Made some more pointer arguments const in API.

include/ecrt.h

@@ -916,7 +916,7 @@ EC_PUBLIC_API int ecrt_master_sdo_download(
         uint16_t slave_position, /**< Slave position. */
         uint16_t index, /**< Index of the SDO. */
         uint8_t subindex, /**< Subindex of the SDO. */
-        uint8_t *data, /**< Data buffer to download. */
+        const uint8_t *data, /**< Data buffer to download. */
         size_t data_size, /**< Size of the data buffer. */
         uint32_t *abort_code /**< Abort code of the SDO download. */
         );
@@ -935,7 +935,7 @@ EC_PUBLIC_API int ecrt_master_sdo_download_complete(
         ec_master_t *master, /**< EtherCAT master. */
         uint16_t slave_position, /**< Slave position. */
         uint16_t index, /**< Index of the SDO. */
-        uint8_t *data, /**< Data buffer to download. */
+        const uint8_t *data, /**< Data buffer to download. */
         size_t data_size, /**< Size of the data buffer. */
         uint32_t *abort_code /**< Abort code of the SDO download. */
         );
@@ -973,7 +973,7 @@ EC_PUBLIC_API int ecrt_master_write_idn(
         uint16_t slave_position, /**< Slave position. */
         uint8_t drive_no, /**< Drive number. */
         uint16_t idn, /**< SoE IDN (see ecrt_slave_config_idn()). */
-        uint8_t *data, /**< Pointer to data to write. */
+        const uint8_t *data, /**< Pointer to data to write. */
         size_t data_size, /**< Size of data to write. */
         uint16_t *error_code /**< Pointer to variable, where an SoE error code
                                can be stored. */
@@ -1192,7 +1192,7 @@ EC_PUBLIC_API void ecrt_master_sync_slave_clocks(
  * \retval -EIO Slave synchronization datagram was not received.
  */
 EC_PUBLIC_API int ecrt_master_reference_clock_time(
-        ec_master_t *master, /**< EtherCAT master. */
+        const ec_master_t *master, /**< EtherCAT master. */
         uint32_t *time /**< Pointer to store the queried system time. */
         );
 
@@ -1219,7 +1219,7 @@ EC_PUBLIC_API void ecrt_master_sync_monitor_queue(
  * \return Upper estimation of the maximum time difference in ns.
  */
 EC_PUBLIC_API uint32_t ecrt_master_sync_monitor_process(
-        ec_master_t *master /**< EtherCAT master. */
+        const ec_master_t *master /**< EtherCAT master. */
         );
 
 /** Retry configuring slaves.
@@ -1228,6 +1228,8 @@ EC_PUBLIC_API uint32_t ecrt_master_sync_monitor_process(
  * OP state. In general, this is not necessary, because it is automatically
  * done by the master. But with special slaves, that can be reconfigured by
  * the vendor during runtime, it can be useful.
+ *
+ * \ingroup ApplicationInterfaceRT
  */
 EC_PUBLIC_API void ecrt_master_reset(
         ec_master_t *master /**< EtherCAT master. */
@@ -1643,7 +1645,7 @@ EC_PUBLIC_API int ecrt_slave_config_emerg_clear(
  * \return Number of overruns since last clear, or negative error code.
  */
 EC_PUBLIC_API int ecrt_slave_config_emerg_overruns(
-        ec_slave_config_t *sc /**< Slave configuration. */
+        const ec_slave_config_t *sc /**< Slave configuration. */
         );
 
 /** Create an SDO request to exchange SDOs during realtime operation.
@@ -1953,7 +1955,7 @@ EC_PUBLIC_API void ecrt_sdo_request_timeout(
  * \return Pointer to the internal SDO data memory.
  */
 EC_PUBLIC_API uint8_t *ecrt_sdo_request_data(
-        ec_sdo_request_t *req /**< SDO request. */
+        const ec_sdo_request_t *req /**< SDO request. */
         );
 
 /** Returns the current SDO data size.
@@ -2058,7 +2060,7 @@ void ecrt_soe_request_timeout(
  * \return Pointer to the internal IDN data memory.
  */
 EC_PUBLIC_API uint8_t *ecrt_soe_request_data(
-        ec_soe_request_t *req /**< SoE request. */
+        const ec_soe_request_t *req /**< SoE request. */
         );
 
