API Changes

Beckhoff License

Old Signature	New Signature
void EC_API_SLV_SSC_setLicense(char* pLicense_p, uint8_t length_p)	Removed from API

Tasks

Old Signature	New Signature
uint32_t EC_API_SLV_load(OSAL_PJumpBuf_t *pExceptionPoint, OSAL_ERR_CBHandler_t cbErrHandler, uint32_t pruSelect)	uint32_t EC_API_SLV_load(OSAL_ERR_CBHandler_t cbErrHandler, uint32_t pruSelect)
uint32_t EC_API_SLV_prepareTasks(OSAL_TASK_Priority_t pdiTaskPrio, OSAL_TASK_Priority_t statusLEDTaskPrio, OSAL_TASK_Priority_t sync0TaskPrio, OSAL_TASK_Priority_t sync1TaskPrio, OSAL_TASK_Priority_t eoeTaskPrio)	uint32_t EC_API_SLV_prepareTasks(OSAL_TASK_Priority_t pdiTaskPrio, OSAL_TASK_Priority_t statusLEDTaskPrio, OSAL_TASK_Priority_t sync0TaskPrio, OSAL_TASK_Priority_t sync1TaskPrio, uint32_t pdiTaskStackSize, uint32_t statusLEDTaskStackSize, uint32_t sync0TaskStackSize, uint32_t sync1TaskStackSize)
void EC_API_SLV_unLoad(void)	uint32_t EC_API_SLV_unLoad(void)
void EC_API_SLV_prepareTasks(OSAL_TASK_Priority_t pdiTaskPrio_p, OSAL_TASK_Priority_t statusLEDTaskPrio_p, OSAL_TASK_Priority_t sync0TaskPrio_p, OSAL_TASK_Priority_t sync1TaskPrio_p, OSAL_TASK_Priority_t eoeTaskPrio_p)	uint32_t EC_API_SLV_prepareTasks(OSAL_TASK_Priority_t pdiTaskPrio, OSAL_TASK_Priority_t statusLEDTaskPrio, OSAL_TASK_Priority_t sync0TaskPrio, OSAL_TASK_Priority_t sync1TaskPrio, OSAL_TASK_Priority_t eoeTaskPrio)

Error handling

Old Signature	New Signature
void EC_API_SLV_cbRegisterErrorHandler(EC_API_SLV_SHandle_t* pEcSlaveApi_p, void* pContext_p, EC_API_SLV_CBStackError_t cbFunc_p)	uint32_t EC_API_SLV_cbRegisterErrorHandler(EC_API_SLV_SHandle_t* pHandle, EC_API_SLV_CBStackError_t cbFunc, void* pContext)
void EC_API_SLV_cbRegisterMeasurement(EC_API_SLV_SHandle_t* pEcSlaveApi_p, void* pContext_p, EC_API_SLV_CBMsrmt_t cbFunc_p)	uint32_t EC_API_SLV_cbRegisterMeasurement(EC_API_SLV_SHandle_t* pHandle, EC_API_SLV_CBMsrmt_t cbFunc, void* pContext)

EtherCAT Parameters

Old Signature	New Signature
uint32_t EC_API_SLV_getVersion(EC_API_SLV_SHandle_t* pEcSlaveApi_p)	uint32_t EC_API_SLV_getVendorId(EC_API_SLV_SHandle_t* pHandle, uint32_t* pVersion)
uint32_t EC_API_SLV_getVendorId(EC_API_SLV_SHandle_t* pEcSlaveApi_p)	uint32_t EC_API_SLV_getVendorId(EC_API_SLV_SHandle_t* pHandle, uint32_t* pVendorId)
uint32_t EC_API_SLV_getProductCode(EC_API_SLV_SHandle_t* pEcSlaveApi_p)	uint32_t EC_API_SLV_getProductCode(EC_API_SLV_SHandle_t* pHandle, uint32_t* pProductCode)
uint32_t EC_API_SLV_getRevisionNumber(EC_API_SLV_SHandle_t* pEcSlaveApi_p)	uint32_t EC_API_SLV_getRevisionNumber(EC_API_SLV_SHandle_t* pHandle, uint32_t* pRevisionNumber)
uint32_t EC_API_SLV_getSerialNumber(EC_API_SLV_SHandle_t* pEcSlaveApi_p)	uint32_t EC_API_SLV_getSerialNumber(EC_API_SLV_SHandle_t* pHandle, uint32_t* pSerialNumber)
char* EC_API_SLV_getProductName(EC_API_SLV_SHandle_t* pEcSlaveApi_p)	uint32_t EC_API_SLV_getProductName(EC_API_SLV_SHandle_t* pHandle, char** ppProductName)
char* EC_API_SLV_getGroupType(EC_API_SLV_SHandle_t* pEcSlaveApi_p)	uint32_t EC_API_SLV_getGroupType(EC_API_SLV_SHandle_t* pHandle, char** ppGroupType)
char* EC_API_SLV_getSwVersion(EC_API_SLV_SHandle_t* pEcSlaveApi_p)	uint32_t EC_API_SLV_getSwVersion(EC_API_SLV_SHandle_t* pHandle, char** ppSwVersion)
char* EC_API_SLV_getHwVersion(EC_API_SLV_SHandle_t* pEcSlaveApi_p)	uint32_t EC_API_SLV_getHwVersion(EC_API_SLV_SHandle_t* pHandle, char** ppHwVersion)

