06 Slave configuration methods 从站配置方法

从站配置方法较多，仅摘取在PDO配置方面的函数以供参考。

/**01 Configure a sync manager.
 *配置同步管理器
 * Sets the direction of a sync manager. This overrides the direction bits
 * from the default control register from SII.
 * 设置同步管理器的方向。这将覆盖来自sIl的默认控制寄存器的方向位。
 * This method has to be called in non-realtime context before
 * ecrt_master_activate().
 *这个方法必须在非实时环境中在ecrt master activate()之前被调用。，
 * \return zero on success, else non-zero
 */
int ecrt_slave_config_sync_manager(
        ec_slave_config_t *sc, /**< Slave configuration. */
        uint8_t sync_index, /**< Sync manager index. Must be less
                              than #EC_MAX_SYNC_MANAGERS. */
        ec_direction_t direction, /**< Input/Output. */
        ec_watchdog_mode_t watchdog_mode /** Watchdog mode. */
        );
/**08 Registers a PDO entry for process data exchange in a domain.
 *"为域中的进程数据交换注册一个PDo条目。
 * Searches the assigned PDOs for the given PDO entry. An error is raised, if
 * the given entry is not mapped. Otherwise, the corresponding sync manager
 * and FMMU configurations are provided for slave configuration and the
 * respective sync manager's assigned PDOs are appended to the given domain,
 * if not already done. The offset of the requested PDO entry's data inside
 * the domain's process data is returned. Optionally, the PDO entry bit
 * position (0-7) can be retrieved via the \a bit_position output parameter.
 * This pointer may be \a NULL, in this case an error is raised if the PDO
 * entry does not byte-align.
 *
 * This method has to be called in non-realtime context before
 * ecrt_master_activate().
 *
 * \retval >=0 Success: Offset of the PDO entry's process data.
 * \retval  <0 Error code.
 */
int ecrt_slave_config_reg_pdo_entry(
        ec_slave_config_t *sc, /**< Slave configuration. */
        uint16_t entry_index, /**< Index of the PDO entry to register. */
        uint8_t entry_subindex, /**< Subindex of the PDO entry to register. */
        ec_domain_t *domain, /**< Domain. */
        unsigned int *bit_position /**< Optional address if bit addressing
                                 is desired */
        );

/**10 Configure distributed clocks.
 *配置分布式时钟
 * Sets the AssignActivate word and the cycle and shift times for the sync
 * signals.
 *为同义词信号设置AssignActivate单词和周期和移位时间。
 * The AssignActivate word is vendor-specific and can be taken from the XML
 * device description file (Device -> Dc -> AssignActivate). Set this to zero,
 * if the slave shall be operated without distributed clocks (default).
 *
 * This method has to be called in non-realtime context before
 * ecrt_master_activate().
 *
 * \attention The \a sync1_shift time is ignored.
 */
void ecrt_slave_config_dc(
        ec_slave_config_t *sc, /**< Slave configuration. */
        uint16_t assign_activate, /**< AssignActivate word.分配激活字词 */
        uint32_t sync0_cycle, /**< SYNC0 cycle time [ns]. */
        int32_t sync0_shift, /**< SYNC0 shift time [ns]. */
        uint32_t sync1_cycle, /**< SYNC1 cycle time [ns]. */
        int32_t sync1_shift /**< SYNC1 shift time [ns]. */
        );