--- 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);
--- 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);
--- 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.
--- 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));
}
--- 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;
}
--- 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;
/*****************************************************************************/
--- 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);