--- a/NEWS	Mon Jul 27 10:44:16 2009 +0000
+++ b/NEWS	Mon Jul 27 10:48:52 2009 +0000
@@ -11,6 +11,7 @@
 * Added a userspace library for accessing the application interface. This
   library is licensed under LGPLv2.
 * Added distributed clocks support.
+* Added watchdog configuration via application interface (thanks to J. Mohre).
 * Added VoE mailbox protocol support.
 * Improved the callback mechanism. ecrt_master_callbacks() now takes two
   callback functions for sending and receiving datagrams.

--- a/TODO	Mon Jul 27 10:44:16 2009 +0000
+++ b/TODO	Mon Jul 27 10:48:52 2009 +0000
@@ -43,7 +43,6 @@
 * Check for ioctl() interface version.
 * Improve application-triggered SDO transfers by moving the state machine into
   the SDO handlers.
-* Apply watchdog patches from J. Mohre.
 * Move device driver files in subdirectories.
 * Document ec_fsm_foe members.
 * Test KBUILD_EXTRA_SYMBOLS.

--- a/include/ecrt.h	Mon Jul 27 10:44:16 2009 +0000
+++ b/include/ecrt.h	Mon Jul 27 10:48:52 2009 +0000
@@ -50,6 +50,9 @@
  *   callback functions for sending and receiving datagrams.
  *   ecrt_master_send_ext() is used to execute the sending of non-application
  *   datagrams.
+ * - Added watchdog configuration (method ecrt_slave_config_watchdog(),
+ *   #ec_watchdog_mode_t, \a watchdog_mode parameter in ec_sync_info_t and
+ *   ecrt_slave_config_sync_manager()).
  * - Added ecrt_open_master() and ecrt_master_reserve() separation for
  *   userspace.
  * - Added ecrt_master() userspace interface, to get information about a
@@ -61,7 +64,7 @@
  *   ecrt_slave_config_reg_pdo_entry() and ecrt_slave_config_sdo*().
  * - Imlemented the Vendor-specific over EtherCAT mailbox protocol. See
  *   ecrt_slave_config_create_voe_handler().
- * - Renamed ec_sdo_request_state_t to ec_request_state_t, because it is also
+ * - Renamed ec_sdo_request_state_t to #ec_request_state_t, because it is also
  *   used by VoE handlers.
  * - Removed 'const' from argument of ecrt_sdo_request_state(), because the
  *   userspace library has to modify object internals.
@@ -275,6 +278,18 @@
 
 /*****************************************************************************/
 
+/** Watchdog mode for sync manager configuration.
+ *
+ * Used to specify, if a sync manager's watchdog is to be enabled.
+ */
+typedef enum {
+    EC_WD_DEFAULT, /**< Use the default setting of the sync manager. */
+    EC_WD_ENABLE, /**< Enable the watchdog. */
+    EC_WD_DISABLE, /**< Disable the watchdog. */
+} ec_watchdog_mode_t;
+
+/*****************************************************************************/
+
 /** PDO entry configuration information.
  *
  * This is the data type of the \a entries field in ec_pdo_info_t.
@@ -322,6 +337,7 @@
     unsigned int n_pdos; /**< Number of PDOs in \a pdos. */
     ec_pdo_info_t *pdos; /**< Array with PDOs to assign. This must contain
                             at least \a n_pdos PDOs. */
+    ec_watchdog_mode_t watchdog_mode; /**< Watchdog mode. */
 } ec_sync_info_t;
 
 /*****************************************************************************/
@@ -709,7 +725,18 @@
         ec_slave_config_t *sc, /**< Slave configuration. */
         uint8_t sync_index, /**< Sync manager index. Must be less
                               than #EC_MAX_SYNC_MANAGERS. */
-        ec_direction_t dir /**< Input/Output. */
+        ec_direction_t direction, /**< Input/Output. */
+        ec_watchdog_mode_t watchdog_mode /** Watchdog mode. */
+        );
+
+/** Configure a slave's watchdog times.
+*/	 
+void ecrt_slave_config_watchdog(
+        ec_slave_config_t *sc, /**< Slave configuration. */
+        uint16_t watchdog_divider, /**< Number of 40 ns intervals. Used as a
+                                    base unit for all slave watchdogs. */
+        uint16_t watchdog_intervals /**< Number of base intervals for process
+                                      data watchdog. */
         );
 
 /** Add a PDO to a sync manager's PDO assignment.