Beckhoff Stack callbacks

Old Signature	New Signature
void EC_API_SLV_cbRegisterStartMbxHandler(EC_API_SLV_SHandle_t* pEcSlaveApi_p, void* pContext_p, EC_API_SLV_CBStartMbxHandler_t cbFunc_p)	uint32_t EC_API_SLV_cbRegisterStartMbxHandler(EC_API_SLV_SHandle_t* pHandle, EC_API_SLV_CBStartMbxHandler_t cbFunc, void* pContext)
void EC_API_SLV_cbRegisterStopMbxHandler(EC_API_SLV_SHandle_t* pEcSlaveApi_p, void* pContext_p, EC_API_SLV_CBStopMbxHandler_t cbFunc_p)	uint32_t EC_API_SLV_cbRegisterStopMbxHandler(EC_API_SLV_SHandle_t* pHandle, EC_API_SLV_CBStopMbxHandler_t cbFunc, void* pContext)
void EC_API_SLV_cbRegisterStartInputHandler(EC_API_SLV_SHandle_t* pEcSlaveApi_p, void* pContext_p, EC_API_SLV_CBStartInputHandler_t cbFunc_p)	uint32_t EC_API_SLV_cbRegisterStartInputHandler(EC_API_SLV_SHandle_t* pHandle, EC_API_SLV_CBStartInputHandler_t cbFunc, void* pContext)
void EC_API_SLV_cbRegisterStopInputHandler(EC_API_SLV_SHandle_t* pEcSlaveApi_p, void* pContext_p, EC_API_SLV_CBStopInputHandler_t cbFunc_p)	uint32_t EC_API_SLV_cbRegisterStopInputHandler(EC_API_SLV_SHandle_t* pHandle, EC_API_SLV_CBStopInputHandler_t cbFunc, void* pContext)
void EC_API_SLV_cbRegisterStartOutputHandler(EC_API_SLV_SHandle_t* pEcSlaveApi_p, void* pContext_p, EC_API_SLV_CBStartOutputHandler_t cbFunc_p)	uint32_t EC_API_SLV_cbRegisterStartOutputHandler(EC_API_SLV_SHandle_t* pHandle, EC_API_SLV_CBStartOutputHandler_t cbFunc, void* pContext)
void EC_API_SLV_cbRegisterStopOuputHandler(EC_API_SLV_SHandle_t* pEcSlaveApi_p, void* pcontext_p, EC_API_SLV_CBStopOutputHandler_t cbFunc_p)	uint32_t EC_API_SLV_cbRegisterStopOuputHandler(EC_API_SLV_SHandle_t* pHandle, EC_API_SLV_CBStopOutputHandler_t cbFunc, void* pContext)
void EC_API_SLV_cbRegisterUserApplicationMainLoop(EC_API_SLV_SHandle_t* pEcSlaveApi_p, void* pContext_p,EC_API_SLV_CBUsrApplicationMainLoop_t cbFunc_p, void* pApplContext_p)	uint32_t EC_API_SLV_cbRegisterUserApplicationMainLoop(EC_API_SLV_SHandle_t* pHandle, EC_API_SLV_CBUsrApplicationMainLoop_t cbFunc, void* pContext)
void EC_API_SLV_cbRegisterUserApplicationRun(EC_API_SLV_SHandle_t* pEcSlaveApi_p, void* pContext_pEC_API_SLV_CBUsrApplicationRun_t cbFunc_p, void* pApplCtxt_p)	uint32_t EC_API_SLV_cbRegisterUserApplicationRun(EC_API_SLV_SHandle_t* pHandle, EC_API_SLV_CBUsrApplicationRun_t cbFunc, void* pContext)

