equal
deleted
inserted
replaced
40 * and to configure and activate the bus. |
40 * and to configure and activate the bus. |
41 * |
41 * |
42 * Changes in version 1.5: |
42 * Changes in version 1.5: |
43 * |
43 * |
44 * - Added the distributed clocks feature and the respective methods |
44 * - Added the distributed clocks feature and the respective methods |
45 * ecrt_slave_config_dc_assign_activate() and |
45 * ecrt_slave_config_dc_assign_activate(), |
46 * ecrt_slave_config_dc_sync_cycle_times() to configure a slave for cyclic |
46 * ecrt_slave_config_dc_sync_cycle_times() and |
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47 * ecrt_slave_config_dc_sync_shift_times() to configure a slave for cyclic |
47 * operation, and ecrt_master_sync_reference_clock() and |
48 * operation, and ecrt_master_sync_reference_clock() and |
48 * ecrt_master_sync_slave_clocks() for drift compensation. |
49 * ecrt_master_sync_slave_clocks() for drift compensation. |
49 * - Changed the meaning of the negative return values of |
50 * - Changed the meaning of the negative return values of |
50 * ecrt_slave_config_reg_pdo_entry() and ecrt_slave_config_sdo*(). |
51 * ecrt_slave_config_reg_pdo_entry() and ecrt_slave_config_sdo*(). |
51 * - Imlemented the Vendor-specific over EtherCAT mailbox protocol. See |
52 * - Imlemented the Vendor-specific over EtherCAT mailbox protocol. See |
712 ec_slave_config_t *sc, /**< Slave configuration. */ |
713 ec_slave_config_t *sc, /**< Slave configuration. */ |
713 uint32_t sync0_cycle_time, /**< SYNC0 cycle time [ns]. */ |
714 uint32_t sync0_cycle_time, /**< SYNC0 cycle time [ns]. */ |
714 uint32_t sync1_cycle_time /**< SYNC1 cycle time [ns]. */ |
715 uint32_t sync1_cycle_time /**< SYNC1 cycle time [ns]. */ |
715 ); |
716 ); |
716 |
717 |
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718 /** Sets the shift times for the SYNC0 and SYNC1 signals. |
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719 */ |
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720 void ecrt_slave_config_dc_sync_shift_times( |
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721 ec_slave_config_t *sc, /**< Slave configuration. */ |
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722 uint32_t sync0_shift_time, /**< SYNC0 shift time [ns]. */ |
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723 uint32_t sync1_shift_time /**< SYNC1 shift time [ns]. */ |
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724 ); |
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725 |
717 /** Add an SDO configuration. |
726 /** Add an SDO configuration. |
718 * |
727 * |
719 * An SDO configuration is stored in the slave configuration object and is |
728 * An SDO configuration is stored in the slave configuration object and is |
720 * downloaded to the slave whenever the slave is being configured by the |
729 * downloaded to the slave whenever the slave is being configured by the |
721 * master. This usually happens once on master activation, but can be repeated |
730 * master. This usually happens once on master activation, but can be repeated |