# HG changeset patch # User Florian Pose # Date 1240497907 0 # Node ID 44c2b7c0ae1a03c3cd5f5d1a4d22644a8d9ca359 # Parent 8f7bbbd3b7ac83cc23c845deea3050c790ed3fa8 Userspace library implementation of DC functions. diff -r 8f7bbbd3b7ac -r 44c2b7c0ae1a TODO --- a/TODO Thu Apr 23 12:25:09 2009 +0000 +++ b/TODO Thu Apr 23 14:45:07 2009 +0000 @@ -12,8 +12,8 @@ * Distributed clocks: - Delay calculation. - - Synchronize the reference clock to the master clock. - Output reference clock and application time in 'ethercat master'. + - User same application time offset when setting start times. * Read alias from register 0x0012 instead of SII. * Finish library implementation. * Re-work EoE code. diff -r 8f7bbbd3b7ac -r 44c2b7c0ae1a lib/master.c --- a/lib/master.c Thu Apr 23 12:25:09 2009 +0000 +++ b/lib/master.c Thu Apr 23 14:45:07 2009 +0000 @@ -189,3 +189,28 @@ } /*****************************************************************************/ + +void ecrt_master_sync_reference_clock(ec_master_t *master, + const struct timeval *app_time) +{ + ec_ioctl_dc_t data; + + data.app_time.tv_sec = app_time->tv_sec; + data.app_time.tv_usec = app_time->tv_usec; + + if (ioctl(master->fd, EC_IOCTL_SYNC_REF, &data) == -1) { + fprintf(stderr, "Failed to sync reference clock: %s\n", + strerror(errno)); + } +} + +/*****************************************************************************/ + +void ecrt_master_sync_slave_clocks(ec_master_t *master) +{ + if (ioctl(master->fd, EC_IOCTL_SYNC_SLAVES, NULL) == -1) { + fprintf(stderr, "Failed to sync slave clocks: %s\n", strerror(errno)); + } +} + +/*****************************************************************************/ diff -r 8f7bbbd3b7ac -r 44c2b7c0ae1a lib/slave_config.c --- a/lib/slave_config.c Thu Apr 23 12:25:09 2009 +0000 +++ b/lib/slave_config.c Thu Apr 23 14:45:07 2009 +0000 @@ -244,6 +244,53 @@ /*****************************************************************************/ +void ecrt_slave_config_dc_assign_activate(ec_slave_config_t *sc, + uint16_t assign_activate) +{ + ec_ioctl_sc_dc_t data; + + data.config_index = sc->index; + data.assign_activate = assign_activate; + + if (ioctl(sc->master->fd, EC_IOCTL_SC_DC_ASSIGN, &data) == -1) { + fprintf(stderr, "Failed to set assign_activate word.\n"); + } +} + +/*****************************************************************************/ + +void ecrt_slave_config_dc_sync_cycle_times(ec_slave_config_t *sc, + uint32_t sync0_cycle_time, uint32_t sync1_cycle_time) +{ + ec_ioctl_sc_dc_t data; + + data.config_index = sc->index; + data.cycle[0] = sync0_cycle_time; + data.cycle[1] = sync1_cycle_time; + + if (ioctl(sc->master->fd, EC_IOCTL_SC_DC_CYCLE, &data) == -1) { + fprintf(stderr, "Failed to set assign_activate word.\n"); + } +} + +/*****************************************************************************/ + +void ecrt_slave_config_dc_sync_shift_times(ec_slave_config_t *sc, + uint32_t sync0_shift_time, uint32_t sync1_shift_time) +{ + ec_ioctl_sc_dc_t data; + + data.config_index = sc->index; + data.shift[0] = sync0_shift_time; + data.shift[1] = sync1_shift_time; + + if (ioctl(sc->master->fd, EC_IOCTL_SC_DC_SHIFT, &data) == -1) { + fprintf(stderr, "Failed to set assign_activate word.