Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals().
--- a/examples/dc_rtai/dc_rtai_sample.c Mon May 04 12:13:24 2009 +0000
+++ b/examples/dc_rtai/dc_rtai_sample.c Mon May 04 12:46:30 2009 +0000
@@ -329,8 +329,7 @@
#if 1
// configure SYNC signals for this slave
ecrt_slave_config_dc_assign_activate(sc, 0x0700);
- ecrt_slave_config_dc_sync_cycle_times(sc, 1000000, 0);
- ecrt_slave_config_dc_sync_shift_times(sc, 440000, 0);
+ ecrt_slave_config_dc_sync_signals(sc, 1000000, 440000, 0, 0);
#endif
printk(KERN_INFO PFX "Activating master...\n");
--- a/examples/dc_user/main.c Mon May 04 12:13:24 2009 +0000
+++ b/examples/dc_user/main.c Mon May 04 12:46:30 2009 +0000
@@ -240,8 +240,7 @@
#if 1
// configure SYNC signals for this slave
ecrt_slave_config_dc_assign_activate(sc, 0x0700);
- ecrt_slave_config_dc_sync_cycle_times(sc, 10000000, 0);
- ecrt_slave_config_dc_sync_shift_times(sc, 4400000, 0);
+ ecrt_slave_config_dc_sync_signals(sc, 10000000, 4400000, 0, 0);
#endif
printf("Activating master...\n");
--- a/include/ecrt.h Mon May 04 12:13:24 2009 +0000
+++ b/include/ecrt.h Mon May 04 12:46:30 2009 +0000
@@ -42,12 +42,12 @@
* Changes in version 1.5:
*
* - Added the distributed clocks feature and the respective methods
- * ecrt_slave_config_dc_assign_activate(),
- * ecrt_slave_config_dc_sync_cycle_times() and
- * ecrt_slave_config_dc_sync_shift_times() to configure a slave for cyclic
- * operation, and ecrt_master_sync_reference_clock() and
- * ecrt_master_sync_slave_clocks() for drift compensation. The
- * EC_TIMEVAL2NANO() macro can be used for epoch time conversion.
+ * ecrt_slave_config_dc_assign_activate() and
+ * ecrt_slave_config_dc_sync_signals() to configure a slave for cyclic
+ * operation, and ecrt_master_application_time(),
+ * ecrt_master_sync_reference_clock() and ecrt_master_sync_slave_clocks()
+ * for offset and drift compensation. The EC_TIMEVAL2NANO() macro can be
+ * used for epoch time conversion.
* - Changed the meaning of the negative return values of
* ecrt_slave_config_reg_pdo_entry() and ecrt_slave_config_sdo*().
* - Imlemented the Vendor-specific over EtherCAT mailbox protocol. See
@@ -733,20 +733,14 @@
uint16_t assign_activate /**< AssignActivate word. */
);
-/** Sets the cycle times for the SYNC0 and SYNC1 signals.
- */
-void ecrt_slave_config_dc_sync_cycle_times(
+/** Sets the cycle and shift times for the sync signals.
+ */
+void ecrt_slave_config_dc_sync_signals(
ec_slave_config_t *sc, /**< Slave configuration. */
- uint32_t sync0_cycle_time, /**< SYNC0 cycle time [ns]. */
- uint32_t sync1_cycle_time /**< SYNC1 cycle time [ns]. */
- );
-
-/** Sets the shift times for the SYNC0 and SYNC1 signals.
- */
-void ecrt_slave_config_dc_sync_shift_times(
- ec_slave_config_t *sc, /**< Slave configuration. */
- uint32_t sync0_shift_time, /**< SYNC0 shift time [ns]. */
- uint32_t sync1_shift_time /**< SYNC1 shift time [ns]. */
+ uint32_t sync0_cycle, /**< SYNC0 cycle time [ns]. */
+ uint32_t sync0_shift, /**< SYNC0 shift time [ns]. */
+ uint32_t sync1_cycle, /**< SYNC1 cycle time [ns]. */
+ uint32_t sync1_shift /**< SYNC1 shift time [ns]. */
);
/** Add an SDO configuration.
--- a/lib/slave_config.c Mon May 04 12:13:24 2009 +0000
+++ b/lib/slave_config.c Mon May 04 12:46:30 2009 +0000
@@ -259,32 +259,19 @@
/*****************************************************************************/
-void ecrt_slave_config_dc_sync_cycle_times(ec_slave_config_t *sc,
- uint32_t sync0_cycle_time, uint32_t sync1_cycle_time)
+void ecrt_slave_config_dc_sync_signals(ec_slave_config_t *sc,
+ uint32_t sync0_cycle_time, uint32_t sync0_shift_time,
+ uint32_t sync1_cycle_time, uint32_t sync1_shift_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) {
+ data.sync[0].cycle_time = sync0_cycle_time;
+ data.sync[0].shift_time = sync0_shift_time;
+ data.sync[1].cycle_time = sync1_cycle_time;
+ data.sync[1].shift_time = sync1_shift_time;
+
+ if (ioctl(sc->master->fd, EC_IOCTL_SC_DC_SYNC, &data) == -1) {
fprintf(stderr, "Failed to set assign_activate word.\n");
}
}
--- a/master/cdev.c Mon May 04 12:13:24 2009 +0000
+++ b/master/cdev.c Mon May 04 12:46:30 2009 +0000
@@ -1940,7 +1940,7 @@
/** Sets the DC cycle times.
