From f4199b7f60092547a67429a5f7ce74c90c1f68e6 Mon Sep 17 00:00:00 2001
From: Florian Pose <fp@igh.de>
Date: Mon, 17 Mar 2008 14:16:16 +0000
Subject: [PATCH] Fixed bug in copying sync managers. Now making a deep copy.

---
 master/slave.c |  5 ++---
 master/sync.c  | 22 ++++++++++++++++++++++
 master/sync.h  |  1 +
 3 files changed, 25 insertions(+), 3 deletions(-)

diff --git a/master/slave.c b/master/slave.c
index ec2a4c42..207cef20 100644
--- a/master/slave.c
+++ b/master/slave.c
@@ -502,9 +502,8 @@ int ec_slave_fetch_sii_syncs(
             return -1;
         }
 
-        // copy existing sync managers
-        memcpy(syncs, slave->sii.syncs,
-                slave->sii.sync_count * sizeof(ec_sync_t));
+        for (i = 0; i < slave->sii.sync_count; i++)
+            ec_sync_init_copy(syncs + i, slave->sii.syncs + i);
 
         // initialize new sync managers
         for (i = 0; i < count; i++, data += 8) {
diff --git a/master/sync.c b/master/sync.c
index 7a2023b7..c1af279c 100644
--- a/master/sync.c
+++ b/master/sync.c
@@ -62,6 +62,28 @@ void ec_sync_init(
 
 /*****************************************************************************/
 
+/** Copy constructor.
+ */
+void ec_sync_init_copy(
+        ec_sync_t *sync, /**< EtherCAT sync manager. */
+        const ec_sync_t *other /**< Sync manager to copy from. */
+        )
+{
+   sync->slave = other->slave;
+   sync->index = other->index;
+   sync->physical_start_address = other->physical_start_address;
+   sync->length = other->length;
+   sync->control_register = other->control_register;
+   sync->enable = other->enable;
+   
+   ec_pdo_mapping_init(&sync->mapping);
+   ec_pdo_mapping_copy(&sync->mapping, &other->mapping);
+
+   sync->mapping_source = other->mapping_source;
+}
+
+/*****************************************************************************/
+
 /** Destructor.
  */
 void ec_sync_clear(
diff --git a/master/sync.h b/master/sync.h
index b0049563..7995d4e9 100644
--- a/master/sync.h
+++ b/master/sync.h
@@ -76,6 +76,7 @@ typedef struct {
 /*****************************************************************************/
 
 void ec_sync_init(ec_sync_t *, ec_slave_t *, unsigned int);
+void ec_sync_init_copy(ec_sync_t *, const ec_sync_t *);
 void ec_sync_clear(ec_sync_t *);
 
 void ec_sync_config(const ec_sync_t *, uint16_t, uint8_t *);