\n"); + } +} + +/*****************************************************************************/ + int ecrt_slave_config_sdo(ec_slave_config_t *sc, uint16_t index, uint8_t subindex, const uint8_t *sdo_data, size_t size) { diff -r 8f7bbbd3b7ac -r 44c2b7c0ae1a master/cdev.c --- a/master/cdev.c Thu Apr 23 12:25:09 2009 +0000 +++ b/master/cdev.c Thu Apr 23 14:45:07 2009 +0000 @@ -1621,6 +1621,49 @@ /*****************************************************************************/ +/** Sync the reference clock. + */ +int ec_cdev_ioctl_sync_ref( + ec_master_t *master, /**< EtherCAT master. */ + unsigned long arg, /**< ioctl() argument. */ + 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); + spin_unlock_bh(&master->internal_lock); + return 0; +} + +/*****************************************************************************/ + +/** Sync the slave clocks. + */ +int ec_cdev_ioctl_sync_slaves( + 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; + + spin_lock_bh(&master->internal_lock); + ecrt_master_sync_slave_clocks(master); + spin_unlock_bh(&master->internal_lock); + return 0; +} + +/*****************************************************************************/ + /** Set the direction of a sync manager. */ int ec_cdev_ioctl_sc_sync( @@ -1848,6 +1891,108 @@ /*****************************************************************************/ +/** Sets the DC AssignActivate word. + */ +int ec_cdev_ioctl_sc_dc_assign( + ec_master_t *master, /**< EtherCAT master. */ + unsigned long arg, /**< ioctl() argument. */ + ec_cdev_priv_t *priv /**< Private data structure of file handle. */ + ) +{ + ec_ioctl_sc_dc_t data; + ec_slave_config_t *sc; + + if (unlikely(!priv->requested)) + return -EPERM; + + if (copy_from_user(&data, (void __user *) arg, sizeof(data))) + return -EFAULT; + + if (down_interruptible(&master->master_sem)) + return -EINTR; + + if (!(sc = ec_master_get_config(master, data.config_index))) { + up(&master->master_sem); + return -ENOENT; + } + + ecrt_slave_config_dc_assign_activate(sc, data.assign_activate); + + up(&master->master_sem); + + return 0; +} + +/*****************************************************************************/ + +/** Sets the DC cycle times. + */ +int ec_cdev_ioctl_sc_dc_cycle( + ec_master_t *master, /**< EtherCAT master. */ + unsigned long arg, /**< ioctl() argument. */ + ec_cdev_priv_t *priv /**< Private data structure of file handle. */ + ) +{ + ec_ioctl_sc_dc_t data; + ec_slave_config_t *sc; + + if (unlikely(!priv->requested)) + return -EPERM; + + if (copy_from_user(&data, (void __user *) arg, sizeof(data))) + return -EFAULT; + + if (down_interruptible(&master->master_sem)) + return -EINTR; + + if (!(sc = ec_master_get_config(master, data.config_index))) { + up(&master->master_sem); + return -ENOENT; + } + + ecrt_slave_config_dc_sync_cycle_times(sc, data.cycle[0], data.cycle[1]); + + up(&master->master_sem); + + return 0; +} + +/*****************************************************************************/ + +/** Sets the DC shift times. + */ +int ec_cdev_ioctl_sc_dc_shift( + ec_master_t *master, /**< EtherCAT master. */ + unsigned long arg, /**< ioctl() argument. */ + ec_cdev_priv_t *priv /**< Private data structure of file handle. */ + ) +{ + ec_ioctl_sc_dc_t data; + ec_slave_config_t *sc; + + if (unlikely(!priv->requested)) + return -EPERM; + + if (copy_from_user(&data, (void __user *) arg, sizeof(data))) + return -EFAULT; + + if (down_interruptible(&master->master_sem)) + return -EINTR; + + if (!(sc = ec_master_get_config(master, data.config_index))) { + up(&master->master_sem); + return -ENOENT; + } + + ecrt_slave_config_dc_sync_shift_times(sc, data.shift[0], data.shift[1]); + + up(&master->master_sem); + + return 0; +} + +/*****************************************************************************/ + /** Configures an SDO. */ int ec_cdev_ioctl_sc_sdo( @@ -3035,6 +3180,14 @@ return ec_cdev_ioctl_receive(master, arg, priv); case EC_IOCTL_MASTER_STATE: return ec_cdev_ioctl_master_state(master, arg, priv); + case EC_IOCTL_SYNC_REF: + if (!