53  *

    54  * Changes in Version 1.4:

    55  *

    56  * - Replaced ec_slave_t with ec_slave_config_t, separating the bus

    57  *   configuration from the actual slaves. Therefore, renamed

    58  *   ecrt_master_get_slave() to ecrt_master_slave_config().

    59  * - Replaced slave address string with alias and position values. See

    60  *   ecrt_master_slave_config().

    61  * - Removed ecrt_master_get_slave_by_pos(), because it is no longer

    62  *   necessary due to alias/position addressing.

    63  * - Added ec_slave_config_state_t for the new method

    64  *   ecrt_slave_config_state().

    65  * - Process data memory for a domain can now be allocated externally. This

    66  *   offers the possibility to use a shared-memory region. Therefore,

    67  *   added the domain methods ecrt_domain_size() and

    68  *   ecrt_domain_external_memory().

    69  * - PDO entry registration functions do not return a process data pointer,

    70  *   but an offset in the domain's process data. In addition, an optional bit

    71  *   position can be requested. This was necessary for the external domain

    72  *   memory. An additional advantage is, that the returned offset is

    73  *   immediately valid. If the domain's process data is allocated internally,

    74  *   the start address can be retrieved with ecrt_domain_data().

    75  * - Replaced ecrt_slave_pdo_mapping/add/clear() with

    76  *   ecrt_slave_config_pdo_assign_add() to add a PDO to a sync manager's PDO

    77  *   assignment and ecrt_slave_config_pdo_mapping_add() to add a PDO entry to a

    78  *   PDO's mapping. ecrt_slave_config_pdos() is a convenience function

    79  *   for both, that uses the new data types ec_pdo_info_t and

    80  *   ec_pdo_entry_info_t. PDO entries, that are mapped with these functions

    81  *   can now immediately be registered, even if the bus is offline.

    82  * - Renamed ec_bus_status_t, ec_master_status_t to ec_bus_state_t and

    83  *   ec_master_state_t, respectively. Renamed ecrt_master_get_status() to

    84  *   ecrt_master_state(), for consistency reasons.

    85  * - Added ec_domain_state_t and #ec_wc_state_t for a new output parameter

    86  *   of ecrt_domain_state(). The domain state object does now contain

    87  *   information, if the process data was exchanged completely.

    88  * - Former "PDO registration" meant PDO entry registration in fact, therefore

    89  *   renamed ec_pdo_reg_t to ec_pdo_entry_reg_t and ecrt_domain_register_pdo()

    90  *   to ecrt_slave_config_reg_pdo_entry().

    91  * - Removed ecrt_domain_register_pdo_range(), because it's functionality can

    92  *   be reached by specifying an explicit PDO assignment/mapping and

    93  *   registering the mapped PDO entries.

    94  * - Added an SDO access interface, working with SDO requests. These can be

    95  *   scheduled for reading and writing during realtime operation.

    96  * - Exported ecrt_slave_config_sdo(), the generic SDO configuration function.

    97  * - Removed the bus_state and bus_tainted flags from ec_master_state_t.