dc.h File Reference

ethercat distributed clocks support. More...

#include <libosal/types.h>
#include <libosal/mutex.h>
#include "libethercat/common.h"
#include "libethercat/idx.h"
#include "libethercat/pool.h"
#include "libethercat/datagram.h"

Go to the source code of this file.

Data Structures
struct	ec_dc_info_slave
struct	ec_dc_info

Macros
#define	EC_REG_DCSYNCACT__SYNC_OUT_UNIT_ACTIVATION   ( 0x01u )
#define	EC_REG_DCSYNCACT__SYNC_OUT_UNIT_SYNC0   ( 0x02u )
#define	EC_REG_DCSYNCACT__SYNC_OUT_UNIT_SYNC1   ( 0x04u )
#define	EC_REG_DCSYNCACT__SYNC_OUT_UNIT_AUTO_ACTIVATION   ( 0x08u )
#define	EC_REG_DCSYNCACT__SYNC_OUT_UNIT_EXT_64BIT   ( 0x10u )
#define	EC_REG_DCSYNCACT__SYNC_OUT_UNIT_START_TIME_CHECK   ( 0x20u )
#define	EC_REG_DCSYNCACT__SYNC_OUT_UNIT_NEAR_FUTURE_CONFIG   ( 0x40u )
#define	EC_REG_DCSYNCACT__SYNC_OUT_UNIT_DEBUG_PULSE   ( 0x80u )
#define	EC_DC_ACTIVATION_REG_SYNC0   ( 0x3 )
#define	EC_DC_ACTIVATION_REG_SYNC1   ( 0x5 )
#define	EC_DC_ACTIVATION_REG_SYNC01   ( 0x7 )

Typedefs
typedef struct ec_dc_info_slave	ec_dc_info_slave_t
typedef enum ec_dc_mode	ec_dc_mode_t
typedef struct ec_dc_info	ec_dc_info_t

Enumerations
enum	ec_dc_mode { dc_mode_master_clock = 0 , dc_mode_ref_clock , dc_mode_master_as_ref_clock }

Functions
int	ec_dc_config (struct ec *pec)
	Prepare EtherCAT master and slaves for distributed clocks.
void	ec_dc_sync (struct ec *pec, osal_uint16_t slave, osal_uint8_t dc_active, osal_uint32_t cycle_time_0, osal_uint32_t cycle_time_1, osal_int32_t cycle_shift)
	Configure EtherCAT slave for distributed clock sync0 and sync1 pulse.

Detailed Description

ethercat distributed clocks support.

Author

Robert Burger <robert.burger\dlr.de>

Date

11 Nov 2016

These functions are used to enable distributed clocks support on the EtherCAT master and to configure one ore more EtherCAT slaves to enable the sync0 and/or sync1 pulse generation.

Function Documentation

ec_dc_config()

int ec_dc_config

(

struct ec *

pec

)

Prepare EtherCAT master and slaves for distributed clocks.

Check all slaves if they support distributed clocks and measure delays.

DC support can be determined from EtherCAT slave's feature register (0x08). which is automatically read on EtherCAT master's INIT phase. On all slaves supporting DC's the system time is read and written to the system time offset to set slave time to 0. afterwards the port times are taken and the propagation delays are calculated and written.

This function does not enable distributed clock sync0/1 pulse generation on the slaves. this has to be done with ec_dc_sync0 or ec_dc_sync01.

Parameters

[in]

pec

Pointer to EtherCAT master structure.

Returns

supported dc

ec_dc_sync()

void ec_dc_sync	(	struct ec *	pec,
		osal_uint16_t	slave,
		osal_uint8_t	dc_active,
		osal_uint32_t	cycle_time_0,
		osal_uint32_t	cycle_time_1,
		osal_int32_t	cycle_shift
	)

Configure EtherCAT slave for distributed clock sync0 and sync1 pulse.

This function writes the cycle time, calculates the DC first start time wrt the cycle shift and enables sync0 and sync1 pulse generation on the corresponding device. It can also be use to disable DC's on the EtherCAT slave.

Parameters

[in]	pec	Pointer to EtherCAT master structure.
[in]	slave	Slave number.
[in]	dc_active	Dc active flag.
[in]	cycle_time_0	Cycle time to program to fire sync0 in [ns].
[in]	cycle_time_1	Cycle time to program to fire sync1 in [ns].
[in]	cycle_shift	Shift of first sync0 start in [ns].