--- a/master/domain.c Tue Feb 13 13:36:31 2007 +0000
+++ b/master/domain.c Tue Feb 13 13:42:37 2007 +0000
@@ -479,21 +479,6 @@
/*****************************************************************************/
/**
- Places all process data datagrams in the masters datagram queue.
-*/
-
-void ec_domain_queue_datagrams(ec_domain_t *domain /**< EtherCAT domain */)
-{
- ec_datagram_t *datagram;
-
- list_for_each_entry(datagram, &domain->datagrams, list) {
- ec_master_queue_datagram(domain->master, datagram);
- }
-}
-
-/*****************************************************************************/
-
-/**
Formats attribute data for SysFS reading.
\return number of bytes to read
*/
@@ -518,7 +503,6 @@
/**
Registers a PDO in a domain.
- - If \a data_ptr is NULL, the slave is only validated.
\return pointer to the slave on success, else NULL
\ingroup RealtimeInterface
*/
@@ -552,8 +536,6 @@
if (!(slave = ecrt_master_get_slave(master, address))) return NULL;
if (ec_slave_validate(slave, vendor_id, product_code)) return NULL;
- if (!data_ptr) return slave;
-
list_for_each_entry(pdo, &slave->sii_pdos, list) {
list_for_each_entry(entry, &pdo->entries, list) {
if (entry->index != pdo_index
@@ -576,7 +558,7 @@
/**
Registeres a bunch of data fields.
- Caution! The list has to be terminated with a NULL structure ({})!
+ \attention The list has to be terminated with a NULL structure ({})!
\return 0 in case of success, else < 0
\ingroup RealtimeInterface
*/
@@ -605,7 +587,6 @@
/**
Registers a PDO range in a domain.
- - If \a data_ptr is NULL, the slave is only validated.
\return pointer to the slave on success, else NULL
\ingroup RealtimeInterface
*/
@@ -639,8 +620,6 @@
if (!(slave = ecrt_master_get_slave(master, address))) return NULL;
if (ec_slave_validate(slave, vendor_id, product_code)) return NULL;
- if (!data_ptr) return slave;
-
if (ec_domain_reg_pdo_range(domain, slave,
direction, offset, length, data_ptr)) {
return NULL;
@@ -691,8 +670,22 @@
}
domain->working_counter_changes = 0;
}
-
- ec_domain_queue_datagrams(domain);
+}
+
+/*****************************************************************************/
+
+/**
+ Places all process data datagrams in the masters datagram queue.
+ \ingroup RealtimeInterface
+*/
+
+void ecrt_domain_queue(ec_domain_t *domain /**< EtherCAT domain */)
+{
+ ec_datagram_t *datagram;
+
+ list_for_each_entry(datagram, &domain->datagrams, list) {
+ ec_master_queue_datagram(domain->master, datagram);
+ }
}
/*****************************************************************************/
@@ -716,6 +709,7 @@
EXPORT_SYMBOL(ecrt_domain_register_pdo_list);
EXPORT_SYMBOL(ecrt_domain_register_pdo_range);
EXPORT_SYMBOL(ecrt_domain_process);
+EXPORT_SYMBOL(ecrt_domain_queue);
EXPORT_SYMBOL(ecrt_domain_state);
/** \endcond */