Non-volatile storage

Old Signature	New Signature
void EC_API_SLV_cbRegisterFlashInit(EC_API_SLV_SHandle_t* pEcSlaveApi_p, void* pContext_p, EC_API_SLV_CBInitFlash_t cbFunc_p)	uint32_t EC_API_SLV_EEPROM_cbRegisterInit(EC_API_SLV_SHandle_t* pHandle, EC_API_SLV_CBEepromInit_t cbFunc, void* pContext)
void EC_API_SLV_EEPROM_cbRegisterLoad(EC_API_SLV_SHandle_t* pEcSlaveApi_p, void* pContext_p, EC_API_SLV_CBEepromLoad_t cbFunc_p)	uint32_t EC_API_SLV_EEPROM_cbRegisterRead(EC_API_SLV_SHandle_t* pHandle, EC_API_SLV_CBEepromRead_t cbFunc, void* pContext)
void EC_API_SLV_EEPROM_cbRegisterWrite(EC_API_SLV_SHandle_t* pEcSlaveApi_p, void* pContext_p, EC_API_SLV_CBEepromWrite_t cbFunc_p)	uint32_t EC_API_SLV_EEPROM_cbRegisterWrite(EC_API_SLV_SHandle_t* pHandle, EC_API_SLV_CBEepromWrite_t cbFunc, void* pContext)
uint32_t NVM_APP_write(const NVM_type_t type, const uint32_t id, const uint32_t offset, const uint32_t length, const void * const pData)	uint32_t NVM_APP_write(const NVM_type_t type, const uint32_t id, const uint32_t offset, const uint32_t length, const void * const pData, const uint32_t forceErase)
uint32_t NVM_APP_writeAsync(const NVM_type_t type, const uint32_t id, const uint32_t offset, const uint32_t length, const void * const pData)	uint32_t NVM_APP_writeAsync(const NVM_type_t type, const uint32_t id, const uint32_t offset, const uint32_t length, const void * const pData, const uint32_t forceErase)
uint32_t NVM_DRV_FLASH_write(const uint32_t id, const uint32_t offset, const uint32_t length, const void * const pData)	uint32_t NVM_DRV_FLASH_write(const uint32_t id, const uint32_t offset, const uint32_t length, const void * const pData, const uint32_t forceErase)

Process data handling

Old Signature	New Signature
void EC_API_SLV_cbRegisterPreSeqInputPDBuffer(EC_API_SLV_SHandle_t* pEcSlaveApi_p, void* pContext_p, EC_API_SLV_CBPreSeqInputPD_t cbFunc_p)	uint32_t EC_API_SLV_cbRegisterPreSeqInputPDBuffer(EC_API_SLV_SHandle_t* pHandle, EC_API_SLV_CBPreSeqInputPD_t cbFunc, void* pContext)
void EC_API_SLV_cbRegisterPreSeqOutputPDBuffer(EC_API_SLV_SHandle_t* pEcSlaveApi_p, void* pContext_p, EC_API_SLV_CBPreSeqOutputPD_t cbFunc_p)	uint32_t EC_API_SLV_cbRegisterPreSeqOutputPDBuffer(EC_API_SLV_SHandle_t* pHandle, EC_API_SLV_CBPreSeqOutputPD_t cbFunc, void* pContext)
void EC_API_SLV_cbRegisterPostSeqInputPDBuffer(EC_API_SLV_SHandle_t* pEcSlaveApi_p, void* pContext_p, EC_API_SLV_CBPostSeqInputPD_t cbFunc_p)	uint32_t EC_API_SLV_cbRegisterPostSeqInputPDBuffer(EC_API_SLV_SHandle_t* pHandle, EC_API_SLV_CBPostSeqInputPD_t cbFunc, void* pContext)
void EC_API_SLV_cbRegisterPostSeqOutputPDBuffer(EC_API_SLV_SHandle_t* pEcSlaveApi_p, void* pContext_p, EC_API_SLV_CBPostSeqOutputPD_t cbFunc_p)	uint32_t EC_API_SLV_cbRegisterPostSeqOutputPDBuffer(EC_API_SLV_SHandle_t* pHandle, EC_API_SLV_CBPostSeqOutputPD_t cbFunc, void* pContext)
void EC_API_SLV_preSeqInputPDBuffer(EC_API_SLV_SHandle_t* pEcSlaveApi_p, uint32_t length_p, void** ppInProcData_p)	uint32_t EC_API_SLV_preSeqInputPDBuffer(EC_API_SLV_SHandle_t* pHandle, uint32_t length, void** ppInProcData)
void EC_API_SLV_preSeqOutputPDBuffer(EC_API_SLV_SHandle_t* pEcSlaveApi_p, uint32_t length_p, void** ppOutProcData_p)	uint32_t EC_API_SLV_preSeqOutputPDBuffer(EC_API_SLV_SHandle_t* pHandle, uint32_t length, void** ppOutProcData)
void EC_API_SLV_postSeqInputPDBuffer(EC_API_SLV_SHandle_t* pEcSlaveApi_p, uint32_t length_p, void* pInProcData_p)	uint32_t EC_API_SLV_postSeqInputPDBuffer(EC_API_SLV_SHandle_t* pHandle, uint32_t length, void* pInProcData)
void EC_API_SLV_postSeqOutputPDBuffer(EC_API_SLV_SHandle_t* pEcSlaveApi_p, uint32_t length_p, void* pOutProcData_p)	uint32_t EC_API_SLV_postSeqOutputPDBuffer(EC_API_SLV_SHandle_t* pHandle, uint32_t length, void* pOutProcData)

