include/ecrt.h
author Florian Pose <fp@igh-essen.com>
Tue, 05 May 2009 09:50:04 +0000
changeset 1445 45c5f5560274
parent 1441 27a8d6f97a95
child 1448 d7ba0c408a07
permissions -rw-r--r--
Introduced EC_AL_STATE_CHANGE_TIMEOUT and set it to 2 s.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT master userspace library.
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 *  
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 *  The IgH EtherCAT master userspace library is free software; you can
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 *  redistribute it and/or modify it under the terms of the GNU Lesser General
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 *  Public License as published by the Free Software Foundation; version 2.1
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 *  of the License.
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 *
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 *  The IgH EtherCAT master userspace library is distributed in the hope that
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 *  it will be useful, but WITHOUT ANY WARRANTY; without even the implied
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 *  warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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 *  GNU Lesser General Public License for more details.
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 *
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 *  You should have received a copy of the GNU Lesser General Public License
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 *  along with the IgH EtherCAT master userspace library. If not, see
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 *  <http://www.gnu.org/licenses/>.
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 *  
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 *  ---
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 *  
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 *  The license mentioned above concerns the source code only. Using the
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 *  EtherCAT technology and brand is only permitted in compliance with the
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 *  industrial property and similar rights of Beckhoff Automation GmbH.
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 *
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 *****************************************************************************/
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/** \file
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 *
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 * EtherCAT master application interface.
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 *
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 * \defgroup ApplicationInterface EtherCAT Application Interface
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 *
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 * EtherCAT interface for realtime applications. This interface is designed
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 * for realtime modules that want to use EtherCAT. There are functions to
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 * request a master, to map process data, to communicate with slaves via CoE
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 * and to configure and activate the bus.
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 *
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 * Changes in version 1.5:
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 *
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 * - Added the distributed clocks feature and the respective methods
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 *   ecrt_slave_config_dc_assign_activate() and
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 *   ecrt_slave_config_dc_sync_signals() to configure a slave for cyclic
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 *   operation, and ecrt_master_application_time(),
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 *   ecrt_master_sync_reference_clock() and  ecrt_master_sync_slave_clocks()
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 *   for offset and drift compensation. The EC_TIMEVAL2NANO() macro can be
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 *   used for epoch time conversion.
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 * - Changed the meaning of the negative return values of
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 *   ecrt_slave_config_reg_pdo_entry() and ecrt_slave_config_sdo*().
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 * - Imlemented the Vendor-specific over EtherCAT mailbox protocol. See
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 *   ecrt_slave_config_create_voe_handler().
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 * - Renamed ec_sdo_request_state_t to ec_request_state_t, because it is also
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 *   used by VoE handlers.
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 * - Added ecrt_master_slave() to get information about a certain slave.
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 * - Added ecrt_slave_sdo_upload() and ecrt_slave_sdo_download() methods to
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 *   let an application transfer SDOs before activating the master.
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 * - Removed 'const' from argument of ecrt_sdo_request_state(), because the
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 *   userspace library has to modify object internals.
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 * - Added 64-bit data access macros.
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 *
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 * @{
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 */
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/*****************************************************************************/
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#ifndef __ECRT_H__
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#define __ECRT_H__
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#ifdef __KERNEL__
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#include <asm/byteorder.h>
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#include <linux/types.h>
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#include <linux/time.h>
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#else
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#include <stdlib.h> // for size_t
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#include <stdint.h>
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#include <sys/time.h> // for struct timeval
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#endif
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/******************************************************************************
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 * Global definitions
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 *****************************************************************************/
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/** EtherCAT realtime interface major version number.
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 */
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#define ECRT_VER_MAJOR 1
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/** EtherCAT realtime interface minor version number.
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 */
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#define ECRT_VER_MINOR 5
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/** EtherCAT realtime interface version word generator.
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 */
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#define ECRT_VERSION(a, b) (((a) << 8) + (b))
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/** EtherCAT realtime interface version word.