*/
-int ec_cdev_ioctl_sc_dc_cycle(
+int ec_cdev_ioctl_sc_dc_sync_signals(
ec_master_t *master, /**< EtherCAT master. */
unsigned long arg, /**< ioctl() argument. */
ec_cdev_priv_t *priv /**< Private data structure of file handle. */
@@ -1963,41 +1963,11 @@
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]);
+ ecrt_slave_config_dc_sync_signals(sc,
+ data.sync[0].cycle_time,
+ data.sync[0].shift_time,
+ data.sync[1].cycle_time,
+ data.sync[1].shift_time);
up(&master->master_sem);
@@ -3229,14 +3199,10 @@
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
return ec_cdev_ioctl_sc_dc_assign(master, arg, priv);
- case EC_IOCTL_SC_DC_CYCLE:
+ case EC_IOCTL_SC_DC_SYNC:
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);
+ return ec_cdev_ioctl_sc_dc_sync_signals(master, arg, priv);
case EC_IOCTL_SC_SDO:
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
--- a/master/fsm_slave_config.c Mon May 04 12:13:24 2009 +0000
+++ b/master/fsm_slave_config.c Mon May 04 12:46:30 2009 +0000
@@ -1045,8 +1045,8 @@
// set DC cycle times
ec_datagram_fpwr(datagram, slave->station_address, 0x09A0, 8);
- EC_WRITE_U32(datagram->data, config->dc_sync_cycle_times[0]);
- EC_WRITE_U32(datagram->data + 4, config->dc_sync_cycle_times[1]);
+ EC_WRITE_U32(datagram->data, config->dc_sync[0].cycle_time);
+ EC_WRITE_U32(datagram->data + 4, config->dc_sync[1].cycle_time);
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_slave_config_state_dc_cycle;
} else {
@@ -1067,6 +1067,7 @@
ec_slave_t *slave = fsm->slave;
ec_master_t *master = slave->master;
ec_slave_config_t *config = slave->config;
+ ec_sync_signal_t *sync0 = &config->dc_sync[0];
u64 start_time;
if (!config) { // config removed in the meantime
@@ -1098,24 +1099,23 @@
start_time = master->app_time + 100000000ULL; // now + X ns
// FIXME use slave's local system time here?
- if (config->dc_sync_cycle_times[0]) {
+ if (sync0->cycle_time) {
// find correct phase
if (master->has_start_time) {
- u32 cycle_time, shift_time, remainder;
- u64 start, diff;
-
- cycle_time = config->dc_sync_cycle_times[0];
- shift_time = config->dc_sync_shift_times[0];
+ u64 diff, start;
+ u32 remainder;
+
diff = start_time - master->app_start_time;
- remainder = do_div(diff, cycle_time);
-
- start = start_time + cycle_time - remainder + shift_time;
+ remainder = do_div(diff, sync0->cycle_time);
+
+ start = start_time +
+ sync0->cycle_time - remainder + sync0->shift_time;
if (master->debug_level) {
EC_DBG("app_start_time=%llu\n", master->app_start_time);
EC_DBG(" start_time=%llu\n", start_time);
- EC_DBG(" cycle_time=%u\n", cycle_time);
- EC_DBG(" shift_time=%u\n", shift_time);
+ EC_DBG(" cycle_time=%u\n", sync0->cycle_time);
+ EC_DBG(" shift_time=%u\n", sync0->shift_time);
EC_DBG(" remainder=%u\n", remainder);
EC_DBG(" start=%llu\n", start);
}
--- a/master/globals.h Mon May 04 12:13:24 2009 +0000
+++ b/master/globals.h Mon May 04 12:46:30 2009 +0000
@@ -102,6 +102,9 @@
/** Size of an FMMU configuration page. */
#define EC_FMMU_PAGE_SIZE 16
+/** Number of DC sync signals. */
+#define EC_SYNC_SIGNAL_COUNT 2
+
/** Slave state mask.
*
* Apply this mask to a slave state byte to get the slave state without
@@ -182,6 +185,13 @@
port 0 receive time. */
} ec_slave_dc_range_t;
+/** EtherCAT slave sync signal configuration.
+ */
+typedef struct {
+ uint32_t cycle_time; /**< Cycle time [ns]. */
+ uint32_t shift_time; /**< Shift time [ns]. */
+} ec_sync_signal_t;
+
/** Access states for SDO entries.