--- a/lib/slave_config.c	Mon Jul 27 10:44:16 2009 +0000
+++ b/lib/slave_config.c	Mon Jul 27 10:48:52 2009 +0000
@@ -44,7 +44,7 @@
 /*****************************************************************************/
 
 int ecrt_slave_config_sync_manager(ec_slave_config_t *sc, uint8_t sync_index,
-        ec_direction_t dir)
+        ec_direction_t dir, ec_watchdog_mode_t watchdog_mode)
 {
     ec_ioctl_config_t data;
     unsigned int i;
@@ -55,6 +55,8 @@
     memset(&data, 0x00, sizeof(ec_ioctl_config_t));
     data.config_index = sc->index;
     data.syncs[sync_index].dir = dir;
+    data.syncs[sync_index].watchdog_mode = watchdog_mode;
+    data.syncs[sync_index].config_this = 1;
 
     if (ioctl(sc->master->fd, EC_IOCTL_SC_SYNC, &data) == -1) {
         fprintf(stderr, "Failed to config sync manager: %s\n",
@@ -67,6 +69,24 @@
 
 /*****************************************************************************/
 
+void ecrt_slave_config_watchdog(ec_slave_config_t *sc,
+        uint16_t divider, uint16_t intervals)
+{
+    ec_ioctl_config_t data;
+
+    memset(&data, 0x00, sizeof(ec_ioctl_config_t));
+    data.config_index = sc->index;
+    data.watchdog_divider = divider;
+    data.watchdog_intervals = intervals;
+
+    if (ioctl(sc->master->fd, EC_IOCTL_SC_WATCHDOG, &data) == -1) {
+        fprintf(stderr, "Failed to config watchdog: %s\n",
+                strerror(errno));
+    }
+}
+
+/*****************************************************************************/
+
 int ecrt_slave_config_pdo_assign_add(ec_slave_config_t *sc,
         uint8_t sync_index, uint16_t pdo_index)
 {
@@ -166,8 +186,8 @@
             return -ENOENT;
         }
 
-        ret = ecrt_slave_config_sync_manager(
-                sc, sync_info->index, sync_info->dir);
+        ret = ecrt_slave_config_sync_manager(sc, sync_info->index,
+                sync_info->dir, sync_info->watchdog_mode);
         if (ret)
             return ret;
 

--- a/master/cdev.c	Mon Jul 27 10:44:16 2009 +0000
+++ b/master/cdev.c	Mon Jul 27 10:48:52 2009 +0000
@@ -1759,7 +1759,7 @@
 
 /*****************************************************************************/
 
-/** Set the direction of a sync manager.
+/** Configure a sync manager.
  */
 int ec_cdev_ioctl_sc_sync(
         ec_master_t *master, /**< EtherCAT master. */
@@ -1793,9 +1793,9 @@
     }
 
     for (i = 0; i < EC_MAX_SYNC_MANAGERS; i++) {
-        ec_direction_t dir = data.syncs[i].dir;
-        if (dir == EC_DIR_INPUT || dir == EC_DIR_OUTPUT) {
-            if (ecrt_slave_config_sync_manager(sc, i, dir)) {
+        if (data.syncs[i].config_this) {
+            if (ecrt_slave_config_sync_manager(sc, i, data.syncs[i].dir,
+                        data.syncs[i].watchdog_mode)) {
                 ret = -EINVAL;
                 goto out_up;
             }
@@ -1810,6 +1810,49 @@
 
