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Added interface to select the reference clock and to sync to it.

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Added rtai_rtdm_dc example, thanks to Graeme Foot.
This commit is contained in:
Florian Pose
2012-11-20 14:35:53 +01:00
parent c720cf8e10
commit becf05dbd6
11 changed files with 914 additions and 65 deletions
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40
lib/master.c
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@@ -200,6 +200,31 @@ ec_slave_config_t *ecrt_master_slave_config(ec_master_t *master,
return sc;
}
/*****************************************************************************/
int ecrt_master_select_reference_clock(ec_master_t *master,
ec_slave_config_t *sc)
{
uint32_t config_index;
int ret;
if (sc) {
config_index = sc->index;
}
else {
config_index = 0xFFFFFFFF;
}
ret = ioctl(master->fd, EC_IOCTL_SELECT_REF_CLOCK, config_index);
if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to select reference clock: %s\n",
strerror(EC_IOCTL_ERRNO(ret)));
return -EC_IOCTL_ERRNO(ret);
}
return 0;
}
/****************************************************************************/
int ecrt_master(ec_master_t *master, ec_master_info_t *master_info)
@@ -681,6 +706,21 @@ void ecrt_master_sync_slave_clocks(ec_master_t *master)
}
}
/*****************************************************************************/
int ecrt_master_reference_clock_time(ec_master_t *master, uint32_t *time)
{
int ret;
ret = ioctl(master->fd, EC_IOCTL_REF_CLOCK_TIME, time);
if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to get reference clock time: %s\n",
strerror(EC_IOCTL_ERRNO(ret)));
}
return ret;
}
/****************************************************************************/
void ecrt_master_sync_monitor_queue(ec_master_t *master)