bkinnightskytw
/
ethercat
mirror of https://gitlab.com/bkinnightskytw/ethercat.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Made some more pointer arguments const in API.

This commit is contained in:
Florian Pose 2024-02-02 10:56:09 +01:00
parent 0829b3f802
commit 4ce4d08b7b
15 changed files with 44 additions and 45 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

31
include/ecrt.h
View File

@ -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.
*

21
lib/master.c
View File

@ -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,
uint16_t index, uint8_t subindex, uint8_t *data,
size_t data_size, uint32_t *abort_code)
int ecrt_master_sdo_download(ec_master_t *master,
uint16_t slave_position, uint16_t index, uint8_t subindex,
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;

4
lib/reg_request.c
View File

@ -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;

2
lib/sdo_request.c
View File

@ -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;
}

2
lib/slave_config.c
View File

@ -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;

2
lib/soe_request.c
View File

@ -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;
}

2
lib/voe_handler.c
View File

@ -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;
}

2
master/coe_emerg_ring.c
View File

@ -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;

2
master/coe_emerg_ring.h
View File

@ -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 *);
/****************************************************************************/

11
master/master.c
View File

@ -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;

2
master/reg_request.c
View File

@ -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;
}

2
master/sdo_request.c
View File

@ -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;
}

2
master/slave_config.c
View File

@ -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);
}

2
master/soe_request.c
View File

@ -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;
}

2
master/voe_handler.c
View File

@ -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;
}