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645 uint32_t timeout /**< Timeout in milliseconds. */ |
645 uint32_t timeout /**< Timeout in milliseconds. */ |
646 ); |
646 ); |
647 |
647 |
648 /** Access to the Sdo request's data. |
648 /** Access to the Sdo request's data. |
649 * |
649 * |
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650 * This function returns a pointer to the request's internal Sdo data memory. |
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651 * |
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652 * - After a read operation was successful, integer data can be evaluated using |
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653 * the EC_READ_*() macros as usual. Example: |
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654 * \code |
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655 * uint16_t value = EC_READ_U16(ecrt_sdo_request_data(sdo))); |
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656 * \endcode |
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657 * - If a write operation shall be triggered, the data have to be written to |
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658 * the internal memory. Use the EC_WRITE_*() macros, if you are writing |
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659 * integer data. Be sure, that the data fit into the memory. The memory size |
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660 * is a parameter of ecrt_slave_config_create_sdo_request(). |
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661 * \code |
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662 * EC_WRITE_U16(ecrt_sdo_request_data(sdo), 0xFFFF); |
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663 * \endcode |
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664 * |
650 * \attention The return value can be invalid during a read operation, because |
665 * \attention The return value can be invalid during a read operation, because |
651 * the internal Sdo data memory could be re-allocated if the read Sdo data do |
666 * the internal Sdo data memory could be re-allocated if the read Sdo data do |
652 * not fit inside. |
667 * not fit inside. |
653 * |
668 * |
654 * \return Pointer to the internal Sdo data memory. |
669 * \return Pointer to the internal Sdo data memory. |