From fffbeb4ba5a7139b001df13e1d6c3348fa4cdd0f Mon Sep 17 00:00:00 2001 From: Florian Pose Date: Mon, 26 Nov 2018 17:41:27 +0100 Subject: [PATCH] Added ecrt_master_sync_reference_clock_to() method. --- include/ecrt.h | 26 +++++++++--- lib/master.c | 23 +++++++++-- master/ioctl.c | 38 +++++++++++++++-- master/ioctl.h | 106 +++++++++++++++++++++++------------------------- master/master.c | 14 +++++++ 5 files changed, 139 insertions(+), 68 deletions(-) diff --git a/include/ecrt.h b/include/ecrt.h index c306278f..6f9eece2 100644 --- a/include/ecrt.h +++ b/include/ecrt.h @@ -187,6 +187,10 @@ */ #define EC_HAVE_REG_BY_POS +/** Defined if the method ecrt_master_sync_reference_clock_to() is available. + */ +#define EC_HAVE_SYNC_TO + /*****************************************************************************/ /** End of list marker. @@ -1018,11 +1022,10 @@ int ecrt_master_link_state( * distributed clocks. The time is not incremented by the master itself, so * this method has to be called cyclically. * - * \attention The first call of this method is used to calculate the phase - * delay for the slaves' SYNC0/1 interrupts. Either the method has to be - * called during the realtime cycle *only*, or the first time submitted must - * be in-phase with the realtime cycle. Otherwise synchronisation problems can - * occur. + * \attention The time passed to this method is used to calculate the phase of + * the slaves' SYNC0/1 interrupts. It should be called constantly at the same + * point of the realtime cycle. So it is recommended to call it at the start + * of the calculations to avoid deviancies due to changing execution times. * * The time is used when setting the slaves' System Time Offset and * Cyclic Operation Start Time registers and when synchronizing the @@ -1030,7 +1033,8 @@ int ecrt_master_link_state( * ecrt_master_sync_reference_clock(). * * The time is defined as nanoseconds from 2000-01-01 00:00. Converting an - * epoch time can be done with the EC_TIMEVAL2NANO() macro. + * epoch time can be done with the EC_TIMEVAL2NANO() macro, but is not + * necessary, since the absolute value is not of any interest. */ void ecrt_master_application_time( ec_master_t *master, /**< EtherCAT master. */ @@ -1046,6 +1050,16 @@ void ecrt_master_sync_reference_clock( ec_master_t *master /**< EtherCAT master. */ ); +/** Queues the DC reference clock drift compensation datagram for sending. + * + * The reference clock will by synchronized to the time passed in the + * sync_time parameter. + */ +void ecrt_master_sync_reference_clock_to( + ec_master_t *master, /**< EtherCAT master. */ + uint64_t sync_time /**< Sync reference clock to this time. */ + ); + /** Queues the DC clock drift compensation datagram for sending. * * All slave clocks