62 * EC_HAVE_SELECT_REF_CLOCK to check, if the method is available. |
62 * EC_HAVE_SELECT_REF_CLOCK to check, if the method is available. |
63 * - Added method to get the reference clock time, |
63 * - Added method to get the reference clock time, |
64 * ecrt_master_reference_clock_time() and the feature flag |
64 * ecrt_master_reference_clock_time() and the feature flag |
65 * EC_HAVE_REF_CLOCK_TIME to have the possibility to synchronize the master |
65 * EC_HAVE_REF_CLOCK_TIME to have the possibility to synchronize the master |
66 * clock to the reference clock. |
66 * clock to the reference clock. |
|
67 * - Changed the datatypes of the shift times in ecrt_slave_config_dc() to |
|
68 * int32_t to correctly display negative shift times. |
67 * |
69 * |
68 * Changes in version 1.5: |
70 * Changes in version 1.5: |
69 * |
71 * |
70 * - Added the distributed clocks feature and the respective method |
72 * - Added the distributed clocks feature and the respective method |
71 * ecrt_slave_config_dc() to configure a slave for cyclic operation, and |
73 * ecrt_slave_config_dc() to configure a slave for cyclic operation, and |
1264 * signals. |
1266 * signals. |
1265 * |
1267 * |
1266 * The AssignActivate word is vendor-specific and can be taken from the XML |
1268 * The AssignActivate word is vendor-specific and can be taken from the XML |
1267 * device description file (Device -> Dc -> AssignActivate). Set this to zero, |
1269 * device description file (Device -> Dc -> AssignActivate). Set this to zero, |
1268 * if the slave shall be operated without distributed clocks (default). |
1270 * if the slave shall be operated without distributed clocks (default). |
|
1271 * |
|
1272 * \attention The \a sync1_shift time is ignored. |
1269 */ |
1273 */ |
1270 void ecrt_slave_config_dc( |
1274 void ecrt_slave_config_dc( |
1271 ec_slave_config_t *sc, /**< Slave configuration. */ |
1275 ec_slave_config_t *sc, /**< Slave configuration. */ |
1272 uint16_t assign_activate, /**< AssignActivate word. */ |
1276 uint16_t assign_activate, /**< AssignActivate word. */ |
1273 uint32_t sync0_cycle, /**< SYNC0 cycle time [ns]. */ |
1277 uint32_t sync0_cycle, /**< SYNC0 cycle time [ns]. */ |
1274 uint32_t sync0_shift, /**< SYNC0 shift time [ns]. */ |
1278 int32_t sync0_shift, /**< SYNC0 shift time [ns]. */ |
1275 uint32_t sync1_cycle, /**< SYNC1 cycle time [ns]. */ |
1279 uint32_t sync1_cycle, /**< SYNC1 cycle time [ns]. */ |
1276 uint32_t sync1_shift /**< SYNC1 shift time [ns]. */ |
1280 int32_t sync1_shift /**< SYNC1 shift time [ns]. */ |
1277 ); |
1281 ); |
1278 |
1282 |
1279 /** Add an SDO configuration. |
1283 /** Add an SDO configuration. |
1280 * |
1284 * |
1281 * An SDO configuration is stored in the slave configuration object and is |
1285 * An SDO configuration is stored in the slave configuration object and is |