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ethercat
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Use SYNC0 + SYNC1 cycle times for cyclic start time generation.

This commit is contained in:
Florian Pose 2016-09-16 12:35:09 +02:00
parent 95c2be2a37
commit 0b91af9bb2
1 changed files with 6 additions and 5 deletions
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11
master/fsm_slave_config.c
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@ -1365,6 +1365,7 @@ void ec_fsm_slave_config_state_dc_sync_check(
uint32_t abs_sync_diff;
unsigned long diff_ms;
ec_sync_signal_t *sync0 = &config->dc_sync[0];
ec_sync_signal_t *sync1 = &config->dc_sync[1];
u64 start_time;
if (!config) { // config removed in the meantime
@ -1424,19 +1425,19 @@ void ec_fsm_slave_config_state_dc_sync_check(
// find correct phase
if (master->has_app_time) {
u64 diff, start;
u32 remainder;
u32 remainder, cycle;
diff = start_time - master->app_start_time;
remainder = do_div(diff, sync0->cycle_time);
cycle = sync0->cycle_time + sync1->cycle_time;
remainder = do_div(diff, cycle);
start = start_time +
sync0->cycle_time - remainder + sync0->shift_time;
start = start_time + cycle - remainder + sync0->shift_time;
EC_SLAVE_DBG(slave, 1, "app_start_time=%llu\n",
master->app_start_time);
EC_SLAVE_DBG(slave, 1, " app_time=%llu\n", master->app_time);
EC_SLAVE_DBG(slave, 1, " start_time=%llu\n", start_time);
EC_SLAVE_DBG(slave, 1, " cycle_time=%u\n", sync0->cycle_time);
EC_SLAVE_DBG(slave, 1, " cycle=%u\n", cycle);
EC_SLAVE_DBG(slave, 1, " shift_time=%i\n", sync0->shift_time);
EC_SLAVE_DBG(slave, 1, " remainder=%u\n", remainder);
EC_SLAVE_DBG(slave, 1, " start=%llu\n", start);