synchronized to the reference clock. diff --git a/lib/master.c b/lib/master.c index 7c218428..709a7ba8 100644 --- a/lib/master.c +++ b/lib/master.c @@ -672,12 +672,12 @@ int ecrt_master_link_state(const ec_master_t *master, unsigned int dev_idx, void ecrt_master_application_time(ec_master_t *master, uint64_t app_time) { - ec_ioctl_app_time_t data; + uint64_t time; int ret; - data.app_time = app_time; + time = app_time; - ret = ioctl(master->fd, EC_IOCTL_APP_TIME, &data); + ret = ioctl(master->fd, EC_IOCTL_APP_TIME, &time); if (EC_IOCTL_IS_ERROR(ret)) { fprintf(stderr, "Failed to set application time: %s\n", strerror(EC_IOCTL_ERRNO(ret))); @@ -699,6 +699,23 @@ void ecrt_master_sync_reference_clock(ec_master_t *master) /****************************************************************************/ +void ecrt_master_sync_reference_clock_to(ec_master_t *master, + uint64_t sync_time) +{ + uint64_t time; + int ret; + + time = sync_time; + + ret = ioctl(master->fd, EC_IOCTL_SYNC_REF_TO, &time); + if (EC_IOCTL_IS_ERROR(ret)) { + fprintf(stderr, "Failed to sync reference clock: %s\n", + strerror(EC_IOCTL_ERRNO(ret))); + } +} + +/****************************************************************************/ + void ecrt_master_sync_slave_clocks(ec_master_t *master) { int ret; diff --git a/master/ioctl.c b/master/ioctl.c index 8f0b091e..065f3249 100755 --- a/master/ioctl.c +++ b/master/ioctl.c @@ -2015,16 +2015,16 @@ static ATTRIBUTES int ec_ioctl_app_time( ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ ) { - ec_ioctl_app_time_t data; + uint64_t time; if (unlikely(!ctx->requested)) return -EPERM; - if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { + if (copy_from_user(&time, (void __user *) arg, sizeof(time))) { return -EFAULT; } - ecrt_master_application_time(master, data.app_time); + ecrt_master_application_time(master, time); return 0; } @@ -2050,6 +2050,31 @@ static ATTRIBUTES int ec_ioctl_sync_ref( /*****************************************************************************/ +/** Sync the reference clock. + * + * \return Zero on success, otherwise a negative error code. + */ +static ATTRIBUTES int ec_ioctl_sync_ref_to( + ec_master_t *master, /**< EtherCAT master. */ + void *arg, /**< ioctl() argument. */ + ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ + ) +{ + uint64_t time; + + if (unlikely(!ctx->requested)) + return -EPERM; + + if (copy_from_user(&time, (void __user *) arg, sizeof(time))) { + return -EFAULT; + } + + ecrt_master_sync_reference_clock_to(master, time); + return 0; +} + +/*****************************************************************************/ + /** Sync the slave clocks. * * \return Zero on success, otherwise a negative error code. @@ -4448,6 +4473,13 @@ long EC_IOCTL( } ret = ec_ioctl_sync_ref(master, arg, ctx); break; + case EC_IOCTL_SYNC_REF_TO: + if (!ctx->writable) { + ret = -EPERM; + break; + } + ret = ec_ioctl_sync_ref_to(master, arg, ctx); + break; case EC_IOCTL_SYNC_SLAVES: if (!ctx->writable) { ret = -EPERM; diff --git a/master/ioctl.h b/master/ioctl.h index a78a4e86..dad17d1a 100644 --- a/master/ioctl.h +++ b/master/ioctl.h @@ -104,56 +104,57 @@ #define EC_IOCTL_RECEIVE EC_IO(0x26) #define EC_IOCTL_MASTER_STATE EC_IOR(0x27, ec_master_state_t) #define EC_IOCTL_MASTER_LINK_STATE EC_IOWR(0x28, ec_ioctl_link_state_t) -#define EC_IOCTL_APP_TIME EC_IOW(0x29, ec_ioctl_app_time_t) +#define EC_IOCTL_APP_TIME EC_IOW(0x29, uint64_t) #define EC_IOCTL_SYNC_REF EC_IO(0x2a) -#define EC_IOCTL_SYNC_SLAVES EC_IO(0x2b) -#define EC_IOCTL_REF_CLOCK_TIME EC_IOR(0x2c, uint32_t) -#define EC_IOCTL_SYNC_MON_QUEUE EC_IO(0x2d) -#define EC_IOCTL_SYNC_MON_PROCESS EC_IOR(0x2e, uint32_t) -#define EC_IOCTL_RESET EC_IO(0x2f) -#define EC_IOCTL_SC_SYNC EC_IOW(0x30, ec_ioctl_config_t) -#define EC_IOCTL_SC_WATCHDOG EC_IOW(0x31, ec_ioctl_config_t) -#define EC_IOCTL_SC_ADD_PDO EC_IOW(0x32, ec_ioctl_config_pdo_t) -#define EC_IOCTL_SC_CLEAR_PDOS EC_IOW(0x33, ec_ioctl_config_pdo_t) -#define EC_IOCTL_SC_ADD_ENTRY EC_IOW(0x34, ec_ioctl_add_pdo_entry_t) -#define EC_IOCTL_SC_CLEAR_ENTRIES EC_IOW(0x35, ec_ioctl_config_pdo_t) -#define EC_IOCTL_SC_REG_PDO_ENTRY EC_IOWR(0x36, ec_ioctl_reg_pdo_entry_t) -#define EC_IOCTL_SC_REG_PDO_POS EC_IOWR(0x37, ec_ioctl_reg_pdo_pos_t) -#define EC_IOCTL_SC_DC EC_IOW(0x38, ec_ioctl_config_t) -#define EC_IOCTL_SC_SDO EC_IOW(0x39, ec_ioctl_sc_sdo_t) -#define EC_IOCTL_SC_EMERG_SIZE EC_IOW(0x3a, ec_ioctl_sc_emerg_t) -#define EC_IOCTL_SC_EMERG_POP EC_IOWR(0x3b, ec_ioctl_sc_emerg_t) -#define EC_IOCTL_SC_EMERG_CLEAR EC_IOW(0x3c, ec_ioctl_sc_emerg_t) -#define EC_IOCTL_SC_EMERG_OVERRUNS EC_IOWR(0x3d, ec_ioctl_sc_emerg_t) -#define EC_IOCTL_SC_SDO_REQUEST EC_IOWR(0x3e, ec_ioctl_sdo_request_t) -#define EC_IOCTL_SC_REG_REQUEST EC_IOWR(0x3f, ec_ioctl_reg_request_t) -#define EC_IOCTL_SC_VOE EC_IOWR(0x40, ec_ioctl_voe_t) -#define EC_IOCTL_SC_STATE EC_IOWR(0x41, ec_ioctl_sc_state_t) -#define EC_IOCTL_SC_IDN EC_IOW(0x42, ec_ioctl_sc_idn_t) -#define EC_IOCTL_DOMAIN_SIZE EC_IO(0x43) -#define EC_IOCTL_DOMAIN_OFFSET EC_IO(0x44) -#define EC_IOCTL_DOMAIN_PROCESS EC_IO(0x45) -#define EC_IOCTL_DOMAIN_QUEUE EC_IO(0x46) -#define EC_IOCTL_DOMAIN_STATE EC_IOWR(0x47, ec_ioctl_domain_state_t) -#define EC_IOCTL_SDO_REQUEST_INDEX EC_IOWR(0x48, ec_ioctl_sdo_request_t) -#define EC_IOCTL_SDO_REQUEST_TIMEOUT EC_IOWR(0x49, ec_ioctl_sdo_request_t) -#define EC_IOCTL_SDO_REQUEST_STATE EC_IOWR(0x4a, ec_ioctl_sdo_request_t) -#define EC_IOCTL_SDO_REQUEST_READ EC_IOWR(0x4b, ec_ioctl_sdo_request_t) -#define EC_IOCTL_SDO_REQUEST_WRITE