--- a/include/ecrt.h	Wed May 28 07:19:33 2008 +0000
+++ b/include/ecrt.h	Wed May 28 07:26:28 2008 +0000
@@ -58,11 +58,13 @@
  *   added the domain methods ecrt_domain_size() and
  *   ecrt_domain_external_memory().
  * - Replaced the process data pointers in the Pdo entry registration
- *   functions with a process data offset, that is now returned by
- *   ecrt_slave_config_reg_pdo_entry(). This was necessary for the external
- *   domain memory. An additional advantage is, that the returned offset value
- *   is directly usable. If the domain's process data is allocated internally,
- *   the start address can be retrieved with ecrt_domain_data().
+ *   functions with a process data offset, that is now returned either byte-
+ *   or bitwise by ecrt_slave_config_reg_pdo_entry() or
+ *   ecrt_slave_config_reg_pdo_entry_bitwise(), respectively. 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
@@ -238,7 +240,8 @@
 /** List record type for Pdo entry mass-registration.
  *
  * This type is used for the array parameter of the
- * ecrt_domain_reg_pdo_entry_list() convenience function.
+ * ecrt_domain_reg_pdo_entry_list() and
+ * ecrt_domain_reg_pdo_entry_list_bitwise() convenience functions.
  */
 typedef struct {
     uint16_t alias; /**< Slave alias address. */
@@ -248,7 +251,10 @@
     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. */
+                       offset in the process data. This can either be byte-
+                       or bitwise, depending on whether
+                       ecrt_domain_reg_pdo_entry_list() or
+                       ecrt_domain_reg_pdo_entry_list_bitwise() was called. */
 } ec_pdo_entry_reg_t;
 
 /*****************************************************************************/
@@ -518,6 +524,7 @@
  * \retval >=0 Success: Offset of the Pdo entry's process data.
  * \retval -1  Error: Pdo entry not found.
  * \retval -2  Error: Failed to register Pdo entry.
+ * \retval -3  Error: Pdo entry is not byte-aligned.
  */
 int ecrt_slave_config_reg_pdo_entry(
         ec_slave_config_t *sc, /**< Slave configuration. */
@@ -526,6 +533,23 @@
         ec_domain_t *domain /**< Domain. */
         );
 
+/** Registers a Pdo entry for process data exchange in a domain.
+ *
+ * Bitwise registration function.
+ *
+ * \see ecrt_slave_config_reg_pdo_entry().
+ *
+ * \retval >=0 Success: Bit offset of the Pdo entry's process data.
+ * \retval -1  Error: Pdo entry not found.
+ * \retval -2  Error: Failed to register Pdo entry.
+ */
+int ecrt_slave_config_reg_pdo_entry_bitwise(
+        ec_slave_config_t *sc, /**< Slave configuration. */
+        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. */
+        );
+
 /** Add an Sdo configuration.
  *
  * An Sdo configuration is stored in the slave configuration object and is
@@ -623,6 +647,22 @@
                                                    registrations. */
         );
 
+/** Registers a bunch of Pdo entries for a domain.
+ *
+ * Bitwise registration.
+ *
+ * \see ecrt_domain_reg_pdo_entry_list()
+ *
+ * \attention The registration array has to be terminated with an empty
+ *            structure, or one with the \a index field set to zero!
+ * \return 0 on success, else non-zero.
+ */
+int ecrt_domain_reg_pdo_entry_list_bitwise(
+        ec_domain_t *domain, /**< Domain. */
+        const ec_pdo_entry_reg_t *pdo_entry_regs /**< Array of Pdo
+                                                   registrations. */
+        );
+
 /** Returns the current size of the domain's process data.
  *
  * \return Size of the process data image.

--- a/master/domain.c	Wed May 28 07:19:33 2008 +0000
+++ b/master/domain.c	Wed May 28 07:26:28 2008 +0000
@@ -401,6 +401,30 @@
 
 /*****************************************************************************/
 
+int ecrt_domain_reg_pdo_entry_list_bitwise(ec_domain_t *domain,
+        const ec_pdo_entry_reg_t *regs)
+{
+    const ec_pdo_entry_reg_t *reg;
+    ec_slave_config_t *sc;
+    int ret;
+    
+    for (reg = regs; reg->index; reg++) {
+        if (!(sc = ecrt_master_slave_config(domain->master, reg->alias,
+                        reg->position, reg->vendor_id, reg->product_code)))
+            return -1;
+
+        if ((ret = ecrt_slave_config_reg_pdo_entry_bitwise(sc, reg->index,
+                        reg->subindex, domain)) < 0)
+            return -1;
+
+        *reg->offset = ret;
+    }
+
+    return 0;
+}
+
+/*****************************************************************************/
+
 size_t ecrt_domain_size(ec_domain_t *domain)
 {
     return domain->data_size;

--- a/master/slave_config.c	Wed May 28 07:19:33 2008 +0000
+++ b/master/slave_config.c	Wed May 28 07:26:28 2008 +0000
@@ -193,10 +193,11 @@
  * is written to the slave during the configuration. The FMMU configuration
  * is done in a way, that the complete data range of the corresponding sync
  * manager is covered. Seperate FMMUs are configured for each domain. If the
- * FMMU configuration is already prepared, the function returns with success.
- *
- * \retval >=0 Logical offset address.
- * \retval -1  FMMU limit reached.
+ * FMMU configuration is already prepared, the function does nothing and
+ * returns with success.
+ *
+ * \retval >=0 Success, logical offset byte address.
+ * \retval -1  Error, FMMU limit reached.
  */
 int ec_slave_config_prepare_fmmu(
         ec_slave_config_t *sc, /**< Slave configuration. */
@@ -609,9 +610,33 @@
         ec_domain_t *domain /**< Domain. */
         )
 {
+    int ret = ecrt_slave_config_reg_pdo_entry_bitwise(
+            sc, index, subindex, domain);
+
+    if (ret < 0)
+        return ret;
+
+    if (ret % 8) {
+        EC_ERR("Bytewise Pdo entry registration requested, but the result is "
+                "not byte-aligned.\n");
+        return -3;
+    }
+
+    return ret / 8;
+}
+
+/*****************************************************************************/
+
+int ecrt_slave_config_reg_pdo_entry_bitwise(
+        ec_slave_config_t *sc, /**< Slave configuration. */
+        uint16_t index, /**< Index of Pdo entry to register. */
+        uint8_t subindex, /**< Subindex of Pdo entry to register. */
+        ec_domain_t *domain /**< Domain. */
+        )
+{
     ec_direction_t dir;
     ec_pdo_list_t *pdos;
-    unsigned int bit_offset, byte_offset;
+    unsigned int bit_offset;
     ec_pdo_t *pdo;
     ec_pdo_entry_t *entry;
     int ret;
@@ -635,10 +660,9 @@
     return -1;
 
 found:
-    byte_offset = bit_offset / 8;
     if ((ret = ec_slave_config_prepare_fmmu(sc, domain, dir)) < 0)
         return -2;
-    return ret + byte_offset;
+    return ret * 8 + bit_offset;
 }
 
 /*****************************************************************************/