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/***************************************************************************** |
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* |
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* This file is part of the ecapp library (EtherCAT application devices). |
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* |
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* Copyright (C) 2026 Florian Pose <fp@igh.de> |
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* |
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* The ecapp library is free software: you can redistribute it and/or |
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* modify it under the terms of the GNU Lesser General Public License |
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* as published by the Free Software Foundation, version 3 of the |
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* License. |
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* |
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* The ecapp library is distributed in the hope that it will be useful, |
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* but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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* Lesser General Public License for more details. |
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* |
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* You should have received a copy of the GNU Lesser General Public |
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* License along with the ecapp library. If not, see |
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* <https://www.gnu.org/licenses/>. |
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* |
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****************************************************************************/ |
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#include "ecapp/Master.h" |
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#include <arpa/inet.h> // ntohs() |
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#include <cstdio> |
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#include <cstring> |
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#include <iostream> |
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#include <sstream> |
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#include <stdexcept> |
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#include <string> |
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using std::cerr; |
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using std::endl; |
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using std::invalid_argument; |
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using std::runtime_error; |
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using std::string; |
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using std::stringstream; |
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/****************************************************************************/ |
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namespace EcApp { |
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struct Master::Impl |
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{ |
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ec_master_t *master; |
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unsigned int sync_cycles; |
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unsigned int sync_ref_counter; |
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unsigned int slaves_responding; |
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uint8_t al_states; |
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bool link_up; |
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uint32_t dc_deviation; |
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}; |
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/****************************************************************************/ |
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Master::Master(pdserv *pdserv, pdtask *task) : |
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impl(new Impl { |
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NULL, |
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1, |
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0, |
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0U, |
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0x00, |
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false, |
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0U, |
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}) |
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{ |
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string prefix("/EtherCAT"); |
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if (!(impl->master = ecrt_request_master(0))) { |
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stringstream err; |
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err << "Requesting master 0 failed!"; |
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cerr << err.str() << endl; |
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throw invalid_argument("config failed"); |
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} |
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if (pdserv && task) { |
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pdserv_parameter( |
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pdserv, (prefix + "/SyncCycles").c_str(), 0666, pd_uint32_T, |
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&impl->sync_cycles, 1, NULL, NULL, NULL); |
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pdserv_signal( |
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task, 1, (prefix + "/SyncRefCounter").c_str(), pd_uint32_T, |
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&impl->sync_ref_counter, 1, NULL); |
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pdserv_signal( |
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task, 1, (prefix + "/SlavesResponding").c_str(), pd_uint32_T, |
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&impl->slaves_responding, 1, NULL); |
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pdserv_signal( |
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task, 1, (prefix + "/ApplicationLayerStates").c_str(), |
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pd_uint32_T, &impl->al_states, 1, NULL); |
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pdserv_signal( |
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task, 1, (prefix + "/LinkUp").c_str(), pd_boolean_T, |
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&impl->link_up, 1, NULL); |
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pdserv_signal( |
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task, 1, (prefix + "/DcDeviation").c_str(), pd_uint32_T, |
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&impl->dc_deviation, 1, NULL); |
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} |
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} |
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/****************************************************************************/ |
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Master::~Master() |
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{ |
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ecrt_release_master(impl->master); |
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} |
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/****************************************************************************/ |
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ec_master_t *Master::getMaster() |
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{ |
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return impl->master; |
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} |
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/****************************************************************************/ |
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void Master::activate() |
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{ |
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{ |
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stringstream msg; |
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msg << "Activating master..."; |
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cerr << msg.str() << endl; |
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} |
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if (ecrt_master_activate(impl->master)) { |
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throw runtime_error("Failed to activate master!"); |
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} |
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} |
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/****************************************************************************/ |
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void Master::receive() |
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{ |
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// receive datagrams |
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ecrt_master_receive(impl->master); |
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ec_master_state_t state; |
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ecrt_master_state(impl->master, &state); |
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impl->slaves_responding = state.slaves_responding; |
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impl->al_states = state.al_states; |
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impl->link_up = state.link_up; |
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impl->dc_deviation = ecrt_master_sync_monitor_process(impl->master); |
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} |
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/****************************************************************************/ |
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void Master::send() |
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{ |
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struct timespec t; |
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clock_gettime(CLOCK_MONOTONIC, &t); |
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ecrt_master_application_time( |
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impl->master, t.tv_sec * 1000000000ULL + t.tv_nsec); |
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if (!impl->sync_ref_counter) { |
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ecrt_master_sync_reference_clock(impl->master); |
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} |
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ecrt_master_sync_slave_clocks(impl->master); |
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ecrt_master_sync_monitor_queue(impl->master); |
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ecrt_master_send(impl->master); |
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if (impl->sync_ref_counter) { |
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impl->sync_ref_counter--; |
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} |
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else { |
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impl->sync_ref_counter = |
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impl->sync_cycles > 0 ? impl->sync_cycles - 1 : 0; |
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} |
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} |
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} // namespace EcApp |
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/****************************************************************************/ |
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