CoE

Old Signature	New Signature
uint32_t EC_API_SLV_writeEmergency(uint16_t code_p, uint32_t length_p,uint8_t *pData_p)	uint32_t EC_API_SLV_CoE_writeEmergency(uint16_t code, uint32_t length,uint8_t *pData)
uint32_t EC_API_SLV_CoE_generateObjectDict(EC_API_SLV_SHandle_t* pEcSlaveApi_p)	Removed from API

EoE

Old Signature	New Signature
void EC_API_SLV_EoE_cbRegisterReceiveHandler(EC_API_SLV_SHandle_t* pEcSlaveApi_p, void* pContext_p, EC_API_SLV_EoE_CBReceiveHandler_t cbFunc_p)	uint32_t EC_API_SLV_EoE_cbRegisterReceiveHandler(EC_API_SLV_SHandle_t* pHandle, EC_API_SLV_EoE_CBReceiveHandler_t cbFunc, void* pContext)
void EC_API_SLV_EoE_cbRegisterSettingIndHandler(EC_API_SLV_SHandle_t* pEcSlaveApi_p, void* pContext_p, EC_API_SLV_EoE_CBSettingIndHandler_t cbFunc_p)	uint32_t EC_API_SLV_EoE_cbRegisterSettingIndHandler(EC_API_SLV_SHandle_t* pHandle, EC_API_SLV_EoE_CBSettingIndHandler_t cbFunc, void* pContext)

