2008 */
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if (!digout && ((ec_slave[cnt].eep_id == 0x0af83052) || (ec_slave[cnt].eep_id == 0x07d83052)))
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// /* check for TJ30-1616DN */
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// if (!digout && (ec_slave[cnt].eep_id == 0x85301616))
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// {
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// digout = ec_slave[cnt].outputs;
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// }
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io_test[cnt].input_bytes = ec_slave[cnt].Ibytes;
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if (io_test[cnt].input_bytes == 0 && ec_slave[cnt].Ibits > 0)
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{
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digout = ec_slave[cnt].outputs;
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io_test[cnt].input_bytes = 1;
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}
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io_test[cnt].output_bytes = ec_slave[cnt].Obytes;
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if (io_test[cnt].output_bytes == 0 && ec_slave[cnt].Obits > 0)
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{
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io_test[cnt].output_bytes = 1;
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}
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}
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expectedWKC = (ec_group[0].outputsWKC * 2) + ec_group[0].inputsWKC;
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@ -93,16 +145,7 @@ void redtest(char *ifname, char *ifname2)
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dorun = 1;
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/* wait for all slaves to reach OP state */
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ec_statecheck(0, EC_STATE_OPERATIONAL, 5 * EC_TIMEOUTSTATE);
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oloop = ec_slave[0].Obytes;
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if ((oloop == 0) && (ec_slave[0].Obits > 0))
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oloop = 1;
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if (oloop > 8)
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oloop = 8;
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iloop = ec_slave[0].Ibytes;
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if ((iloop == 0) && (ec_slave[0].Ibits > 0))
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iloop = 1;
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if (iloop > 8)
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iloop = 8;
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if (ec_slave[0].state == EC_STATE_OPERATIONAL)
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{
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printf("Operational state reached for all slaves.\n");
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@ -112,15 +155,15 @@ void redtest(char *ifname, char *ifname2)
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{
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printf("Processdata cycle %5d , Wck %3d, DCtime %12" PRId64 ", dt %12" PRId64 ", O:",
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dorun, wkc, ec_DCtime, gl_delta);
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for (j = 0; j < oloop; j++)
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{
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printf(" %2.2x", *(ec_slave[0].outputs + j));
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}
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printf(" I:");
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for (j = 0; j < iloop; j++)
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{
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printf(" %2.2x", *(ec_slave[0].inputs + j));
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}
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// for (j = 0; j < oloop; j++)
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// {
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// printf(" %2.2x", *(ec_slave[0].outputs + j));
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// }
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// printf(" I:");
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// for (j = 0; j < iloop; j++)
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// {
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// printf(" %2.2x", *(ec_slave[0].inputs + j));
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// }
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printf("\r");
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fflush(stdout);
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osal_usleep(20000);
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@ -141,7 +184,7 @@ void redtest(char *ifname, char *ifname2)
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}
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}
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}
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printf("Request safe operational state for all slaves\n");
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printf("\nRequest safe operational state for all slaves\n");
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ec_slave[0].state = EC_STATE_SAFE_OP;
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/* request SAFE_OP state for all slaves */
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ec_writestate(0);
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@ -205,7 +248,9 @@ OSAL_THREAD_FUNC_RT ecatthread(void *ptr)
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{
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struct timespec ts, tleft;
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int ht;
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size_t idx = 0;
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int64 cycletime;
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osal_timert tmr = {0};
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clock_gettime(CLOCK_MONOTONIC, &ts);
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ht = (ts.tv_nsec / 1000000) + 1; /* round to nearest ms */
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@ -225,22 +270,40 @@ OSAL_THREAD_FUNC_RT ecatthread(void *ptr)
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add_timespec(&ts, cycletime + toff);
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/* wait to cycle start */
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clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &ts, &tleft);
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if (dorun > 0)
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if (dorun <= 0)
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{
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wkc = ec_receive_processdata(EC_TIMEOUTRET);
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dorun++;
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/* if we have some digital output, cycle */
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if (digout)
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*digout = (uint8)((dorun / 16) & 0xff);
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if (ec_slave[0].hasdc)
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{
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/* calulate toff to get linux time and DC synced */
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ec_sync(ec_DCtime, cycletime, &toff);
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}
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ec_send_processdata();
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continue;
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}
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dorun++;
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wkc = ec_receive_processdata(EC_TIMEOUTRET);
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if (osal_timer_is_expired(&tmr))
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{
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osal_timer_start(&tmr, TEST_STEP_CYCLETIME);
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uint16_t test_val = test_list[idx];
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idx++;
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if (idx >= ARRAY_SIZE(test_list))
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{
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idx = 0;
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}
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for (int i = 1; i <= ec_slavecount; i++)
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{
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for (int j = 0; j < io_test[i].output_bytes; j++)
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{
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*(ec_slave[i].outputs + j) = (uint8_t)((test_val >> (j % 2)) & 0xff);
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io_test[i].outputs[j] = *(ec_slave[i].outputs + j);
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}
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}
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}
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if (ec_slave[0].hasdc)
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{
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/* calulate toff to get linux time and DC synced */
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ec_sync(ec_DCtime, cycletime, &toff);
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}
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ec_send_processdata();
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}
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}
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@ -330,10 +393,10 @@ int main(int argc, char *argv[])
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printf("SOEM (Simple Open EtherCAT Master)\nRedundancy test\n");
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if (argc > 3)
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if (argc == 3)
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{
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dorun = 0;
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ctime = atoi(argv[3]);
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ctime = atoi(argv[2]);
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/* create RT thread */
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osal_thread_create_rt(&thread1, stack64k * 2, &ecatthread, (void *)&ctime);
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@ -342,11 +405,11 @@ int main(int argc, char *argv[])
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osal_thread_create(&thread2, stack64k * 4, &ecatcheck, NULL);
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/* start acyclic part */
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redtest(argv[1], argv[2]);
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tj30_test(argv[1]);
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}
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else
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{
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printf("Usage: red_test ifname1 ifname2 cycletime\nifname = eth0 for example\ncycletime in us\n");
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printf("Usage: red_test ifname1 cycletime\nifname = eth0 for example\ncycletime in us\n");
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ec_adaptert *adapter = NULL;
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printf("\nAvailable adapters:\n");
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