[etherlab-users] etherlab dc sync check

[Martin Troxler]

Hi,

Here is our DC initialization sequence (Pseudo C++ code)

int64_t_dcActivationTime = getEtherCatMonotonicNanoTime(); // clock_gettime(CLOCK_MONOTONIC) + Ethercat time offset
ecrt_master_application_time(pMaster, dcActivationTime); // 1st time before master activation!

// Activate the master, the cycle time is used to calculate the max. amount of data per cycle
int64_t cycleDuration = 250000; // 4kHz
ecrt_master_set_send_interval(pMaster,cycleDuration/1000);
ecrt_master_activate(pMaster);

// initialize domain data here

// Set realtime context and lock to CPU core.

// DC initialization loop
do
{
      ecrt_master_receive(pMaster);
      ecrt_master_application_time(pMaster, getEtherCatMonotonicNanoTime());
      ecrt_master_sync_reference_clock(pMaster);
      ecrt_master_sync_slave_clocks(pMaster);
      ecrt_master_send(pMaster);
      nanoSleep(cycleDuration - ((getEtherCatMonotonicNanoTime()-dcActivationTime) % cycleDuration)); // sync master 
send times with dc activation time
      if (initialCounter > MaxInitialCycles)
      {
          // error
      }
      initialCounter++;
}
while ( (allSlavesOperational() == false));

// main loop


Regards
Martin

--
Martin Troxler
Senior Software Engineer R&D
Department E1

Komax AG
Industriestrasse 6
CH - 6036 Dierikon



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