FoE

Old Signature	New Signature
void EC_API_SLV_FoE_cbRegisterOpenFileHandler(EC_API_SLV_SHandle_t* pEcSlaveApi_p, void* pContext_p, EC_API_SLV_FoE_CBOpenFileHandler_t cbFunc_p)	uint32_t EC_API_SLV_FoE_cbRegisterOpenFileHandler(EC_API_SLV_SHandle_t* pHandle, EC_API_SLV_FoE_CBOpenFileHandler_t cbFunc, void* pContext)
void EC_API_SLV_FoE_cbRegisterReadFileHandler(EC_API_SLV_SHandle_t* pEcSlaveApi_p, void* pContext_p, EC_API_SLV_FoE_CBReadFileHandler_t cbFunc_p)	uint32_t EC_API_SLV_FoE_cbRegisterReadFileHandler(EC_API_SLV_SHandle_t* pHandle, EC_API_SLV_FoE_CBReadFileHandler_t cbFunc, void* pContext)
void EC_API_SLV_FoE_cbRegisterWriteFileHandler(EC_API_SLV_SHandle_t* pEcSlaveApi_p, void* pContext_p, EC_API_SLV_FoE_CBWriteFileHandler_t cbFunc_p)	uint32_t EC_API_SLV_FoE_cbRegisterWriteFileHandler(EC_API_SLV_SHandle_t* pHandle, EC_API_SLV_FoE_CBWriteFileHandler_t cbFunc, void* pContext)
void EC_API_SLV_FoE_cbRegisterCloseFileHandler(EC_API_SLV_SHandle_t* pEcSlaveApi_p, void* pContext_p, EC_API_SLV_FoE_CBCloseFileHandler_t cbFunc_p)	uint32_t EC_API_SLV_FoE_cbRegisterCloseFileHandler(EC_API_SLV_SHandle_t* pHandle, EC_API_SLV_FoE_CBCloseFileHandler_t cbFunc, void* pContext)
void EC_API_SLV_FoE_cbRegisterFwUpdate(EC_API_SLV_SHandle_t* pEcSlaveApi_p, void* pContext_p, EC_API_SLV_FoE_CBFwUpdateHandler_t cbFunc_p)	uint32_t EC_API_SLV_FoE_cbRegisterFwUpdate(EC_API_SLV_SHandle_t* pHandle, EC_API_SLV_FoE_CBFwUpdateHandler_t cbFunc, void* pContext)
void EC_API_SLV_cbRegisterSystemReboot(EC_API_SLV_SHandle_t* pEcSlaveApi_p, void* pContext_p, EC_API_SLV_CBSystemRebootHandler_t cbFunc_p)	uint32_t EC_API_SLV_cbRegisterSystemReboot(EC_API_SLV_SHandle_t* pHandle, EC_API_SLV_CBSystemRebootHandler_t cbFunc, void* pContext)
void EC_API_SLV_setFwUpdateMode(EC_API_SLV_SHandle_t* pEcSlaveApi_p, bool fwUpdateRequired_p)	uint32_t EC_API_SLV_setFwUpdateMode(EC_API_SLV_SHandle_t* pHandle, bool fwUpdateRequired)
NA	ECATSLV_API uint32_t EC_API_SLV_FoE_cbRegisterStartBLHandler(EC_API_SLV_SHandle_t *pHandle, EC_API_SLV_FoE_CBStartBLHandler_t cbFunc, void *pContext)
NA	ECATSLV_API uint32_t EC_API_SLV_FoE_cbRegisterStopBLHandler(EC_API_SLV_SHandle_t *pHandle, EC_API_SLV_FoE_CBStopBLHandler_t cbFunc, void *pContext)
NA	void EC_SLV_APP_FoE_startBL(void* pContext)
NA	void EC_SLV_APP_FoE_stopBL(void* pContext)

AoE

Old Signature	New Signature
uint16_t (EC_API_SLV_AoE_CBReadRequestHandler_t)(void pContext, uint16_t port, uint16_t index, uint8_t subIndex, bool completeAccess, uint32_t* pLength, uint16_t* pData)	uint32_t (EC_API_SLV_AoE_CBReadRequestHandler_t)(void pContext, uint16_t port, uint16_t index, uint8_t subIndex, bool completeAccess, uint32_t* pLength, uint16_t* pData)
uint16_t (EC_API_SLV_AoE_CBWriteRequestHandler_t)(void pContext, uint16_t port, uint16_t index, uint8_t subIndex, bool completeAccess, uint32_t* pLength, uint16_t* pData)	uint32_t (EC_API_SLV_AoE_CBWriteRequestHandler_t)(void pContext, uint16_t port, uint16_t index, uint8_t subIndex, bool completeAccess, uint32_t* pLength, uint16_t* pData)
void EC_API_SLV_AoE_cbRegisterReadRequestHandler(EC_API_SLV_SHandle_t* pEcSlaveApi_p, void* pContext_p, EC_API_SLV_AoE_CBReadRequestHandler_t cbFunc_p)	uint32_t EC_API_SLV_AoE_cbRegisterReadRequestHandler(EC_API_SLV_SHandle_t* pHandle, EC_API_SLV_AoE_CBReadRequestHandler_t cbFunc, void* pContext)
void EC_API_SLV_AoE_cbRegisterWriteRequestHandler(EC_API_SLV_SHandle_t* pEcSlaveApi_p, void* pContext_p, EC_API_SLV_AoE_CBWriteRequestHandler_t cbFunc_p)	uint32_t EC_API_SLV_AoE_cbRegisterWriteRequestHandler(EC_API_SLV_SHandle_t* pHandle, EC_API_SLV_AoE_CBWriteRequestHandler_t cbFunc, void* pContext)