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 */
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#define ECRT_VERSION_MAGIC ECRT_VERSION(ECRT_VER_MAJOR, ECRT_VER_MINOR)
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/*****************************************************************************/
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/** End of list marker.
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 *
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 * This can be used with ecrt_slave_config_pdos().
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 */
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#define EC_END ~0U
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/** Maximum number of sync managers per slave.
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 */
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#define EC_MAX_SYNC_MANAGERS 16
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/** Maximum string length.
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 *
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 * Used in ec_slave_info_t.
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 */
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#define EC_MAX_STRING_LENGTH 64
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/** Timeval to nanoseconds conversion.
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 *
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 * This macro converts a unix epoch time to EtherCAT DC time.
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 *
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 * \see ecrt_master_sync_reference_clock()
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 *
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 * \param TV Pointer to struct timeval.
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 */
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#define EC_TIMEVAL2NANO(TV) \
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    (((TV)->tv_sec - 946684800ULL) * 1000000000ULL + (TV)->tv_usec * 1000ULL)
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/******************************************************************************
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 * Data types 
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 *****************************************************************************/
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struct ec_master;
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typedef struct ec_master ec_master_t; /**< \see ec_master */
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struct ec_slave_config;
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typedef struct ec_slave_config ec_slave_config_t; /**< \see ec_slave_config */
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struct ec_domain;
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typedef struct ec_domain ec_domain_t; /**< \see ec_domain */
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struct ec_sdo_request;
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typedef struct ec_sdo_request ec_sdo_request_t; /**< \see ec_sdo_request. */
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struct ec_voe_handler;
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typedef struct ec_voe_handler ec_voe_handler_t; /**< \see ec_voe_handler. */
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/*****************************************************************************/
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/** Master state.
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 *
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 * This is used for the output parameter of ecrt_master_state().
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 *
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 * \see ecrt_master_state().
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 */
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typedef struct {
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    unsigned int slaves_responding; /**< Number of slaves in the bus. */
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    unsigned int al_states : 4; /**< Application-layer states of all slaves.
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                                  The states are coded in the lower 4 bits.
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                                  If a bit is set, it means that at least one
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                                  slave in the bus is in the corresponding
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                                  state:
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                                  - Bit 0: \a INIT
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                                  - Bit 1: \a PREOP
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                                  - Bit 2: \a SAFEOP
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                                  - Bit 3: \a OP */
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    unsigned int link_up : 1; /**< \a true, if the network link is up. */
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} ec_master_state_t;
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/*****************************************************************************/
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/** Slave configuration state.
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 *
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 * This is used as an output parameter of ecrt_slave_config_state().
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 * 
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 * \see ecrt_slave_config_state().
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 */
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typedef struct  {
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    unsigned int online : 1; /**< The slave is online. */
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    unsigned int operational : 1; /**< The slave was brought into \a OP state
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                                    using the specified configuration. */
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    unsigned int al_state : 4; /**< The application-layer state of the slave.
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                                 - 1: \a INIT
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                                 - 2: \a PREOP
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                                 - 4: \a SAFEOP
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                                 - 8: \a OP
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                                 Note that each state is coded in a different
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                                 bit! */
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} ec_slave_config_state_t;
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/*****************************************************************************/
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/** Slave information.
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 *
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 * This is used as an output parameter of ecrt_master_slave().
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 *
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 * \see ecrt_master_slave().
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 */
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typedef struct {
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    uint16_t position; /**< Offset of the slave in the ring. */
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    uint32_t vendor_id; /**< Vendor-ID stored on the slave. */
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    uint32_t product_code; /**< Product-Code stored on the slave. */
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    uint32_t revision_number; /**< Revision-Number stored on the slave. */
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    uint32_t serial_number; /**< Serial-Number stored on the slave. */
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    uint16_t alias; /**< The slaves alias if not equal to 0. */
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    int16_t current_on_ebus;
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    uint8_t al_state; /**< Current state of the slave. */
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    uint8_t error_flag; /**< Error flag for that slave. */
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    uint8_t sync_count; /**< Number of sync managers. */
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    uint16_t sdo_count; /**< Number of SDO's. */
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    char name[EC_MAX_STRING_LENGTH]; /**< Name of the slave. */
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} ec_slave_info_t;
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/*****************************************************************************/
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/** Domain working counter interpretation.
