562 \index{Application interface}

   562 \index{Application interface}

   563 

   563 

   564 %   Interface version

   564 %   Interface version

   565 %   Master Requesting and Releasing

   565 %   Master Requesting and Releasing

   566 %   Master Locking

   566 %   Master Locking

   568 %   Configuring Pdo assignment and mapping

   567 %   Configuring Pdo assignment and mapping

   569 %   Domains (memory)

   568 %   Domains (memory)

   570 %   Pdo entry registration

   569 %   Pdo entry registration

   571 %   Sdo configuration

   570 %   Sdo configuration

   572 %   Sdo access

   571 %   Sdo access

   573 %   VoE handlers

   572 %   VoE handlers

   575 

   573 

   576 The application interface provides functions and data structures for

   574 The application interface provides functions and data structures for

   577 applications to access an EtherCAT master. The complete documentation of the

   575 applications to access an EtherCAT master. The complete documentation of the

   578 interface is included as Doxygen~\cite{doxygen} comments in the header file

   576 interface is included as Doxygen~\cite{doxygen} comments in the header file

   579 \textit{include/ecrt.h}. It can either be read directly from the file

   577 \textit{include/ecrt.h}. It can either be read directly from the file

   706 % TODO PDOS endianess

   704 % TODO PDOS endianess

   707 % TODO Datagram injection

   705 % TODO Datagram injection

   708 

   706 

   709 %------------------------------------------------------------------------------

   707 %------------------------------------------------------------------------------

   710 

   708 

   712 \label{sec:concurr}

   710 \label{sec:concurr}

   713 \index{Concurrency}

   711 \index{Concurrency}

   714 

   712 

   715 In some cases, one master is used by several instances, for example when an

   713 In some cases, one master is used by several instances, for example when an

   716 application does cyclic process data exchange, and there are EoE-capable

   714 application does cyclic process data exchange, and there are EoE-capable

   740 Figure~\ref{fig:locks} exemplary shows, how two processes share one master:

   738 Figure~\ref{fig:locks} exemplary shows, how two processes share one master:

   741 The application's cyclic task uses the master for process data exchange, while

   739 The application's cyclic task uses the master for process data exchange, while

   742 the master-internal EoE process uses it to communicate with EoE-capable

   740 the master-internal EoE process uses it to communicate with EoE-capable

   743 slaves.  Both have to acquire the master lock before access: The application

   741 slaves.  Both have to acquire the master lock before access: The application

   744 task can access the lock natively, while the EoE process has to use the

   742 task can access the lock natively, while the EoE process has to use the

   747 

   745 

   748 %------------------------------------------------------------------------------

   746 %------------------------------------------------------------------------------

   749 

   747 

   750 \chapter{Ethernet Devices}

   748 \chapter{Ethernet Devices}

   751 \label{sec:devices}

   749 \label{sec:devices}