SoE

Old Signature	New Signature
void EC_API_SLV_SoE_cbRegisterSendHandler(EC_API_SLV_SHandle_t* pEcSlaveApi_p, void* pContext_p, EC_API_SLV_SoE_CBSend_t cbFunc_p)	uint32_t EC_API_SLV_SoE_cbRegisterSendHandler(EC_API_SLV_SHandle_t* pHandle, EC_API_SLV_SoE_CBSend_t cbFunc, void* pContext)
void EC_API_SLV_SoE_cbRegisterRecvHandler(EC_API_SLV_SHandle_t* pEcSlaveApi_p, void* pContext_p, EC_API_SLV_SoE_CBRecv_t cbFunc_p)	uint32_t EC_API_SLV_SoE_cbRegisterRecvHandler(EC_API_SLV_SHandle_t* pHandle, EC_API_SLV_SoE_CBRecv_t cbFunc, void* pContext)
void EC_API_SLV_SoE_cbRegisterNotificationReqHandler (EC_API_SLV_SHandle_t* pEcSlaveApi_p, void* pContext_p, EC_API_SLV_SoE_CBNofReq_t cbFunc_p)	uint32_t EC_API_SLV_SoE_cbRegisterNotificationReqHandler (EC_API_SLV_SHandle_t* pHandle, EC_API_SLV_SoE_CBNofReq_t cbFunc, void* pContext)
uint8_t EC_API_SLV_notificationResponse(uint16_t idn_p, uint16_t channel_p, uint16_t dataState_p)	uint32_t EC_API_SLV_SoE_notificationResponse(EC_API_SLV_SHandle_t* pHandle, uint16_t idn, uint16_t channel, uint16_t dataState, uint8_t* pResponse)

CiA 402

Old Signature	New Signature
void EC_API_SLV_CiA402_setAxisNumber(EC_API_SLV_SHandle_t* pEcSlaveApi_p, uint8_t axisNo_p)	uint32_t EC_API_SLV_CiA402_setAxisNumber(EC_API_SLV_SHandle_t* pHandle, uint8_t axisNo)
void EC_API_SLV_CiA402_activateAxis(EC_API_SLV_SHandle_t* pEcSlaveApi_p, uint8_t axisNo_p, bool active_p)	uint32_t EC_API_SLV_CiA402_activateAxis(EC_API_SLV_SHandle_t* pHandle, uint8_t axisNo, bool active)
void EC_API_SLV_CiA402_SM_clearErrorCode(EC_API_SLV_SHandle_t* pEcSlaveApi_p, uint8_t axisNo_p)	uint32_t EC_API_SLV_CiA402_SM_clearErrorCode(EC_API_SLV_SHandle_t* pHandle, uint8_t axisNo)
uint16_t EC_API_SLV_CiA402_SM_getErrorCode(EC_API_SLV_SHandle_t* pEcSlaveApi_p, uint8_t axisNo_p)	uint32_t EC_API_SLV_CiA402_SM_getErrorCode(EC_API_SLV_SHandle_t* pHandle, uint8_t axisNo, uint16_t* pErrorCode)
void EC_API_SLV_CiA402_registerSetDictionary(EC_API_SLV_SHandle_t* pEcSlaveApi_p, void* pContext_p, EC_API_SLV_CiA402_CBUsrApplSetDict_t cbFunc_p)	uint32_t EC_API_SLV_CiA402_registerSetDictionary(EC_API_SLV_SHandle_t* pHandle, EC_API_SLV_CiA402_CBUsrApplSetDict_t cbFunc, void* pContext)
void EC_API_SLV_CiA402_registerSetDictValues(EC_API_SLV_SHandle_t* pEcSlaveApi_p, void* pContext_p, EC_API_SLV_CiA402_CBUsrApplSetDictValues_t cbFunc_p)	uint32_t EC_API_SLV_CiA402_registerSetDictValues(EC_API_SLV_SHandle_t* pHandle, EC_API_SLV_CiA402_CBUsrApplSetDictValues_t cbFunc, void* pContext)
void EC_API_SLV_CiA402_registerStateMachine(EC_API_SLV_SHandle_t* pEcSlaveApi_p, void* pContext_p, EC_API_SLV_CiA402_CBUsrApplSM_t cbFunc_p)	uint32_t EC_API_SLV_CiA402_registerStateMachine(EC_API_SLV_SHandle_t* pHandle, EC_API_SLV_CiA402_CBUsrApplSM_t cbFunc, void* pContext)
void EC_API_SLV_CiA402_registerApplication(EC_API_SLV_SHandle_t* pEcSlaveApi_p, void* pContext_p, EC_API_SLV_CiA402_CBUsrApplApplication_t cbFunc_p)	uint32_t EC_API_SLV_CiA402_registerApplication(EC_API_SLV_SHandle_t* pHandle, EC_API_SLV_CiA402_CBUsrApplApplication_t cbFunc, void* pContext)
void EC_API_SLV_CiA402_registerLocalError(EC_API_SLV_SHandle_t* pEcSlaveApi_p, void* pContext_p,EC_API_SLV_CiA402_CBUsrApplLocalError_t cbFunc_p)	uint32_t EC_API_SLV_CiA402_registerLocalError(EC_API_SLV_SHandle_t* pHandle,EC_API_SLV_CiA402_CBUsrApplLocalError_t cbFunc, void* pContext)

