/* RT EtherCAT thread */
OSAL_THREAD_FUNC_RT ecatthread(void *ptr)
{
struct timespec ts, tleft;
int ht;
int64 cycletime;
clock_gettime(CLOCK_MONOTONIC, &ts);
ht = (ts.tv_nsec / 1000000) + 1; /* round to nearest ms */
ts.tv_nsec = ht * 1000000;
cycletime = *(int*)ptr * 1000; /* cycletime in ns */
toff = 0;
dorun = 0;
ec_send_processdata();
while(1)
{
/* calculate next cycle start */
add_timespec(&ts, cycletime + toff);
/* wait to cycle start */
clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &ts, &tleft);
if (dorun>0)
{
wkc = ec_receive_processdata(EC_TIMEOUTRET);
dorun++;
/* if we have some digital output, cycle */
if( digout ) *digout = (uint8) ((dorun / 16) & 0xff);
if (ec_slave[0].hasdc)
{
/* calulate toff to get linux time and DC synced */
ec_sync(ec_DCtime, cycletime, &toff);
}
ec_send_processdata();
}
}
}
/* RT EtherCAT thread */
void ecatthread( void *ptr )
{
struct timespec ts;
struct timeval tp;
int rc;
int ht;
int i;
int pcounter = 0;
int64 cycletime;
rc = pthread_mutex_lock(&mutex);
rc = gettimeofday(&tp, NULL);
/* Convert from timeval to timespec */
ts.tv_sec = tp.tv_sec;
ht = (tp.tv_usec / 1000) + 1; /* round to nearest ms */
ts.tv_nsec = ht * 1000000;
cycletime = *(int*)ptr * 1000; /* cycletime in ns */
toff = 0;
dorun = 0;
while(1)
{
/* calculate next cycle start */
add_timespec(&ts, cycletime + toff);
/* wait to cycle start */
rc = pthread_cond_timedwait(&cond, &mutex, &ts);
if (dorun>0)
{
rc = gettimeofday(&tp, NULL);
ec_send_processdata();
ec_receive_processdata(EC_TIMEOUTRET);
cyclecount++;
if((in_EBOX->counter != pcounter) && (streampos < (MAXSTREAM - 1)))
{
// check if we have timing problems in master
// if so, overwrite stream data so it shows up clearly in plots.
if(in_EBOX->counter > (pcounter + 1))
for(i = 0 ; i < 50 ; i++)
{
stream1[streampos] = 20000;
stream2[streampos++] = -20000;
}
else
for(i = 0 ; i < 50 ; i++)
{
stream1[streampos] = in_EBOX->stream[i * 2];
stream2[streampos++] = in_EBOX->stream[(i * 2) + 1];
}
pcounter = in_EBOX->counter;
}
/* calulate toff to get linux time and DC synced */
ec_sync(ec_DCtime, cycletime, &toff);
}
}
}