 /*****************************************************************************/
 
+/** Configure a slave's watchdogs.
+ */
+int ec_cdev_ioctl_sc_watchdog(
+        ec_master_t *master, /**< EtherCAT master. */
+        unsigned long arg, /**< ioctl() argument. */
+        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
+        )
+{
+    ec_ioctl_config_t data;
+    ec_slave_config_t *sc;
+    int ret = 0;
+
+    if (unlikely(!priv->requested)) {
+        ret = -EPERM;
+        goto out_return;
+    }
+
+    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
+        ret = -EFAULT;
+        goto out_return;
+    }
+
+    if (down_interruptible(&master->master_sem)) {
+        ret = -EINTR;
+        goto out_return;
+    }
+
+    if (!(sc = ec_master_get_config(master, data.config_index))) {
+        ret = -ENOENT;
+        goto out_up;
+    }
+
+    ecrt_slave_config_watchdog(sc,
+            data.watchdog_divider, data.watchdog_intervals);
+
+out_up:
+    up(&master->master_sem);
+out_return:
+    return ret;
+}
+
+/*****************************************************************************/
+
 /** Add a PDO to the assignment.
  */
 int ec_cdev_ioctl_sc_add_pdo(
@@ -3229,6 +3272,10 @@
             if (!(filp->f_mode & FMODE_WRITE))
                 return -EPERM;
             return ec_cdev_ioctl_sc_sync(master, arg, priv);
+        case EC_IOCTL_SC_WATCHDOG:
+            if (!(filp->f_mode & FMODE_WRITE))
+                return -EPERM;
+            return ec_cdev_ioctl_sc_watchdog(master, arg, priv);
         case EC_IOCTL_SC_ADD_PDO:
             if (!(filp->f_mode & FMODE_WRITE))
                 return -EPERM;

--- a/master/fsm_slave_config.c	Mon Jul 27 10:44:16 2009 +0000
+++ b/master/fsm_slave_config.c	Mon Jul 27 10:48:52 2009 +0000
@@ -54,6 +54,8 @@
 void ec_fsm_slave_config_state_mbox_sync(ec_fsm_slave_config_t *);
 void ec_fsm_slave_config_state_boot_preop(ec_fsm_slave_config_t *);
 void ec_fsm_slave_config_state_sdo_conf(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_state_watchdog_divider(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_state_watchdog(ec_fsm_slave_config_t *);
 void ec_fsm_slave_config_state_pdo_sync(ec_fsm_slave_config_t *);
 void ec_fsm_slave_config_state_pdo_conf(ec_fsm_slave_config_t *);
 void ec_fsm_slave_config_state_fmmu(ec_fsm_slave_config_t *);
@@ -70,6 +72,8 @@
 void ec_fsm_slave_config_enter_boot_preop(ec_fsm_slave_config_t *);
 void ec_fsm_slave_config_enter_sdo_conf(ec_fsm_slave_config_t *);
 void ec_fsm_slave_config_enter_pdo_conf(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_enter_watchdog_divider(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_enter_watchdog(ec_fsm_slave_config_t *);
 void ec_fsm_slave_config_enter_pdo_sync(ec_fsm_slave_config_t *);
 void ec_fsm_slave_config_enter_fmmu(ec_fsm_slave_config_t *);
 void ec_fsm_slave_config_enter_dc_cycle(ec_fsm_slave_config_t *);
@@ -558,7 +562,7 @@
         for (i = 0; i < 2; i++) {
             ec_sync_page(&slave->sii.syncs[i], i,
                     slave->sii.syncs[i].default_length,
-                    EC_DIR_INVALID, // use default direction
+                    NULL, // use default sync manager configuration
                     datagram->data + EC_SYNC_PAGE_SIZE * i);
         }
 
