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ethercat
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Separated application time from synchronizing reference clock.

This commit is contained in:
Florian Pose 2009-05-04 10:05:55 +00:00
parent 25db02ecd0
commit a34809e18d
7 changed files with 77 additions and 55 deletions
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9
examples/dc_rtai/dc_rtai_sample.c
View File

@ -51,7 +51,7 @@
#define NUM_DIG_OUT 1
#define PFX "ec_dc_sample: "
#define PFX "ec_dc_rtai_sample: "
/*****************************************************************************/
@ -220,16 +220,13 @@ void run(long data)
tv.tv_usec -= 1000000;
tv.tv_sec++;
}
ecrt_master_application_time(master, EC_TIMEVAL2NANO(&tv));
if (sync_ref_counter) {
sync_ref_counter--;
} else {
sync_ref_counter = 9;
#if 0
printk(KERN_INFO PFX "ref: %u %u %llu\n",
(u32) tv.tv_sec, (u32) tv.tv_usec, EC_TIMEVAL2NANO(&tv));
#endif
ecrt_master_sync_reference_clock(master, EC_TIMEVAL2NANO(&tv));
ecrt_master_sync_reference_clock(master);
}
ecrt_master_sync_slave_clocks(master);
ecrt_domain_queue(domain1);

3
examples/dc_user/main.c
View File

@ -164,12 +164,13 @@ void cyclic_task()
app_time.tv_usec -= 1000000;
app_time.tv_sec++;
}
ecrt_master_application_time(master, EC_TIMEVAL2NANO(&app_time));
if (sync_ref_counter) {
sync_ref_counter--;
} else {
sync_ref_counter = 9;
ecrt_master_sync_reference_clock(master, EC_TIMEVAL2NANO(&app_time));
ecrt_master_sync_reference_clock(master);
}
ecrt_master_sync_slave_clocks(master);

22
include/ecrt.h
View File

@ -520,17 +520,29 @@ void ecrt_master_state(
ec_master_state_t *state /**< Structure to store the information. */
);
/** Queues the DC reference clock drift compensation datagram for sending.
/** Sets the application time.
*
* The reference clock will by synchronized to the \a app_time. The time is
* defined as nanoseconds from 2000-01-01 00:00. Converting an epoch time can
* be done with the EC_TIMEVAL2NANO() macro.
* The master has to know the application time when operation slaves with
* distributed clocks. The time is not incremented by the master, so this
* method has to be called cyclically.
*
* The time is defined as nanoseconds from 2000-01-01 00:00. Converting an
* epoch time can be done with the EC_TIMEVAL2NANO() macro.
*/
void ecrt_master_sync_reference_clock(
void ecrt_master_application_time(
ec_master_t *master, /**< EtherCAT master. */
uint64_t app_time /**< Application time. */
);
/** Queues the DC reference clock drift compensation datagram for sending.
*
* The reference clock will by synchronized to the application time provided
* by the last call off ecrt_master_application_time().
*/
void ecrt_master_sync_reference_clock(
ec_master_t *master /**< EtherCAT master. */
);
/** Queues the DC clock drift compensation datagram for sending.
*
* All slave clocks synchronized to the reference clock.

16
lib/master.c
View File

@ -190,13 +190,23 @@ void ecrt_master_state(const ec_master_t *master, ec_master_state_t *state)
/*****************************************************************************/
void ecrt_master_sync_reference_clock(ec_master_t *master, uint64_t app_time)
void ecrt_master_application_time(ec_master_t *master, uint64_t app_time)
{
ec_ioctl_dc_t data;
ec_ioctl_app_time_t data;
data.app_time = app_time;
if (ioctl(master->fd, EC_IOCTL_SYNC_REF, &data) == -1) {
if (ioctl(master->fd, EC_IOCTL_APP_TIME, &data) == -1) {
fprintf(stderr, "Failed to set application time: %s\n",
strerror(errno));
}
}
/*****************************************************************************/
void ecrt_master_sync_reference_clock(ec_master_t *master)
{
if (ioctl(master->fd, EC_IOCTL_SYNC_REF, NULL) == -1) {
fprintf(stderr, "Failed to sync reference clock: %s\n",
strerror(errno));
}

