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ethercat
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DC synchrony monitoring methods.

This commit is contained in:
Florian Pose 2009-08-21 12:15:16 +02:00
parent da10aa7043
commit 700226ac83
7 changed files with 170 additions and 31 deletions
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1
TODO
View File

@ -20,7 +20,6 @@ Version 1.5.0:
"System Time" register instead of using the application time.
- Check if register 0x0980 is working, to avoid clearing it when
configuring.
- Create an interface to query the System Time Difference registers.
* Remove byte-swapping functions from user space.
* EoE:
- Only execute one EoE handler per cycle.

26
include/ecrt.h
View File

@ -45,7 +45,9 @@
* ecrt_slave_config_dc() to configure a slave for cyclic operation, and
* ecrt_master_application_time(), ecrt_master_sync_reference_clock() and
* ecrt_master_sync_slave_clocks() for offset and drift compensation. The
* EC_TIMEVAL2NANO() macro can be used for epoch time conversion.
* EC_TIMEVAL2NANO() macro can be used for epoch time conversion, while the
* ecrt_master_sync_monitor_queue() and ecrt_master_sync_monitor_process()
* methods can be used to monitor the synchrony.
* - Improved the callback mechanism. ecrt_master_callbacks() now takes two
* callback functions for sending and receiving datagrams.
* ecrt_master_send_ext() is used to execute the sending of non-application
@ -775,6 +777,28 @@ void ecrt_master_sync_slave_clocks(
ec_master_t *master /**< EtherCAT master. */
);
/** Queues the DC synchonity monitoring datagram for sending.
*
* The datagram broadcast-reads all "System time difference" registers (\a
* 0x092c) to get an upper estiomation of the DC synchony. The result can be
* checked with the ecrt_master_sync_monitor_process() method.
*/
void ecrt_master_sync_monitor_queue(
ec_master_t *master /**< EtherCAT master. */
);
/** Processes the DC synchonity monitoring datagram.
*
* If the sync monitoring datagram was sent before with
* ecrt_master_sync_monitor_queue(), the result can be queried with this
* method.
*
* \return Upper estination of the maximum time difference in ns.
*/
uint32_t ecrt_master_sync_monitor_process(
ec_master_t *master /**< EtherCAT master. */
);
/******************************************************************************
* Slave configuration methods
*****************************************************************************/

25
lib/master.c
View File

@ -404,3 +404,28 @@ void ecrt_master_sync_slave_clocks(ec_master_t *master)
}
/*****************************************************************************/
void ecrt_master_sync_monitor_queue(ec_master_t *master)
{
if (ioctl(master->fd, EC_IOCTL_SYNC_MON_QUEUE, NULL) == -1) {
fprintf(stderr, "Failed to queue sync monitor datagram: %s\n",
strerror(errno));
}
}
/*****************************************************************************/
uint32_t ecrt_master_sync_monitor_process(ec_master_t *master)
{
uint32_t time_diff;
if (ioctl(master->fd, EC_IOCTL_SYNC_MON_PROCESS, &time_diff) == -1) {
time_diff = 0xffffffff;
fprintf(stderr, "Failed to process sync monitor datagram: %s\n",
strerror(errno));
}
return time_diff;
}
/*****************************************************************************/

52
master/cdev.c
View File

@ -1787,6 +1787,50 @@ int ec_cdev_ioctl_sync_slaves(
/*****************************************************************************/
/** Queue the sync monitoring datagram.
*/
int ec_cdev_ioctl_sync_mon_queue(
ec_master_t *master, /**< EtherCAT master. */
unsigned long arg, /**< ioctl() argument. */
ec_cdev_priv_t *priv /**< Private data structure of file handle. */
)
{
if (unlikely(!priv->requested))
return -EPERM;
down(&master->io_sem);
ecrt_master_sync_monitor_queue(master);
up(&master->io_sem);
return 0;
}
/*****************************************************************************/
/** Processes the sync monitoring datagram.
*/
int ec_cdev_ioctl_sync_mon_process(
ec_master_t *master, /**< EtherCAT master. */
unsigned long arg, /**< ioctl() argument. */
ec_cdev_priv_t *priv /**< Private data structure of file handle. */
)
{
uint32_t time_diff;
if (unlikely(!priv->requested))
return -EPERM;
down(&master->io_sem);
time_diff = ecrt_master_sync_monitor_process(master);
up(&master->io_sem);
if (copy_to_user((void __user *) arg, &time_diff, sizeof(time_diff)))
return -EFAULT;
return 0;
}
/*****************************************************************************/
/** Configure a sync manager.
*/
int ec_cdev_ioctl_sc_sync(
@ -3306,6 +3350,14 @@ long eccdev_ioctl(struct file *filp, unsigned int cmd, unsigned long arg)
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
return ec_cdev_ioctl_sync_slaves(master, arg, priv);
case EC_IOCTL_SYNC_MON_QUEUE:
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
return ec_cdev_ioctl_sync_mon_queue(master, arg, priv);
case EC_IOCTL_SYNC_MON_PROCESS:
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
return ec_cdev_ioctl_sync_mon_process(master, arg, priv);
case EC_IOCTL_SC_SYNC:
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;

