15 - Removed ecrt_master_get_slave_by_pos(), because it is no longer |
15 - Removed ecrt_master_get_slave_by_pos(), because it is no longer |
16 necessary due to alias/position addressing. |
16 necessary due to alias/position addressing. |
17 - Added ec_slave_config_state_t for the new method |
17 - Added ec_slave_config_state_t for the new method |
18 ecrt_slave_config_state(). |
18 ecrt_slave_config_state(). |
19 - Process data memory for a domain can now be allocated externally. This |
19 - Process data memory for a domain can now be allocated externally. This |
20 offers the possibility to use a shared-memory-region. Therefore, |
20 offers the possibility to use a shared-memory region. Therefore, |
21 added the domain methods ecrt_domain_size() and |
21 added the domain methods ecrt_domain_size() and |
22 ecrt_domain_external_memory(). |
22 ecrt_domain_external_memory(). |
23 - Replaced the process data pointers in the Pdo entry registration |
23 - Replaced the process data pointers in the Pdo entry registration |
24 functions with a process data offset, that is now returned by |
24 functions with a process data offset, that is now returned by |
25 ecrt_slave_config_reg_pdo_entry(). This was necessary for the external |
25 ecrt_slave_config_reg_pdo_entry(). This was necessary for the external |
26 domain memory. An additional advantage is, that the returned offset value |
26 domain memory. An additional advantage is, that the returned offset value |
27 is directly usable. If the domain's process data is allocated internally, |
27 is directly usable. If the domain's process data is allocated internally, |
28 the start address can be retrieved with ecrt_domain_data(). |
28 the start address can be retrieved with ecrt_domain_data(). |
29 - Replaced ecrt_slave_pdo_mapping/add/clear() with |
29 - Replaced ecrt_slave_pdo_mapping/add/clear() with |
30 ecrt_slave_config_mapping() that is now able to specify Pdo mapping and |
30 ecrt_slave_config_pdo() to add a Pdo to the mapping and |
31 Pdo configuration. Pdo entries mapped in this way can now immediately be |
31 ecrt_slave_config_pdo_entry() to add a Pdo entry to a Pdo configuration. |
32 registered. The Pdo mapping and the configuration are described with the |
32 ecrt_slave_config_mapping() is a convenience function for |
33 new data types ec_pdo_info_t and ec_pdo_entry_info_t. |
33 both, that uses the new data types ec_pdo_info_t and ec_pdo_entry_info_t. |
|
34 Mapped Pdo entries can now immediately be registered. |
34 - Renamed ec_bus_status_t, ec_master_status_t to ec_bus_state_t and |
35 - Renamed ec_bus_status_t, ec_master_status_t to ec_bus_state_t and |
35 ec_master_state_t, respectively. Renamed ecrt_master_get_status() to |
36 ec_master_state_t, respectively. Renamed ecrt_master_get_status() to |
36 ecrt_master_state(), for consistency reasons. |
37 ecrt_master_state(), for consistency reasons. |
37 - Added ec_domain_state_t and ec_wc_state_t for a new output parameter |
38 - Added ec_domain_state_t and ec_wc_state_t for a new output parameter |
38 of ecrt_domain_state(). The domain state object does now contain |
39 of ecrt_domain_state(). The domain state object does now contain |