@@ -587,7 +591,7 @@
         sync.control_register = 0x26;
         sync.enable = 1;
         ec_sync_page(&sync, 0, slave->sii.std_rx_mailbox_size,
-                EC_DIR_INVALID, // use default direction
+                NULL, // use default sync manager configuration
                 datagram->data);
         slave->configured_rx_mailbox_offset =
             slave->sii.std_rx_mailbox_offset;
@@ -599,7 +603,7 @@
         sync.control_register = 0x22;
         sync.enable = 1;
         ec_sync_page(&sync, 1, slave->sii.std_tx_mailbox_size,
-                EC_DIR_INVALID, // use default direction
+                NULL, // use default sync manager configuration
                 datagram->data + EC_SYNC_PAGE_SIZE);
         slave->configured_tx_mailbox_offset =
             slave->sii.std_tx_mailbox_offset;
@@ -844,6 +848,125 @@
                 fsm->slave->ring_position);
     }
 
+    ec_fsm_slave_config_enter_watchdog_divider(fsm);
+}
+
+/*****************************************************************************/
+
+/** WATCHDOG_DIVIDER entry function.
+ */
+void ec_fsm_slave_config_enter_watchdog_divider(
+        ec_fsm_slave_config_t *fsm /**< slave state machine */
+        )
+{
+    ec_slave_t *slave = fsm->slave;
+    ec_datagram_t *datagram = fsm->datagram;
+    ec_master_t *master = slave->master;    
+    ec_slave_config_t *config = slave->config;
+
+    if (config && config->watchdog_divider) {
+        if (master->debug_level)
+            EC_DBG("Setting watchdog divider to %u.\n",
+                    config->watchdog_divider);
+
+        ec_datagram_fpwr(datagram, slave->station_address, 0x0400, 2);
+        EC_WRITE_U16(datagram->data, config->watchdog_divider);
+        fsm->retries = EC_FSM_RETRIES;
+        fsm->state = ec_fsm_slave_config_state_watchdog_divider;
+    } else {
+        ec_fsm_slave_config_enter_watchdog(fsm);
+    }
+}
+
+/*****************************************************************************/
+
+/** Slave configuration state: WATCHDOG_DIVIDER.
+ */
+void ec_fsm_slave_config_state_watchdog_divider(
+        ec_fsm_slave_config_t *fsm /**< slave state machine */
+        )
+{
+    ec_datagram_t *datagram = fsm->datagram;
+    ec_slave_t *slave = fsm->slave;
+
+    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
+        return;
+
+    if (datagram->state != EC_DATAGRAM_RECEIVED) {
+        fsm->state = ec_fsm_slave_config_state_error;
+        EC_ERR("Failed to receive watchdog divider configuration datagram for"
+               " slave %u (datagram state %u).\n",
+               slave->ring_position, datagram->state);
+        return;
+    }
+
+    if (datagram->working_counter != 1) {
+        slave->error_flag = 1;
+        EC_WARN("Failed to set watchdog divider of slave %u: ",
+               slave->ring_position);
+        ec_datagram_print_wc_error(datagram);
+        return;
+    }
+
+    ec_fsm_slave_config_enter_watchdog(fsm);
+}
+
+/*****************************************************************************/
+
+/** WATCHDOG entry function
+ */
+void ec_fsm_slave_config_enter_watchdog(
+        ec_fsm_slave_config_t *fsm /**< slave state machine */
+        )
+{
+    ec_datagram_t *datagram = fsm->datagram;
+    ec_slave_t *slave = fsm->slave;
+    ec_slave_config_t *config = slave->config;
+
+    if (config && config->watchdog_intervals) {
+        if (slave->master->debug_level)
+            EC_DBG("Setting process data watchdog intervals to %u.\n",
+                    config->watchdog_intervals);
+
+        ec_datagram_fpwr(datagram, slave->station_address, 0x0420, 2);
+        EC_WRITE_U16(datagram->data, config->watchdog_intervals);
+
+        fsm->retries = EC_FSM_RETRIES;
+        fsm->state = ec_fsm_slave_config_state_watchdog;
+    }
+
+    ec_fsm_slave_config_enter_pdo_sync(fsm);
+}
+
+/*****************************************************************************/
+
+/** Slave configuration state: WATCHDOG.
+ */
+
+void ec_fsm_slave_config_state_watchdog(
+        ec_fsm_slave_config_t *fsm /**< slave state machine */
+        )
+{
+    ec_datagram_t *datagram = fsm->datagram;
+    ec_slave_t *slave = fsm->slave;
+
+    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
+        return;
+
+    if (datagram->state != EC_DATAGRAM_RECEIVED) {
+        fsm->state = ec_fsm_slave_config_state_error;
+        EC_ERR("Failed to receive sync manager watchdog configuration "
+                "datagram for slave %u (datagram state %u).\n",
+                slave->ring_position, datagram->state);
+        return;
+    }
+
+    if (datagram->working_counter != 1) {
+        EC_WARN("Failed to set process data watchdog intervals of slave %u: ",
+               slave->ring_position);
+        ec_datagram_print_wc_error(datagram);
+    }
+
     ec_fsm_slave_config_enter_pdo_sync(fsm);
 }
 
