etherlabmaster: comparison include/ecrt.h

equal deleted inserted replaced

-:fede1d8f5b71
+:a6b51990e7e6
 *   ecrt_slave_config_state().
 * - Process data memory for a domain can now be allocated externally. This
 *   offers the possibility to use a shared-memory region. Therefore,
 *   added the domain methods ecrt_domain_size() and
 *   ecrt_domain_external_memory().
-* - Replaced the process data pointers in the Pdo entry registration
+* - PDO registration functions do not return a process data pointer any
-*   functions with a process data offset, that is now returned either byte-
+*   more. Instead an offset is returned by the funtion. In addition, an
-*   or bitwise by ecrt_slave_config_reg_pdo_entry() or
+*   optional bit position can be requested.
-*   ecrt_slave_config_reg_pdo_entry_bitwise(), respectively. This was
+*   This was necessary for the external domain memory. An additional
-*   necessary for the external domain memory. An additional advantage is,
+*   advantage is, that the returned offset is immediately valid.
-*   that the returned offset is immediately valid. If the domain's
+*   If the domain's process data is allocated internally, the start
-*   process data is allocated internally, the start address can be retrieved
+*   address can be retrieved with ecrt_domain_data().
-*   with ecrt_domain_data().
 * - Replaced ecrt_slave_pdo_mapping/add/clear() with
 *   ecrt_slave_config_pdo_assign_add() to add a Pdo to a sync manager's Pdo
 *   assignment and ecrt_slave_config_pdo_mapping_add() to add a Pdo entry to a
 *   Pdo's mapping. ecrt_slave_config_pdos() is a convenience function
 *   for both, that uses the new data types ec_pdo_info_t and
 /*****************************************************************************/
 /** List record type for Pdo entry mass-registration.
 *
 * This type is used for the array parameter of the
-* ecrt_domain_reg_pdo_entry_list() and
+* ecrt_domain_reg_pdo_entry_list()
-* ecrt_domain_reg_pdo_entry_list_bitwise() convenience functions.
 */
 typedef struct {
 uint16_t alias; /**< Slave alias address. */
 uint16_t position; /**< Slave position. */
 uint32_t vendor_id; /**< Slave vendor ID. */
 uint16_t index; /**< Pdo entry index. */
 uint8_t subindex; /**< Pdo entry subindex. */
 unsigned int *offset; /**< Pointer to a variable to store the Pdo's
 offset in the process data. This can either be byte-
 or bitwise, depending on whether
-ecrt_domain_reg_pdo_entry_list() or
+ecrt_domain_reg_pdo_entry_list() */
-ecrt_domain_reg_pdo_entry_list_bitwise() was called. */
+unsigned int *bitposition; /** Pointer to variable to store a bit
+position within the address. Can be NULL,
+in which case an error is raised if the
+PDO does not byte-align. */
 } ec_pdo_entry_reg_t;
 /*****************************************************************************/
 /** Sdo request state.
 * Searches the current Pdo assignment and Pdo mappings 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.
+* entry's data inside the domain's process data is returned. Optionally, the
+* Pdo entry bit position can be retrieved if a non-null pointer is passed
+* to the \a bitposition parameter. If this is null, an error is raised if
+* the Pdo entry does not byte align.
 *
 * \retval >=0 Success: Offset of the Pdo entry's process data.
 * \retval -1  Error: Pdo entry not found.
 * \retval -2  Error: Failed to register Pdo entry.
 * \retval -3  Error: Pdo entry is not byte-aligned.
 */
 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. */
+ec_domain_t *domain, /**< Domain. */
-);
+unsigned int *bitposition /**< Optional address if bit addressing
+is desired */
-/** Registers a Pdo entry for process data exchange in a domain.
-*
-* Bitwise registration function.
-*
-* \see ecrt_slave_config_reg_pdo_entry().
-*
-* \retval >=0 Success: Bit offset of the Pdo entry's process data.
-* \retval -1  Error: Pdo entry not found.
-* \retval -2  Error: Failed to register Pdo entry.
-*/
-int ecrt_slave_config_reg_pdo_entry_bitwise(
-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. */
 );
 /** Add an Sdo configuration.
 *
 * An Sdo configuration is stored in the slave configuration object and is
 * \attention The registration array has to be terminated with an empty
 *            structure, or one with the \a index field set to zero!
 * \return 0 on success, else non-zero.
 */
 int ecrt_domain_reg_pdo_entry_list(
-ec_domain_t *domain, /**< Domain. */
-const ec_pdo_entry_reg_t *pdo_entry_regs /**< Array of Pdo
-registrations. */
-);
-/** Registers a bunch of Pdo entries for a domain.
-*
-* Bitwise registration.
-*
-* \see ecrt_domain_reg_pdo_entry_list()
-*
-* \attention The registration array has to be terminated with an empty
-*            structure, or one with the \a index field set to zero!
-* \return 0 on success, else non-zero.
-*/
-int ecrt_domain_reg_pdo_entry_list_bitwise(
 ec_domain_t *domain, /**< Domain. */
 const ec_pdo_entry_reg_t *pdo_entry_regs /**< Array of Pdo
 registrations. */
 );

changeset 923	a6b51990e7e6
parent 916	db73994fbdac
child 925	939f3e9bba1e