Helpers for common CoE application sync-mode objects.

This module is driver-facing. It builds mailbox steps for the common synchronization objects:

• 0x1C32 — SM output parameter
• 0x1C33 — SM input parameter

The public application API still uses %EtherCAT.Slave.Sync.Config{} for generic ESC SYNC/latch intent. Drivers may use these helpers from EtherCAT.Slave.Driver.sync_mode/2 when a slave application also needs CoE object-dictionary sync-mode writes.

This module does not talk to the mailbox itself. It only builds {:sdo_download, ...} steps for EtherCAT.Slave.Mailbox.CoE to execute later.

The generated steps intentionally cover only the common writable fields:

• subindex 0x01 — synchronization mode
• subindex 0x02 — cycle time

They do not attempt to write device-specific read-only or optional timing fields such as shift/calc-and-copy delays.

Examples

def sync_mode(_config, %EtherCAT.Slave.Sync.Config{mode: :sync0} = sync) do
  EtherCAT.Slave.Sync.CoE.steps!(
    cycle_ns: 1_000_000,
    output: :sync0,
    input: :sync0
  )
end

def sync_mode(_config, _sync) do
  EtherCAT.Slave.Sync.CoE.steps!(
    cycle_ns: 1_000_000,
    output: :sm_event,
    input: {:sm_event, :sm2}
  )
end