@@ -861,7 +984,6 @@
     uint8_t sync_index;
     const ec_sync_t *sync;
     uint16_t size;
-    ec_direction_t dir;
 
     if (slave->sii.mailbox_protocols) {
         offset = 2; // slave has mailboxes
@@ -884,21 +1006,20 @@
     ec_datagram_zero(datagram);
 
     for (i = 0; i < num_pdo_syncs; i++) {
+        const ec_sync_config_t *sync_config;
         sync_index = i + offset;
         sync = &slave->sii.syncs[sync_index];
 
         if (slave->config) {
-            const ec_sync_config_t *sync_config;
             sync_config = &slave->config->sync_configs[sync_index];
             size = ec_pdo_list_total_size(&sync_config->pdos);
-            dir = sync_config->dir;
         } else {
+            sync_config = NULL;
             size = sync->default_length;
-            dir = EC_DIR_INVALID;
         }
 
-        ec_sync_page(sync, sync_index, size, dir, datagram->data +
-                EC_SYNC_PAGE_SIZE * i);
+        ec_sync_page(sync, sync_index, size, sync_config,
+                datagram->data + EC_SYNC_PAGE_SIZE * i);
     }
 
     fsm->retries = EC_FSM_RETRIES;

--- a/master/ioctl.h	Mon Jul 27 10:44:16 2009 +0000
+++ b/master/ioctl.h	Mon Jul 27 10:48:52 2009 +0000
@@ -91,32 +91,33 @@
 #define EC_IOCTL_SYNC_REF               EC_IO(0x21)
 #define EC_IOCTL_SYNC_SLAVES            EC_IO(0x22)
 #define EC_IOCTL_SC_SYNC               EC_IOW(0x23, ec_ioctl_config_t)
-#define EC_IOCTL_SC_ADD_PDO            EC_IOW(0x24, ec_ioctl_config_pdo_t)
-#define EC_IOCTL_SC_CLEAR_PDOS         EC_IOW(0x25, ec_ioctl_config_pdo_t)
-#define EC_IOCTL_SC_ADD_ENTRY          EC_IOW(0x26, ec_ioctl_add_pdo_entry_t)
-#define EC_IOCTL_SC_CLEAR_ENTRIES      EC_IOW(0x27, ec_ioctl_config_pdo_t)
-#define EC_IOCTL_SC_REG_PDO_ENTRY     EC_IOWR(0x28, ec_ioctl_reg_pdo_entry_t)
-#define EC_IOCTL_SC_DC                 EC_IOW(0x29, ec_ioctl_config_t)
-#define EC_IOCTL_SC_SDO                EC_IOW(0x2a, ec_ioctl_sc_sdo_t)
-#define EC_IOCTL_SC_SDO_REQUEST       EC_IOWR(0x2b, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_SC_VOE               EC_IOWR(0x2c, ec_ioctl_voe_t)
-#define EC_IOCTL_SC_STATE             EC_IOWR(0x2d, ec_ioctl_sc_state_t)
-#define EC_IOCTL_DOMAIN_OFFSET          EC_IO(0x2e)
-#define EC_IOCTL_DOMAIN_PROCESS         EC_IO(0x2f)
-#define EC_IOCTL_DOMAIN_QUEUE           EC_IO(0x30)
-#define EC_IOCTL_DOMAIN_STATE         EC_IOWR(0x31, ec_ioctl_domain_state_t)