58
master/ioctl.h
View File

@ -93,34 +93,36 @@
#define EC_IOCTL_APP_TIME EC_IOW(0x21, ec_ioctl_app_time_t)
#define EC_IOCTL_SYNC_REF EC_IO(0x22)
#define EC_IOCTL_SYNC_SLAVES EC_IO(0x23)
#define EC_IOCTL_SC_SYNC EC_IOW(0x24, ec_ioctl_config_t)
#define EC_IOCTL_SC_WATCHDOG EC_IOW(0x25, ec_ioctl_config_t)
#define EC_IOCTL_SC_ADD_PDO EC_IOW(0x26, ec_ioctl_config_pdo_t)
#define EC_IOCTL_SC_CLEAR_PDOS EC_IOW(0x27, ec_ioctl_config_pdo_t)
#define EC_IOCTL_SC_ADD_ENTRY EC_IOW(0x28, ec_ioctl_add_pdo_entry_t)
#define EC_IOCTL_SC_CLEAR_ENTRIES EC_IOW(0x29, ec_ioctl_config_pdo_t)
#define EC_IOCTL_SC_REG_PDO_ENTRY EC_IOWR(0x2a, ec_ioctl_reg_pdo_entry_t)
#define EC_IOCTL_SC_DC EC_IOW(0x2b, ec_ioctl_config_t)
#define EC_IOCTL_SC_SDO EC_IOW(0x2c, ec_ioctl_sc_sdo_t)
#define EC_IOCTL_SC_SDO_REQUEST EC_IOWR(0x2d, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SC_VOE EC_IOWR(0x2e, ec_ioctl_voe_t)
#define EC_IOCTL_SC_STATE EC_IOWR(0x2f, ec_ioctl_sc_state_t)
#define EC_IOCTL_DOMAIN_OFFSET EC_IO(0x20)
#define EC_IOCTL_DOMAIN_PROCESS EC_IO(0x31)
#define EC_IOCTL_DOMAIN_QUEUE EC_IO(0x32)
#define EC_IOCTL_DOMAIN_STATE EC_IOWR(0x33, ec_ioctl_domain_state_t)
#define EC_IOCTL_SDO_REQUEST_TIMEOUT EC_IOWR(0x34, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_STATE EC_IOWR(0x35, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_READ EC_IOWR(0x36, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_WRITE EC_IOWR(0x37, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_DATA EC_IOWR(0x38, ec_ioctl_sdo_request_t)
#define EC_IOCTL_VOE_SEND_HEADER EC_IOW(0x39, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_REC_HEADER EC_IOWR(0x3a, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_READ EC_IOW(0x3b, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_READ_NOSYNC EC_IOW(0x3c, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_WRITE EC_IOWR(0x3d, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_EXEC EC_IOWR(0x3e, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_DATA EC_IOWR(0x3f, ec_ioctl_voe_t)
#define EC_IOCTL_SYNC_MON_QUEUE EC_IO(0x24)
#define EC_IOCTL_SYNC_MON_PROCESS EC_IOR(0x25, uint32_t)
#define EC_IOCTL_SC_SYNC EC_IOW(0x26, ec_ioctl_config_t)
#define EC_IOCTL_SC_WATCHDOG EC_IOW(0x27, ec_ioctl_config_t)
#define EC_IOCTL_SC_ADD_PDO EC_IOW(0x28, ec_ioctl_config_pdo_t)
#define EC_IOCTL_SC_CLEAR_PDOS EC_IOW(0x29, ec_ioctl_config_pdo_t)
#define EC_IOCTL_SC_ADD_ENTRY EC_IOW(0x2a, ec_ioctl_add_pdo_entry_t)
#define EC_IOCTL_SC_CLEAR_ENTRIES EC_IOW(0x2b, ec_ioctl_config_pdo_t)
#define EC_IOCTL_SC_REG_PDO_ENTRY EC_IOWR(0x2c, ec_ioctl_reg_pdo_entry_t)
#define EC_IOCTL_SC_DC EC_IOW(0x2d, ec_ioctl_config_t)
#define EC_IOCTL_SC_SDO EC_IOW(0x2e, ec_ioctl_sc_sdo_t)
#define EC_IOCTL_SC_SDO_REQUEST EC_IOWR(0x2f, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SC_VOE EC_IOWR(0x20, ec_ioctl_voe_t)
#define EC_IOCTL_SC_STATE EC_IOWR(0x31, ec_ioctl_sc_state_t)
#define EC_IOCTL_DOMAIN_OFFSET EC_IO(0x32)
#define EC_IOCTL_DOMAIN_PROCESS EC_IO(0x33)
#define EC_IOCTL_DOMAIN_QUEUE EC_IO(0x34)
#define EC_IOCTL_DOMAIN_STATE EC_IOWR(0x35, ec_ioctl_domain_state_t)
#define EC_IOCTL_SDO_REQUEST_TIMEOUT EC_IOWR(0x36, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_STATE EC_IOWR(0x37, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_READ EC_IOWR(0x38, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_WRITE EC_IOWR(0x39, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_DATA EC_IOWR(0x3a, ec_ioctl_sdo_request_t)
#define EC_IOCTL_VOE_SEND_HEADER EC_IOW(0x3b, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_REC_HEADER EC_IOWR(0x3c, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_READ EC_IOW(0x3d, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_READ_NOSYNC EC_IOW(0x3e, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_WRITE EC_IOWR(0x3f, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_EXEC EC_IOWR(0x40, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_DATA EC_IOWR(0x41, ec_ioctl_voe_t)
/*****************************************************************************/

