Added ec_sync_get_pdo_type().
--- a/master/sync.c Thu Sep 20 12:33:58 2007 +0000
+++ b/master/sync.c Thu Sep 20 12:57:28 2007 +0000
@@ -195,3 +195,26 @@
}
/*****************************************************************************/
+
+/**
+ */
+
+ec_pdo_type_t ec_sync_get_pdo_type(
+ const ec_sync_t *sync /**< EtherCAT sync manager */
+ )
+{
+ int index = sync->index;
+
+ if (sync->slave && sync->slave->sii_mailbox_protocols) {
+ index -= 2;
+ }
+
+ if (index < 0 || index > 1) {
+ EC_WARN("ec_sync_get_pdo_type(): invalid sync manager index.\n");
+ return EC_RX_PDO;
+ }
+
+ return (ec_pdo_type_t) index;
+}
+
+/*****************************************************************************/
--- a/master/sync.h Thu Sep 20 12:33:58 2007 +0000
+++ b/master/sync.h Thu Sep 20 12:57:28 2007 +0000
@@ -83,6 +83,8 @@
int ec_sync_add_pdo(ec_sync_t *, const ec_pdo_t *);
void ec_sync_clear_pdos(ec_sync_t *);
+ec_pdo_type_t ec_sync_get_pdo_type(const ec_sync_t *);
+
/*****************************************************************************/
#endif