Improved distributed clock offset calculation to speed-up initial drift compensation
/******************************************************************************
*
* $Id$
*
* Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT Master.
*
* The IgH EtherCAT Master is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License version 2, as
* published by the Free Software Foundation.
*
* The IgH EtherCAT Master is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
* Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
* ---
*
* The license mentioned above concerns the source code only. Using the
* EtherCAT technology and brand is only permitted in compliance with the
* industrial property and similar rights of Beckhoff Automation GmbH.
*
*****************************************************************************/
/**
\file
EtherCAT master character device IOCTL commands.
*/
/*****************************************************************************/
#ifndef __EC_IOCTL_H__
#define __EC_IOCTL_H__
#include <linux/ioctl.h>
#include "globals.h"
/*****************************************************************************/
/** \cond */
#define EC_IOCTL_TYPE 0xa4
#define EC_IO(nr) _IO(EC_IOCTL_TYPE, nr)
#define EC_IOR(nr, type) _IOR(EC_IOCTL_TYPE, nr, type)
#define EC_IOW(nr, type) _IOW(EC_IOCTL_TYPE, nr, type)
#define EC_IOWR(nr, type) _IOWR(EC_IOCTL_TYPE, nr, type)
/** EtherCAT master ioctl() version magic.
*
* Increment this when changing the ioctl interface!
*/
#define EC_IOCTL_VERSION_MAGIC 6
// Command-line tool
#define EC_IOCTL_MODULE EC_IOR(0x00, ec_ioctl_module_t)
#define EC_IOCTL_MASTER EC_IOR(0x01, ec_ioctl_master_t)
#define EC_IOCTL_SLAVE EC_IOWR(0x02, ec_ioctl_slave_t)
#define EC_IOCTL_SLAVE_SYNC EC_IOWR(0x03, ec_ioctl_slave_sync_t)
#define EC_IOCTL_SLAVE_SYNC_PDO EC_IOWR(0x04, ec_ioctl_slave_sync_pdo_t)
#define EC_IOCTL_SLAVE_SYNC_PDO_ENTRY EC_IOWR(0x05, ec_ioctl_slave_sync_pdo_entry_t)
#define EC_IOCTL_DOMAIN EC_IOWR(0x06, ec_ioctl_domain_t)
#define EC_IOCTL_DOMAIN_FMMU EC_IOWR(0x07, ec_ioctl_domain_fmmu_t)
#define EC_IOCTL_DOMAIN_DATA EC_IOWR(0x08, ec_ioctl_domain_data_t)
#define EC_IOCTL_MASTER_DEBUG EC_IO(0x09)
#define EC_IOCTL_SLAVE_STATE EC_IOW(0x0a, ec_ioctl_slave_state_t)
#define EC_IOCTL_SLAVE_SDO EC_IOWR(0x0b, ec_ioctl_slave_sdo_t)
#define EC_IOCTL_SLAVE_SDO_ENTRY EC_IOWR(0x0c, ec_ioctl_slave_sdo_entry_t)
#define EC_IOCTL_SLAVE_SDO_UPLOAD EC_IOWR(0x0d, ec_ioctl_slave_sdo_upload_t)
#define EC_IOCTL_SLAVE_SDO_DOWNLOAD EC_IOWR(0x0e, ec_ioctl_slave_sdo_download_t)
#define EC_IOCTL_SLAVE_SII_READ EC_IOWR(0x0f, ec_ioctl_slave_sii_t)
#define EC_IOCTL_SLAVE_SII_WRITE EC_IOW(0x10, ec_ioctl_slave_sii_t)
#define EC_IOCTL_SLAVE_REG_READ EC_IOWR(0x11, ec_ioctl_slave_reg_t)
#define EC_IOCTL_SLAVE_REG_WRITE EC_IOW(0x12, ec_ioctl_slave_reg_t)
#define EC_IOCTL_SLAVE_FOE_READ EC_IOWR(0x13, ec_ioctl_slave_foe_t)
#define EC_IOCTL_SLAVE_FOE_WRITE EC_IOW(0x14, ec_ioctl_slave_foe_t)
#define EC_IOCTL_SLAVE_SOE_READ EC_IOWR(0x15, ec_ioctl_slave_soe_read_t)
#define EC_IOCTL_SLAVE_SOE_WRITE EC_IOWR(0x16, ec_ioctl_slave_soe_write_t)
#define EC_IOCTL_CONFIG EC_IOWR(0x17, ec_ioctl_config_t)
#define EC_IOCTL_CONFIG_PDO EC_IOWR(0x18, ec_ioctl_config_pdo_t)
#define EC_IOCTL_CONFIG_PDO_ENTRY EC_IOWR(0x19, ec_ioctl_config_pdo_entry_t)
#define EC_IOCTL_CONFIG_SDO EC_IOWR(0x1a, ec_ioctl_config_sdo_t)
#ifdef EC_EOE
#define EC_IOCTL_EOE_HANDLER EC_IOWR(0x1b, ec_ioctl_eoe_handler_t)
#endif
// Application interface
#define EC_IOCTL_REQUEST EC_IO(0x1c)
