--- a/include/ecrt.h Thu Apr 09 14:56:23 2009 +0000
+++ b/include/ecrt.h Thu Apr 09 18:21:18 2009 +0000
@@ -67,9 +67,11 @@
#ifdef __KERNEL__
#include <asm/byteorder.h>
#include <linux/types.h>
+#include <linux/time.h>
#else
#include <stdlib.h> // for size_t
#include <stdint.h>
+#include <sys/time.h> // for struct timeval
#endif
/******************************************************************************
@@ -505,9 +507,13 @@
);
/** Queues the DC drift compensation datagram for sending.
+ *
+ * The reference clock will by synchronized to the \a app_time, while the
+ * other slaves will by synchronized to the reference clock.
*/
void ecrt_master_sync(
- ec_master_t *master /**< EtherCAT master. */
+ ec_master_t *master, /**< EtherCAT master. */
+ const struct timeval *app_time /**< Application time. */
);
/******************************************************************************
@@ -685,14 +691,14 @@
*
* The AssignActivate word is vendor-specific and can be taken from the XML
* device description file (Device -> Dc -> AssignActivate). Set this to zero,
- * if the slave shall be not operated without distributed clocks (default).
+ * if the slave shall be operated without distributed clocks (default).
*/
void ecrt_slave_config_dc_assign_activate(
ec_slave_config_t *sc, /**< Slave configuration. */
uint16_t assign_activate /**< AssignActivate word. */
);
-/** Sets the cylce times for the SYNC0 and SYNC1 signals.
+/** Sets the cycle times for the SYNC0 and SYNC1 signals.
*/
void ecrt_slave_config_dc_sync_cycle_times(
ec_slave_config_t *sc, /**< Slave configuration. */