EC_IOWR(0x4c, ec_ioctl_sdo_request_t) -#define EC_IOCTL_SDO_REQUEST_DATA EC_IOWR(0x4d, ec_ioctl_sdo_request_t) -#define EC_IOCTL_REG_REQUEST_DATA EC_IOWR(0x4e, ec_ioctl_reg_request_t) -#define EC_IOCTL_REG_REQUEST_STATE EC_IOWR(0x4f, ec_ioctl_reg_request_t) -#define EC_IOCTL_REG_REQUEST_WRITE EC_IOWR(0x50, ec_ioctl_reg_request_t) -#define EC_IOCTL_REG_REQUEST_READ EC_IOWR(0x51, ec_ioctl_reg_request_t) -#define EC_IOCTL_VOE_SEND_HEADER EC_IOW(0x52, ec_ioctl_voe_t) -#define EC_IOCTL_VOE_REC_HEADER EC_IOWR(0x53, ec_ioctl_voe_t) -#define EC_IOCTL_VOE_READ EC_IOW(0x54, ec_ioctl_voe_t) -#define EC_IOCTL_VOE_READ_NOSYNC EC_IOW(0x55, ec_ioctl_voe_t) -#define EC_IOCTL_VOE_WRITE EC_IOWR(0x56, ec_ioctl_voe_t) -#define EC_IOCTL_VOE_EXEC EC_IOWR(0x57, ec_ioctl_voe_t) -#define EC_IOCTL_VOE_DATA EC_IOWR(0x58, ec_ioctl_voe_t) -#define EC_IOCTL_SET_SEND_INTERVAL EC_IOW(0x59, size_t) -#define EC_IOCTL_SC_OVERLAPPING_IO EC_IOW(0x5a, ec_ioctl_config_t) +#define EC_IOCTL_SYNC_REF_TO EC_IOW(0x2b, uint64_t) +#define EC_IOCTL_SYNC_SLAVES EC_IO(0x2c) +#define EC_IOCTL_REF_CLOCK_TIME EC_IOR(0x2d, uint32_t) +#define EC_IOCTL_SYNC_MON_QUEUE EC_IO(0x2e) +#define EC_IOCTL_SYNC_MON_PROCESS EC_IOR(0x2f, uint32_t) +#define EC_IOCTL_RESET EC_IO(0x30) +#define EC_IOCTL_SC_SYNC EC_IOW(0x31, ec_ioctl_config_t) +#define EC_IOCTL_SC_WATCHDOG EC_IOW(0x32, ec_ioctl_config_t) +#define EC_IOCTL_SC_ADD_PDO EC_IOW(0x33, ec_ioctl_config_pdo_t) +#define EC_IOCTL_SC_CLEAR_PDOS EC_IOW(0x34, ec_ioctl_config_pdo_t) +#define EC_IOCTL_SC_ADD_ENTRY EC_IOW(0x35, ec_ioctl_add_pdo_entry_t) +#define EC_IOCTL_SC_CLEAR_ENTRIES EC_IOW(0x36, ec_ioctl_config_pdo_t) +#define EC_IOCTL_SC_REG_PDO_ENTRY EC_IOWR(0x37, ec_ioctl_reg_pdo_entry_t) +#define EC_IOCTL_SC_REG_PDO_POS EC_IOWR(0x38, ec_ioctl_reg_pdo_pos_t) +#define EC_IOCTL_SC_DC EC_IOW(0x39, ec_ioctl_config_t) +#define EC_IOCTL_SC_SDO EC_IOW(0x3a, ec_ioctl_sc_sdo_t) +#define EC_IOCTL_SC_EMERG_SIZE EC_IOW(0x3b, ec_ioctl_sc_emerg_t) +#define EC_IOCTL_SC_EMERG_POP EC_IOWR(0x3c, ec_ioctl_sc_emerg_t) +#define EC_IOCTL_SC_EMERG_CLEAR EC_IOW(0x3d, ec_ioctl_sc_emerg_t) +#define EC_IOCTL_SC_EMERG_OVERRUNS EC_IOWR(0x3e, ec_ioctl_sc_emerg_t) +#define EC_IOCTL_SC_SDO_REQUEST EC_IOWR(0x3f, ec_ioctl_sdo_request_t) +#define EC_IOCTL_SC_REG_REQUEST EC_IOWR(0x40, ec_ioctl_reg_request_t) +#define EC_IOCTL_SC_VOE EC_IOWR(0x41, ec_ioctl_voe_t) +#define EC_IOCTL_SC_STATE EC_IOWR(0x42, ec_ioctl_sc_state_t) +#define EC_IOCTL_SC_IDN EC_IOW(0x43, ec_ioctl_sc_idn_t) +#define EC_IOCTL_DOMAIN_SIZE EC_IO(0x44) +#define EC_IOCTL_DOMAIN_OFFSET EC_IO(0x45) +#define EC_IOCTL_DOMAIN_PROCESS EC_IO(0x46) +#define EC_IOCTL_DOMAIN_QUEUE EC_IO(0x47) +#define EC_IOCTL_DOMAIN_STATE EC_IOWR(0x48, ec_ioctl_domain_state_t) +#define EC_IOCTL_SDO_REQUEST_INDEX