#define EC_IOCTL_CREATE_DOMAIN EC_IO(0x1d)
#define EC_IOCTL_CREATE_SLAVE_CONFIG EC_IOWR(0x1e, ec_ioctl_config_t)
#define EC_IOCTL_ACTIVATE EC_IOR(0x1f, size_t)
#define EC_IOCTL_DEACTIVATE EC_IO(0x20)
#define EC_IOCTL_SEND EC_IO(0x21)
#define EC_IOCTL_RECEIVE EC_IO(0x22)
#define EC_IOCTL_MASTER_STATE EC_IOR(0x23, ec_master_state_t)
#define EC_IOCTL_APP_TIME EC_IOW(0x24, ec_ioctl_app_time_t)
#define EC_IOCTL_SYNC_REF EC_IO(0x25)
#define EC_IOCTL_SYNC_SLAVES EC_IO(0x26)
#define EC_IOCTL_SYNC_MON_QUEUE EC_IO(0x27)
#define EC_IOCTL_SYNC_MON_PROCESS EC_IOR(0x28, uint32_t)
#define EC_IOCTL_SC_SYNC EC_IOW(0x29, ec_ioctl_config_t)
#define EC_IOCTL_SC_WATCHDOG EC_IOW(0x2a, ec_ioctl_config_t)
#define EC_IOCTL_SC_ADD_PDO EC_IOW(0x2b, ec_ioctl_config_pdo_t)
#define EC_IOCTL_SC_CLEAR_PDOS EC_IOW(0x2c, ec_ioctl_config_pdo_t)
#define EC_IOCTL_SC_ADD_ENTRY EC_IOW(0x2d, ec_ioctl_add_pdo_entry_t)
#define EC_IOCTL_SC_CLEAR_ENTRIES EC_IOW(0x2e, ec_ioctl_config_pdo_t)
#define EC_IOCTL_SC_REG_PDO_ENTRY EC_IOWR(0x2f, ec_ioctl_reg_pdo_entry_t)
#define EC_IOCTL_SC_DC EC_IOW(0x20, ec_ioctl_config_t)
#define EC_IOCTL_SC_SDO EC_IOW(0x31, ec_ioctl_sc_sdo_t)
#define EC_IOCTL_SC_SDO_REQUEST EC_IOWR(0x32, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SC_VOE EC_IOWR(0x33, ec_ioctl_voe_t)
#define EC_IOCTL_SC_STATE EC_IOWR(0x34, ec_ioctl_sc_state_t)
#define EC_IOCTL_SC_IDN EC_IOW(0x35, ec_ioctl_sc_idn_t)
#define EC_IOCTL_DOMAIN_OFFSET EC_IO(0x36)
#define EC_IOCTL_DOMAIN_PROCESS EC_IO(0x37)
#define EC_IOCTL_DOMAIN_QUEUE EC_IO(0x38)
#define EC_IOCTL_DOMAIN_STATE EC_IOWR(0x39, ec_ioctl_domain_state_t)
#define EC_IOCTL_SDO_REQUEST_TIMEOUT EC_IOWR(0x3a, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_STATE EC_IOWR(0x3b, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_READ EC_IOWR(0x3c, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_WRITE EC_IOWR(0x3d, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_DATA EC_IOWR(0x3e, ec_ioctl_sdo_request_t)
#define EC_IOCTL_VOE_SEND_HEADER EC_IOW(0x3f, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_REC_HEADER EC_IOWR(0x40, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_READ EC_IOW(0x41, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_READ_NOSYNC EC_IOW(0x42, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_WRITE EC_IOWR(0x43, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_EXEC EC_IOWR(0x44, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_DATA EC_IOWR(0x45, ec_ioctl_voe_t)
#define EC_IOCTL_SET_SEND_INTERVAL EC_IOW(0x46, size_t)
#define EC_IOCTL_MASTER_SC_STATE EC_IOR(0x47, ec_master_state_t)
#define EC_IOCTL_SC_OVERLAPPING_IO EC_IOW(0x48, ec_ioctl_config_t)
/*****************************************************************************/
#define EC_IOCTL_STRING_SIZE 64
/*****************************************************************************/
typedef struct {
uint32_t ioctl_version_magic;
uint32_t master_count;
} ec_ioctl_module_t;
/*****************************************************************************/
typedef struct {
uint32_t slave_count;
uint32_t config_count;
uint32_t domain_count;
#ifdef EC_EOE
uint32_t eoe_handler_count;
#endif
uint8_t phase;
uint8_t active;
uint8_t scan_busy;
struct ec_ioctl_device {
uint8_t address[6];
uint8_t attached;
uint8_t link_state;
uint64_t tx_count;
uint64_t rx_count;
uint64_t tx_bytes;
uint64_t tx_errors;
uint32_t tx_frame_rates[EC_RATE_COUNT];
uint32_t tx_byte_rates[EC_RATE_COUNT];
int32_t loss_rates[EC_RATE_COUNT];
} devices[2];
