feat: Support the configuration of slaves to use only dc sync1

robert-burger · Sep 13, 2024 · d972a9e · d972a9e
1 parent 9108db1
commit d972a9e
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Showing 2 changed files with 10 additions and 2 deletions.
diff --git a/include/libethercat/slave.h b/include/libethercat/slave.h
@@ -527,7 +527,7 @@ void ec_slave_add_init_cmd(ec_t *pec, osal_uint16_t slave, ec_init_cmd_t *cmd);
  *                          the physical order of the ethercat slaves 
  *                          (usually the n'th slave attached).
  * \param[in] use_dc        Whether to en-/disable dc on slave.
- * \param[in] type          DC type, 0 = sync0, 1 = sync01.
+ * \param[in] type          DC type, 0 = sync0, 1 = sync01, 2 = sync1.
  * \param[in] cycle_time_0  Cycle time of sync 0 [ns].
  * \param[in] cycle_time_1  Cycle time of sync 1 [ns].
  * \param[in] cycle_shift   Cycle shift time [ns].

diff --git a/src/slave.c b/src/slave.c
@@ -1051,8 +1051,16 @@ int ec_slave_state_transition(ec_t *pec, osal_uint16_t slave, ec_state_t state)
                     if (slv->dc.cycle_time_0 == 0u) {
                         slv->dc.cycle_time_0 = pec->main_cycle_interval; 
                     }
+                    if (slv->dc.type == 2) {
+                         ec_log(10, get_transition_string(transition), 
+                                "slave %2d: configuring dc sync 1, "
+                                "cycle_times %d/%d, cycle_shift %d\n", 
+                                slave, slv->dc.cycle_time_0, 
+                                slv->dc.cycle_time_1, slv->dc.cycle_shift);
 
-                    if (slv->dc.type == 1) {
+                        ec_dc_sync(pec, slave, 5, slv->dc.cycle_time_0, 
+                                slv->dc.cycle_time_1, slv->dc.cycle_shift); 
+                    } else if (slv->dc.type == 1) {
                         if (slv->dc.cycle_time_1 == 0u) {
                             slv->dc.cycle_time_1 = pec->main_cycle_interval; 
                         }