37
master/master.c
View File

@ -227,12 +227,23 @@ int ec_master_init(ec_master_t *master, /**< EtherCAT master */
EC_ERR("Failed to allocate synchronisation datagram.\n");
goto out_clear_ref_sync;
}
// init sync monitor datagram
ec_datagram_init(&master->sync_mon_datagram);
snprintf(master->sync_mon_datagram.name, EC_DATAGRAM_NAME_SIZE, "syncmon");
ret = ec_datagram_brd(&master->sync_mon_datagram, 0x092c, 4);
if (ret < 0) {
ec_datagram_clear(&master->sync_mon_datagram);
EC_ERR("Failed to allocate sync monitoring datagram.\n");
goto out_clear_sync;
}
ec_master_find_dc_ref_clock(master);
// init character device
ret = ec_cdev_init(&master->cdev, master, device_number);
if (ret)
goto out_clear_sync;
goto out_clear_sync_mon;
#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 27)
master->class_device = device_create(class, NULL,
@ -261,6 +272,8 @@ int ec_master_init(ec_master_t *master, /**< EtherCAT master */
out_clear_cdev:
ec_cdev_clear(&master->cdev);
out_clear_sync_mon:
ec_datagram_clear(&master->sync_mon_datagram);
out_clear_sync:
ec_datagram_clear(&master->sync_datagram);
out_clear_ref_sync:
@ -299,6 +312,7 @@ void ec_master_clear(
ec_master_clear_slave_configs(master);
ec_master_clear_slaves(master);
ec_datagram_clear(&master->sync_mon_datagram);
ec_datagram_clear(&master->sync_datagram);
ec_datagram_clear(&master->ref_sync_datagram);
ec_fsm_master_clear(&master->fsm);
@ -1924,6 +1938,25 @@ void ecrt_master_sync_slave_clocks(ec_master_t *master)
/*****************************************************************************/
void ecrt_master_sync_monitor_queue(ec_master_t *master)
{
ec_datagram_zero(&master->sync_mon_datagram);
ec_master_queue_datagram(master, &master->sync_mon_datagram);
}
/*****************************************************************************/
uint32_t ecrt_master_sync_monitor_process(ec_master_t *master)
{
if (master->sync_mon_datagram.state == EC_DATAGRAM_RECEIVED) {
return EC_READ_U32(master->sync_mon_datagram.data) & 0x7fffffff;
} else {
return 0xffffffff;
}
}
/*****************************************************************************/
/** \cond */
EXPORT_SYMBOL(ecrt_master_create_domain);
@ -1938,6 +1971,8 @@ EXPORT_SYMBOL(ecrt_master_state);
EXPORT_SYMBOL(ecrt_master_application_time);
EXPORT_SYMBOL(ecrt_master_sync_reference_clock);
EXPORT_SYMBOL(ecrt_master_sync_slave_clocks);
EXPORT_SYMBOL(ecrt_master_sync_monitor_queue);
EXPORT_SYMBOL(ecrt_master_sync_monitor_process);
/** \endcond */

2
master/master.h
View File

@ -126,6 +126,8 @@ struct ec_master {
reference clock to the master clock. */
ec_datagram_t sync_datagram; /**< Datagram used for DC drift
compensation. */
ec_datagram_t sync_mon_datagram; /**< Datagram used for DC synchronisation
monitoring. */
ec_slave_t *dc_ref_clock; /**< DC reference clock slave. */
unsigned int scan_busy; /**< Current scan state. */