uint64_t app_time;
uint16_t ref_clock;
} ec_ioctl_master_t;
/*****************************************************************************/
typedef struct {
// input
uint16_t position;
// outputs
uint32_t vendor_id;
uint32_t product_code;
uint32_t revision_number;
uint32_t serial_number;
uint16_t alias;
uint16_t boot_rx_mailbox_offset;
uint16_t boot_rx_mailbox_size;
uint16_t boot_tx_mailbox_offset;
uint16_t boot_tx_mailbox_size;
uint16_t std_rx_mailbox_offset;
uint16_t std_rx_mailbox_size;
uint16_t std_tx_mailbox_offset;
uint16_t std_tx_mailbox_size;
uint16_t mailbox_protocols;
uint8_t has_general_category;
ec_sii_coe_details_t coe_details;
ec_sii_general_flags_t general_flags;
int16_t current_on_ebus;
struct {
ec_slave_port_desc_t desc;
ec_slave_port_link_t link;
uint32_t receive_time;
uint16_t next_slave;
uint32_t delay_to_next_dc;
} ports[EC_MAX_PORTS];
uint8_t fmmu_bit;
uint8_t dc_supported;
ec_slave_dc_range_t dc_range;
uint8_t has_dc_system_time;
uint32_t transmission_delay;
uint8_t al_state;
uint8_t error_flag;
uint8_t sync_count;
uint16_t sdo_count;
uint32_t sii_nwords;
char group[EC_IOCTL_STRING_SIZE];
char image[EC_IOCTL_STRING_SIZE];
char order[EC_IOCTL_STRING_SIZE];
char name[EC_IOCTL_STRING_SIZE];
} ec_ioctl_slave_t;
/*****************************************************************************/
typedef struct {
// inputs
uint16_t slave_position;
uint32_t sync_index;
// outputs
uint16_t physical_start_address;
uint16_t default_size;
uint8_t control_register;
uint8_t enable;
uint8_t pdo_count;
} ec_ioctl_slave_sync_t;
/*****************************************************************************/
typedef struct {
// inputs
uint16_t slave_position;
uint32_t sync_index;
uint32_t pdo_pos;
// outputs
uint16_t index;
uint8_t entry_count;
int8_t name[EC_IOCTL_STRING_SIZE];
} ec_ioctl_slave_sync_pdo_t;
/*****************************************************************************/
typedef struct {
// inputs
uint16_t slave_position;
uint32_t sync_index;
uint32_t pdo_pos;
uint32_t entry_pos;
// outputs
uint16_t index;
uint8_t subindex;
uint8_t bit_length;
int8_t name[EC_IOCTL_STRING_SIZE];
} ec_ioctl_slave_sync_pdo_entry_t;
/*****************************************************************************/
typedef struct {
// inputs
uint32_t index;
// outputs
uint32_t data_size;
uint32_t tx_size;
uint32_t logical_base_address;
uint16_t working_counter;
uint16_t expected_working_counter;
uint32_t fmmu_count;
} ec_ioctl_domain_t;
/*****************************************************************************/
typedef struct {
// inputs
uint32_t domain_index;
uint32_t fmmu_index;
// outputs
uint16_t slave_config_alias;
uint16_t slave_config_position;
uint8_t sync_index;
ec_direction_t dir;
uint32_t logical_address;
uint32_t domain_address;
uint32_t data_size;
} ec_ioctl_domain_fmmu_t;
/*****************************************************************************/
typedef struct {
// inputs
uint32_t domain_index;
uint32_t data_size;
uint8_t *target;
} ec_ioctl_domain_data_t;
/*****************************************************************************/
typedef struct {
// inputs
uint16_t slave_position;
uint8_t al_state;
} ec_ioctl_slave_state_t;
/*****************************************************************************/
typedef struct {
// inputs
uint16_t slave_position;
uint16_t sdo_position;
// outputs
uint16_t sdo_index;
uint8_t max_subindex;
int8_t name[EC_IOCTL_STRING_SIZE];
} ec_ioctl_slave_sdo_t;