PDO Mapping

Old Signature	New Signature
uint16_t EC_API_SLV_PDO_getOffset(EC_API_SLV_Pdo_t* pPdo_p)	uint32_t EC_API_SLV_PDO_getOffset(EC_API_SLV_SHandle_t* pHandle, EC_API_SLV_Pdo_t* pPdo, uint16_t* pOffset)
uint16_t EC_API_SLV_PDO_getLength(EC_API_SLV_Pdo_t* pPdo_p)	uint32_t EC_API_SLV_PDO_getLength(EC_API_SLV_SHandle_t* pHandle, EC_API_SLV_Pdo_t* pPdo, uint16_t* pLength)
uint32_t EC_API_SLV_getInputProcDataLength(EC_API_SLV_SHandle_t* pEcSlaveApi_p)	uint32_t EC_API_SLV_getInputProcDataLength(EC_API_SLV_SHandle_t* pHandle, uint32_t* pLength)
uint32_t EC_API_SLV_getOutputProcDataLength(EC_API_SLV_SHandle_t* pEcSlaveApi_p)	uint32_t EC_API_SLV_getOutputProcDataLength(EC_API_SLV_SHandle_t* pHandle, uint32_t* pLength)
uint8_t EC_API_SLV_PDO_getEntryCount(EC_API_SLV_Pdo_t* pPdo_p)	uint32_t EC_API_SLV_PDO_getEntryCount(EC_API_SLV_SHandle_t* pHandle, EC_API_SLV_Pdo_t* pPdo, uint8_t* pCount)
uint32_t EC_API_SLV_PDO_getEntryDataLength(EC_API_SLV_Pdo_t* pPdo_p, uint8_t subIndex_p)	uint32_t EC_API_SLV_PDO_getEntryDataLength(EC_API_SLV_SHandle_t* pHandle, EC_API_SLV_Pdo_t* pPdo, uint8_t subIndex, uint32_t* pLength)
void EC_API_SLV_PDO_registerAssignmentChanges(EC_API_SLV_SHandle_t* pEcSlaveApi_p, void* pContext_p, EC_API_SLV_PDO_CBAssignmentChanges_t cbFunc_p)	uint32_t EC_API_SLV_PDO_registerAssignmentChanges(EC_API_SLV_SHandle_t* pEcSlaveApi_p, EC_API_SLV_PDO_CBAssignmentChanges_t cbFunc_p, void* pContext)
void EC_API_SLV_PDO_registerMappingChanges(EC_API_SLV_SHandle_t* pEcSlaveApi_p, void* pContext_p, EC_API_SLV_PDO_CBMappingChanges_t cbFunc_p)	uint32_t EC_API_SLV_PDO_registerMappingChanges(EC_API_SLV_SHandle_t* pEcSlaveApi_p, EC_API_SLV_PDO_CBMappingChanges_t cbFunc_p, void* pContext)
uint32_t (*EC_API_SLV_PDO_CBAssignmentChanges_t)(void* pContext, bool rx, uint8_t count, uint16_t* pPdoIndexArray)	uint32_t (*EC_API_SLV_PDO_CBAssignmentChanges_t)(void* pContext, EC_API_SLV_PDO_SReconfigAssignMap_t* pRxPdoAssignMap_p, EC_API_SLV_PDO_SReconfigAssignMap_t* pTxPdoAssignMap_p)

ESM

Old Signature	New Signature
EC_API_SLV_EEsmState_t EC_API_SLV_getState(void)	uint32_t EC_API_SLV_getState(EC_API_SLV_SHandle_t* pHandle, EC_API_SLV_EEsmState_t* pState, uint16_t* pAlErrorCode)

