diff -r 1a7067207637 -r 7bc131b92039 include/ecrt.h
--- a/include/ecrt.h	Fri Aug 10 15:08:44 2007 +0000
+++ b/include/ecrt.h	Fri Aug 10 15:27:08 2007 +0000
@@ -59,8 +59,8 @@
 
 /*****************************************************************************/
 
-#define ECRT_VER_MAJOR 1U
-#define ECRT_VER_MINOR 2U
+#define ECRT_VER_MAJOR 1
+#define ECRT_VER_MINOR 3
 
 #define ECRT_VERSION(a,b) (((a) << 8) + (b))
 #define ECRT_VERSION_MAGIC ECRT_VERSION(ECRT_VER_MAJOR, ECRT_VER_MINOR)
@@ -77,31 +77,58 @@
 typedef struct ec_slave ec_slave_t; /**< \see ec_slave */
 
 /**
-   Initialization type for PDO registrations.
-   This type is used as a parameter for the ec_domain_register_pdo_list()
-   function.
-*/
-
-typedef struct
-{
-    const char *slave_address; /**< slave address string (see
-                                  ecrt_master_get_slave()) */
+ * Bus status.
+ */
+
+typedef enum {
+    EC_BUS_FAILURE = -1, /**< At least one slave with process data exchange
+                           is offline. */
+    EC_BUS_OK            /**< All slaves with process data exchange are
+                           online. */
+}
+ec_bus_status_t;
+
+/**
+ * Master status.
+ * This is used for the output parameter of ecrt_master_get_status().
+ */
+
+typedef struct {
+    ec_bus_status_t bus_status; /**< \see ec_bus_status_t */
+    unsigned int bus_tainted; /**< non-zero, if the bus topology is invalid */
+    unsigned int slaves_responding; /**< number of responging slaves */
+}
+ec_master_status_t;
+
+/**
+ * List entry for domain PDO registrations.
+ * This type is used as a parameter for the ecrt_domain_register_pdo_list()
+ * convenience function.
+ */
+
+typedef struct {
+    const char *slave_address; /**< slave address string
+                                 \see ec_master_parse_slave_address() */
     uint32_t vendor_id; /**< vendor ID */
     uint32_t product_code; /**< product code */
-    uint16_t pdo_index; /**< PDO index */
-    uint8_t pdo_subindex; /**< PDO subindex */
+    uint16_t pdo_entry_index; /**< PDO entry index */
+    uint8_t pdo_entry_subindex; /**< PDO entry subindex */
     void **data_ptr; /**< address of the process data pointer */
 }
 ec_pdo_reg_t;
 
 /**
-   Direction type for ec_domain_register_pdo_range()
-*/
-
-typedef enum {EC_DIR_INPUT, EC_DIR_OUTPUT} ec_direction_t;
-
-/******************************************************************************
- *  Master request functions
+ * Direction type for PDO mapping and range registration functions.
+ */
+
+typedef enum {
+    EC_DIR_OUTPUT, /**< values written by master */
+    EC_DIR_INPUT   /**< values read by master */
+}
+ec_direction_t;
+
+/******************************************************************************
+ *  Global functions
  *****************************************************************************/
 
 ec_master_t *ecrt_request_master(unsigned int master_index);
@@ -118,45 +145,35 @@
 
 ec_domain_t *ecrt_master_create_domain(ec_master_t *master);
 
+ec_slave_t *ecrt_master_get_slave(const ec_master_t *, const char *,
+        uint32_t vendor_id, uint32_t product_code);
+ec_slave_t *ecrt_master_get_slave_by_pos(const ec_master_t *, uint16_t,
+        uint32_t vendor_id, uint32_t product_code);
+
 int ecrt_master_activate(ec_master_t *master);
 
 void ecrt_master_send(ec_master_t *master);
 void ecrt_master_receive(ec_master_t *master);
 
-void ecrt_master_run(ec_master_t *master);
-
-ec_slave_t *ecrt_master_get_slave(const ec_master_t *, const char *);
-
-/** \cond */
-int ecrt_master_state(const ec_master_t *master);
-/** \endcond */
+void ecrt_master_get_status(const ec_master_t *master, ec_master_status_t *);
 