/*****************************************************************************/
typedef struct {
// inputs
uint16_t slave_position;
int sdo_spec; // positive: index, negative: list position
uint8_t sdo_entry_subindex;
// outputs
uint16_t data_type;
uint16_t bit_length;
uint8_t read_access[EC_SDO_ENTRY_ACCESS_COUNT];
uint8_t write_access[EC_SDO_ENTRY_ACCESS_COUNT];
int8_t description[EC_IOCTL_STRING_SIZE];
} ec_ioctl_slave_sdo_entry_t;
/*****************************************************************************/
typedef struct {
// inputs
uint16_t slave_position;
uint16_t sdo_index;
uint8_t sdo_entry_subindex;
uint32_t target_size;
uint8_t *target;
// outputs
uint32_t data_size;
uint32_t abort_code;
} ec_ioctl_slave_sdo_upload_t;
/*****************************************************************************/
typedef struct {
// inputs
uint16_t slave_position;
uint16_t sdo_index;
uint8_t sdo_entry_subindex;
uint32_t data_size;
uint8_t *data;
// outputs
uint32_t abort_code;
} ec_ioctl_slave_sdo_download_t;
/*****************************************************************************/
typedef struct {
// inputs
uint16_t slave_position;
uint16_t offset;
uint32_t nwords;
uint16_t *words;
} ec_ioctl_slave_sii_t;
/*****************************************************************************/
typedef struct {
// inputs
uint16_t slave_position;
uint16_t offset;
uint16_t length;
uint8_t *data;
} ec_ioctl_slave_reg_t;
/*****************************************************************************/
typedef struct {
// inputs
uint16_t slave_position;
uint16_t offset;
uint32_t buffer_size;
uint8_t *buffer;
// outputs
uint32_t data_size;
uint32_t result;
uint32_t error_code;
char file_name[32];
} ec_ioctl_slave_foe_t;
/*****************************************************************************/
typedef struct {
// inputs
uint16_t slave_position;
uint16_t idn;
uint32_t mem_size;
uint8_t *data;
// outputs
uint32_t data_size;
uint16_t error_code;
} ec_ioctl_slave_soe_read_t;
/*****************************************************************************/
typedef struct {
// inputs
uint16_t slave_position;
uint16_t idn;
uint32_t data_size;
uint8_t *data;
// outputs
uint16_t error_code;
} ec_ioctl_slave_soe_write_t;
/*****************************************************************************/
typedef struct {
// inputs
uint32_t config_index;
// outputs
uint16_t alias;
uint16_t position;
uint32_t vendor_id;
uint32_t product_code;
struct {
ec_direction_t dir;
ec_watchdog_mode_t watchdog_mode;
uint32_t pdo_count;
uint8_t config_this;
} syncs[EC_MAX_SYNC_MANAGERS];
uint16_t watchdog_divider;
uint16_t watchdog_intervals;
uint8_t allow_overlapping_pdos;
uint32_t sdo_count;
int32_t slave_position;
uint16_t dc_assign_activate;
ec_sync_signal_t dc_sync[EC_SYNC_SIGNAL_COUNT];
} ec_ioctl_config_t;
/*****************************************************************************/
typedef struct {
// inputs
uint32_t config_index;
uint8_t sync_index;
uint16_t pdo_pos;
// outputs
uint16_t index;
uint8_t entry_count;
int8_t name[EC_IOCTL_STRING_SIZE];
} ec_ioctl_config_pdo_t;
/*****************************************************************************/
typedef struct {
// inputs
uint32_t config_index;
uint8_t sync_index;
uint16_t pdo_pos;
uint8_t entry_pos;
// outputs
uint16_t index;
uint8_t subindex;
uint8_t bit_length;
int8_t name[EC_IOCTL_STRING_SIZE];
} ec_ioctl_config_pdo_entry_t;
/*****************************************************************************/
/** Maximum size for displayed SDO data.