(filp->f_mode & FMODE_WRITE)) + return -EPERM; + return ec_cdev_ioctl_sync_ref(master, arg, priv); + case EC_IOCTL_SYNC_SLAVES: + if (!(filp->f_mode & FMODE_WRITE)) + return -EPERM; + return ec_cdev_ioctl_sync_slaves(master, arg, priv); case EC_IOCTL_SC_SYNC: if (!(filp->f_mode & FMODE_WRITE)) return -EPERM; @@ -3059,6 +3212,18 @@ if (!(filp->f_mode & FMODE_WRITE)) return -EPERM; return ec_cdev_ioctl_sc_reg_pdo_entry(master, arg, priv); + case EC_IOCTL_SC_DC_ASSIGN: + if (!(filp->f_mode & FMODE_WRITE)) + return -EPERM; + return ec_cdev_ioctl_sc_dc_assign(master, arg, priv); + case EC_IOCTL_SC_DC_CYCLE: + if (!(filp->f_mode & FMODE_WRITE)) + return -EPERM; + return ec_cdev_ioctl_sc_dc_cycle(master, arg, priv); + case EC_IOCTL_SC_DC_SHIFT: + if (!(filp->f_mode & FMODE_WRITE)) + return -EPERM; + return ec_cdev_ioctl_sc_dc_shift(master, arg, priv); case EC_IOCTL_SC_SDO: if (!(filp->f_mode & FMODE_WRITE)) return -EPERM; diff -r 8f7bbbd3b7ac -r 44c2b7c0ae1a master/ioctl.h --- a/master/ioctl.h Thu Apr 23 12:25:09 2009 +0000 +++ b/master/ioctl.h Thu Apr 23 14:45:07 2009 +0000 @@ -86,32 +86,37 @@ #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_SC_SYNC EC_IOW(0x1f, ec_ioctl_config_t) -#define EC_IOCTL_SC_ADD_PDO EC_IOW(0x20, ec_ioctl_config_pdo_t) -#define EC_IOCTL_SC_CLEAR_PDOS EC_IOW(0x21, ec_ioctl_config_pdo_t) -#define EC_IOCTL_SC_ADD_ENTRY EC_IOW(0x22, ec_ioctl_add_pdo_entry_t) -#define EC_IOCTL_SC_CLEAR_ENTRIES EC_IOW(0x23, ec_ioctl_config_pdo_t) -#define EC_IOCTL_SC_REG_PDO_ENTRY EC_IOWR(0x24, ec_ioctl_reg_pdo_entry_t) -#define EC_IOCTL_SC_SDO EC_IOW(0x25, ec_ioctl_sc_sdo_t) -#define EC_IOCTL_SC_SDO_REQUEST EC_IOWR(0x26, ec_ioctl_sdo_request_t) -#define EC_IOCTL_SC_VOE EC_IOWR(0x27, ec_ioctl_voe_t) -#define EC_IOCTL_SC_STATE EC_IOWR(0x28, ec_ioctl_sc_state_t) -#define EC_IOCTL_DOMAIN_OFFSET EC_IO(0x29) -#define EC_IOCTL_DOMAIN_PROCESS EC_IO(0x2a) -#define EC_IOCTL_DOMAIN_QUEUE EC_IO(0x2b) -#define EC_IOCTL_DOMAIN_STATE EC_IOWR(0x2c, ec_ioctl_domain_state_t) -#define EC_IOCTL_SDO_REQUEST_TIMEOUT EC_IOWR(0x2d, ec_ioctl_sdo_request_t) -#define EC_IOCTL_SDO_REQUEST_STATE EC_IOWR(0x2e, ec_ioctl_sdo_request_t) -#define EC_IOCTL_SDO_REQUEST_READ EC_IOWR(0x2f, ec_ioctl_sdo_request_t) -#define EC_IOCTL_SDO_REQUEST_WRITE EC_IOWR(0x30, ec_ioctl_sdo_request_t) -#define EC_IOCTL_SDO_REQUEST_DATA EC_IOWR(0x31, ec_ioctl_sdo_request_t) -#define EC_IOCTL_VOE_SEND_HEADER EC_IOW(0x32, ec_ioctl_voe_t) -#define EC_IOCTL_VOE_REC_HEADER EC_IOWR(0x33, ec_ioctl_voe_t) -#define EC_IOCTL_VOE_READ EC_IOW(0x34, ec_ioctl_voe_t) -#define EC_IOCTL_VOE_READ_NOSYNC EC_IOW(0x35, ec_ioctl_voe_t) -#define EC_IOCTL_VOE_WRITE EC_IOWR(0x36, ec_ioctl_voe_t) -#define EC_IOCTL_VOE_EXEC EC_IOWR(0x37, ec_ioctl_voe_t) -#define EC_IOCTL_VOE_DATA EC_IOWR(0x38, ec_ioctl_voe_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) /*****************************************************************************/ @@ -382,6 +387,13 @@ typedef struct { // inputs + struct timeval app_time; +} ec_ioctl_dc_t; + +/*****************************************************************************/ + +typedef struct { + // inputs uint32_t config_index; uint8_t sync_index; uint16_t pdo_pos; @@ -451,6 +463,16 @@ typedef struct { // inputs uint32_t config_index; + uint16_t assign_activate; + uint32_t cycle[2]; + uint32_t shift[2]; +} ec_ioctl_sc_dc_t; + +/*****************************************************************************/ + +typedef struct { + // inputs + uint32_t config_index; uint16_t index; uint8_t subindex; const uint8_t *data;