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 *
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 * This is used in ec_domain_state_t.
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 */
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typedef enum {
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    EC_WC_ZERO = 0,   /**< No registered process data were exchanged. */
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    EC_WC_INCOMPLETE, /**< Some of the registered process data were
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                        exchanged. */
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    EC_WC_COMPLETE    /**< All registered process data were exchanged. */
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} ec_wc_state_t;
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/*****************************************************************************/
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/** Domain state.
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 *
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 * This is used for the output parameter of ecrt_domain_state().
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 */
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typedef struct {
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    unsigned int working_counter; /**< Value of the last working counter. */
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    ec_wc_state_t wc_state; /**< Working counter interpretation. */
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} ec_domain_state_t;
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/*****************************************************************************/
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/** Direction type for PDO assignment functions.
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 */
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typedef enum {
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    EC_DIR_INVALID, /**< Invalid direction. Do not use this value. */
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    EC_DIR_OUTPUT, /**< Values written by the master. */
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    EC_DIR_INPUT, /**< Values read by the master. */
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    EC_DIR_COUNT /**< Number of directions. For internal use only. */
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} ec_direction_t;
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/*****************************************************************************/
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/** PDO entry configuration information.
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 *
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 * This is the data type of the \a entries field in ec_pdo_info_t.
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 *
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 * \see ecrt_slave_config_pdos().
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 */
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typedef struct {
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    uint16_t index; /**< PDO entry index. */
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    uint8_t subindex; /**< PDO entry subindex. */
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    uint8_t bit_length; /**< Size of the PDO entry in bit. */
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} ec_pdo_entry_info_t;
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/*****************************************************************************/
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/** PDO configuration information.
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 * 
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 * This is the data type of the \a pdos field in ec_sync_info_t.
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 * 
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 * \see ecrt_slave_config_pdos().
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 */
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typedef struct {
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    uint16_t index; /**< PDO index. */
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    unsigned int n_entries; /**< Number of PDO entries in \a entries to map.
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                              Zero means, that the default mapping shall be
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                              used (this can only be done if the slave is
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                              present at bus configuration time). */
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    ec_pdo_entry_info_t *entries; /**< Array of PDO entries to map. Can either
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                                    be \a NULL, or must contain at
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                                    least \a n_entries values. */
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} ec_pdo_info_t;
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/*****************************************************************************/
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/** Sync manager configuration information.
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 *
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 * This can be use to configure multiple sync managers including the PDO
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 * assignment and PDO mapping. It is used as an input parameter type in
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 * ecrt_slave_config_pdos().
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 */
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typedef struct {
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    uint8_t index; /**< Sync manager index. Must be less
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                     than #EC_MAX_SYNC_MANAGERS for a valid sync manager,
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                     but can also be \a 0xff to mark the end of the list. */
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    ec_direction_t dir; /**< Sync manager direction. */
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    unsigned int n_pdos; /**< Number of PDOs in \a pdos. */
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    ec_pdo_info_t *pdos; /**< Array with PDOs to assign. This must contain
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                            at least \a n_pdos PDOs. */
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} ec_sync_info_t;
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/*****************************************************************************/
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/** List record type for PDO entry mass-registration.
