# HG changeset patch # User Florian Pose # Date 1241431555 0 # Node ID 4c6fe0ae37f10a8b734ab747ffea792cff46a458 # Parent a7320cd4ede6c2be439a9d812b48a91a868dd3bf Separated application time from synchronizing reference clock. diff -r a7320cd4ede6 -r 4c6fe0ae37f1 examples/dc_rtai/dc_rtai_sample.c --- a/examples/dc_rtai/dc_rtai_sample.c Mon May 04 10:05:02 2009 +0000 +++ b/examples/dc_rtai/dc_rtai_sample.c Mon May 04 10:05:55 2009 +0000 @@ -51,7 +51,7 @@ #define NUM_DIG_OUT 1 -#define PFX "ec_dc_sample: " +#define PFX "ec_dc_rtai_sample: " /*****************************************************************************/ @@ -220,16 +220,13 @@ 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); diff -r a7320cd4ede6 -r 4c6fe0ae37f1 examples/dc_user/main.c --- a/examples/dc_user/main.c Mon May 04 10:05:02 2009 +0000 +++ b/examples/dc_user/main.c Mon May 04 10:05:55 2009 +0000 @@ -164,12 +164,13 @@ 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); diff -r a7320cd4ede6 -r 4c6fe0ae37f1 include/ecrt.h --- a/include/ecrt.h Mon May 04 10:05:02 2009 +0000 +++ b/include/ecrt.h Mon May 04 10:05:55 2009 +0000 @@ -520,17 +520,29 @@ ec_master_state_t *state /**< Structure to store the information. */ ); -/** Queues the DC reference clock drift compensation datagram for sending. - * - * 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. - */ -void ecrt_master_sync_reference_clock( +/** Sets the application time. + * + * 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_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. diff -r a7320cd4ede6 -r 4c6fe0ae37f1 lib/master.c --- a/lib/master.c Mon May 04 10:05:02 2009 +0000 +++ b/lib/master.c Mon May 04 10:05:55 2009 +0000 @@ -190,13 +190,23 @@ /*****************************************************************************/ -void ecrt_master_sync_reference_clock(ec_master_t *master, uint64_t app_time) -{ - ec_ioctl_dc_t data; +void ecrt_master_application_time(ec_master_t *master, uint64_t app_time) +{ + 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)); } diff -r a7320cd4ede6 -r 4c6fe0ae37f1 master/cdev.c --- a/master/cdev.c Mon May 04 10:05:02 2009 +0000 +++ b/master/cdev.c Mon May 04 10:05:55 2009 +0000 @@ -1650,16 +1650,11 @@ 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; } diff -r a7320cd4ede6 -r 4c6fe0ae37f1 master/ioctl.h --- a/master/ioctl.h Mon May 04 10:05:02 2009 +0000 +++ b/master/ioctl.h Mon May 04 10:05:55 2009 +0000 @@ -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 { // inputs uint64_t app_time; -} ec_ioctl_dc_t; +} ec_ioctl_app_time_t; /*****************************************************************************/ diff -r a7320cd4ede6 -r 4c6fe0ae37f1 master/master.c --- a/master/master.c Mon May 04 10:05:02 2009 +0000 +++ b/master/master.c Mon May 04 10:05:55 2009 +0000 @@ -1745,10 +1745,15 @@ /*****************************************************************************/ -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_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);