7
master/cdev.c
View File

@ -1650,16 +1650,11 @@ int ec_cdev_ioctl_sync_ref(
ec_cdev_priv_t *priv /**< Private data structure of file handle. */
)
{
ec_ioctl_dc_t data;
if (unlikely(!priv->requested))
return -EPERM;
if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
return -EFAULT;
spin_lock_bh(&master->internal_lock);
ecrt_master_sync_reference_clock(master, data.app_time);
ecrt_master_sync_reference_clock(master);
spin_unlock_bh(&master->internal_lock);
return 0;
}

65
master/ioctl.h
View File

@ -86,37 +86,38 @@
#define EC_IOCTL_SEND EC_IO(0x1c)
#define EC_IOCTL_RECEIVE EC_IO(0x1d)
#define EC_IOCTL_MASTER_STATE EC_IOR(0x1e, ec_master_state_t)
#define EC_IOCTL_SYNC_REF EC_IOW(0x1f, ec_ioctl_dc_t)
#define EC_IOCTL_SYNC_SLAVES EC_IOW(0x20, ec_ioctl_dc_t)
#define EC_IOCTL_SC_SYNC EC_IOW(0x21, ec_ioctl_config_t)
#define EC_IOCTL_SC_ADD_PDO EC_IOW(0x22, ec_ioctl_config_pdo_t)
#define EC_IOCTL_SC_CLEAR_PDOS EC_IOW(0x23, ec_ioctl_config_pdo_t)
#define EC_IOCTL_SC_ADD_ENTRY EC_IOW(0x24, ec_ioctl_add_pdo_entry_t)
#define EC_IOCTL_SC_CLEAR_ENTRIES EC_IOW(0x25, ec_ioctl_config_pdo_t)
#define EC_IOCTL_SC_REG_PDO_ENTRY EC_IOWR(0x26, ec_ioctl_reg_pdo_entry_t)
#define EC_IOCTL_SC_DC_ASSIGN EC_IOW(0x27, ec_ioctl_sc_dc_t)
#define EC_IOCTL_SC_DC_CYCLE EC_IOW(0x28, ec_ioctl_sc_dc_t)
#define EC_IOCTL_SC_DC_SHIFT EC_IOW(0x29, ec_ioctl_sc_dc_t)
#define EC_IOCTL_SC_SDO EC_IOW(0x2a, ec_ioctl_sc_sdo_t)
#define EC_IOCTL_SC_SDO_REQUEST EC_IOWR(0x2b, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SC_VOE EC_IOWR(0x2c, ec_ioctl_voe_t)
#define EC_IOCTL_SC_STATE EC_IOWR(0x2d, ec_ioctl_sc_state_t)
#define EC_IOCTL_DOMAIN_OFFSET EC_IO(0x2e)
#define EC_IOCTL_DOMAIN_PROCESS EC_IO(0x2f)
#define EC_IOCTL_DOMAIN_QUEUE EC_IO(0x30)
#define EC_IOCTL_DOMAIN_STATE EC_IOWR(0x31, ec_ioctl_domain_state_t)
#define EC_IOCTL_SDO_REQUEST_TIMEOUT EC_IOWR(0x32, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_STATE EC_IOWR(0x33, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_READ EC_IOWR(0x34, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_WRITE EC_IOWR(0x35, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_DATA EC_IOWR(0x36, ec_ioctl_sdo_request_t)
#define EC_IOCTL_VOE_SEND_HEADER EC_IOW(0x37, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_REC_HEADER EC_IOWR(0x38, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_READ EC_IOW(0x39, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_READ_NOSYNC EC_IOW(0x3a, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_WRITE EC_IOWR(0x3b, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_EXEC EC_IOWR(0x3c, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_DATA EC_IOWR(0x3d, ec_ioctl_voe_t)
#define EC_IOCTL_APP_TIME EC_IOW(0x1f, ec_ioctl_app_time_t)
#define EC_IOCTL_SYNC_REF EC_IO(0x20)
#define EC_IOCTL_SYNC_SLAVES EC_IO(0x21)
#define EC_IOCTL_SC_SYNC EC_IOW(0x22, ec_ioctl_config_t)
#define EC_IOCTL_SC_ADD_PDO EC_IOW(0x23, ec_ioctl_config_pdo_t)
