Mirrors_Framework/SOEM
1
0
Fork 0
mirror of https://github.com/OpenEtherCATsociety/SOEM.git synced 2026-10-02 12:24:03 +08:00
Code Issues Packages Projects Releases Wiki Activity

Let coetest/redtest build on other platforms

Browse Source 
Use the new osal functions to let tests build on all supported
platforms.

Change-Id: I6519ee55588e7bf0dff8d412679db268abbe86ce
This commit is contained in:
Hans-Erik Floryd
2025-07-10 10:23:07 +02:00
parent 7c2da72988
commit d5124435f0
3 changed files with 22 additions and 36 deletions
Download Patch File Download Diff File Expand all files Collapse all files
samples/coetest/coetest.c
+10 -17
View File
@@ -68,21 +68,14 @@ static ecx_contextt ctx = {
.userdata = NULL,
};
/* add ns to timespec */
void add_timespec(struct timespec *ts, int64 addtime)
/* add ns to ec_timet */
void add_time_ns(ec_timet *ts, int64 addtime)
{
int64 sec, nsec;
ec_timet addts;
nsec = addtime % NSEC_PER_SEC;
sec = (addtime - nsec) / NSEC_PER_SEC;
ts->tv_sec += sec;
ts->tv_nsec += nsec;
if (ts->tv_nsec >= NSEC_PER_SEC)
{
nsec = ts->tv_nsec % NSEC_PER_SEC;
ts->tv_sec += (ts->tv_nsec - nsec) / NSEC_PER_SEC;
ts->tv_nsec = nsec;
}
addts.tv_nsec = addtime % NSEC_PER_SEC;
addts.tv_sec = (addtime - addts.tv_nsec) / NSEC_PER_SEC;
osal_timespecadd(ts, &addts, ts);
}
static float pgain = 0.01f;
@@ -109,7 +102,7 @@ void ec_sync(int64 reftime, int64 cycletime, int64 *offsettime)
/* RT EtherCAT thread */
OSAL_THREAD_FUNC_RT ecatthread(void)
{
struct timespec ts, tleft;
ec_timet ts;
int ht, wkc;
static int64_t toff = 0;
@@ -118,16 +111,16 @@ OSAL_THREAD_FUNC_RT ecatthread(void)
{
osal_usleep(100);
}
clock_gettime(CLOCK_MONOTONIC, &ts);
osal_get_monotonic_time(&ts);
ht = (ts.tv_nsec / 1000000) + 1; /* round to nearest ms */
ts.tv_nsec = ht * 1000000;
ecx_send_processdata(&ctx);
while (1)
{
/* calculate next cycle start */
add_timespec(&ts, cycletime + toff);
add_time_ns(&ts, cycletime + toff);
/* wait to cycle start */
clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &ts, &tleft);
osal_monotonic_sleep(&ts);
if (dorun > 0)
{
wkc = ecx_receive_processdata(&ctx, EC_TIMEOUTRET);
samples/red_test/red_test.c
+10 -17
View File
@@ -197,21 +197,14 @@ void redtest(char *ifname, char *ifname2)
}
}
/* add ns to timespec */
void add_timespec(struct timespec *ts, int64 addtime)
/* add ns to ec_timet */
void add_time_ns(ec_timet *ts, int64 addtime)
{
int64 sec, nsec;
ec_timet addts;
nsec = addtime % NSEC_PER_SEC;
sec = (addtime - nsec) / NSEC_PER_SEC;
ts->tv_sec += sec;
ts->tv_nsec += nsec;
if (ts->tv_nsec >= NSEC_PER_SEC)
{
nsec = ts->tv_nsec % NSEC_PER_SEC;
ts->tv_sec += (ts->tv_nsec - nsec) / NSEC_PER_SEC;
ts->tv_nsec = nsec;
}
addts.tv_nsec = addtime % NSEC_PER_SEC;
addts.tv_sec = (addtime - addts.tv_nsec) / NSEC_PER_SEC;
osal_timespecadd(ts, &addts, ts);
}
/* PI calculation to get linux time synced to DC time */
@@ -240,11 +233,11 @@ void ec_sync(int64 reftime, int64 cycletime, int64 *offsettime)
/* RT EtherCAT thread */
OSAL_THREAD_FUNC_RT ecatthread(void *ptr)
{
struct timespec ts, tleft;
ec_timet ts;
int ht;
int64 cycletime;
clock_gettime(CLOCK_MONOTONIC, &ts);
osal_get_monotonic_time(&ts);
ht = (ts.tv_nsec / 1000000) + 1; /* round to nearest ms */
ts.tv_nsec = ht * 1000000;
if (ts.tv_nsec >= NSEC_PER_SEC)
@@ -259,9 +252,9 @@ OSAL_THREAD_FUNC_RT ecatthread(void *ptr)
while (1)
{
/* calculate next cycle start */
add_timespec(&ts, cycletime + toff);
add_time_ns(&ts, cycletime + toff);
/* wait to cycle start */
clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &ts, &tleft);
osal_monotonic_sleep(&ts);
if (dorun > 0)
{
wkc = ecx_receive_processdata(&ctx, EC_TIMEOUTRET);