merge

examples/dc_rtai/dc_rtai_sample.c

@@ -164,11 +164,12 @@ void run(long data)
     struct timeval tv;
     unsigned int sync_ref_counter = 0;
 
-    count2timeval(nano2count(rt_get_real_time_ns()), &tv);
-
     while (1) {
         t_last_cycle = get_cycles();
 
+        count2timeval(nano2count(rt_get_real_time_ns()), &tv);
+        ecrt_master_application_time(master, EC_TIMEVAL2NANO(tv));
+
         // receive process data
         rt_sem_wait(&master_sem);
         ecrt_master_receive(master);
@@ -214,18 +215,12 @@ void run(long data)
 
         rt_sem_wait(&master_sem);
 
-        tv.tv_usec += 1000;
-        if (tv.tv_usec >= 1000000)  {
-            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;
-            ecrt_master_sync_reference_clock(master);
+            count2timeval(nano2count(rt_get_real_time_ns()), &tv);
+            ecrt_master_sync_reference_clock_to(master, EC_TIMEVAL2NANO(tv));
         }
         ecrt_master_sync_slave_clocks(master);
         ecrt_domain_queue(domain1);

examples/dc_user/main.c

@@ -57,7 +57,7 @@
 #define PERIOD_NS (NSEC_PER_SEC / FREQUENCY)
 
 #define DIFF_NS(A, B) (((B).tv_sec - (A).tv_sec) * NSEC_PER_SEC + \
-	(B).tv_nsec - (A).tv_nsec)
+        (B).tv_nsec - (A).tv_nsec)
 
 #define TIMESPEC2NS(T) ((uint64_t) (T).tv_sec * NSEC_PER_SEC + (T).tv_nsec)
 
@@ -97,17 +97,17 @@ const struct timespec cycletime = {0, PERIOD_NS};
 
 struct timespec timespec_add(struct timespec time1, struct timespec time2)
 {
-	struct timespec result;
+    struct timespec result;
 
-	if ((time1.tv_nsec + time2.tv_nsec) >= NSEC_PER_SEC) {
+    if ((time1.tv_nsec + time2.tv_nsec) >= NSEC_PER_SEC) {
-		result.tv_sec = time1.tv_sec + time2.tv_sec + 1;
+        result.tv_sec = time1.tv_sec + time2.tv_sec + 1;
-		result.tv_nsec = time1.tv_nsec + time2.tv_nsec - NSEC_PER_SEC;
+        result.tv_nsec = time1.tv_nsec + time2.tv_nsec - NSEC_PER_SEC;
-	} else {
+    } else {
-		result.tv_sec = time1.tv_sec + time2.tv_sec;
+        result.tv_sec = time1.tv_sec + time2.tv_sec;
-		result.tv_nsec = time1.tv_nsec + time2.tv_nsec;
+        result.tv_nsec = time1.tv_nsec + time2.tv_nsec;
-	}
+    }
 
-	return result;
+    return result;
 }
 
 /*****************************************************************************/
@@ -134,7 +134,7 @@ void check_master_state(void)
 
     ecrt_master_state(master, &ms);
 
-	if (ms.slaves_responding != master_state.slaves_responding)
+    if (ms.slaves_responding != master_state.slaves_responding)
         printf("%u slave(s).\n", ms.slaves_responding);
     if (ms.al_states != master_state.al_states)
         printf("AL states: 0x%02X.\n", ms.al_states);
@@ -160,10 +160,17 @@ void cyclic_task()
     // get current time
     clock_gettime(CLOCK_TO_USE, &wakeupTime);
 
-	while(1) {
+    while(1) {
-		wakeupTime = timespec_add(wakeupTime, cycletime);
+        wakeupTime = timespec_add(wakeupTime, cycletime);
         clock_nanosleep(CLOCK_TO_USE, TIMER_ABSTIME, &wakeupTime, NULL);
 
