Defines | Functions | Variables
realtime.c File Reference
#include <errno.h>
#include <signal.h>
#include <stdio.h>
#include <string.h>
#include <sys/resource.h>
#include <sys/time.h>
#include <sys/types.h>
#include <unistd.h>
#include <pthread.h>
#include <igh_eml/ecrt.h>
#include "realtime.h"
Include dependency graph for realtime.c:

Go to the source code of this file.

Defines

#define BM3411   0x0000015a, 0x03010001
#define CONFIGURE_PDOS   1
#define EXTERNAL_MEMORY   1
#define FREQUENCY   1000
#define M0SlavePos   0, 0
#define M1SlavePos   0, 1
#define M2SlavePos   0, 2
#define M3SlavePos   0, 3
#define SDO_ACCESS   0

Functions

void check_domain1_state (void)
void check_master_state (void)
void check_slave_config_states (void)
void cyclic_task ()
static void enforce_max_velocities (omniwrite_t *t)
struct omniread omni_read_data ()
void omni_write_data (struct omniwrite data)
void * realtimeMain (void *udata)
int start_omni_realtime (int max_vel)
static void stop_motors (void)
void stop_omni_realtime (void)
static void timespecInc (struct timespec *tick, int nsec)

Variables

static unsigned int counter = 0
static omniread_t cur
static omniread_t cur_buffer
static ec_domain_t * domain1 = NULL
static uint8_t * domain1_pd
static const ec_pdo_entry_reg_t domain1_regs []
static ec_domain_state_t domain1_state
static int exiting = 0
static ec_pdo_entry_info_t foo_pdo_entries []
static ec_pdo_info_t foo_pdos []
static ec_sync_info_t foo_syncs []
static ec_master_t * master = NULL
static ec_master_state_t master_state
static int max_v = 100
static int misses = 0
static pthread_mutex_t mutex = PTHREAD_MUTEX_INITIALIZER
static unsigned int off_actual_position [4]
static unsigned int off_actual_velocity [4]
static unsigned int off_pos_ctrlr_output [4]
static unsigned int off_speed_ctrlr_output [4]
static unsigned int off_statusword [4]
static unsigned int off_target_position [4]
static unsigned int off_target_velocity [4]
static unsigned int off_torque_actual_value [4]
static unsigned int off_torque_add_value [4]
static char prevent_set_position = 0
static ec_slave_config_t * sc [4]
static ec_slave_config_state_t sc_state [4]
static omniwrite_t tar
static omniwrite_t tar_buffer
static pthread_t thread

Define Documentation

#define BM3411   0x0000015a, 0x03010001

Definition at line 80 of file realtime.c.

#define CONFIGURE_PDOS   1

Definition at line 46 of file realtime.c.

#define EXTERNAL_MEMORY   1

Definition at line 47 of file realtime.c.

#define FREQUENCY   1000

Definition at line 43 of file realtime.c.

#define M0SlavePos   0, 0

Definition at line 74 of file realtime.c.

#define M1SlavePos   0, 1

Definition at line 75 of file realtime.c.

#define M2SlavePos   0, 2

Definition at line 76 of file realtime.c.

#define M3SlavePos   0, 3

Definition at line 77 of file realtime.c.

#define SDO_ACCESS   0

Definition at line 48 of file realtime.c.


Function Documentation

void check_domain1_state ( void  )

Definition at line 192 of file realtime.c.

void check_master_state ( void  )

Definition at line 212 of file realtime.c.

void check_slave_config_states ( void  )

Definition at line 235 of file realtime.c.

void cyclic_task ( )

Definition at line 262 of file realtime.c.

static void enforce_max_velocities ( omniwrite_t t) [static]

Definition at line 331 of file realtime.c.

struct omniread omni_read_data ( ) [read]

Definition at line 532 of file realtime.c.

void omni_write_data ( struct omniwrite  data)

Definition at line 524 of file realtime.c.

void* realtimeMain ( void *  udata)

Definition at line 372 of file realtime.c.

int start_omni_realtime ( int  max_vel)

Definition at line 421 of file realtime.c.

static void stop_motors ( void  ) [static]

Definition at line 346 of file realtime.c.

void stop_omni_realtime ( void  )

Definition at line 506 of file realtime.c.

static void timespecInc ( struct timespec *  tick,
int  nsec 
) [static]

Definition at line 361 of file realtime.c.