EC_IOWR(0x49, ec_ioctl_sdo_request_t) +#define EC_IOCTL_SDO_REQUEST_TIMEOUT EC_IOWR(0x4a, ec_ioctl_sdo_request_t) +#define EC_IOCTL_SDO_REQUEST_STATE EC_IOWR(0x4b, ec_ioctl_sdo_request_t) +#define EC_IOCTL_SDO_REQUEST_READ EC_IOWR(0x4c, ec_ioctl_sdo_request_t) +#define EC_IOCTL_SDO_REQUEST_WRITE EC_IOWR(0x4d, ec_ioctl_sdo_request_t) +#define EC_IOCTL_SDO_REQUEST_DATA EC_IOWR(0x4e, ec_ioctl_sdo_request_t) +#define EC_IOCTL_REG_REQUEST_DATA EC_IOWR(0x4f, ec_ioctl_reg_request_t) +#define EC_IOCTL_REG_REQUEST_STATE EC_IOWR(0x50, ec_ioctl_reg_request_t) +#define EC_IOCTL_REG_REQUEST_WRITE EC_IOWR(0x51, ec_ioctl_reg_request_t) +#define EC_IOCTL_REG_REQUEST_READ EC_IOWR(0x52, ec_ioctl_reg_request_t) +#define EC_IOCTL_VOE_SEND_HEADER EC_IOW(0x53, ec_ioctl_voe_t) +#define EC_IOCTL_VOE_REC_HEADER EC_IOWR(0x54, ec_ioctl_voe_t) +#define EC_IOCTL_VOE_READ EC_IOW(0x55, ec_ioctl_voe_t) +#define EC_IOCTL_VOE_READ_NOSYNC EC_IOW(0x56, ec_ioctl_voe_t) +#define EC_IOCTL_VOE_WRITE EC_IOWR(0x57, ec_ioctl_voe_t) +#define EC_IOCTL_VOE_EXEC EC_IOWR(0x58, ec_ioctl_voe_t) +#define EC_IOCTL_VOE_DATA EC_IOWR(0x59, ec_ioctl_voe_t) +#define EC_IOCTL_SET_SEND_INTERVAL EC_IOW(0x5a, size_t) +#define EC_IOCTL_SC_OVERLAPPING_IO EC_IOW(0x5b, ec_ioctl_config_t) /*****************************************************************************/ @@ -784,13 +785,6 @@ typedef struct { /*****************************************************************************/ -typedef struct { - // inputs - uint64_t app_time; -} ec_ioctl_app_time_t; - -/*****************************************************************************/ - #ifdef __KERNEL__ /** Context data structure for file handles. diff --git a/master/master.c b/master/master.c index 7bfb4366..ae04ac59 100644 --- a/master/master.c +++ b/master/master.c @@ -2820,6 +2820,19 @@ void ecrt_master_sync_reference_clock(ec_master_t *master) /*****************************************************************************/ +void ecrt_master_sync_reference_clock_to( + ec_master_t *master, + uint64_t sync_time + ) +{ + if (master->dc_ref_clock) { + EC_WRITE_U32(master->ref_sync_datagram.data, sync_time); + ec_master_queue_datagram(master, &master->ref_sync_datagram); + } +} + +/*****************************************************************************/ + void ecrt_master_sync_slave_clocks(ec_master_t *master) { if (master->dc_ref_clock) { @@ -3292,6 +3305,7 @@ EXPORT_SYMBOL(ecrt_master_state); EXPORT_SYMBOL(ecrt_master_link_state); EXPORT_SYMBOL(ecrt_master_application_time); EXPORT_SYMBOL(ecrt_master_sync_reference_clock); +EXPORT_SYMBOL(ecrt_master_sync_reference_clock_to); EXPORT_SYMBOL(ecrt_master_sync_slave_clocks); EXPORT_SYMBOL(ecrt_master_reference_clock_time); EXPORT_SYMBOL(ecrt_master_sync_monitor_queue);