-#define EC_IOCTL_SDO_REQUEST_TIMEOUT  EC_IOWR(0x32, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_SDO_REQUEST_STATE    EC_IOWR(0x33, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_SDO_REQUEST_READ     EC_IOWR(0x34, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_SDO_REQUEST_WRITE    EC_IOWR(0x35, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_SDO_REQUEST_DATA     EC_IOWR(0x36, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_VOE_SEND_HEADER       EC_IOW(0x37, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_REC_HEADER       EC_IOWR(0x38, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_READ              EC_IOW(0x39, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_READ_NOSYNC       EC_IOW(0x3a, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_WRITE            EC_IOWR(0x3b, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_EXEC             EC_IOWR(0x3c, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_DATA             EC_IOWR(0x3d, ec_ioctl_voe_t)
+#define EC_IOCTL_SC_WATCHDOG           EC_IOW(0x24, ec_ioctl_config_t)
+#define EC_IOCTL_SC_ADD_PDO            EC_IOW(0x25, ec_ioctl_config_pdo_t)
+#define EC_IOCTL_SC_CLEAR_PDOS         EC_IOW(0x26, ec_ioctl_config_pdo_t)
+#define EC_IOCTL_SC_ADD_ENTRY          EC_IOW(0x27, ec_ioctl_add_pdo_entry_t)
+#define EC_IOCTL_SC_CLEAR_ENTRIES      EC_IOW(0x28, ec_ioctl_config_pdo_t)
+#define EC_IOCTL_SC_REG_PDO_ENTRY     EC_IOWR(0x29, ec_ioctl_reg_pdo_entry_t)
+#define EC_IOCTL_SC_DC                 EC_IOW(0x2a, ec_ioctl_config_t)
+#define EC_IOCTL_SC_SDO                EC_IOW(0x2b, ec_ioctl_sc_sdo_t)
+#define EC_IOCTL_SC_SDO_REQUEST       EC_IOWR(0x2c, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_SC_VOE               EC_IOWR(0x2d, ec_ioctl_voe_t)
+#define EC_IOCTL_SC_STATE             EC_IOWR(0x2e, ec_ioctl_sc_state_t)
+#define EC_IOCTL_DOMAIN_OFFSET          EC_IO(0x2f)
+#define EC_IOCTL_DOMAIN_PROCESS         EC_IO(0x20)
+#define EC_IOCTL_DOMAIN_QUEUE           EC_IO(0x31)
+#define EC_IOCTL_DOMAIN_STATE         EC_IOWR(0x32, ec_ioctl_domain_state_t)
+#define EC_IOCTL_SDO_REQUEST_TIMEOUT  EC_IOWR(0x33, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_SDO_REQUEST_STATE    EC_IOWR(0x34, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_SDO_REQUEST_READ     EC_IOWR(0x35, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_SDO_REQUEST_WRITE    EC_IOWR(0x36, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_SDO_REQUEST_DATA     EC_IOWR(0x37, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_VOE_SEND_HEADER       EC_IOW(0x38, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_REC_HEADER       EC_IOWR(0x39, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_READ              EC_IOW(0x3a, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_READ_NOSYNC       EC_IOW(0x3b, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_WRITE            EC_IOWR(0x3c, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_EXEC             EC_IOWR(0x3d, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_DATA             EC_IOWR(0x3e, ec_ioctl_voe_t)
 
