--- 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.
--- 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));
+ }
+}
+
+/*****************************************************************************/
--- 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)
{
--- 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;
--- 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;