1

/******************************************************************************

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH

     6

 *

     7

 *  This file is part of the IgH EtherCAT Master.

     8

 *

     9

 *  The IgH EtherCAT Master is free software; you can redistribute it

    10

 *  and/or modify it under the terms of the GNU General Public License

    11

 *  as published by the Free Software Foundation; either version 2 of the

    12

 *  License, or (at your option) any later version.

    13

 *

    14

 *  The IgH EtherCAT Master is distributed in the hope that it will be

    15

 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of

    16

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    17

 *  GNU General Public License for more details.

    18

 *

    19

 *  You should have received a copy of the GNU General Public License

    20

 *  along with the IgH EtherCAT Master; if not, write to the Free Software

    21

 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

    22

 *

    23

 *  The right to use EtherCAT Technology is granted and comes free of

    24

 *  charge under condition of compatibility of product made by

    25

 *  Licensee. People intending to distribute/sell products based on the

    26

 *  code, have to sign an agreement to guarantee that products using

    27

 *  software based on IgH EtherCAT master stay compatible with the actual

    28

 *  EtherCAT specification (which are released themselves as an open

    29

 *  standard) as the (only) precondition to have the right to use EtherCAT

    30

 *  Technology, IP and trade marks.

    31

 *

    32

 *****************************************************************************/

    33

    34

/**

    35

   \file

    36

   EtherCAT realtime interface.

    37

*/

    38

    39

/**

    40

   \defgroup RealtimeInterface EtherCAT realtime interface

    41

   EtherCAT interface for realtime modules.

    42

   This interface is designed for realtime modules that want to use EtherCAT.

    43

   There are functions to request a master, to map process data, to communicate

    44

   with slaves via CoE and to configure and activate the bus.

    45

*/

    46

    47

/*****************************************************************************/

    48

    49

#ifndef __ECRT_H__

    50

#define __ECRT_H__

    51

    52

#include <asm/byteorder.h>

    53

    54

#ifdef __KERNEL__

    55

#include <linux/types.h>

    56

#else

    57

#include <stdint.h>

    58

#endif

    59

    60

/*****************************************************************************/

    61

    62

struct ec_master;

    63

typedef struct ec_master ec_master_t; /**< \see ec_master */

    64

    65

struct ec_domain;

    66

typedef struct ec_domain ec_domain_t; /**< \see ec_domain */

    67

    68

struct ec_slave;

    69

typedef struct ec_slave ec_slave_t; /**< \see ec_slave */

    70

    71

/**

    72

   Initialization type for PDO registrations.

    73

   This type is used as a parameter for the ec_domain_register_pdo_list()

    74

   function.

    75

*/

    76

    77

typedef struct

    78

{

    79

    const char *slave_address; /**< slave address string (see

    80

                                  ecrt_master_get_slave()) */

    81

    uint32_t vendor_id; /**< vendor ID */

    82

    uint32_t product_code; /**< product code */

    83

    uint16_t pdo_index; /**< PDO index */

    84

    uint8_t pdo_subindex; /**< PDO subindex */

    85

    void **data_ptr; /**< address of the process data pointer */

    86

}

    87

ec_pdo_reg_t;

    88

    89

/******************************************************************************

    90

 *  Master request functions

    91

 *****************************************************************************/

    92

    93

ec_master_t *ecrt_request_master(unsigned int master_index);

    94

void ecrt_release_master(ec_master_t *master);

    95

    96

/******************************************************************************

    97

 *  Master methods

    98

 *****************************************************************************/

    99

   100

void ecrt_master_callbacks(ec_master_t *master, int (*request_cb)(void *),

   101

                           void (*release_cb)(void *), void *cb_data);

   102

   103

ec_domain_t *ecrt_master_create_domain(ec_master_t *master);

   104

   105

int ecrt_master_activate(ec_master_t *master);

   106

void ecrt_master_deactivate(ec_master_t *master);

   107

   108

void ecrt_master_prepare(ec_master_t *master);

   109

   110

void ecrt_master_send(ec_master_t *master);

   111

void ecrt_master_receive(ec_master_t *master);

   112

   113

void ecrt_master_run(ec_master_t *master);

   114

   115

ec_slave_t *ecrt_master_get_slave(const ec_master_t *, const char *);

   116

   117

int ecrt_master_state(const ec_master_t *master);

   118

   119

/******************************************************************************

   120

 *  Domain Methods

   121

 *****************************************************************************/

   122

   123

ec_slave_t *ecrt_domain_register_pdo(ec_domain_t *domain,

   124

                                     const char *address,

   125

                                     uint32_t vendor_id,

   126

                                     uint32_t product_code,

   127

                                     uint16_t pdo_index,

   128

                                     uint8_t pdo_subindex,

   129

                                     void **data_ptr);

   130

int ecrt_domain_register_pdo_list(ec_domain_t *domain,

   131

                                  const ec_pdo_reg_t *pdos);

   132

   133

void ecrt_domain_process(ec_domain_t *domain);

   134

int ecrt_domain_state(const ec_domain_t *domain);

   135

   136

/******************************************************************************

   137

 *  Slave Methods

   138

 *****************************************************************************/

   139

   140

int ecrt_slave_conf_sdo8(ec_slave_t *slave, uint16_t sdo_index,

   141

                         uint8_t sdo_subindex, uint8_t value);

   142

int ecrt_slave_conf_sdo16(ec_slave_t *slave, uint16_t sdo_index,

   143

                          uint8_t sdo_subindex, uint16_t value);

   144

int ecrt_slave_conf_sdo32(ec_slave_t *slave, uint16_t sdo_index,

   145

                          uint8_t sdo_subindex, uint32_t value);

   146

   147

int ecrt_slave_pdo_size(ec_slave_t *slave, uint16_t pdo_index,

   148

                        uint8_t pdo_subindex, size_t size);

   149

   150

/******************************************************************************

   151

 *  Bitwise read/write macros

   152

 *****************************************************************************/

   153

   154

/**

   155

   Read a certain bit of an EtherCAT data byte.

