diff -r 3fb18812871a -r 7e743a61a991 include/ecrt.h --- a/include/ecrt.h Tue Mar 28 17:40:57 2006 +0000 +++ b/include/ecrt.h Wed Mar 29 10:30:13 2006 +0000 @@ -50,34 +50,21 @@ // Master methods ec_domain_t *ecrt_master_create_domain(ec_master_t *master); + int ecrt_master_activate(ec_master_t *master); void ecrt_master_deactivate(ec_master_t *master); + int ecrt_master_fetch_sdo_lists(ec_master_t *master); + void ecrt_master_sync_io(ec_master_t *master); void ecrt_master_async_send(ec_master_t *master); void ecrt_master_async_receive(ec_master_t *master); void ecrt_master_prepare_async_io(ec_master_t *master); + void ecrt_master_debug(ec_master_t *master, int level); void ecrt_master_print(const ec_master_t *master); -int ecrt_master_sdo_exp_write(ec_master_t *master, - const char *slave_addr, - uint16_t sdo_index, - uint8_t sdo_subindex, - uint32_t value, - size_t size); -int ecrt_master_sdo_exp_read(ec_master_t *master, - const char *slave_addr, - uint16_t sdo_index, - uint8_t sdo_subindex, - uint32_t *value); -int ecrt_master_sdo_read(ec_master_t *master, - const char *slave_addr, - uint16_t sdo_index, - uint8_t sdo_subindex, - uint8_t *data, - size_t *size); -int ecrt_master_write_slave_alias(ec_master_t *master, - const char *slave_address, uint16_t alias); + +ec_slave_t *ecrt_master_get_slave(const ec_master_t *, const char *); /*****************************************************************************/ // Domain Methods @@ -86,12 +73,12 @@ const char *address, const char *vendor_name, const char *product_name, - void **data_ptr, - const char *field_name, + void **data_ptr, const char *field_name, unsigned int field_index, unsigned int field_count); int ecrt_domain_register_field_list(ec_domain_t *domain, ec_field_init_t *fields); + void ecrt_domain_queue(ec_domain_t *domain); void ecrt_domain_process(ec_domain_t *domain); int ecrt_domain_state(ec_domain_t *domain); @@ -99,20 +86,22 @@ /*****************************************************************************/ // Slave Methods -int ecrt_slave_sdo_exp_write(ec_slave_t *slave, - uint16_t sdo_index, - uint8_t sdo_subindex, - uint32_t value, - size_t size); -int ecrt_slave_sdo_exp_read(ec_slave_t *slave, - uint16_t sdo_index, - uint8_t sdo_subindex, - uint32_t *value); -int ecrt_slave_sdo_read(ec_slave_t *slave, - uint16_t sdo_index, - uint8_t sdo_subindex, - uint8_t *data, - size_t *size); +int ecrt_slave_sdo_read_exp8(ec_slave_t *slave, uint16_t sdo_index, + uint8_t sdo_subindex, uint8_t *value); +int ecrt_slave_sdo_read_exp16(ec_slave_t *slave, uint16_t sdo_index, + uint8_t sdo_subindex, uint16_t *value); +int ecrt_slave_sdo_read_exp32(ec_slave_t *slave, uint16_t sdo_index, + uint8_t sdo_subindex, uint32_t *value); +int ecrt_slave_sdo_write_exp8(ec_slave_t *slave, uint16_t sdo_index, + uint8_t sdo_subindex, uint8_t value); +int ecrt_slave_sdo_write_exp16(ec_slave_t *slave, uint16_t sdo_index, + uint8_t sdo_subindex, uint16_t value); +int ecrt_slave_sdo_write_exp32(ec_slave_t *slave, uint16_t sdo_index, + uint8_t sdo_subindex, uint32_t value); +int ecrt_slave_sdo_read(ec_slave_t *slave, uint16_t sdo_index, + uint8_t sdo_subindex, uint8_t *data, size_t *size); + +int ecrt_slave_write_alias(ec_slave_t *slave, uint16_t alias); /*****************************************************************************/ // Bitwise read/write macros