 /*****************************************************************************/
 
@@ -389,8 +390,12 @@
     uint32_t product_code;
     struct {
         ec_direction_t dir;
+        ec_watchdog_mode_t watchdog_mode;
         uint32_t pdo_count;
+        uint8_t config_this;
     } syncs[EC_MAX_SYNC_MANAGERS];
+    uint16_t watchdog_divider;
+    uint16_t watchdog_intervals;
     uint32_t sdo_count;
     int32_t slave_position;
     uint16_t dc_assign_activate;

--- a/master/slave_config.c	Mon Jul 27 10:44:16 2009 +0000
+++ b/master/slave_config.c	Mon Jul 27 10:48:52 2009 +0000
@@ -66,6 +66,8 @@
     sc->position = position;
     sc->vendor_id = vendor_id;
     sc->product_code = product_code;
+    sc->watchdog_divider = 0; // use default
+    sc->watchdog_intervals = 0; // use default
 
     sc->slave = NULL;
 
@@ -411,13 +413,14 @@
  *****************************************************************************/
 
 int ecrt_slave_config_sync_manager(ec_slave_config_t *sc, uint8_t sync_index,
-        ec_direction_t dir)
+        ec_direction_t dir, ec_watchdog_mode_t watchdog_mode)
 {
     ec_sync_config_t *sync_config;
     
     if (sc->master->debug_level)
         EC_DBG("ecrt_slave_config_sync_manager(sc = 0x%x, sync_index = %u, "
-                "dir = %u)\n", (u32) sc, sync_index, dir);
+                "dir = %i, watchdog_mode = %i)\n",
+                (u32) sc, sync_index, dir, watchdog_mode);
 
     if (sync_index >= EC_MAX_SYNC_MANAGERS) {
         EC_ERR("Invalid sync manager index %u!\n", sync_index);
@@ -431,11 +434,25 @@
 
     sync_config = &sc->sync_configs[sync_index];
     sync_config->dir = dir;
+    sync_config->watchdog_mode = watchdog_mode;
     return 0;
 }
 
 /*****************************************************************************/
 
+void ecrt_slave_config_watchdog(ec_slave_config_t *sc,
+        uint16_t divider, uint16_t intervals)
+{
+    if (sc->master->debug_level)
+        EC_DBG("%s(sc = 0x%x, divider = %u, intervals = %u)\n",
+                __func__, (u32) sc, divider, intervals);
+
+    sc->watchdog_divider = divider;
+    sc->watchdog_intervals = intervals;
+}
+
+/*****************************************************************************/
+
 int ecrt_slave_config_pdo_assign_add(ec_slave_config_t *sc,
         uint8_t sync_index, uint16_t pdo_index)
 {
@@ -579,8 +596,8 @@
             return -ENOENT;
         }
 
-        ret = ecrt_slave_config_sync_manager(
-                sc, sync_info->index, sync_info->dir);
+        ret = ecrt_slave_config_sync_manager(sc, sync_info->index,
+                sync_info->dir, sync_info->watchdog_mode);
         if (ret)
             return ret;
 
@@ -894,6 +911,7 @@
 /** \cond */
 
 EXPORT_SYMBOL(ecrt_slave_config_sync_manager);
+EXPORT_SYMBOL(ecrt_slave_config_watchdog);
 EXPORT_SYMBOL(ecrt_slave_config_pdo_assign_add);
 EXPORT_SYMBOL(ecrt_slave_config_pdo_assign_clear);
 EXPORT_SYMBOL(ecrt_slave_config_pdo_mapping_add);

--- a/master/slave_config.h	Mon Jul 27 10:44:16 2009 +0000
+++ b/master/slave_config.h	Mon Jul 27 10:48:52 2009 +0000
@@ -58,6 +58,11 @@
     uint32_t vendor_id; /**< Slave vendor ID. */
     uint32_t product_code; /**< Slave product code. */
 
+    uint16_t watchdog_divider; /**< Watchdog divider as a number of 40ns
+                                 intervals (see spec. reg. 0x0400). */
+    uint16_t watchdog_intervals; /**< Process data watchdog intervals (see
+                                   spec. reg. 0x0420). */
+
     ec_slave_t *slave; /**< Slave pointer. This is \a NULL, if the slave is
                          offline. */
 