 /** Returns the current IDN data size.
@@ -2078,7 +2080,8 @@ EC_PUBLIC_API size_t ecrt_soe_request_data_size(
  * \return Request state.
  */
 EC_PUBLIC_API ec_request_state_t ecrt_soe_request_state(
-        ec_soe_request_t *req /**< SoE request. */
+        ec_soe_request_t *req /**< SoE request. Not const, because the
+                                internal data size may be updated. */
     );
 
 /** Schedule an SoE IDN write operation.
@@ -2155,7 +2158,7 @@ EC_PUBLIC_API void ecrt_voe_handler_received_header(
  * \return Pointer to the internal memory.
  */
 EC_PUBLIC_API uint8_t *ecrt_voe_handler_data(
-        ec_voe_handler_t *voe /**< VoE handler. */
+        const ec_voe_handler_t *voe /**< VoE handler. */
         );
 
 /** Returns the current data size.
@@ -2257,22 +2260,16 @@ EC_PUBLIC_API ec_request_state_t ecrt_voe_handler_execute(
  * \return Pointer to the internal memory.
  */
 EC_PUBLIC_API uint8_t *ecrt_reg_request_data(
-        ec_reg_request_t *req /**< Register request. */
+        const ec_reg_request_t *req /**< Register request. */
         );
 
 /** Get the current state of the register request.
  *
  * \return Request state.
  */
-#ifdef __KERNEL__
 ec_request_state_t ecrt_reg_request_state(
         const ec_reg_request_t *req /**< Register request. */
     );
-#else
-EC_PUBLIC_API ec_request_state_t ecrt_reg_request_state(
-        ec_reg_request_t *req /**< Register request. */
-    );
-#endif
 
 /** Schedule an register write operation.
  *

lib/master.c

@@ -405,9 +405,9 @@ int ecrt_master_get_pdo_entry(ec_master_t *master, uint16_t slave_position,
 
 /****************************************************************************/
 
-int ecrt_master_sdo_download(ec_master_t *master, uint16_t slave_position,
+int ecrt_master_sdo_download(ec_master_t *master,
-        uint16_t index, uint8_t subindex, uint8_t *data,
+        uint16_t slave_position, uint16_t index, uint8_t subindex,
-        size_t data_size, uint32_t *abort_code)
+        const uint8_t *data, size_t data_size, uint32_t *abort_code)
 {
     ec_ioctl_slave_sdo_download_t download;
     int ret;
@@ -417,7 +417,7 @@ int ecrt_master_sdo_download(ec_master_t *master, uint16_t slave_position,
     download.sdo_entry_subindex = subindex;
     download.complete_access = 0;
     download.data_size = data_size;
-    download.data = data;
+    download.data = (uint8_t *) data; // will only be read in ioctl()
 
     ret = ioctl(master->fd, EC_IOCTL_SLAVE_SDO_DOWNLOAD, &download);
     if (EC_IOCTL_IS_ERROR(ret)) {
@@ -435,7 +435,7 @@ int ecrt_master_sdo_download(ec_master_t *master, uint16_t slave_position,
 /****************************************************************************/
 
 int ecrt_master_sdo_download_complete(ec_master_t *master,
-        uint16_t slave_position, uint16_t index, uint8_t *data,
+        uint16_t slave_position, uint16_t index, const uint8_t *data,
         size_t data_size, uint32_t *abort_code)
 {
     ec_ioctl_slave_sdo_download_t download;
@@ -446,7 +446,7 @@ int ecrt_master_sdo_download_complete(ec_master_t *master,
     download.sdo_entry_subindex = 0;
     download.complete_access = 1;
     download.data_size = data_size;
-    download.data = data;
+    download.data = (uint8_t *) data; // will only be read in ioctl()
 
     ret = ioctl(master->fd, EC_IOCTL_SLAVE_SDO_DOWNLOAD, &download);
     if (EC_IOCTL_IS_ERROR(ret)) {
@@ -493,7 +493,7 @@ int ecrt_master_sdo_upload(ec_master_t *master, uint16_t slave_position,
 /****************************************************************************/
 
 int ecrt_master_write_idn(ec_master_t *master, uint16_t slave_position,
-        uint8_t drive_no, uint16_t idn, uint8_t *data, size_t data_size,
+        uint8_t drive_no, uint16_t idn, const uint8_t *data, size_t data_size,
         uint16_t *error_code)
 {
     ec_ioctl_slave_soe_write_t io;
@@ -503,7 +503,7 @@ int ecrt_master_write_idn(ec_master_t *master, uint16_t slave_position,
     io.drive_no = drive_no;
     io.idn = idn;
     io.data_size = data_size;
-    io.data = data;
+    io.data = (uint8_t *) data; // will only be read in ioctl()
 
     ret = ioctl(master->fd, EC_IOCTL_SLAVE_SOE_WRITE, &io);
     if (EC_IOCTL_IS_ERROR(ret)) {
@@ -742,7 +742,8 @@ void ecrt_master_sync_slave_clocks(ec_master_t *master)
 
