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Separated application time from synchronizing reference clock.

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This commit is contained in:
Florian Pose
2009-05-04 10:05:55 +00:00
parent 25db02ecd0
commit a34809e18d
7 changed files with 77 additions and 55 deletions
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include/ecrt.h
+17 -5
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@@ -520,17 +520,29 @@ void ecrt_master_state(
ec_master_state_t *state /**< Structure to store the information. */
);
/** Queues the DC reference clock drift compensation datagram for sending.
/** Sets the application time.
*
* The reference clock will by synchronized to the \a app_time. The time is
* defined as nanoseconds from 2000-01-01 00:00. Converting an epoch time can
* be done with the EC_TIMEVAL2NANO() macro.
* The master has to know the application time when operation slaves with
* distributed clocks. The time is not incremented by the master, so this
* method has to be called cyclically.
*
* The time is defined as nanoseconds from 2000-01-01 00:00. Converting an
* epoch time can be done with the EC_TIMEVAL2NANO() macro.
*/
void ecrt_master_sync_reference_clock(
void ecrt_master_application_time(
ec_master_t *master, /**< EtherCAT master. */
uint64_t app_time /**< Application time. */
);
/** Queues the DC reference clock drift compensation datagram for sending.
*
* The reference clock will by synchronized to the application time provided
* by the last call off ecrt_master_application_time().
*/
void ecrt_master_sync_reference_clock(
ec_master_t *master /**< EtherCAT master. */
);
/** Queues the DC clock drift compensation datagram for sending.
*
* All slave clocks synchronized to the reference clock.