3 % IgH EtherCAT Master Documentation |
3 % IgH EtherCAT Master Documentation |
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5 % $Id$ |
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7 % vi: spell spelllang=en tw=78 |
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11 \documentclass[a4paper,12pt,BCOR6mm,bibtotoc,idxtotoc]{scrbook} |
11 \documentclass[a4paper,12pt,BCOR6mm,bibtotoc,idxtotoc]{scrbook} |
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12 |
13 \usepackage[latin1]{inputenc} |
13 \usepackage[latin1]{inputenc} |
924 latched and stored in a receive time register once the frame is received on |
924 latched and stored in a receive time register once the frame is received on |
925 the corresponding port. The master can read out the relative receive times, |
925 the corresponding port. The master can read out the relative receive times, |
926 then calculate time delays between the slaves (using its knowledge of the bus |
926 then calculate time delays between the slaves (using its knowledge of the bus |
927 topology), and finally calculate the time delays from the reference clock to |
927 topology), and finally calculate the time delays from the reference clock to |
928 each slave. These values are programmed into the slaves' transmission delay |
928 each slave. These values are programmed into the slaves' transmission delay |
929 registers. In this way, the drift compensation can reach nanosecond synchrony. |
929 registers. In this way, the drift compensation can reach nanosecond synchrony. |
930 |
930 |
931 \paragraph{Checking Synchrony} DC-capable slaves provide the 32-bit ``System |
931 \paragraph{Checking Synchrony} DC-capable slaves provide the 32-bit ``System |
932 time difference'' register at address \lstinline+0x092c+, where the system |
932 time difference'' register at address \lstinline+0x092c+, where the system |
933 time difference of the last drift compensation is stored in nanosecond |
933 time difference of the last drift compensation is stored in nanosecond |
934 resolution and in sign-and-magnitude coding\footnote{This allows |
934 resolution and in sign-and-magnitude coding\footnote{This allows |
1803 \item[PDO Sync Manager Configuration] If any PDO sync managers exist, they are |
1803 \item[PDO Sync Manager Configuration] If any PDO sync managers exist, they are |
1804 configured. |
1804 configured. |
1805 |
1805 |
1806 \item[FMMU Configuration] If there are FMMUs configurations supplied by the |
1806 \item[FMMU Configuration] If there are FMMUs configurations supplied by the |
1807 application (i.\,e.\ if the application registered PDO entries), they are |
1807 application (i.\,e.\ if the application registered PDO entries), they are |
1808 applied. |
1808 applied. |
1809 |
1809 |
1810 \item[SAFEOP] The state change FSM is used to bring the slave to SAFEOP state. |
1810 \item[SAFEOP] The state change FSM is used to bring the slave to SAFEOP state. |
1811 If this is the requested state, the state machine is finished. |
1811 If this is the requested state, the state machine is finished. |
1812 |
1812 |
1813 \item[OP] The state change FSM is used to bring the slave to OP state. |
1813 \item[OP] The state change FSM is used to bring the slave to OP state. |
3090 The below commands have to be entered as \textit{root}: The first one will |
3090 The below commands have to be entered as \textit{root}: The first one will |
3091 install the EtherCAT header, init script, sysconfig file and the userspace |
3091 install the EtherCAT header, init script, sysconfig file and the userspace |
3092 tool to the prefix path. The second one will install the kernel modules to the |
3092 tool to the prefix path. The second one will install the kernel modules to the |
3093 kernel's modules directory. The final \lstinline+depmod+ call is necessary to |
3093 kernel's modules directory. The final \lstinline+depmod+ call is necessary to |
3094 include the kernel modules into the \textit{modules.dep} file to make it |
3094 include the kernel modules into the \textit{modules.dep} file to make it |
3095 available to the \lstinline+modprobe+ command, used in the init script. |
3095 available to the \lstinline+modprobe+ command, used in the init script. |
3096 |
3096 |
3097 \begin{lstlisting} |
3097 \begin{lstlisting} |
3098 # `\textbf{make install}` |
3098 # `\textbf{make install}` |
3099 # `\textbf{make modules\_install}` |
3099 # `\textbf{make modules\_install}` |
3100 # `\textbf{depmod}` |
3100 # `\textbf{depmod}` |