 /******************************************************************************
  *  Domain Methods
  *****************************************************************************/
 
-ec_slave_t *ecrt_domain_register_pdo(ec_domain_t *domain,
-                                     const char *address,
-                                     uint32_t vendor_id,
-                                     uint32_t product_code,
-                                     uint16_t pdo_index,
-                                     uint8_t pdo_subindex,
-                                     void **data_ptr);
+int ecrt_domain_register_pdo(ec_domain_t *domain, ec_slave_t *slave,
+        uint16_t pdo_index, uint8_t pdo_subindex, void **data_ptr);
+
+int ecrt_domain_register_pdo_range(ec_domain_t *domain, ec_slave_t *slave,
+        ec_direction_t direction, uint16_t offset, uint16_t length,
+        void **data_ptr);
 
 int ecrt_domain_register_pdo_list(ec_domain_t *domain,
-                                  const ec_pdo_reg_t *pdos);
-
-ec_slave_t *ecrt_domain_register_pdo_range(ec_domain_t *domain,
-                                           const char *address,
-                                           uint32_t vendor_id,
-                                           uint32_t product_code,
-                                           ec_direction_t direction,
-                                           uint16_t offset,
-                                           uint16_t length,
-                                           void **data_ptr);
+        const ec_pdo_reg_t *pdos);
 
 void ecrt_domain_process(ec_domain_t *domain);
 void ecrt_domain_queue(ec_domain_t *domain);
+
 int ecrt_domain_state(const ec_domain_t *domain);
 
 /******************************************************************************
@@ -170,24 +187,28 @@
 int ecrt_slave_conf_sdo32(ec_slave_t *slave, uint16_t sdo_index,
                           uint8_t sdo_subindex, uint32_t value);
 
+void ecrt_slave_pdo_mapping_clear(ec_slave_t *, ec_direction_t);
+int ecrt_slave_pdo_mapping_add(ec_slave_t *, ec_direction_t, uint16_t);
+int ecrt_slave_pdo_mapping(ec_slave_t *, ec_direction_t, unsigned int, ...);
+
 /******************************************************************************
  *  Bitwise read/write macros
  *****************************************************************************/
 
 /**
-   Read a certain bit of an EtherCAT data byte.
-   \param DATA EtherCAT data pointer
-   \param POS bit position
-*/
+ * Read a certain bit of an EtherCAT data byte.
+ * \param DATA EtherCAT data pointer
+ * \param POS bit position
+ */
 
 #define EC_READ_BIT(DATA, POS) ((*((uint8_t *) (DATA)) >> (POS)) & 0x01)
 
 /**
-   Write a certain bit of an EtherCAT data byte.
-   \param DATA EtherCAT data pointer
-   \param POS bit position
-   \param VAL new bit value
-*/
+ * Write a certain bit of an EtherCAT data byte.
+ * \param DATA EtherCAT data pointer
+ * \param POS bit position
+ * \param VAL new bit value
+ */
 
 #define EC_WRITE_BIT(DATA, POS, VAL) \
     do { \
@@ -200,68 +221,67 @@
  *****************************************************************************/
 
 /**
-   Read an 8-bit unsigned value from EtherCAT data.
-   \return EtherCAT data value
-*/
+ * Read an 8-bit unsigned value from EtherCAT data.
+ * \return EtherCAT data value
+ */
 
 #define EC_READ_U8(DATA) \
     ((uint8_t) *((uint8_t *) (DATA)))
 
 /**
-   Read an 8-bit signed value from EtherCAT data.
-   \param DATA EtherCAT data pointer
-   \return EtherCAT data value
-*/
+ * Read an 8-bit signed value from EtherCAT data.
+ * \param DATA EtherCAT data pointer
+ * \return EtherCAT data value
+ */
 
 #define EC_READ_S8(DATA) \
      ((int8_t) *((uint8_t *) (DATA)))
 
 /**
-   Read a 16-bit unsigned value from EtherCAT data.
-   \param DATA EtherCAT data pointer
-   \return EtherCAT data value
-*/
+ * Read a 16-bit unsigned value from EtherCAT data.
+ * \param DATA EtherCAT data pointer
+ * \return EtherCAT data value
+ */
 
