主站操作函数比较多，仅摘取对PDO数据处理的部分仅供参考。
/**03 Creates a new process data domain.
*创建一个新的流程数据域。
* For process data exchange, at least one process data domain is needed.
* This method creates a new process data domain and returns a pointer to the
* new domain object. This object can be used for registering PDOs and
* exchanging them in cyclic operation.
*对于进程数据交换，至少需要一个进程数据域。此方法创建一个新的进程数据域，
*并返回一个指向新域对象的指针。该节点可用于注册和循环操作的pdo交换。
* This method allocates memory and should be called in non-realtime context
* before ecrt_master_activate().
*这个方法分配内存，并且应该在非实时环境中'在ecrt master activate()之前'被调用。
* \return Pointer to the new domain on success, else NULL.
*/
ec_domain_t *ecrt_master_create_domain(
ec_master_t *master /**< EtherCAT master. */
);
/**04 Obtains a slave configuration.
*获取slave配置。
* Creates a slave configuration object for the given \a alias and \a position
* tuple and returns it. If a configuration with the same \a alias and \a
* position already exists, it will be re-used. In the latter case, the given
* vendor ID and product code are compared to the stored ones. On mismatch, an
* error message is raised and the function returns \a NULL.
*为给定的一个别名和一个位置元组创建一个从属配置对象并返回它。如果具有相同的别名和位置
*的配置已经存在，它将被重用。在后一种情况下，将给定的供应商ID和产品代码与存储的ID和产品
*代码进行比较。如果不匹配，则抛出一个错误消息并返回一个NULL。
* Slaves are addressed with the \a alias and \a position parameters.
* - If \a alias is zero, \a position is interpreted as the desired slave's
* ring position.
* - If \a alias is non-zero, it matches a slave with the given alias. In this
* case, \a position is interpreted as ring offset, starting from the
* aliased slave, so a position of zero means the aliased slave itself and a
* positive value matches the n-th slave behind the aliased one.
*从机是用一个别名和一个位置参数寻址的。—如果一个别名为零，一个位置将被解释为
所需的从属环位置。如果一个别名是非零的，它将用给定的别名匹配一个slave。在这种
情况下，\a的位置被解释为环形偏移，从别名从属器开始，所以零的位置意味着别名从属
器本身，一个正值匹配别名从属器后面的第n个从属器。
* If the slave with the given address is found during the bus configuration,
* its vendor ID and product code are matched against the given value. On
* mismatch, the slave is not configured and an error message is raised.
*如果在总线配置期间找到具有给定地址的从服务器，则它的供应商ID和产品代码
与给定值匹配。如果不匹配，则不配置从服务器并引发错误消息。
* If different slave configurations are pointing to the same slave during bus
* configuration, a warning is raised and only the first configuration is
* applied.
*如果在总线. configuration期间不同的从服务器配置指向相同的从服务器，则会引发一个警告，并且只应用第一个配置。
* This method allocates memory and should be called in non-realtime context
* before ecrt_master_activate().
*这个方法分配内存，并且应该在非实时环境中在ecrt master activate()之前被调用。
* \retval >0 Pointer to the slave configuration structure.
* \retval NULL in the error case.
*/
ec_slave_config_t *ecrt_master_slave_config(
ec_master_t *master, /**< EtherCAT master 主站*/
uint16_t alias, /**< Slave alias. 从站假名*/
uint16_t position, /**< Slave position.从站位置 */
uint32_t vendor_id, /**< Expected vendor ID.期望的供应商ID */
uint32_t product_code /**< Expected product code. 期望的产品代码*/
);
/**05 Selects the reference clock for distributed clocks.
*为分布式时钟选择参考时钟。
* If this method is not called for a certain master, or if the slave
* configuration pointer is NULL, then the first slave with DC functionality
* will provide the reference clock.
*如果某个主服务器没有调用此方法，或者从服务器的. configuration指针为NULL，
那么第一个具有DC功能的从服务器将提供参考时钟。
* \return 0 on success, otherwise negative error code.
*/
int ecrt_master_select_reference_clock(
ec_master_t *master, /**< EtherCAT master. 主站*/
ec_slave_config_t *sc /**< Slave config of the slave to use as the
* reference slave (or NULL).作为参考从站的从站配置（或为空） */
);
/**06 Obtains master information.
*得到主站的信息。
* No memory is allocated on the heap in
* this function.
*在这个函数中，没有在堆上分配内存。
* \attention The pointer to this structure must point to a valid variable.
