--- a/include/ecrt.h Fri May 30 07:25:11 2008 +0000
+++ b/include/ecrt.h Fri May 30 08:56:47 2008 +0000
@@ -57,13 +57,12 @@
* offers the possibility to use a shared-memory region. Therefore,
* added the domain methods ecrt_domain_size() and
* ecrt_domain_external_memory().
- * - PDO registration functions do not return a process data pointer any
- * more. Instead an offset is returned by the funtion. In addition, an
- * optional bit position can be requested.
- * This was necessary for the external domain memory. An additional
- * advantage is, that the returned offset is immediately valid.
- * If the domain's process data is allocated internally, the start
- * address can be retrieved with ecrt_domain_data().
+ * - Pdo entry registration functions do not return a process data pointer,
+ * but an offset in the domain's process data. In addition, an optional bit
+ * position can be requested. This was necessary for the external domain
+ * memory. An additional advantage is, that the returned offset is
+ * immediately valid. If the domain's process data is allocated internally,
+ * the start address can be retrieved with ecrt_domain_data().
* - Replaced ecrt_slave_pdo_mapping/add/clear() with
* ecrt_slave_config_pdo_assign_add() to add a Pdo to a sync manager's Pdo
* assignment and ecrt_slave_config_pdo_mapping_add() to add a Pdo entry to a
@@ -81,8 +80,8 @@
* renamed ec_pdo_reg_t to ec_pdo_entry_reg_t and ecrt_domain_register_pdo()
* to ecrt_slave_config_reg_pdo_entry().
* - Removed ecrt_domain_register_pdo_range(), because it's functionality can
- * be reached by specifying an explicit Pdo mapping and registering those
- * Pdo entries.
+ * be reached by specifying an explicit Pdo assignment/mapping and
+ * registering the mapped Pdo entries.
* - Added an Sdo access interface, working with Sdo requests. These can be
* scheduled for reading and writing during realtime operation.
* - Exported ecrt_slave_config_sdo(), the generic Sdo configuration function.
@@ -126,7 +125,7 @@
/*****************************************************************************/
-/** End of the Pdo list.
+/** End of the Pdo entry list.
*
* This is used in ecrt_slave_config_pdos().
*/
@@ -177,9 +176,10 @@
* This is used in ec_domain_state_t.
*/
typedef enum {
- EC_WC_ZERO = 0, /**< No Pdos were exchanged. */
- EC_WC_INCOMPLETE, /**< Some of the registered Pdos were exchanged. */
- EC_WC_COMPLETE /**< All registered Pdos were exchanged. */
+ EC_WC_ZERO = 0, /**< No registered process data were exchanged. */
+ EC_WC_INCOMPLETE, /**< Some of the registered process data were
+ exchanged. */
+ EC_WC_COMPLETE /**< All registered process data were exchanged. */
} ec_wc_state_t;
/*****************************************************************************/
@@ -195,7 +195,7 @@
/*****************************************************************************/
-/** Direction type for Pdo mapping functions.
+/** Direction type for Pdo assignment functions.
*/
typedef enum {
EC_DIR_OUTPUT, /**< Values written by the master. */
@@ -211,9 +211,8 @@
*/
typedef struct {
uint16_t index; /**< Index of the Pdo entry to add to the Pdo
- configuration. */
- uint8_t subindex; /**< Subindex of the Pdo entry to add to the
- Pdo configuration. */
+ mapping. */
+ uint8_t subindex; /**< Subindex of the Pdo entry. */
uint8_t bit_length; /**< Size of the Pdo entry in bit. */
} ec_pdo_entry_info_t;
@@ -226,10 +225,11 @@
*/
typedef struct {
ec_direction_t dir; /**< Pdo direction (input/output). */
- uint16_t index; /**< Index of the Pdo to map. */
+ uint16_t index; /**< Index of the Pdo to assign. */
unsigned int n_entries; /**< Number of Pdo entries in \a entries to map.
Zero means, that the default mapping shall be
- used. */
+ used (this can only be done if the slave is
+ present at bus configuration time). */
ec_pdo_entry_info_t *entries; /**< Array of Pdo entries to map. This must
contain at least \a n_entries values. */
} ec_pdo_info_t;
@@ -248,14 +248,12 @@
uint32_t product_code; /**< Slave product code. */
uint16_t index; /**< Pdo entry index. */
uint8_t subindex; /**< Pdo entry subindex. */
- unsigned int *offset; /**< Pointer to a variable to store the Pdo's
- offset in the process data. This can either be byte-
- or bitwise, depending on whether
- ecrt_domain_reg_pdo_entry_list() */
- unsigned int *bitposition; /** Pointer to variable to store a bit
- position within the address. Can be NULL,
- in which case an error is raised if the
- PDO does not byte-align. */
+ unsigned int *offset; /**< Pointer to a variable to store the Pdo entry's
+ (byte-)offset in the process data. */
+ unsigned int *bit_position; /** Pointer to a variable to store a bit
+ position (0-7) within the \a offset. Can be
+ NULL, in which case an error is raised if the
+ Pdo entry does not byte-align. */
} ec_pdo_entry_reg_t;
/*****************************************************************************/
@@ -357,12 +355,11 @@
/** Finishes the configuration phase and prepares for realtime mode.
*
- * This function has to be called after all Pdo entries are registered. It
- * tells the master that the configuration phase is finished and the realtime
- * operation will begin. The function allocates internal memory for the
- * domains and calculates the logical FMMU addresses for domain members. It
- * tells the master state machine that the bus configuration is now to be
- * applied.
+ * This function tells the master that the configuration phase is finished and
+ * the realtime operation will begin. The function allocates internal memory
+ * for the domains and calculates the logical FMMU addresses for domain
+ * members. It tells the master state machine that the bus configuration is
+ * now to be applied.
*
* \attention After this function has been called, the realtime application is
* in charge of cyclically calling ecrt_master_send() and
@@ -515,15 +512,15 @@
/** Registers a Pdo entry for process data exchange in a domain.
*
- * Searches the current Pdo assignment and Pdo mappings for the given Pdo
- * entry. An error is raised, if the given entry is not mapped. Otherwise, the
- * corresponding sync manager and FMMU configurations are provided for slave
- * configuration and the respective sync manager's assigned Pdos are appended
- * to the given domain, if not already done. The offset of the requested Pdo
- * entry's data inside the domain's process data is returned. Optionally, the
- * Pdo entry bit position can be retrieved if a non-null pointer is passed
- * to the \a bitposition parameter. If this is null, an error is raised if
- * the Pdo entry does not byte align.
+ * Searches the assigned Pdos for the given Pdo entry. An error is raised, if
+ * the given entry is not mapped. Otherwise, the corresponding sync manager
+ * and FMMU configurations are provided for slave configuration and the
+ * respective sync manager's assigned Pdos are appended to the given domain,
+ * if not already done. The offset of the requested Pdo entry's data inside
+ * the domain's process data is returned. Optionally, the Pdo entry bit
+ * position (0-7) can be retrieved via the \a bit_position output parameter.
+ * This pointer may be \a NULL, in this case an error is raised if the Pdo
+ * entry does not byte-align.
*
* \retval >=0 Success: Offset of the Pdo entry's process data.
* \retval -1 Error: Pdo entry not found.
@@ -535,7 +532,7 @@
uint16_t entry_index, /**< Index of the Pdo entry to register. */
uint8_t entry_subindex, /**< Subindex of the Pdo entry to register. */
ec_domain_t *domain, /**< Domain. */
- unsigned int *bitposition /**< Optional address if bit addressing
+ unsigned int *bit_position /**< Optional address if bit addressing
is desired */
);