73 * - Renamed ec_sdo_request_state_t to #ec_request_state_t, because it is also |
73 * - Renamed ec_sdo_request_state_t to #ec_request_state_t, because it is also |
74 * used by VoE handlers. |
74 * used by VoE handlers. |
75 * - Removed 'const' from argument of ecrt_sdo_request_state(), because the |
75 * - Removed 'const' from argument of ecrt_sdo_request_state(), because the |
76 * userspace library has to modify object internals. |
76 * userspace library has to modify object internals. |
77 * - Added 64-bit data access macros. |
77 * - Added 64-bit data access macros. |
|
78 * - Added ecrt_slave_config_idn() method for storing SoE IDN configurations. |
78 * |
79 * |
79 * @{ |
80 * @{ |
80 */ |
81 */ |
81 |
82 |
82 /*****************************************************************************/ |
83 /*****************************************************************************/ |
1132 void ecrt_slave_config_state( |
1133 void ecrt_slave_config_state( |
1133 const ec_slave_config_t *sc, /**< Slave configuration */ |
1134 const ec_slave_config_t *sc, /**< Slave configuration */ |
1134 ec_slave_config_state_t *state /**< State object to write to. */ |
1135 ec_slave_config_state_t *state /**< State object to write to. */ |
1135 ); |
1136 ); |
1136 |
1137 |
|
1138 /** Add an SoE IDN configuration. |
|
1139 * |
|
1140 * A configuration for a Sercos-over-EtherCAT IDN is stored in the slave |
|
1141 * configuration object and is written to the slave whenever the slave is |
|
1142 * being configured by the master. This usually happens once on master |
|
1143 * activation, but can be repeated subsequently, for example after the slave's |
|
1144 * power supply failed. |
|
1145 * |
|
1146 * Please note that the this function does not do any endianess correction. |
|
1147 * Data have to be passed in EtherCAT endianess (little-endian). |
|
1148 * |
|
1149 * \retval 0 Success. |
|
1150 * \retval <0 Error code. |
|
1151 */ |
|
1152 int ecrt_slave_config_idn( |
|
1153 ec_slave_config_t *sc, /**< Slave configuration. */ |
|
1154 uint16_t idn, /**< SoE IDN. */ |
|
1155 const uint8_t *data, /**< Pointer to the data. */ |
|
1156 size_t size /**< Size of the \a data. */ |
|
1157 ); |
|
1158 |
1137 /****************************************************************************** |
1159 /****************************************************************************** |
1138 * Domain methods |
1160 * Domain methods |
1139 *****************************************************************************/ |
1161 *****************************************************************************/ |
1140 |
1162 |
1141 /** Registers a bunch of PDO entries for a domain. |
1163 /** Registers a bunch of PDO entries for a domain. |