+        // Write application time to master
+        //
+        // It is a good idea to use the target time (not the measured time) as
+        // application time, because it is more stable.
+        //
+        ecrt_master_application_time(master, TIMESPEC2NS(wakeupTime));
+
 #ifdef MEASURE_TIMING
         clock_gettime(CLOCK_TO_USE, &startTime);
         latency_ns = DIFF_NS(wakeupTime, startTime);
@@ -191,20 +198,20 @@ void cyclic_task()
         }
 #endif
 
-		// receive process data
+        // receive process data
-		ecrt_master_receive(master);
+        ecrt_master_receive(master);
-		ecrt_domain_process(domain1);
+        ecrt_domain_process(domain1);
 
-		// check process data state (optional)
+        // check process data state (optional)
-		check_domain1_state();
+        check_domain1_state();
 
-		if (counter) {
+        if (counter) {
-			counter--;
+            counter--;
-		} else { // do this at 1 Hz
+        } else { // do this at 1 Hz
-			counter = FREQUENCY;
+            counter = FREQUENCY;
 
-			// check for master state (optional)
+            // check for master state (optional)
-			check_master_state();
+            check_master_state();
 
 #ifdef MEASURE_TIMING
             // output timing stats
@@ -222,34 +229,32 @@ void cyclic_task()
             latency_min_ns = 0xffffffff;
 #endif
 
-			// calculate new process data
+            // calculate new process data
-			blink = !blink;
+            blink = !blink;
-		}
+        }
 
-		// write process data
+        // write process data
-		EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x66 : 0x99);
+        EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x66 : 0x99);
-		EC_WRITE_U8(domain1_pd + off_counter_out, blink ? 0x00 : 0x02);
+        EC_WRITE_U8(domain1_pd + off_counter_out, blink ? 0x00 : 0x02);
 
-		// write application time to master
+        if (sync_ref_counter) {
-		clock_gettime(CLOCK_TO_USE, &time);
+            sync_ref_counter--;
-		ecrt_master_application_time(master, TIMESPEC2NS(time));
+        } else {
+            sync_ref_counter = 1; // sync every cycle
 
-		if (sync_ref_counter) {
+            clock_gettime(CLOCK_TO_USE, &time);
-			sync_ref_counter--;
+            ecrt_master_sync_reference_clock_to(master, TIMESPEC2NS(time));
-		} else {
+        }
-			sync_ref_counter = 1; // sync every cycle
+        ecrt_master_sync_slave_clocks(master);
-			ecrt_master_sync_reference_clock(master);
-		}
-		ecrt_master_sync_slave_clocks(master);
 
-		// send process data
+        // send process data
-		ecrt_domain_queue(domain1);
+        ecrt_domain_queue(domain1);
-		ecrt_master_send(master);
+        ecrt_master_send(master);
 
 #ifdef MEASURE_TIMING
         clock_gettime(CLOCK_TO_USE, &endTime);
 #endif
-	}
+    }
 }
 
 /****************************************************************************/
@@ -258,10 +263,10 @@ int main(int argc, char **argv)
 {
     ec_slave_config_t *sc;
 
-	if (mlockall(MCL_CURRENT | MCL_FUTURE) == -1) {
+    if (mlockall(MCL_CURRENT | MCL_FUTURE) == -1) {
-		perror("mlockall failed");
+        perror("mlockall failed");
-		return -1;
+        return -1;
-	}
+    }
 
     master = ecrt_request_master(0);
     if (!master)
@@ -287,24 +292,24 @@ int main(int argc, char **argv)
     if (off_dig_out < 0)
         return -1;
 
-	if (!(sc = ecrt_master_slave_config(master,
+    if (!(sc = ecrt_master_slave_config(master,
-					CounterSlavePos, IDS_Counter))) {
+                    CounterSlavePos, IDS_Counter))) {
         fprintf(stderr, "Failed to get slave configuration.\n");
         return -1;
-	}
+    }
 