 #define EC_READ_U16(DATA) \
      ((uint16_t) le16_to_cpup((void *) (DATA)))
 
 /**
-   Read a 16-bit signed value from EtherCAT data.
-   \param DATA EtherCAT data pointer
-   \return EtherCAT data value
-*/
+ * Read a 16-bit signed value from EtherCAT data.
+ * \param DATA EtherCAT data pointer
+ * \return EtherCAT data value
+ */
 
 #define EC_READ_S16(DATA) \
      ((int16_t) le16_to_cpup((void *) (DATA)))
 
 /**
-   Read a 32-bit unsigned value from EtherCAT data.
-   \param DATA EtherCAT data pointer
-   \return EtherCAT data value
-*/
+ * Read a 32-bit unsigned value from EtherCAT data.
+ * \param DATA EtherCAT data pointer
+ * \return EtherCAT data value
+ */
 
 #define EC_READ_U32(DATA) \
      ((uint32_t) le32_to_cpup((void *) (DATA)))
 
 /**
-   Read a 32-bit signed value from EtherCAT data.
-   \param DATA EtherCAT data pointer
-   \return EtherCAT data value
-*/
+ * Read a 32-bit signed value from EtherCAT data.
+ * \param DATA EtherCAT data pointer
+ * \return EtherCAT data value
+ */
 
 #define EC_READ_S32(DATA) \
      ((int32_t) le32_to_cpup((void *) (DATA)))
 
-
 /******************************************************************************
  *  Write macros
  *****************************************************************************/
 
 /**
-   Write an 8-bit unsigned value to EtherCAT data.
-   \param DATA EtherCAT data pointer
-   \param VAL new value
-*/
+ * Write an 8-bit unsigned value to EtherCAT data.
+ * \param DATA EtherCAT data pointer
+ * \param VAL new value
+ */
 
 #define EC_WRITE_U8(DATA, VAL) \
     do { \
@@ -269,18 +289,18 @@
     } while (0)
 
 /**
-   Write an 8-bit signed value to EtherCAT data.
-   \param DATA EtherCAT data pointer
-   \param VAL new value
-*/
+ * Write an 8-bit signed value to EtherCAT data.
+ * \param DATA EtherCAT data pointer
+ * \param VAL new value
+ */
 
 #define EC_WRITE_S8(DATA, VAL) EC_WRITE_U8(DATA, VAL)
 
 /**
-   Write a 16-bit unsigned value to EtherCAT data.
-   \param DATA EtherCAT data pointer
-   \param VAL new value
-*/
+ * Write a 16-bit unsigned value to EtherCAT data.
+ * \param DATA EtherCAT data pointer
+ * \param VAL new value
+ */
 
 #define EC_WRITE_U16(DATA, VAL) \
     do { \
@@ -289,18 +309,18 @@
     } while (0)
 
 /**
-   Write a 16-bit signed value to EtherCAT data.
-   \param DATA EtherCAT data pointer
-   \param VAL new value
-*/
+ * Write a 16-bit signed value to EtherCAT data.
+ * \param DATA EtherCAT data pointer
+ * \param VAL new value
+ */
 
 #define EC_WRITE_S16(DATA, VAL) EC_WRITE_U16(DATA, VAL)
 
 /**
-   Write a 32-bit unsigned value to EtherCAT data.
-   \param DATA EtherCAT data pointer
-   \param VAL new value
-*/
+ * Write a 32-bit unsigned value to EtherCAT data.
+ * \param DATA EtherCAT data pointer
+ * \param VAL new value
+ */
 
 #define EC_WRITE_U32(DATA, VAL) \
     do { \
@@ -309,10 +329,10 @@
     } while (0)
 
 /**
-   Write a 32-bit signed value to EtherCAT data.
-   \param DATA EtherCAT data pointer
-   \param VAL new value
-*/
+ * Write a 32-bit signed value to EtherCAT data.
+ * \param DATA EtherCAT data pointer
+ * \param VAL new value
+ */
 
 #define EC_WRITE_S32(DATA, VAL) EC_WRITE_U32(DATA, VAL)