diff --git a/master/api_usage_notes.md b/master/api_usage_notes.md index e365cda3..76656462 100644 --- a/master/api_usage_notes.md +++ b/master/api_usage_notes.md @@ -1,9 +1,10 @@ Notes regaring API Usage {#apiusage} ======================== -There are some restrictions on the [Application Interface](@ref -ApplicationInterface) with respect to the state of the master instance and the -calling context, which are explained in the following. +There are some restrictions on the +[Application Interface](@ref ApplicationInterface) with respect to the state of +the master instance and the calling context, which are explained in the +following. ## Rules of Thumb @@ -16,7 +17,7 @@ ecrt_sdo_request_read(). Don't forget to ecrt_master_receive() and ecrt_master_send(). These functions can be called from non-process context too, like Xenomai/RTAI applications or custom kernel modules. -## Master phase +## Master Phase The first distinction of cases is whether ecrt_master_activate() has been called or not. Before ecrt_master_activate() (or after @@ -27,13 +28,11 @@ the master switches into operation mode. The application is now in charge of steering the communication. Process data can be exchanged under real time constraints. Altering the slave configuration is not possible anymore. -| Tag | Description | -|---------------|---------------------------------------------| -| `master_op` | Master must be in operation phase, so after | -| | `ecrt_master_activate()` has been called. | -| `master_idle` | Master must be in idle phase, so before | -| | `ecrt_master_activate()` has been called. | -| `master_any` | Master can be in idle or operation phase. | +| Tag | Description | +|---------------|---------------------------------------------------------------------------------------| +| `master_op` | Master must be in operation phase, so after `ecrt_master_activate()` has been called. | +| `master_idle` | Master must be in idle phase, so before `ecrt_master_activate()` has been called. | +| `master_any` | Master can be in idle or operation phase. | ## Allowed Context @@ -45,9 +44,7 @@ in all contexts, for instance when using Xenomai/RTAI or a kernel timer. Only a very limited set of functions can be called from any context, marked as `rt_safe`. They do not allocate memory and will not block. -| Tag | Description | -|------------|------------------------------------------------| -| `rt_safe` | Realtime context (RT userspace, atomic/softirq | -| | context in kernel, Xenomai/RTAI RT task) safe. | -| `blocking` | Linux process context only (userspace or | -| | kernel), might block. | +| Tag | Description | +|------------|-----------------------------------------------------------------------------------------------| +| `rt_safe` | Realtime context (RT userspace, atomic/softirq context in kernel, Xenomai/RTAI RT task) safe. | +| `blocking` | Linux process context only (userspace or kernel), might block. |