*
* \return 0 in case of success, else < 0
*/
int ecrt_master(
ec_master_t *master, /**< EtherCAT master 主站*/
ec_master_info_t *master_info /**< Structure that will output the
information 输出信息的结构体*/
);
/**07 Obtains slave information.
*获得从站信息。
* Tries to find the slave with the given ring position. The obtained
* information is stored in a structure. No memory is allocated on the heap in
* this function.
*尝试在给定的环位置找到从站。获得的信息存储在一个结构中。在这个函数中，没有在堆上分配内存。
* \attention The pointer to this structure must point to a valid variable.
*指向这个结构的指针必须指向一个有效的变量。
* \return 0 in case of success, else < 0
*/
int ecrt_master_get_slave(/**16 Finishes the configuration phase and prepares for cyclic operation.
*完成配置阶段并准备循环操作。
* This function tells the master that the configuration phase is finished and
* the realtime operation will begin. The function allocates internal memory
* for the domains and calculates the logical FMMU addresses for domain
* members. It tells the master state machine that the bus configuration is
* now to be applied.
*这个函数告诉主机配置阶段已经完成，实时操作将开始。该函数为域分配内部内存，
并计算域成员的逻辑FMMU地址。它告诉主状态机现在要应用总线配置。
* \attention After this function has been called, the realtime application is
* in charge of cyclically calling ecrt_master_send() and
* ecrt_master_receive() to ensure bus communication. Before calling this
* function, the master thread is responsible for that, so these functions may
* not be called! The method itself allocates memory and should not be called
* in realtime context.
*这个函数被调用后，实时应用程序负责循环调用ecrt master send()和Ecrt master receive()
*确保总线通信。在调用这个函数之前，主线程负责这个，所以这些函数可能不会被调用!方法本身
*分配内存，不应该在实时上下文中调用。
* \return 0 in case of success, else < 0
*/
int ecrt_master_activate(
ec_master_t *master /**< EtherCAT master. */
);
/**17 Deactivates the master.
*
* Removes the bus configuration. All objects created by
* ecrt_master_create_domain(), ecrt_master_slave_config(), ecrt_domain_data()
* ecrt_slave_config_create_sdo_request() and
* ecrt_slave_config_create_voe_handler() are freed, so pointers to them
* become invalid.
*
* This method should not be called in realtime context.
*/
void ecrt_master_deactivate(
ec_master_t *master /**< EtherCAT master. */
);/**19 Sends all datagrams in the queue.
*发送队列中的所有数据报。
* This method takes all datagrams, that have been queued for transmission,
* puts them into frames, and passes them to the Ethernet device for sending.
*该方法将已排队等待传输的所有数据报放入帧中，并将其传递给以太网设备进行发送。
* Has to be called cyclically by the application after ecrt_master_activate()
* has returned.
*必须在ecrt master activate()返回后由应用程序循环调用。
*/
void ecrt_master_send(
ec_master_t *master /**< EtherCAT master. */
);
/**20 Fetches received frames from the hardware and processes the datagrams.
*从硬件中获取接收的帧并处理数据报。
* Queries the network device for received frames by calling the interrupt
* service routine. Extracts received datagrams and dispatches the results to
* the datagram objects in the queue. Received datagrams, and the ones that
* timed out, will be marked, and dequeued.
*通过调用中断服务程序来查询网络设备接收到的帧。提取接收到的数据报，并将结果
*分派给队列中的数据报对象。接收到的数据报和超时的数据报将被标记并退出队列。
* Has to be called cyclically by the realtime application after
* ecrt_master_activate() has returned.
*/
void ecrt_master_receive(
ec_master_t *master /**< EtherCAT master. */
);
/**22 Reads the current master state.
*
* Stores the master state information in the given \a state structure.
*
* This method returns a global state. For the link-specific states in a
* redundant bus topology, use the ecrt_master_link_state() method.
*/
void ecrt_master_state(
const ec_master_t *master, /**< EtherCAT master. */
ec_master_state_t *state /**< Structure to store the information. */
);
/**31 Retry configuring slaves.
*重试配置从站
* Via this method, the application can tell the master to bring all slaves to
* 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.
*通过这个方法，应用程序可以告诉主站将所有从站设置为OP状态。一般来说，
*这是不必要的，因为它是由主程序自动完成的。但是对于特殊的从站(可以由供应商
*在运行时重新配置)，它可能很有用。
*/
void ecrt_master_reset(
ec_master_t *master /**< EtherCAT master. */
);
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