diff --git a/configure.ac b/configure.ac index adae2ca9ad02de5c597c14e8a1b91931304a265f..4a1c71d26c1ecefbfdef200d42f4d40f1642365d 100644 --- a/configure.ac +++ b/configure.ac @@ -3,7 +3,7 @@ #------------------------------------------------------------------------------ AC_PREREQ(2.59) -AC_INIT([ethercat],[1.1.1],[fp@igh-essen.com]) +AC_INIT([ethercat],[1.2.0-rc1],[fp@igh-essen.com]) AC_CONFIG_AUX_DIR([autoconf]) AM_INIT_AUTOMAKE([-Wall -Werror dist-bzip2]) AC_PREFIX_DEFAULT([/opt/etherlab]) diff --git a/include/ecrt.h b/include/ecrt.h index 93b28a2fbf8cab39f433780ca70ac75ec00b9d52..6812cd4a73aaa655f97a77c42d3cc8efed675324 100644 --- a/include/ecrt.h +++ b/include/ecrt.h @@ -109,7 +109,6 @@ void ecrt_master_callbacks(ec_master_t *master, int (*request_cb)(void *), ec_domain_t *ecrt_master_create_domain(ec_master_t *master); int ecrt_master_activate(ec_master_t *master); -void ecrt_master_deactivate(ec_master_t *master); // deprecated! void ecrt_master_prepare(ec_master_t *master); @@ -149,6 +148,7 @@ ec_slave_t *ecrt_domain_register_pdo_range(ec_domain_t *domain, void **data_ptr); void ecrt_domain_process(ec_domain_t *domain); +void ecrt_domain_queue(ec_domain_t *domain); int ecrt_domain_state(const ec_domain_t *domain); /****************************************************************************** @@ -162,9 +162,6 @@ int ecrt_slave_conf_sdo16(ec_slave_t *slave, uint16_t sdo_index, int ecrt_slave_conf_sdo32(ec_slave_t *slave, uint16_t sdo_index, uint8_t sdo_subindex, uint32_t value); -int ecrt_slave_pdo_size(ec_slave_t *slave, uint16_t pdo_index, - uint8_t pdo_subindex, size_t size); // deprecated - /****************************************************************************** * Bitwise read/write macros *****************************************************************************/ diff --git a/master/domain.c b/master/domain.c index e409a97ed8acf710f5918c43e624b8e8896eb6d9..56c7297dc794f2bd3415e698c9b578c99180340d 100644 --- a/master/domain.c +++ b/master/domain.c @@ -478,21 +478,6 @@ int ec_domain_alloc(ec_domain_t *domain, /**< EtherCAT domain */ /*****************************************************************************/ -/** - Places all process data datagrams in the masters datagram queue. -*/ - -void ec_domain_queue_datagrams(ec_domain_t *domain /**< EtherCAT domain */) -{ - ec_datagram_t *datagram; - - list_for_each_entry(datagram, &domain->datagrams, list) { - ec_master_queue_datagram(domain->master, datagram); - } -} - -/*****************************************************************************/ - /** Formats attribute data for SysFS reading. \return number of bytes to read @@ -691,8 +676,22 @@ void ecrt_domain_process(ec_domain_t *domain /**< EtherCAT domain */) } domain->working_counter_changes = 0; } +} + +/*****************************************************************************/ + +/** + Places all process data datagrams in the masters datagram queue. + \ingroup RealtimeInterface +*/ + +void ecrt_domain_queue(ec_domain_t *domain /**< EtherCAT domain */) +{ + ec_datagram_t *datagram; - ec_domain_queue_datagrams(domain); + list_for_each_entry(datagram, &domain->datagrams, list) { + ec_master_queue_datagram(domain->master, datagram); + } } /*****************************************************************************/ @@ -716,6 +715,7 @@ EXPORT_SYMBOL(ecrt_domain_register_pdo); EXPORT_SYMBOL(ecrt_domain_register_pdo_list); EXPORT_SYMBOL(ecrt_domain_register_pdo_range); EXPORT_SYMBOL(ecrt_domain_process); +EXPORT_SYMBOL(ecrt_domain_queue); EXPORT_SYMBOL(ecrt_domain_state); /** \endcond */