equal
deleted
inserted
replaced
43 * |
43 * |
44 * - Added the distributed clocks feature and the respective method |
44 * - Added the distributed clocks feature and the respective method |
45 * ecrt_slave_config_dc() to configure a slave for cyclic operation, and |
45 * ecrt_slave_config_dc() to configure a slave for cyclic operation, and |
46 * ecrt_master_application_time(), ecrt_master_sync_reference_clock() and |
46 * ecrt_master_application_time(), ecrt_master_sync_reference_clock() and |
47 * ecrt_master_sync_slave_clocks() for offset and drift compensation. The |
47 * ecrt_master_sync_slave_clocks() for offset and drift compensation. The |
48 * EC_TIMEVAL2NANO() macro can be used for epoch time conversion. |
48 * EC_TIMEVAL2NANO() macro can be used for epoch time conversion, while the |
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49 * ecrt_master_sync_monitor_queue() and ecrt_master_sync_monitor_process() |
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50 * methods can be used to monitor the synchrony. |
49 * - Improved the callback mechanism. ecrt_master_callbacks() now takes two |
51 * - Improved the callback mechanism. ecrt_master_callbacks() now takes two |
50 * callback functions for sending and receiving datagrams. |
52 * callback functions for sending and receiving datagrams. |
51 * ecrt_master_send_ext() is used to execute the sending of non-application |
53 * ecrt_master_send_ext() is used to execute the sending of non-application |
52 * datagrams. |
54 * datagrams. |
53 * - Added watchdog configuration (method ecrt_slave_config_watchdog(), |
55 * - Added watchdog configuration (method ecrt_slave_config_watchdog(), |
770 /** Queues the DC clock drift compensation datagram for sending. |
772 /** Queues the DC clock drift compensation datagram for sending. |
771 * |
773 * |
772 * All slave clocks synchronized to the reference clock. |
774 * All slave clocks synchronized to the reference clock. |
773 */ |
775 */ |
774 void ecrt_master_sync_slave_clocks( |
776 void ecrt_master_sync_slave_clocks( |
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777 ec_master_t *master /**< EtherCAT master. */ |
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778 ); |
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779 |
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780 /** Queues the DC synchonity monitoring datagram for sending. |
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781 * |
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782 * The datagram broadcast-reads all "System time difference" registers (\a |
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783 * 0x092c) to get an upper estiomation of the DC synchony. The result can be |
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784 * checked with the ecrt_master_sync_monitor_process() method. |
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785 */ |
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786 void ecrt_master_sync_monitor_queue( |
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787 ec_master_t *master /**< EtherCAT master. */ |
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788 ); |
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789 |
|
790 /** Processes the DC synchonity monitoring datagram. |
|
791 * |
|
792 * If the sync monitoring datagram was sent before with |
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793 * ecrt_master_sync_monitor_queue(), the result can be queried with this |
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794 * method. |
|
795 * |
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796 * \return Upper estination of the maximum time difference in ns. |
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797 */ |
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798 uint32_t ecrt_master_sync_monitor_process( |
775 ec_master_t *master /**< EtherCAT master. */ |
799 ec_master_t *master /**< EtherCAT master. */ |
776 ); |
800 ); |
777 |
801 |
778 /****************************************************************************** |
802 /****************************************************************************** |
779 * Slave configuration methods |
803 * Slave configuration methods |