Hi,
I go through a shutdown sequence while continuing my realtime loop with the
ecrt_master_receive() and ecrt_master_send().
The guts of my main RT thread looks like:
// main loop
while (!g_app.shutdown)
{
// run scan logic
sysMain_scanRT(&sysMainData);
// polling hard sleep
sysMain_waitPeriod();
}
// shutdown loop
while (!sysMainData.allModulesStopped)
{
// run scan logic and shutdown logic
sysMain_scanRT(&sysMainData);
sysMain_stopRT(&sysMainData);
// polling hard sleep
sysMain_waitPeriod();
}
So when I want to shut down the second loop is entered which adds the
sysMain_stopRT() function call.
The sysMain_stopRT() function goes through all my modules telling them to stop.
Each module uses a state machine to shut itself down. When all modules are
stopped the allModulesStopped flag is set.
For my EtherCAT module it goes through the following states:
- Stop Devices: get all devices to stop what they are doing (eg axes come to a
controlled stop and set themselves to disabled)
- Wait until all devices are stopped
- Call ecrt_master_deactivate_slaves()
- Wait for (masterState.al_states == 0x02)
- Stopped
So the guts of it is you need to maintain a realtime send/receive loop; call
ecrt_master_deactivate_slaves() once; then wait for all the slaves to be set to
PREOP before exiting the RT loop.
Hope this helps,
Graeme.
________________________________
From: Jun Yuan [mailto:[email protected]]
Sent: Monday, 13 January 2014 23:38
To: Graeme Foot
Subject: ecrt_master_deactivate_slaves
Hi Graeme,
in your fix
http://lists.etherlab.org/pipermail/etherlab-users/2013/002162.html, there's a
new function ecrt_master_deactivate_slaves() that would deactivate the DC
slaves in time to avoid Sync watchdog error on the slave.
I would like to have this function in my application. My first trial is to put
the function ecrt_master_deactivate_slaves() after my loop in the realtime
thread. My realtime thread is like this:
while (running) {
wait_period();
ecrt_master_receive(master);
...
sync_distributed_clocks();
ecrt_master_send(master);
}
ecrt_master_deactivate_slaves(master);
The test failed as sync watchdog error comes out after the master is stopped by
'running = false'.
Now I realize that ecrt_master_send(master) must be called to sent the
deactivate messages out to the slaves after the ecrt_master_deactivate_slaves()
call. But I still don't have a clear idea about how to make things right.
How would you put this function ecrt_master_deactivate_slaves in your
application?
Regards,
Jun
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