[etherlab-users] Timing measurements

[Inselmini Paolo]

Hi

EL5101 support distributed clock so if you want to measure the cycle time you can do it by evaluating the response of the slave synchronization datagram.
I do that to synchronize the master with the slave reference clock. I implemented the ecrt_get_slave_sync_time function in the etherCAT master.c file to read the cycle time.
This function should be called every cycle, you can then read the cycle time within the exported EtherCAT_timeSync structure.

It's what you need?


struct {
        u64               ecat_time_ns;       //absolute sync thelegram time
        u32               delta_ecat_time_ns; //sync thelegram cycle time
        u32               ecat_time_1;
        bool              isSync;
        struct semaphore  lock;
} EtherCAT_timeSync;

void ecrt_get_slave_sync_time(ec_master_t *master)
{

    u32 ecat_time;
    //s32 delta_ecat_time;

    if((master->has_start_time == 1) && (EtherCAT_timeSync.isSync ==0))
    {
      down(&EtherCAT_timeSync.lock);
      EtherCAT_timeSync.isSync =1;
      EtherCAT_timeSync.ecat_time_ns = master->app_start_time;
      EtherCAT_timeSync.ecat_time_1 = (u32)(EtherCAT_timeSync.ecat_time_ns & 0xFFFFFFFF);
      up(&EtherCAT_timeSync.lock);
    }

    if(master->sync_datagram.state == EC_DATAGRAM_RECEIVED)
    {
        down(&EtherCAT_timeSync.lock);
        ecat_time = (u32) le32_to_cpup((void *)master->sync_datagram.data);

        EtherCAT_timeSync.delta_ecat_time_ns = (s32)ecat_time - (s32)EtherCAT_timeSync.ecat_time_1;
        if(EtherCAT_timeSync.delta_ecat_time_ns < 0)
           EtherCAT_timeSync.delta_ecat_time_ns = (u32)(0x100000000LL + (s64)decat_time);

        EtherCAT_timeSync.ecat_time_ns &= ~0xFFFFFFFFLL; // remove low 32 bits of the time
        EtherCAT_timeSync.ecat_time_ns |= (u64)ecat_time;   // add low 32 bits of readed ethercat absolute time

        if(ecat_time < EtherCAT_timeSync.ecat_time_1)
        {    //overflow, increment the owerflowed value
             EtherCAT_timeSync.ecat_time_ns += 0x100000000LL;
        }

        EtherCAT_timeSync.ecat_time_1 = ecat_time;
        up(&EtherCAT_timeSync.lock);
    }
}

EXPORT_SYMBOL(ecrt_get_slave_sync_time);
EXPORT_SYMBOL(EtherCAT_timeSync);


Paolo

-----Original Message-----
From: etherlab-users-bounces at etherlab.org [mailto:etherlab-users-bounces at etherlab.org] On Behalf Of Peter van Knippenbergh
Sent: mercoledì, 25. novembre 2009 15:05
To: etherlab-users at etherlab.org
Subject: [etherlab-users] Timing measurements



Hi



I want to measure the latency of sending and receiving cyclic data, one of the slaves is a Beckhoff EL5101. I want to read a timing register every cycle.



I want to map a register (not an object) to the process data, and therefore I tried to use the 3rd fmmu, but when going to OP, the ethercat master zero's the 3rd fmmu.



Is there a easy way to get a timestamp in a user-space program for every cycle. It is ok for me if the communicated timestamp is an older tempstamp, because I want to use it for latency measurements.



Kind regards



Peter van Knippenbergh



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