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813 int ecrt_master_sdo_download( |
813 int ecrt_master_sdo_download( |
814 ec_master_t *master, /**< EtherCAT master. */ |
814 ec_master_t *master, /**< EtherCAT master. */ |
815 uint16_t slave_position, /**< Slave position. */ |
815 uint16_t slave_position, /**< Slave position. */ |
816 uint16_t index, /**< Index of the SDO. */ |
816 uint16_t index, /**< Index of the SDO. */ |
817 uint8_t subindex, /**< Subindex of the SDO. */ |
817 uint8_t subindex, /**< Subindex of the SDO. */ |
818 uint8_t *data, /**< Data buffer to download. */ |
818 const uint8_t *data, /**< Data buffer to download. */ |
819 size_t data_size, /**< Size of the data buffer. */ |
819 size_t data_size, /**< Size of the data buffer. */ |
820 uint32_t *abort_code /**< Abort code of the SDO download. */ |
820 uint32_t *abort_code /**< Abort code of the SDO download. */ |
821 ); |
821 ); |
822 |
822 |
823 /** Executes an SDO download request to write data to a slave via complete |
823 /** Executes an SDO download request to write data to a slave via complete |
832 */ |
832 */ |
833 int ecrt_master_sdo_download_complete( |
833 int ecrt_master_sdo_download_complete( |
834 ec_master_t *master, /**< EtherCAT master. */ |
834 ec_master_t *master, /**< EtherCAT master. */ |
835 uint16_t slave_position, /**< Slave position. */ |
835 uint16_t slave_position, /**< Slave position. */ |
836 uint16_t index, /**< Index of the SDO. */ |
836 uint16_t index, /**< Index of the SDO. */ |
837 uint8_t *data, /**< Data buffer to download. */ |
837 const uint8_t *data, /**< Data buffer to download. */ |
838 size_t data_size, /**< Size of the data buffer. */ |
838 size_t data_size, /**< Size of the data buffer. */ |
839 uint32_t *abort_code /**< Abort code of the SDO download. */ |
839 uint32_t *abort_code /**< Abort code of the SDO download. */ |
840 ); |
840 ); |
841 |
841 |
842 /** Executes an SDO upload request to read data from a slave. |
842 /** Executes an SDO upload request to read data from a slave. |
954 * This method takes all datagrams, that have been queued for transmission, |
954 * This method takes all datagrams, that have been queued for transmission, |
955 * puts them into frames, and passes them to the Ethernet device for sending. |
955 * puts them into frames, and passes them to the Ethernet device for sending. |
956 * |
956 * |
957 * Has to be called cyclically by the application after ecrt_master_activate() |
957 * Has to be called cyclically by the application after ecrt_master_activate() |
958 * has returned. |
958 * has returned. |
959 */ |
959 * |
960 void ecrt_master_send( |
960 * Returns the number of bytes sent. |
|
961 */ |
|
962 size_t ecrt_master_send( |
961 ec_master_t *master /**< EtherCAT master. */ |
963 ec_master_t *master /**< EtherCAT master. */ |
962 ); |
964 ); |
963 |
965 |
964 /** Fetches received frames from the hardware and processes the datagrams. |
966 /** Fetches received frames from the hardware and processes the datagrams. |
965 * |
967 * |
1142 uint16_t watchdog_intervals /**< Number of base intervals for process |
1144 uint16_t watchdog_intervals /**< Number of base intervals for process |
1143 data watchdog. If set to zero, the value |
1145 data watchdog. If set to zero, the value |
1144 is not written, so the default is used. |
1146 is not written, so the default is used. |
1145 */ |
1147 */ |
1146 ); |
1148 ); |
|
1149 |
|
1150 /** Configure whether a slave allows overlapping PDOs. |
|
1151 * |
|
1152 * Overlapping PDOs allows inputs to use the same space as outputs on the frame. |
|
1153 * This reduces the frame length. |
|
1154 */ |
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1155 void ecrt_slave_config_overlapping_pdos( |
|
1156 ec_slave_config_t *sc, /**< Slave configuration. */ |
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1157 uint8_t allow_overlapping_pdos /**< Allow overlapping PDOs */ |
|
1158 ); |
|
1159 |
1147 |
1160 |
1148 /** Add a PDO to a sync manager's PDO assignment. |
1161 /** Add a PDO to a sync manager's PDO assignment. |
1149 * |
1162 * |
1150 * This method has to be called in non-realtime context before |
1163 * This method has to be called in non-realtime context before |
1151 * ecrt_master_activate(). |
1164 * ecrt_master_activate(). |