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Updated docs.

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This commit is contained in:
Florian Pose
2008-03-04 12:59:50 +00:00
parent 9b458ac5a6
commit ca265cd7b7
3 changed files with 25 additions and 11 deletions
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include/ecrt.h
+22 -11
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@@ -33,9 +33,9 @@
/** \file
*
* EtherCAT Real-Time Interface.
* EtherCAT Realtime Interface.
*
* \defgroup RealtimeInterface EtherCAT Real-Time Interface
* \defgroup RealtimeInterface EtherCAT Realtime Interface
*
* EtherCAT interface for realtime modules. This interface is designed for
* realtime modules that want to use EtherCAT. There are functions to request
@@ -81,6 +81,8 @@
* - Removed ecrt_domain_register_pdo_range(), because it's functionality can
* be reached by specifying an explicit Pdo mapping and registering those
* Pdo entries.
* - Added an Sdo access interface, working with Sdo requests. These can be
* scheduled for reading and writing during realtime operation.
*
* @{
*/
@@ -102,19 +104,19 @@
* Global definitions
*****************************************************************************/
/** EtherCAT real-time interface major version number.
/** EtherCAT realtime interface major version number.
*/
#define ECRT_VER_MAJOR 1
/** EtherCAT real-time interface minor version number.
/** EtherCAT realtime interface minor version number.
*/
#define ECRT_VER_MINOR 4
/** EtherCAT real-time interface version word generator.
/** EtherCAT realtime interface version word generator.
*/
#define ECRT_VERSION(a, b) (((a) << 8) + (b))
/** EtherCAT real-time interface version word.
/** EtherCAT realtime interface version word.
*/
#define ECRT_VERSION_MAGIC ECRT_VERSION(ECRT_VER_MAJOR, ECRT_VER_MINOR)
@@ -635,6 +637,8 @@ void ecrt_domain_state(
*
* If the request cannot be processed in the specified time, if will be marked
* as failed.
*
* \todo The timeout functionality is not yet implemented.
*/
void ecrt_sdo_request_timeout(
ec_sdo_request_t *req, /**< Sdo request. */
@@ -643,8 +647,9 @@ void ecrt_sdo_request_timeout(
/** Access to the Sdo request's data.
*
* \attention The return value is invalid during a read operation, because the
* internal Sdo data memory could be re-allocated.
* \attention The return value can be invalid during a read operation, because
* the internal Sdo data memory could be re-allocated if the read Sdo data do
* not fit inside.
*
* \return Pointer to the internal Sdo data memory.
*/
@@ -661,16 +666,22 @@ ec_sdo_request_state_t ecrt_sdo_request_state(
);
/** Schedule an Sdo write operation.
*
* \attention This method may not be called while ecrt_sdo_request_state()
* returns EC_SDO_REQUEST_BUSY.
*/
void ecrt_sdo_request_write(
ec_sdo_request_t *req /**< Sdo request. */
);
/** Schedule an Sdo read operation .
/** Schedule an Sdo read operation.
*
* \attention This method may not be called while ecrt_sdo_request_state()
* returns EC_SDO_REQUEST_BUSY.
*
* \attention After calling this function, the return value of
* ecrt_sdo_request_data() will be invalid while ecrt_sdo_request_state()
* returns EC_SDO_REQUEST_BUSY.
* ecrt_sdo_request_data() must be considered as invalid while
* ecrt_sdo_request_state() returns EC_SDO_REQUEST_BUSY.
*/
void ecrt_sdo_request_read(
ec_sdo_request_t *req /**< Sdo request. */