equal
deleted
inserted
replaced
109 { |
109 { |
110 const char *slave_address; /**< slave address string (see |
110 const char *slave_address; /**< slave address string (see |
111 ecrt_master_get_slave()) */ |
111 ecrt_master_get_slave()) */ |
112 uint32_t vendor_id; /**< vendor ID */ |
112 uint32_t vendor_id; /**< vendor ID */ |
113 uint32_t product_code; /**< product code */ |
113 uint32_t product_code; /**< product code */ |
114 uint16_t pdo_index; /**< PDO index */ |
114 uint16_t pdo_entry_index; /**< PDO entry index */ |
115 uint8_t pdo_subindex; /**< PDO subindex */ |
115 uint8_t pdo_entry_subindex; /**< PDO entry subindex */ |
116 void **data_ptr; /**< address of the process data pointer */ |
116 void **data_ptr; /**< address of the process data pointer */ |
117 } |
117 } |
118 ec_pdo_reg_t; |
118 ec_pdo_reg_t; |
119 |
119 |
120 /** |
120 /** |
121 Direction type for ecrt_domain_register_pdo_range() |
121 Direction type for ecrt_domain_register_pdo_range() |
122 */ |
122 */ |
123 |
123 |
124 typedef enum {EC_DIR_INPUT, EC_DIR_OUTPUT} ec_direction_t; |
124 typedef enum { |
|
125 EC_DIR_OUTPUT, |
|
126 EC_DIR_INPUT |
|
127 } |
|
128 ec_direction_t; |
125 |
129 |
126 /****************************************************************************** |
130 /****************************************************************************** |
127 * Master request functions |
131 * Master request functions |
128 *****************************************************************************/ |
132 *****************************************************************************/ |
129 |
133 |
189 int ecrt_slave_conf_sdo16(ec_slave_t *slave, uint16_t sdo_index, |
193 int ecrt_slave_conf_sdo16(ec_slave_t *slave, uint16_t sdo_index, |
190 uint8_t sdo_subindex, uint16_t value); |
194 uint8_t sdo_subindex, uint16_t value); |
191 int ecrt_slave_conf_sdo32(ec_slave_t *slave, uint16_t sdo_index, |
195 int ecrt_slave_conf_sdo32(ec_slave_t *slave, uint16_t sdo_index, |
192 uint8_t sdo_subindex, uint32_t value); |
196 uint8_t sdo_subindex, uint32_t value); |
193 |
197 |
|
198 void ecrt_slave_pdo_mapping_clear(ec_slave_t *, ec_direction_t); |
|
199 int ecrt_slave_pdo_mapping_add(ec_slave_t *, ec_direction_t, uint16_t); |
|
200 int ecrt_slave_pdo_mapping(ec_slave_t *, ec_direction_t, unsigned int, ...); |
|
201 |
194 /****************************************************************************** |
202 /****************************************************************************** |
195 * Bitwise read/write macros |
203 * Bitwise read/write macros |
196 *****************************************************************************/ |
204 *****************************************************************************/ |
197 |
205 |
198 /** |
206 /** |