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ethercat
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Set system time transmission delay during config.

This commit is contained in:
Florian Pose 2009-04-30 16:04:44 +00:00
parent 50847e1150
commit 5401cb1a6d
1 changed files with 3 additions and 2 deletions
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5
master/fsm_slave_config.c
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@ -438,9 +438,10 @@ void ec_fsm_slave_config_state_dc_read_offset(
slave->ring_position, system_time, old_offset,
slave->master->app_time, new_offset);
// set DC system time offset
ec_datagram_fpwr(datagram, slave->station_address, 0x0920, 8);
// set DC system time offset and transmission delay
ec_datagram_fpwr(datagram, slave->station_address, 0x0920, 12);
EC_WRITE_U64(datagram->data, new_offset);
EC_WRITE_U32(datagram->data + 8, slave->transmission_delay);
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_slave_config_state_dc_write_offset;
}