* \todo Make this dynamic.
*/
#define EC_MAX_SDO_DATA_SIZE 1024
typedef struct {
// inputs
uint32_t config_index;
uint32_t sdo_pos;
// outputs
uint16_t index;
uint8_t subindex;
uint32_t size;
uint8_t data[EC_MAX_SDO_DATA_SIZE];
} ec_ioctl_config_sdo_t;
/*****************************************************************************/
#ifdef EC_EOE
typedef struct {
// input
uint16_t eoe_index;
// outputs
char name[EC_DATAGRAM_NAME_SIZE];
uint16_t slave_position;
uint8_t open;
uint32_t rx_bytes;
uint32_t rx_rate;
uint32_t tx_bytes;
uint32_t tx_rate;
uint32_t tx_queued_frames;
uint32_t tx_queue_size;
} ec_ioctl_eoe_handler_t;
#endif
/*****************************************************************************/
typedef struct {
// inputs
uint32_t config_index;
uint16_t pdo_index;
uint16_t entry_index;
uint8_t entry_subindex;
uint8_t entry_bit_length;
} ec_ioctl_add_pdo_entry_t;
/*****************************************************************************/
typedef struct {
// inputs
uint32_t config_index;
uint16_t entry_index;
uint8_t entry_subindex;
uint32_t domain_index;
// outputs
unsigned int bit_position;
} ec_ioctl_reg_pdo_entry_t;
/*****************************************************************************/
typedef struct {
// inputs
uint32_t config_index;
uint16_t index;
uint8_t subindex;
const uint8_t *data;
size_t size;
uint8_t complete_access;
} ec_ioctl_sc_sdo_t;
/*****************************************************************************/
typedef struct {
// inputs
uint32_t config_index;
// outputs
ec_slave_config_state_t *state;
} ec_ioctl_sc_state_t;
/*****************************************************************************/
typedef struct {
// inputs
uint32_t config_index;
uint16_t idn;
const uint8_t *data;
size_t size;
} ec_ioctl_sc_idn_t;
/*****************************************************************************/
typedef struct {
// inputs
uint32_t domain_index;
// outputs
ec_domain_state_t *state;
} ec_ioctl_domain_state_t;
/*****************************************************************************/
typedef struct {
// inputs
uint32_t config_index;
// inputs/outputs
uint32_t request_index;
uint16_t sdo_index;
uint8_t sdo_subindex;
size_t size;
uint8_t *data;
uint32_t timeout;
ec_request_state_t state;
} ec_ioctl_sdo_request_t;
/*****************************************************************************/
typedef struct {
// inputs
uint32_t config_index;
// inputs/outputs
uint32_t voe_index;
uint32_t *vendor_id;
uint16_t *vendor_type;
size_t size;
uint8_t *data;
ec_request_state_t state;
} ec_ioctl_voe_t;
/*****************************************************************************/
typedef struct {
// inputs
uint64_t app_time;
} ec_ioctl_app_time_t;
/*****************************************************************************/
/** \endcond */
#endif