--- a/include/ecrt.h Thu Apr 29 14:05:15 2010 +0200
+++ b/include/ecrt.h Thu Apr 29 16:33:32 2010 +0200
@@ -78,6 +78,9 @@
* - Added ecrt_slave_config_idn() method for storing SoE IDN configurations,
* and ecrt_master_read_idn() and ecrt_master_write_idn() to read/write IDNs
* ad-hoc via the user-space library.
+ * - Added support for overlapping PDOs which allows inputs to use the same
+ * space as outputs on the frame. This reduces the frame length.
+ *
*
* @{
*/
@@ -891,6 +894,17 @@
*/
);
+/** Configure wether a slave allows overlapping PDOs.
+ *
+ * Overlapping PDOs allows inputs to use the same space as outputs on the frame.
+ * This reduces the frame length.
+ */
+void ecrt_slave_config_overlapping_pdos(
+ ec_slave_config_t *sc, /**< Slave configuration. */
+ uint8_t allow_overlapping_pdos /**< Allow overlapping PDOs */
+ );
+
+
/** Add a PDO to a sync manager's PDO assignment.
*
* \see ecrt_slave_config_pdos()