-	off_counter_in = ecrt_slave_config_reg_pdo_entry(sc,
+    off_counter_in = ecrt_slave_config_reg_pdo_entry(sc,
-			0x6020, 0x11, domain1, NULL);
+            0x6020, 0x11, domain1, NULL);
-	if (off_counter_in < 0)
+    if (off_counter_in < 0)
         return -1;
 
-	off_counter_out = ecrt_slave_config_reg_pdo_entry(sc,
+    off_counter_out = ecrt_slave_config_reg_pdo_entry(sc,
-			0x7020, 1, domain1, NULL);
+            0x7020, 1, domain1, NULL);
-	if (off_counter_out < 0)
+    if (off_counter_out < 0)
         return -1;
 
     // configure SYNC signals for this slave
-	ecrt_slave_config_dc(sc, 0x0700, PERIOD_NS, 4400000, 0, 0);
+    ecrt_slave_config_dc(sc, 0x0700, PERIOD_NS, 4400000, 0, 0);
 
     printf("Activating master...\n");
     if (ecrt_master_activate(master))
@@ -324,7 +329,7 @@ int main(int argc, char **argv)
         perror("sched_setscheduler failed");
     }
 
-	printf("Starting cyclic function.\n");
+    printf("Starting cyclic function.\n");
     cyclic_task();
 
     return 0;

examples/rtai_rtdm_dc/main.c

@@ -193,16 +193,13 @@ void sync_distributed_clocks(void)
 
     dc_time_ns = system_time_ns();
 
-    // set master time in nano-seconds
-    ecrt_master_application_time(master, dc_time_ns);
-
 #if SYNC_MASTER_TO_REF
     // get reference clock time to synchronize master cycle
     ecrt_master_reference_clock_time(master, &ref_time);
     dc_diff_ns = (uint32_t) prev_app_time - ref_time;
 #else
     // sync reference clock to master
-    ecrt_master_sync_reference_clock(master);
+    ecrt_master_sync_reference_clock_to(master, dc_time_ns);
 #endif
 
     // call to sync slaves to ref slave
@@ -368,6 +365,9 @@ void wait_period(void)
         break;
     }
 
+    // set master time in nano-seconds
+    ecrt_master_application_time(master, wakeup_time);
+
     // calc next wake time (in sys time)
     wakeup_time += cycle_ns;
 }
@@ -504,12 +504,6 @@ int main(int argc, char *argv[])
     dc_start_time_ns = system_time_ns();
     dc_time_ns = dc_start_time_ns;
 
-    /* Attention: The initial application time is also used for phase
-     * calculation for the SYNC0/1 interrupts. Please be sure to call it at
-     * the correct phase to the realtime cycle.
-     */
-    ecrt_master_application_time(master, dc_start_time_ns);
-
     ret = ecrt_master_select_reference_clock(master, sc_ek1100);
     if (ret < 0) {
         fprintf(stderr, "Failed to select reference clock: %s\n",

lib/Makefile.am

@@ -51,7 +51,27 @@ noinst_HEADERS = \
 	voe_handler.h
 
 libethercat_la_CFLAGS = -fno-strict-aliasing -Wall -I$(top_srcdir)
-libethercat_la_LDFLAGS = -version-info 1:0:0
+
+#
+# http://www.gnu.org/software/libtool/manual/html_node/ ...
+# Updating-version-info.html
+#
+# - If the library source code has changed at all since the last update, then
+#   increment revision (‘c:r:a’ becomes ‘c:r+1:a’).
+# - If any interfaces have been added, removed, or changed since the last
+#   update, increment current, and set revision to 0.
+# - If any interfaces have been added since the last public release, then
+#   increment age.
+# - If any interfaces have been removed or changed since the last public
+#   release, then set age to 0.
+#
+# History
+#
+# 1:0.0
+# 	ecrt_master_sync_reference_clock_to() added.
+# 2:0:1
+#
+libethercat_la_LDFLAGS = -version-info 2:0:1
 
 #------------------------------------------------------------------------------