ESC Register access

Old Signature	New Signature
uint8_t EC_API_SLV_readByteEscRegister(EC_API_SLV_SHandle_t* pEcSlaveApi_p, uint16_t escAddress_p)	uint32_t EC_API_SLV_readByteEscRegister(EC_API_SLV_SHandle_t* pHandle, uint16_t escAddress, uint8_t* pValue)
uint16_t EC_API_SLV_readWordEscRegister(EC_API_SLV_SHandle_t* pEcSlaveApi_p, uint16_t escAddress_p)	uint32_t EC_API_SLV_readWordEscRegister(EC_API_SLV_SHandle_t* pHandle, uint16_t escAddress, uint16_t* pValue)
uint32_t EC_API_SLV_readDoubleWordEscRegister(EC_API_SLV_SHandle_t* pEcSlaveApi_p, uint16_t escAddress_p)	uint32_t EC_API_SLV_readDoubleWordEscRegister(EC_API_SLV_SHandle_t* pHandle, uint16_t escAddress, uint32_t* pValue)
void EC_API_SLV_writeByteEscRegister(EC_API_SLV_SHandle_t* pEcSlaveApi_p, uint16_t escAddress_p, uint8_t value_p)	uint32_t EC_API_SLV_writeByteEscRegister(EC_API_SLV_SHandle_t* pHandle, uint16_t escAddress, uint8_t value)
void EC_API_SLV_writeWordEscRegister(EC_API_SLV_SHandle_t* pEcSlaveApi_p, uint16_t escAddress_p, uint16_t value_p)	uint32_t EC_API_SLV_writeWordEscRegister(EC_API_SLV_SHandle_t* pHandle, uint16_t escAddress, uint16_t value)
void EC_API_SLV_writeDoubleWordEscRegister(EC_API_SLV_SHandle_t* pEcSlaveApi_p, uint16_t escAddress_p, uint32_t value_p)	uint32_t EC_API_SLV_writeDoubleWordEscRegister(EC_API_SLV_SHandle_t* pHandle, uint16_t escAddress, uint32_t value)

Beckhoff Main loop

Old Signature	New Signature
void EC_API_SLV_mainLoopCyclic(void)	uint32_t EC_API_SLV_mainLoopCyclic(void)

PHY configuration

Old Signature	New Signature
void EC_API_SLV_cbRegisterPhyReset(CUST_PHY_CBreset_t cbFunc_p, void* pContext_p)	Removed from API. See custom PHY API
bool EC_API_SLV_registerPhy(uint8_t phyIdx_p, uint8_t phyAddr_p, bool invertLinkPolarity_p, bool useRxLinkPin_p)	uint32_t EC_API_SLV_registerPhy(EC_API_SLV_SHandle_t* pHandle, uint8_t phyIdx, uint8_t phyAddr, bool invertLinkPolarity, bool useRxLinkPin)
void EC_API_SLV_cbRegisterPhyLibDetect(CUST_PHY_CBextPhyLibDetect_t cbFunc_p, void* pContext_p)	Removed from API. See custom PHY API
uint32_t EC_API_SLV_phyRegRead(void* pStackContext_p, uint32_t regNum_p, uint16_t* pData_p)	Removed from API. See custom PHY API
void EC_API_SLV_phyRegWrite(void* pStackContext_p, uint32_t regNum_p, uint16_t wrVal_p)	Removed from API. See custom PHY API

LED configuration

Old Signature	New Signature
void EC_API_SLV_cbRegisterBoardStatusLed(EC_API_SLV_SHandle_t* pEcSlaveApi_p, void* pContext_p, EC_API_SLV_CBBoardStatusLed_t cbFunc_p, void* pLedContext_p)	uint32_t EC_API_SLV_cbRegisterBoardStatusLed(EC_API_SLV_SHandle_t* pHandle, EC_API_SLV_CBBoardStatusLed_t cbFunc, void* pContext)

Explicit Device Identification

Old Signature	New Signature
NA	uint32_t EC_API_SLV_setExplicitDeviceId(EC_API_SLV_SHandle_t* pHandle, uint16_t deviceId)
NA	uint32_t EC_API_SLV_getExplicitDeviceId(EC_API_SLV_SHandle_t* pHandle, uint16_t* deviceId)