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

Improved VoE docs.

This commit is contained in:
Florian Pose 2008-10-15 10:00:22 +00:00
parent c2547728d1
commit 882a01c91f
1 changed files with 23 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

30
include/ecrt.h
View File

@ -746,6 +746,10 @@ ec_sdo_request_t *ecrt_slave_config_create_sdo_request(
/** Create an VoE handler to exchange vendor-specific data during realtime
* operation.
*
* The number of VoE handlers per slave configuration is not limited, but
* usually it is enough to create one for sending and one for receiving, if
* both can be done simultaneously.
*
* The created VoE handler object is freed automatically when the master is
* released.
*/
@ -947,7 +951,9 @@ void ecrt_sdo_request_read(
/** Sets the VoE header for future send operations.
*
* A VoE message shall contain a 4-byte vendor ID, followed by a 2-byte vendor
* type at as header. These numbers can be set with this function.
* type at as header. These numbers can be set with this function. The values
* are valid and will be used for future send operations until the next call
* of this method.
*/
void ecrt_voe_handler_send_header(
ec_voe_handler_t *voe, /**< VoE handler. */
@ -957,8 +963,8 @@ void ecrt_voe_handler_send_header(
/** Reads the header data of a received VoE message.
*
* This method can be used after a read operation has succeded, to get the
* received header information.
* This method can be used to get the received VoE header information after a
* read operation has succeeded.
*
* The header information is stored at the memory given by the pointer
* parameters.
@ -971,16 +977,22 @@ void ecrt_voe_handler_received_header(
/** Access to the VoE handler's data.
*
* This function returns a pointer to the VoE handler's internal memory, after
* the VoE header (see ecrt_voe_handler_send_header()).
* This function returns a pointer to the VoE handler's internal memory, that
* points to the actual VoE data right after the VoE header (see
* ecrt_voe_handler_send_header()).
*
* - After a read operation was successful, the memory contains the received
* data. The size of the received data can be determined via
* ecrt_voe_handler_data_size().
* - Before a write operation is triggered, the data have to be written to
* the internal memory. Be sure, that the data fit into the memory. The
* - Before a write operation is triggered, the data have to be written to the
* internal memory. Be sure, that the data fit into the memory. The reserved
* memory size is a parameter of ecrt_slave_config_create_voe_handler().
*
* \attention The returned pointer is not necessarily persistent: After a read
* operation, the internal memory may have been reallocated. This can be
* avoided by reserving enough memory via the \a size parameter of
* ecrt_slave_config_create_voe_handler().
*
* \return Pointer to the internal memory.
*/
uint8_t *ecrt_voe_handler_data(
@ -1020,6 +1032,10 @@ void ecrt_voe_handler_write(
* must be called in every bus cycle as long as it returns EC_REQUEST_BUSY. No
* other operation may be started while the handler is busy.
*
* The state machine queries the slave's send mailbox for new data to be send
* to the master. If no data appear within the EC_VOE_RESPONSE_TIMEOUT
* (defined in master/voe_handler.c), the operation fails.
*
* On success, the size of the read data can be determined via
* ecrt_voe_handler_data_size(), while the VoE header of the received data
* can be retrieved with ecrt_voe_handler_received_header().