diff --git a/TODO b/TODO
index 41ee54ac4c9014486a84f715714a1d437cbd02e4..42ba47072c01e756d13e3c8c7c2ec5f76d74d874 100644
--- a/TODO
+++ b/TODO
@@ -12,8 +12,8 @@ Version 1.5.0:
* Distributed clocks:
- Delay calculation.
- - User same application time offset when setting start times.
- - Replace timeval by uint64 EtherCAT time.
+ - Use common application time offset when setting start times.
+ - Check 32/64 bit operations.
* Fix arguments of reg_read.
* Sign/Abs type for reg_ commands?
* Number layout for reg_read.
diff --git a/examples/dc_rtai/dc_rtai_sample.c b/examples/dc_rtai/dc_rtai_sample.c
index c587302a12a7f11c14dc0ba1b0a3d2e4cfeed2b9..503cbdeb5bf3e0fedb34d69a40b22ff594b534d8 100644
--- a/examples/dc_rtai/dc_rtai_sample.c
+++ b/examples/dc_rtai/dc_rtai_sample.c
@@ -220,13 +220,16 @@ void run(long data)
tv.tv_usec -= 1000000;
tv.tv_sec++;
}
- //printk(KERN_INFO PFX "tv=%u.%06u\n", (u32) tv.tv_sec, (u32) tv.tv_usec);
if (sync_ref_counter) {
sync_ref_counter--;
} else {
sync_ref_counter = 9;
- ecrt_master_sync_reference_clock(master, &tv);
+#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_slave_clocks(master);
ecrt_domain_queue(domain1);
diff --git a/examples/dc_user/main.c b/examples/dc_user/main.c
index 1bffa4e31c15f0ad40cf37d767bdbbf04ccfc1ba..444a0abf741147be78d8a10b8540a6f50260278d 100644
--- a/examples/dc_user/main.c
+++ b/examples/dc_user/main.c
@@ -169,7 +169,7 @@ void cyclic_task()
sync_ref_counter--;
} else {
sync_ref_counter = 9;
- ecrt_master_sync_reference_clock(master, &app_time);
+ ecrt_master_sync_reference_clock(master, EC_TIMEVAL2NANO(&app_time));
}
ecrt_master_sync_slave_clocks(master);
diff --git a/include/ecrt.h b/include/ecrt.h
index ac53f9e7030a7e78ab5e2533c4bbfcdb07e2dc28..ed8317a9802539a30038125a136902562f8ba7fb 100644
--- a/include/ecrt.h
+++ b/include/ecrt.h
@@ -46,7 +46,8 @@
* ecrt_slave_config_dc_sync_cycle_times() and
* ecrt_slave_config_dc_sync_shift_times() to configure a slave for cyclic
* operation, and ecrt_master_sync_reference_clock() and
- * ecrt_master_sync_slave_clocks() for drift compensation.
+ * ecrt_master_sync_slave_clocks() for drift compensation. The
+ * EC_TIMEVAL2NANO() macro can be used for epoch time conversion.
* - Changed the meaning of the negative return values of
* ecrt_slave_config_reg_pdo_entry() and ecrt_slave_config_sdo*().
* - Imlemented the Vendor-specific over EtherCAT mailbox protocol. See
@@ -114,6 +115,17 @@
*/
#define EC_MAX_STRING_LENGTH 64
+/** Timeval to nanoseconds conversion.
+ *
+ * This macro converts a unix epoch time to EtherCAT DC time.
+ *
+ * \see ecrt_master_sync_reference_clock()
+ *
+ * \param TV Pointer to struct timeval.
+ */
+#define EC_TIMEVAL2NANO(TV) \
+ (((TV)->tv_sec - 946684800ULL) * 1000000000ULL + (TV)->tv_usec * 1000ULL)
+
/******************************************************************************
* Data types
*****************************************************************************/
@@ -510,11 +522,13 @@ void ecrt_master_state(
/** Queues the DC reference clock drift compensation datagram for sending.
*
- * The reference clock will by synchronized to the \a app_time.
+ * 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(
ec_master_t *master, /**< EtherCAT master. */
- const struct timeval *app_time /**< Application time. */
+ uint64_t app_time /**< Application time. */
);
/** Queues the DC clock drift compensation datagram for sending.
diff --git a/lib/master.c b/lib/master.c
index 298cd60fc8fd9af9aee7746a19d9c863ede5f2ee..f266f75253d7ead40d7b5a48ee8e492023558442 100644
--- a/lib/master.c
+++ b/lib/master.c
@@ -190,13 +190,11 @@ void ecrt_master_state(const ec_master_t *master, ec_master_state_t *state)
/*****************************************************************************/
-void ecrt_master_sync_reference_clock(ec_master_t *master,
- const struct timeval *app_time)
+void ecrt_master_sync_reference_clock(ec_master_t *master, uint64_t 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;
+ data.app_time = app_time;
if (ioctl(master->fd, EC_IOCTL_SYNC_REF, &data) == -1) {
fprintf(stderr, "Failed to sync reference clock: %s\n",
diff --git a/master/cdev.c b/master/cdev.c
index 8fbd265cb845053463091898dac8736ac8330697..395ccdb245503728bd1dd26e7cedfa19f798adfe 100644
--- a/master/cdev.c
+++ b/master/cdev.c
@@ -1647,7 +1647,7 @@ int ec_cdev_ioctl_sync_ref(
return -EFAULT;
spin_lock_bh(&master->internal_lock);
- ecrt_master_sync_reference_clock(master, &data.app_time);
+ ecrt_master_sync_reference_clock(master, data.app_time);
spin_unlock_bh(&master->internal_lock);
return 0;
}
diff --git a/master/globals.h b/master/globals.h
index 2daf06c65f69923a70b6b91f6cc1dfce56b423ac..3444f15020e6effded750d59e7541352f87ea41c 100644
--- a/master/globals.h
+++ b/master/globals.h
@@ -251,13 +251,6 @@ enum {
.name = EC_STR(NAME), .owner = THIS_MODULE, .mode = S_IRUGO | S_IWUSR \
}
-/** Timeval to nanoseconds conversion.
- *
- * \param TV Pointer to struct timeval.
- */
-#define EC_TIMEVAL2NANO(TV) \
- (((TV)->tv_sec - 946684800ULL) * 1000000000ULL + (TV)->tv_usec * 1000ULL)
-
/*****************************************************************************/
extern char *ec_master_version_str;
diff --git a/master/ioctl.h b/master/ioctl.h
index fb3d31718aed91e69745f2a17f0826d47c644e00..431fe246898cb0d032baba307501533be8154d8d 100644
--- a/master/ioctl.h
+++ b/master/ioctl.h
@@ -389,7 +389,7 @@ typedef struct {
typedef struct {
// inputs
- struct timeval app_time;
+ uint64_t app_time;
} ec_ioctl_dc_t;
/*****************************************************************************/
diff --git a/master/master.c b/master/master.c
index e0a8384fc260a655640124f761a8757e2c737c88..231b7a80eb66b41407779de8926bedf17c521596 100644
--- a/master/master.c
+++ b/master/master.c
@@ -1651,9 +1651,9 @@ void ecrt_master_state(const ec_master_t *master, ec_master_state_t *state)
/*****************************************************************************/
void ecrt_master_sync_reference_clock(ec_master_t *master,
- const struct timeval *app_time)
+ uint64_t app_time)
{
- master->app_time = EC_TIMEVAL2NANO(app_time);
+ master->app_time = app_time;
EC_WRITE_U32(master->ref_sync_datagram.data, master->app_time);
ec_master_queue_datagram(master, &master->ref_sync_datagram);
}