 /****************************************************************************/
 
-int ecrt_master_reference_clock_time(ec_master_t *master, uint32_t *time)
+int ecrt_master_reference_clock_time(const ec_master_t *master,
+        uint32_t *time)
 {
     int ret;
 
@@ -770,7 +771,7 @@ void ecrt_master_sync_monitor_queue(ec_master_t *master)
 
 /****************************************************************************/
 
-uint32_t ecrt_master_sync_monitor_process(ec_master_t *master)
+uint32_t ecrt_master_sync_monitor_process(const ec_master_t *master)
 {
     uint32_t time_diff;
     int ret;

lib/reg_request.c

@@ -48,14 +48,14 @@ void ec_reg_request_clear(ec_reg_request_t *reg)
  * Application interface.
  ****************************************************************************/
 
-uint8_t *ecrt_reg_request_data(ec_reg_request_t *reg)
+uint8_t *ecrt_reg_request_data(const ec_reg_request_t *reg)
 {
     return reg->data;
 }
 
 /****************************************************************************/
 
-ec_request_state_t ecrt_reg_request_state(ec_reg_request_t *reg)
+ec_request_state_t ecrt_reg_request_state(const ec_reg_request_t *reg)
 {
     ec_ioctl_reg_request_t io;
     int ret;

lib/sdo_request.c

@@ -86,7 +86,7 @@ void ecrt_sdo_request_timeout(ec_sdo_request_t *req, uint32_t timeout)
 
 /****************************************************************************/
 
-uint8_t *ecrt_sdo_request_data(ec_sdo_request_t *req)
+uint8_t *ecrt_sdo_request_data(const ec_sdo_request_t *req)
 {
     return req->data;
 }

lib/slave_config.c

@@ -523,7 +523,7 @@ int ecrt_slave_config_emerg_clear(ec_slave_config_t *sc)
 
 /****************************************************************************/
 
-int ecrt_slave_config_emerg_overruns(ec_slave_config_t *sc)
+int ecrt_slave_config_emerg_overruns(const ec_slave_config_t *sc)
 {
     ec_ioctl_sc_emerg_t io;
     int ret;

lib/soe_request.c

@@ -86,7 +86,7 @@ void ecrt_soe_request_timeout(ec_soe_request_t *req, uint32_t timeout)
 
 /****************************************************************************/
 
-uint8_t *ecrt_soe_request_data(ec_soe_request_t *req)
+uint8_t *ecrt_soe_request_data(const ec_soe_request_t *req)
 {
     return req->data;
 }

lib/voe_handler.c

@@ -86,7 +86,7 @@ void ecrt_voe_handler_received_header(const ec_voe_handler_t *voe,
 
 /****************************************************************************/
 
-uint8_t *ecrt_voe_handler_data(ec_voe_handler_t *voe)
+uint8_t *ecrt_voe_handler_data(const ec_voe_handler_t *voe)
 {
     return voe->data;
 }

master/coe_emerg_ring.c

@@ -160,7 +160,7 @@ int ec_coe_emerg_ring_clear_ring(
  * \return Number of overruns.
  */
 int ec_coe_emerg_ring_overruns(
-        ec_coe_emerg_ring_t *ring /**< Emergency ring. */
+        const ec_coe_emerg_ring_t *ring /**< Emergency ring. */
         )
 {
     return ring->overruns;

master/coe_emerg_ring.h

@@ -63,7 +63,7 @@ int ec_coe_emerg_ring_size(ec_coe_emerg_ring_t *, size_t);
 void ec_coe_emerg_ring_push(ec_coe_emerg_ring_t *, const u8 *);
 int ec_coe_emerg_ring_pop(ec_coe_emerg_ring_t *, u8 *);
 int ec_coe_emerg_ring_clear_ring(ec_coe_emerg_ring_t *);
-int ec_coe_emerg_ring_overruns(ec_coe_emerg_ring_t *);
+int ec_coe_emerg_ring_overruns(const ec_coe_emerg_ring_t *);
 
