IGH接口函数

ecrt_master_application_time

void ecrt_master_application_time(ec_master_t *master, uint64_t app_time)
{
    master->app_time = app_time;

    if (unlikely(!master->has_app_time)) {
        master->app_start_time = app_time;
        master->has_app_time = 1;
    }
}

ecrt_master_reference_clock_time

int ecrt_master_reference_clock_time(ec_master_t *master, uint32_t *time)
{
    if (!master->dc_ref_clock) {
        return -ENXIO;
    }

    if (master->sync_datagram.state != EC_DATAGRAM_RECEIVED) {
        return -EIO;
    }

    // Get returned datagram time, transmission delay removed.
    *time = EC_READ_U32(master->sync_datagram.data) -
        master->dc_ref_clock->transmission_delay;

    return 0;
}

ecrt_master_sync_reference_clock

void ecrt_master_sync_reference_clock(ec_master_t *master)
{
    if (master->dc_ref_clock) {
        EC_WRITE_U32(master->ref_sync_datagram.data, master->app_time);
        ec_master_queue_datagram(master, &master->ref_sync_datagram);
    }
}

ecrt_master_sync_slave_clocks

void ecrt_master_sync_slave_clocks(ec_master_t *master)
{
    if (master->dc_ref_clock) {
        ec_datagram_zero(&master->sync_datagram);
        ec_master_queue_datagram(master, &master->sync_datagram);
    }
}