#define EC_IOCTL_SC_CLEAR_PDOS EC_IOW(0x24, ec_ioctl_config_pdo_t)
#define EC_IOCTL_SC_ADD_ENTRY EC_IOW(0x25, ec_ioctl_add_pdo_entry_t)
#define EC_IOCTL_SC_CLEAR_ENTRIES EC_IOW(0x26, ec_ioctl_config_pdo_t)
#define EC_IOCTL_SC_REG_PDO_ENTRY EC_IOWR(0x27, ec_ioctl_reg_pdo_entry_t)
#define EC_IOCTL_SC_DC_ASSIGN EC_IOW(0x28, ec_ioctl_sc_dc_t)
#define EC_IOCTL_SC_DC_CYCLE EC_IOW(0x29, ec_ioctl_sc_dc_t)
#define EC_IOCTL_SC_DC_SHIFT EC_IOW(0x2a, ec_ioctl_sc_dc_t)
#define EC_IOCTL_SC_SDO EC_IOW(0x2b, ec_ioctl_sc_sdo_t)
#define EC_IOCTL_SC_SDO_REQUEST EC_IOWR(0x2c, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SC_VOE EC_IOWR(0x2d, ec_ioctl_voe_t)
#define EC_IOCTL_SC_STATE EC_IOWR(0x2e, ec_ioctl_sc_state_t)
#define EC_IOCTL_DOMAIN_OFFSET EC_IO(0x2f)
#define EC_IOCTL_DOMAIN_PROCESS EC_IO(0x30)
#define EC_IOCTL_DOMAIN_QUEUE EC_IO(0x31)
#define EC_IOCTL_DOMAIN_STATE EC_IOWR(0x32, ec_ioctl_domain_state_t)
#define EC_IOCTL_SDO_REQUEST_TIMEOUT EC_IOWR(0x33, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_STATE EC_IOWR(0x34, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_READ EC_IOWR(0x35, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_WRITE EC_IOWR(0x36, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_DATA EC_IOWR(0x37, ec_ioctl_sdo_request_t)
#define EC_IOCTL_VOE_SEND_HEADER EC_IOW(0x38, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_REC_HEADER EC_IOWR(0x39, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_READ EC_IOW(0x3a, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_READ_NOSYNC EC_IOW(0x3b, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_WRITE EC_IOWR(0x3c, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_EXEC EC_IOWR(0x3d, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_DATA EC_IOWR(0x3e, ec_ioctl_voe_t)
/*****************************************************************************/
@ -398,7 +399,7 @@ typedef struct {
typedef struct {
// inputs
uint64_t app_time;
} ec_ioctl_dc_t;
} ec_ioctl_app_time_t;
/*****************************************************************************/

10
master/master.c
View File

@ -1745,10 +1745,15 @@ void ecrt_master_state(const ec_master_t *master, ec_master_state_t *state)
/*****************************************************************************/
void ecrt_master_sync_reference_clock(ec_master_t *master,
uint64_t app_time)
void ecrt_master_application_time(ec_master_t *master, uint64_t app_time)
{
master->app_time = app_time;
}
/*****************************************************************************/
void ecrt_master_sync_reference_clock(ec_master_t *master)
{
EC_WRITE_U32(master->ref_sync_datagram.data, master->app_time);
ec_master_queue_datagram(master, &master->ref_sync_datagram);
}
@ -1772,6 +1777,7 @@ EXPORT_SYMBOL(ecrt_master_receive);
EXPORT_SYMBOL(ecrt_master_callbacks);
EXPORT_SYMBOL(ecrt_master_slave_config);
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);