 /****************************************************************************/
 

master/master.c

@@ -2769,7 +2769,8 @@ void ecrt_master_application_time(ec_master_t *master, uint64_t app_time)
 
 /****************************************************************************/
 
-int ecrt_master_reference_clock_time(ec_master_t *master, uint32_t *time)
+int ecrt_master_reference_clock_time(const ec_master_t *master,
+        uint32_t *time)
 {
     if (!master->dc_ref_clock) {
         return -ENXIO;
@@ -2829,7 +2830,7 @@ void ecrt_master_sync_monitor_queue(ec_master_t *master)
 
 /****************************************************************************/
 
-uint32_t ecrt_master_sync_monitor_process(ec_master_t *master)
+uint32_t ecrt_master_sync_monitor_process(const ec_master_t *master)
 {
     if (master->sync_mon_datagram.state == EC_DATAGRAM_RECEIVED) {
         return EC_READ_U32(master->sync_mon_datagram.data) & 0x7fffffff;
@@ -2841,7 +2842,7 @@ uint32_t ecrt_master_sync_monitor_process(ec_master_t *master)
 /****************************************************************************/
 
 int ecrt_master_sdo_download(ec_master_t *master, uint16_t slave_position,
-        uint16_t index, uint8_t subindex, uint8_t *data,
+        uint16_t index, uint8_t subindex, const uint8_t *data,
         size_t data_size, uint32_t *abort_code)
 {
     ec_sdo_request_t request;
@@ -2920,7 +2921,7 @@ int ecrt_master_sdo_download(ec_master_t *master, uint16_t slave_position,
 /****************************************************************************/
 
 int ecrt_master_sdo_download_complete(ec_master_t *master,
-        uint16_t slave_position, uint16_t index, uint8_t *data,
+        uint16_t slave_position, uint16_t index, const uint8_t *data,
         size_t data_size, uint32_t *abort_code)
 {
     ec_sdo_request_t request;
@@ -3084,7 +3085,7 @@ int ecrt_master_sdo_upload(ec_master_t *master, uint16_t slave_position,
 /****************************************************************************/
 
 int ecrt_master_write_idn(ec_master_t *master, uint16_t slave_position,
-        uint8_t drive_no, uint16_t idn, uint8_t *data, size_t data_size,
+        uint8_t drive_no, uint16_t idn, const uint8_t *data, size_t data_size,
         uint16_t *error_code)
 {
     ec_soe_request_t request;

master/reg_request.c

@@ -75,7 +75,7 @@ void ec_reg_request_clear(
  * Application interface.
  ****************************************************************************/
 
-uint8_t *ecrt_reg_request_data(ec_reg_request_t *reg)
+uint8_t *ecrt_reg_request_data(const ec_reg_request_t *reg)
 {
     return reg->data;
 }

master/sdo_request.c

@@ -194,7 +194,7 @@ void ecrt_sdo_request_timeout(ec_sdo_request_t *req, uint32_t timeout)
 
 /****************************************************************************/
 
-uint8_t *ecrt_sdo_request_data(ec_sdo_request_t *req)
+uint8_t *ecrt_sdo_request_data(const ec_sdo_request_t *req)
 {
     return req->data;
 }

master/slave_config.c

@@ -1121,7 +1121,7 @@ int ecrt_slave_config_emerg_clear(ec_slave_config_t *sc)
 
 /****************************************************************************/
 
-int ecrt_slave_config_emerg_overruns(ec_slave_config_t *sc)
+int ecrt_slave_config_emerg_overruns(const ec_slave_config_t *sc)
 {
     return ec_coe_emerg_ring_overruns(&sc->emerg_ring);
 }

master/soe_request.c

@@ -279,7 +279,7 @@ void ecrt_soe_request_timeout(ec_soe_request_t *req, uint32_t timeout)
 
 /****************************************************************************/
 
-uint8_t *ecrt_soe_request_data(ec_soe_request_t *req)
+uint8_t *ecrt_soe_request_data(const ec_soe_request_t *req)
 {
     return req->data;
 }

master/voe_handler.c

@@ -134,7 +134,7 @@ void ecrt_voe_handler_received_header(const ec_voe_handler_t *voe,
 
 /****************************************************************************/
 
-uint8_t *ecrt_voe_handler_data(ec_voe_handler_t *voe)
+uint8_t *ecrt_voe_handler_data(const ec_voe_handler_t *voe)
 {
     return voe->datagram.data + EC_MBOX_HEADER_SIZE + EC_VOE_HEADER_SIZE;
 }