518 void ecrt_master_state( |
518 void ecrt_master_state( |
519 const ec_master_t *master, /**< EtherCAT master. */ |
519 const ec_master_t *master, /**< EtherCAT master. */ |
520 ec_master_state_t *state /**< Structure to store the information. */ |
520 ec_master_state_t *state /**< Structure to store the information. */ |
521 ); |
521 ); |
522 |
522 |
523 /** Queues the DC reference clock drift compensation datagram for sending. |
523 /** Sets the application time. |
524 * |
524 * |
525 * The reference clock will by synchronized to the \a app_time. The time is |
525 * The master has to know the application time when operation slaves with |
526 * defined as nanoseconds from 2000-01-01 00:00. Converting an epoch time can |
526 * distributed clocks. The time is not incremented by the master, so this |
527 * be done with the EC_TIMEVAL2NANO() macro. |
527 * method has to be called cyclically. |
528 */ |
528 * |
529 void ecrt_master_sync_reference_clock( |
529 * The time is defined as nanoseconds from 2000-01-01 00:00. Converting an |
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530 * epoch time can be done with the EC_TIMEVAL2NANO() macro. |
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531 */ |
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532 void ecrt_master_application_time( |
530 ec_master_t *master, /**< EtherCAT master. */ |
533 ec_master_t *master, /**< EtherCAT master. */ |
531 uint64_t app_time /**< Application time. */ |
534 uint64_t app_time /**< Application time. */ |
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535 ); |
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536 |
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537 /** Queues the DC reference clock drift compensation datagram for sending. |
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538 * |
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539 * The reference clock will by synchronized to the application time provided |
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540 * by the last call off ecrt_master_application_time(). |
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541 */ |
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542 void ecrt_master_sync_reference_clock( |
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543 ec_master_t *master /**< EtherCAT master. */ |
532 ); |
544 ); |
533 |
545 |
534 /** Queues the DC clock drift compensation datagram for sending. |
546 /** Queues the DC clock drift compensation datagram for sending. |
535 * |
547 * |
536 * All slave clocks synchronized to the reference clock. |
548 * All slave clocks synchronized to the reference clock. |