Variable Documentation

unsigned int counter = 0 [static]

Definition at line 150 of file realtime.c.

omniread_t cur [static]

Definition at line 155 of file realtime.c.

Definition at line 155 of file realtime.c.

ec_domain_t* domain1 = NULL [static]

Definition at line 55 of file realtime.c.

uint8_t* domain1_pd [static]

Definition at line 71 of file realtime.c.

const ec_pdo_entry_reg_t domain1_regs[] [static]

Definition at line 98 of file realtime.c.

ec_domain_state_t domain1_state [static]

Definition at line 56 of file realtime.c.

int exiting = 0 [static]

Definition at line 64 of file realtime.c.

ec_pdo_entry_info_t foo_pdo_entries[] [static]
Initial value:
 {
        
        
        {0x4169, 0, 32},        
        {0x6042, 0, 16},        
        {0x43fe, 0, 16},        

        
        {0x6041, 0, 16},        
        {0x415F, 0, 16},        
        {0x416a, 0, 32},        
        {0x606c, 0, 32},        
        {0x414d, 0, 16},    
}

Definition at line 160 of file realtime.c.

ec_pdo_info_t foo_pdos[] [static]
Initial value:
 {
        {0x1600, 3, foo_pdo_entries}, 
        {0x1a00, 5, foo_pdo_entries + 3}, 
}

Definition at line 176 of file realtime.c.

ec_sync_info_t foo_syncs[] [static]
Initial value:
 {
        {2  , EC_DIR_OUTPUT, 1, foo_pdos, EC_WD_DISABLE},
        {3  , EC_DIR_INPUT, 1, foo_pdos + 1, EC_WD_DISABLE},
        {0xff        , 0,            0, 0, EC_WD_DISABLE}
}

Definition at line 182 of file realtime.c.

ec_master_t* master = NULL [static]

Definition at line 52 of file realtime.c.

ec_master_state_t master_state [static]

Definition at line 53 of file realtime.c.

int max_v = 100 [static]

Definition at line 152 of file realtime.c.

int misses = 0 [static]

Definition at line 66 of file realtime.c.

pthread_mutex_t mutex = PTHREAD_MUTEX_INITIALIZER [static]

Definition at line 63 of file realtime.c.

unsigned int off_actual_position[4] [static]

Definition at line 89 of file realtime.c.

unsigned int off_actual_velocity[4] [static]

Definition at line 90 of file realtime.c.

unsigned int off_pos_ctrlr_output[4] [static]

Definition at line 95 of file realtime.c.

unsigned int off_speed_ctrlr_output[4] [static]

Definition at line 88 of file realtime.c.

unsigned int off_statusword[4] [static]

Definition at line 87 of file realtime.c.

unsigned int off_target_position[4] [static]

Definition at line 94 of file realtime.c.

unsigned int off_target_velocity[4] [static]

Definition at line 84 of file realtime.c.

unsigned int off_torque_actual_value[4] [static]

Definition at line 92 of file realtime.c.

unsigned int off_torque_add_value[4] [static]

Definition at line 93 of file realtime.c.

char prevent_set_position = 0 [static]

Definition at line 61 of file realtime.c.

ec_slave_config_t* sc[4] [static]

Definition at line 58 of file realtime.c.

ec_slave_config_state_t sc_state[4] [static]

Definition at line 59 of file realtime.c.

omniwrite_t tar [static]

Definition at line 154 of file realtime.c.

Definition at line 154 of file realtime.c.

pthread_t thread [static]

Definition at line 65 of file realtime.c.

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omni_ethercat
Author(s): Ingo Kresse
autogenerated on Thu May 23 2013 12:56:49