   156

   \param DATA EtherCAT data pointer

   157

   \param POS bit position

   158

*/

   159

   160

#define EC_READ_BIT(DATA, POS) ((*((uint8_t *) (DATA)) >> (POS)) & 0x01)

   161

   162

/**

   163

   Write a certain bit of an EtherCAT data byte.

   164

   \param DATA EtherCAT data pointer

   165

   \param POS bit position

   166

   \param VAL new bit value

   167

*/

   168

   169

#define EC_WRITE_BIT(DATA, POS, VAL) \

   170

    do { \

   171

        if (VAL) *((uint8_t *) (DATA)) |=  (1 << (POS)); \

   172

        else     *((uint8_t *) (DATA)) &= ~(1 << (POS)); \

   173

    } while (0)

   174

   175

/******************************************************************************

   176

 *  Read macros

   177

 *****************************************************************************/

   178

   179

/**

   180

   Read an 8-bit unsigned value from EtherCAT data.

   181

   \return EtherCAT data value

   182

*/

   183

   184

#define EC_READ_U8(DATA) \

   185

    ((uint8_t) *((uint8_t *) (DATA)))

   186

   187

/**

   188

   Read an 8-bit signed value from EtherCAT data.

   189

   \param DATA EtherCAT data pointer

   190

   \return EtherCAT data value

   191

*/

   192

   193

#define EC_READ_S8(DATA) \

   194

     ((int8_t) *((uint8_t *) (DATA)))

   195

   196

/**

   197

   Read a 16-bit unsigned value from EtherCAT data.

   198

   \param DATA EtherCAT data pointer

   199

   \return EtherCAT data value

   200

*/

   201

   202

#define EC_READ_U16(DATA) \

   203

     ((uint16_t) le16_to_cpup((void *) (DATA)))

   204

   205

/**

   206

   Read a 16-bit signed value from EtherCAT data.

   207

   \param DATA EtherCAT data pointer

   208

   \return EtherCAT data value

   209

*/

   210

   211

#define EC_READ_S16(DATA) \

   212

     ((int16_t) le16_to_cpup((void *) (DATA)))

   213

   214

/**

   215

   Read a 32-bit unsigned value from EtherCAT data.

   216

   \param DATA EtherCAT data pointer

   217

   \return EtherCAT data value

   218

*/

   219

   220

#define EC_READ_U32(DATA) \

   221

     ((uint32_t) le32_to_cpup((void *) (DATA)))

   222

   223

/**

   224

   Read a 32-bit signed value from EtherCAT data.

   225

   \param DATA EtherCAT data pointer

   226

   \return EtherCAT data value

   227

*/

   228

   229

#define EC_READ_S32(DATA) \

   230

     ((int32_t) le32_to_cpup((void *) (DATA)))

   231

   232

   233

/******************************************************************************

   234

 *  Write macros

   235

 *****************************************************************************/

   236

   237

/**

   238

   Write an 8-bit unsigned value to EtherCAT data.

   239

   \param DATA EtherCAT data pointer

   240

   \param VAL new value

   241

*/

   242

   243

#define EC_WRITE_U8(DATA, VAL) \

   244

    do { \

   245

        *((uint8_t *)(DATA)) = ((uint8_t) (VAL)); \

   246

    } while (0)

   247

   248

/**

   249

   Write an 8-bit signed value to EtherCAT data.

   250

   \param DATA EtherCAT data pointer

   251

   \param VAL new value

   252

*/

   253

   254

#define EC_WRITE_S8(DATA, VAL) EC_WRITE_U8(DATA, VAL)

   255

   256

/**

   257

   Write a 16-bit unsigned value to EtherCAT data.

   258

   \param DATA EtherCAT data pointer

   259

   \param VAL new value

   260

*/

   261

   262

#define EC_WRITE_U16(DATA, VAL) \

   263

    do { \

   264

        *((uint16_t *) (DATA)) = (uint16_t) (VAL); \

   265

        cpu_to_le16s(DATA); \

   266

    } while (0)

   267

   268

/**

   269

   Write a 16-bit signed value to EtherCAT data.

   270

   \param DATA EtherCAT data pointer

   271

   \param VAL new value

   272

*/

   273

   274

#define EC_WRITE_S16(DATA, VAL) EC_WRITE_U16(DATA, VAL)

   275

   276

/**

   277

   Write a 32-bit unsigned value to EtherCAT data.

   278

   \param DATA EtherCAT data pointer

   279

   \param VAL new value

   280

*/

   281

   282

#define EC_WRITE_U32(DATA, VAL) \

   283

    do { \

   284

        *((uint32_t *) (DATA)) = (uint32_t) (VAL); \

   285

        cpu_to_le16s(DATA); \

   286

    } while (0)

   287

   288

/**

   289

   Write a 32-bit signed value to EtherCAT data.

   290

   \param DATA EtherCAT data pointer

   291

   \param VAL new value

   292

*/

   293

   294

#define EC_WRITE_S32(DATA, VAL) EC_WRITE_U32(DATA, VAL)

   295

   296

/*****************************************************************************/

   297

   298

#endif