*
* The access rights are managed per AL state.
--- a/master/ioctl.h Mon May 04 12:13:24 2009 +0000
+++ b/master/ioctl.h Mon May 04 12:46:30 2009 +0000
@@ -96,28 +96,27 @@
#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)
+#define EC_IOCTL_SC_DC_SYNC 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)
/*****************************************************************************/
@@ -475,8 +474,7 @@
// inputs
uint32_t config_index;
uint16_t assign_activate;
- uint32_t cycle[2];
- uint32_t shift[2];
+ ec_sync_signal_t sync[EC_SYNC_SIGNAL_COUNT];
} ec_ioctl_sc_dc_t;
/*****************************************************************************/
--- a/master/slave_config.c Mon May 04 12:13:24 2009 +0000
+++ b/master/slave_config.c Mon May 04 12:46:30 2009 +0000
@@ -75,10 +75,10 @@
sc->used_fmmus = 0;
sc->dc_assign_activate = 0x0000;
- sc->dc_sync_cycle_times[0] = 0x00000000;
- sc->dc_sync_cycle_times[1] = 0x00000000;
- sc->dc_sync_shift_times[0] = 0x00000000;
- sc->dc_sync_shift_times[1] = 0x00000000;
+ sc->dc_sync[0].cycle_time = 0x00000000;
+ sc->dc_sync[1].cycle_time = 0x00000000;
+ sc->dc_sync[0].shift_time = 0x00000000;
+ sc->dc_sync[1].shift_time = 0x00000000;
INIT_LIST_HEAD(&sc->sdo_configs);
INIT_LIST_HEAD(&sc->sdo_requests);
@@ -683,20 +683,14 @@
/*****************************************************************************/
-void ecrt_slave_config_dc_sync_cycle_times(ec_slave_config_t *sc,
- uint32_t sync0_cycle_time, uint32_t sync1_cycle_time)
-{
- sc->dc_sync_cycle_times[0] = sync0_cycle_time;
- sc->dc_sync_cycle_times[1] = sync1_cycle_time;
-}
-
-/*****************************************************************************/
-
-void ecrt_slave_config_dc_sync_shift_times(ec_slave_config_t *sc,
- uint32_t sync0_shift_time, uint32_t sync1_shift_time)
-{
- sc->dc_sync_shift_times[0] = sync0_shift_time;
- sc->dc_sync_shift_times[1] = sync1_shift_time;
+void ecrt_slave_config_dc_sync_signals(ec_slave_config_t *sc,
+ uint32_t sync0_cycle_time, uint32_t sync0_shift_time,
+ uint32_t sync1_cycle_time, uint32_t sync1_shift_time)
+{
+ sc->dc_sync[0].cycle_time = sync0_cycle_time;
+ sc->dc_sync[0].shift_time = sync0_shift_time;
+ sc->dc_sync[1].cycle_time = sync1_cycle_time;
+ sc->dc_sync[1].shift_time = sync1_shift_time;
}
/*****************************************************************************/
@@ -914,8 +908,7 @@
EXPORT_SYMBOL(ecrt_slave_config_pdos);
EXPORT_SYMBOL(ecrt_slave_config_reg_pdo_entry);
EXPORT_SYMBOL(ecrt_slave_config_dc_assign_activate);
-EXPORT_SYMBOL(ecrt_slave_config_dc_sync_cycle_times);
-EXPORT_SYMBOL(ecrt_slave_config_dc_sync_shift_times);
+EXPORT_SYMBOL(ecrt_slave_config_dc_sync_signals);
EXPORT_SYMBOL(ecrt_slave_config_sdo);
EXPORT_SYMBOL(ecrt_slave_config_sdo8);
EXPORT_SYMBOL(ecrt_slave_config_sdo16);
--- a/master/slave_config.h Mon May 04 12:13:24 2009 +0000
+++ b/master/slave_config.h Mon May 04 12:46:30 2009 +0000
@@ -66,9 +66,8 @@
ec_fmmu_config_t fmmu_configs[EC_MAX_FMMUS]; /**< FMMU configurations. */
uint8_t used_fmmus; /**< Number of FMMUs used. */
- uint16_t dc_assign_activate; /**< Vendor-specific AssignActivate word. */
- uint32_t dc_sync_cycle_times[2]; /**< SYNC[0,1] cycle times. */
- uint32_t dc_sync_shift_times[2]; /**< SYNC[0,1] shift times. */
+ uint16_t dc_assign_activate; /**< Vendor-specific AssignActivate word. */
+ ec_sync_signal_t dc_sync[EC_SYNC_SIGNAL_COUNT]; /**< DC sync signals. */
struct list_head sdo_configs; /**< List of SDO configurations. */
struct list_head sdo_requests; /**< List of SDO requests. */