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Enable custom rtc clock source #25

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merged 2 commits into from
Feb 10, 2025
Merged

Enable custom rtc clock source #25

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fe8fe52
feat: Add ec_send_distributed_clocks_sync_with_rtc to enable a custom…
marcfir Sep 13, 2024
dcfc5ee
Add forward decl for ec_send_distributed_clocks_sync_intern. Pass osa…
marcfir Feb 10, 2025
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11 changes: 11 additions & 0 deletions include/libethercat/ec.h
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Original file line number Diff line number Diff line change
Expand Up @@ -395,6 +395,17 @@ int ec_send_process_data(ec_t *pec);
*/
int ec_send_distributed_clocks_sync(ec_t *pec);

//! \brief Send distributed clock sync datagram
/*!
* \param pec Pointer to ethercat master structure,
* which you got from \link ec_open \endlink.
* \param act_rtc_time Current real-time clock value. If 0, the time of
* osal_timer_gettime_nsec() will be used. Otherwise
* the supplied time is used.
* \return 0 on success
*/
int ec_send_distributed_clocks_sync_with_rtc(ec_t *pec, osal_uint64_t act_rtc_time);

//! \brief Send broadcast read to ec state.
/*!
* \param[in] pec Pointer to ethercat master structure,
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31 changes: 27 additions & 4 deletions src/ec.c
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Original file line number Diff line number Diff line change
Expand Up @@ -74,6 +74,7 @@

// forward declaration
static void default_log_func(ec_t *pec, int lvl, const osal_char_t *format, ...) __attribute__ ((format (printf, 3, 4)));
static int ec_send_distributed_clocks_sync_intern(ec_t *pec, osal_uint64_t act_rtc_time);

//! calculate signed difference of 64-bit unsigned int's
/*!
Expand Down Expand Up @@ -1840,10 +1841,13 @@ static void cb_distributed_clocks(struct ec *pec, pool_entry_t *p_entry, ec_data

//! send distributed clock sync datagram
/*!
* \param pec ethercat master pointer
* \param pec ethercat master pointer
* \param act_rtc_time Current real-time clock value. If 0, the time of
* osal_timer_gettime_nsec() will be used. Otherwise
* the supplied time is used.
* \return 0 on success
*/
int ec_send_distributed_clocks_sync(ec_t *pec) {
int ec_send_distributed_clocks_sync_intern(ec_t *pec, osal_uint64_t act_rtc_time) {
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could you do a forward declaration of the ..._intern function as static at the beginning of the file?

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Of course I can. What is the reason for this? Just out of interest.

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just to make it a little bit more compliant with coding standards like Misra-C or Autosar and to avoid warnings of some compilers when having no previous declaration. (and static to hide the symbol)

assert(pec != NULL);

int ret = EC_OK;
Expand Down Expand Up @@ -1891,8 +1895,6 @@ int ec_send_distributed_clocks_sync(ec_t *pec) {
p_dg->adr = ((osal_uint32_t)EC_REG_DCSYSTIME << 16u) | pec->dc.master_address;
}

osal_uint64_t act_rtc_time = osal_timer_gettime_nsec();

if (pec->dc.mode == dc_mode_ref_clock) {
if (pec->main_cycle_interval > 0) {
pec->dc.rtc_time += (osal_uint64_t)(pec->main_cycle_interval);
Expand All @@ -1917,6 +1919,27 @@ int ec_send_distributed_clocks_sync(ec_t *pec) {
return ret;
}

//! send distributed clock sync datagram
/*!
* \param pec ethercat master pointer
* \return 0 on success
*/
int ec_send_distributed_clocks_sync(ec_t *pec) {
return ec_send_distributed_clocks_sync_intern(pec, osal_timer_gettime_nsec());
}

//! send distributed clock sync datagram
/*!
* \param pec ethercat master pointer
* \param act_rtc_time Current real-time clock value. If 0, the time of
* osal_timer_gettime_nsec() will be used. Otherwise
* the supplied time is used.
* \return 0 on success
*/
int ec_send_distributed_clocks_sync_with_rtc(ec_t *pec, osal_uint64_t act_rtc_time) {
return ec_send_distributed_clocks_sync_intern(pec,act_rtc_time);
}

//! local callack for syncronous read/write
static void cb_brd_ec_state(struct ec *pec, pool_entry_t *p_entry, ec_datagram_t *p_dg) {
assert(pec != NULL);
Expand Down