--- a/master/sync.c	Mon Jul 27 10:44:16 2009 +0000
+++ b/master/sync.c	Mon Jul 27 10:48:52 2009 +0000
@@ -95,8 +95,7 @@
         const ec_sync_t *sync, /**< Sync manager. */
         uint8_t sync_index, /**< Index of the sync manager. */
         uint16_t data_size, /**< Data size. */
-        ec_direction_t dir, /**< Direction (overrides the control byte,
-                              if set to EC_DIR_INPUT or EC_DIR_OUTPUT). */
+        const ec_sync_config_t *sync_config, /**< Configuration. */
         uint8_t *data /**> Configuration memory. */
         )
 {
@@ -104,10 +103,28 @@
     uint16_t enable = sync->enable && data_size;
     uint8_t control = sync->control_register;
 
-    if (dir == EC_DIR_OUTPUT || dir == EC_DIR_INPUT) {
-        // override sync manager direction bits with dir parameter
-        EC_WRITE_BIT(&control, 2, dir == EC_DIR_OUTPUT ? 1 : 0);
-        EC_WRITE_BIT(&control, 3, 0);
+    if (sync_config) {
+
+        switch (sync_config->dir) {
+            case EC_DIR_OUTPUT:
+            case EC_DIR_INPUT:
+                EC_WRITE_BIT(&control, 2,
+                        sync_config->dir == EC_DIR_OUTPUT ? 1 : 0);
+                EC_WRITE_BIT(&control, 3, 0);
+                break;
+            default:
+                break;
+        }
+
+        switch (sync_config->watchdog_mode) {
+            case EC_WD_ENABLE:
+            case EC_WD_DISABLE:
+                EC_WRITE_BIT(&control, 6,
+                        sync_config->watchdog_mode == EC_WD_ENABLE);
+                break;
+            default:
+                break;
+        }
     }
 
     if (sync->slave->master->debug_level)

--- a/master/sync.h	Mon Jul 27 10:44:16 2009 +0000
+++ b/master/sync.h	Mon Jul 27 10:48:52 2009 +0000
@@ -38,6 +38,7 @@
 
 #include "globals.h"
 #include "pdo_list.h"
+#include "sync_config.h"
 
 /*****************************************************************************/
 
@@ -57,8 +58,8 @@
 void ec_sync_init(ec_sync_t *, ec_slave_t *);
 void ec_sync_init_copy(ec_sync_t *, const ec_sync_t *);
 void ec_sync_clear(ec_sync_t *);
-void ec_sync_page(const ec_sync_t *, uint8_t, uint16_t, ec_direction_t,
-        uint8_t *);
+void ec_sync_page(const ec_sync_t *, uint8_t, uint16_t,
+        const ec_sync_config_t *, uint8_t *);
 int ec_sync_add_pdo(ec_sync_t *, const ec_pdo_t *);
 ec_direction_t ec_sync_default_direction(const ec_sync_t *);
 

--- a/master/sync_config.c	Mon Jul 27 10:44:16 2009 +0000
+++ b/master/sync_config.c	Mon Jul 27 10:48:52 2009 +0000
@@ -45,6 +45,7 @@
         )
 {
     sync_config->dir = EC_DIR_INVALID;
+    sync_config->watchdog_mode = EC_WD_DEFAULT;
     ec_pdo_list_init(&sync_config->pdos);
 }
 

--- a/master/sync_config.h	Mon Jul 27 10:44:16 2009 +0000
+++ b/master/sync_config.h	Mon Jul 27 10:48:52 2009 +0000
@@ -45,6 +45,7 @@
  */
 typedef struct {
     ec_direction_t dir; /**< Sync manager direction. */
+    ec_watchdog_mode_t watchdog_mode; /**< Watchdog mode. */
     ec_pdo_list_t pdos; /**< Current PDO assignment. */
 } ec_sync_config_t;