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() and |
46 * ecrt_slave_config_dc_sync_cycle_times() to configure a slave for cyclic |
46 * ecrt_slave_config_dc_sync_cycle_times() to configure a slave for cyclic |
47 * operation, and ecrt_master_sync() for drift compensation. |
47 * operation, and ecrt_master_sync_reference_clock() and |
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48 * ecrt_master_sync_slave_clocks() for drift compensation. |
48 * - Changed the meaning of the negative return values of |
49 * - Changed the meaning of the negative return values of |
49 * ecrt_slave_config_reg_pdo_entry() and ecrt_slave_config_sdo*(). |
50 * ecrt_slave_config_reg_pdo_entry() and ecrt_slave_config_sdo*(). |
50 * - Imlemented the Vendor-specific over EtherCAT mailbox protocol. See |
51 * - Imlemented the Vendor-specific over EtherCAT mailbox protocol. See |
51 * ecrt_slave_config_create_voe_handler(). |
52 * ecrt_slave_config_create_voe_handler(). |
52 * - Renamed ec_sdo_request_state_t to ec_request_state_t, because it is also |
53 * - Renamed ec_sdo_request_state_t to ec_request_state_t, because it is also |
504 void ecrt_master_state( |
505 void ecrt_master_state( |
505 const ec_master_t *master, /**< EtherCAT master. */ |
506 const ec_master_t *master, /**< EtherCAT master. */ |
506 ec_master_state_t *state /**< Structure to store the information. */ |
507 ec_master_state_t *state /**< Structure to store the information. */ |
507 ); |
508 ); |
508 |
509 |
509 /** Queues the DC drift compensation datagram for sending. |
510 /** Queues the DC reference clock drift compensation datagram for sending. |
510 * |
511 * |
511 * The reference clock will by synchronized to the \a app_time, while the |
512 * The reference clock will by synchronized to the \a app_time. |
512 * other slaves will by synchronized to the reference clock. |
513 */ |
513 */ |
514 void ecrt_master_sync_reference_clock( |
514 void ecrt_master_sync( |
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515 ec_master_t *master, /**< EtherCAT master. */ |
515 ec_master_t *master, /**< EtherCAT master. */ |
516 const struct timeval *app_time /**< Application time. */ |
516 const struct timeval *app_time /**< Application time. */ |
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517 ); |
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518 |
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519 /** Queues the DC clock drift compensation datagram for sending. |
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520 * |
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521 * All slave clocks synchronized to the reference clock. |
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522 */ |
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523 void ecrt_master_sync_slave_clocks( |
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524 ec_master_t *master /**< EtherCAT master. */ |
517 ); |
525 ); |
518 |
526 |
519 /****************************************************************************** |
527 /****************************************************************************** |
520 * Slave configuration methods |
528 * Slave configuration methods |
521 *****************************************************************************/ |
529 *****************************************************************************/ |