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 *
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 * This type is used for the array parameter of the
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 * ecrt_domain_reg_pdo_entry_list()
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 */
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typedef struct {
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    uint16_t alias; /**< Slave alias address. */
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    uint16_t position; /**< Slave position. */
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    uint32_t vendor_id; /**< Slave vendor ID. */
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    uint32_t product_code; /**< Slave product code. */
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    uint16_t index; /**< PDO entry index. */
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    uint8_t subindex; /**< PDO entry subindex. */
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    unsigned int *offset; /**< Pointer to a variable to store the PDO entry's
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                       (byte-)offset in the process data. */
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    unsigned int *bit_position; /**< Pointer to a variable to store a bit 
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                                  position (0-7) within the \a offset. Can be
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                                  NULL, in which case an error is raised if the
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                                  PDO entry does not byte-align. */
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} ec_pdo_entry_reg_t;
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/*****************************************************************************/
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/** Request state.
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 *
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 * This is used as return type for ecrt_sdo_request_state() and
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 * ecrt_voe_handler_state().
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 */
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typedef enum {
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    EC_REQUEST_UNUSED, /**< Not requested. */
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    EC_REQUEST_BUSY, /**< Request is being processed. */
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    EC_REQUEST_SUCCESS, /**< Request was processed successfully. */
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    EC_REQUEST_ERROR, /**< Request processing failed. */
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} ec_request_state_t;
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/******************************************************************************
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 * Global functions
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 *****************************************************************************/
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#ifdef __cplusplus
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extern "C" {
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#endif
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/** Returns the version magic of the realtime interface.
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 *
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 * \return Value of ECRT_VERSION_MAGIC() at EtherCAT master compile time.
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 */
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unsigned int ecrt_version_magic(void);
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/** Requests an EtherCAT master for realtime operation.
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 * 
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 * Before an application can access an EtherCAT master, it has to reserve one
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 * for exclusive use.
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 *
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 * This function has to be the first function an application has to call to
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 * use EtherCAT. The function takes the index of the master as its argument.
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 * The first master has index 0, the n-th master has index n - 1. The number
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 * of masters has to be specified when loading the master module.
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 *
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 * \return Pointer to the reserved master, otherwise \a NULL.
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 */
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ec_master_t *ecrt_request_master(
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        unsigned int master_index /**< Index of the master to request. */
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        );
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/** Releases a requested EtherCAT master.
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 *
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 * After use, a master it has to be released to make it available for other
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 * applications.
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 */
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void ecrt_release_master(
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        ec_master_t *master /**< EtherCAT master */
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        );
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/******************************************************************************
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 * Master methods
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 *****************************************************************************/
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#ifdef __KERNEL__
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parents: 786
diff changeset
   384
/** Sets the locking callbacks.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   385
 *
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   386
 * For concurrent master access, the application has to provide a locking
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   387
 * mechanism (see section FIXME in the docs). The method takes two function
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   388
 * pointers and a data value as its parameters. The arbitrary \a cb_data value
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   389
 * will be passed as argument on every callback. Asynchronous master access
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   390
 * (like EoE processing) is only possible if the callbacks have been set.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   391
 *
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   392
 * The request_cb function must return zero, to allow another instance
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   393
 * (an EoE process for example) to access the master. Non-zero means,
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   394
 * that access is currently forbidden.
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   395
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   396
void ecrt_master_callbacks(
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   397
        ec_master_t *master, /**< EtherCAT master */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   398
        int (*request_cb)(void *), /**< Lock request function. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   399
        void (*release_cb)(void *), /**< Lock release function. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   400
        void *cb_data /**< Arbitrary user data. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   401
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   402
1244
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1239
diff changeset
   403
#endif /* __KERNEL__ */
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1239
diff changeset
   404
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   405
/** Creates a new process data domain.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   406
 *
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   407
 * For process data exchange, at least one process data domain is needed.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   408
 * This method creates a new process data domain and returns a pointer to the
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   409
 * new domain object. This object can be used for registering PDOs and
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   410
 * exchanging them in cyclic operation.
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   411
 *
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   412
 * \return Pointer to the new domain on success, else NULL.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   413
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   414
ec_domain_t *ecrt_master_create_domain(
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   415
        ec_master_t *master /**< EtherCAT master. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   416
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   417
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   418
/** Obtains a slave configuration.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   419
 *
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   420
 * Creates a slave configuration object for the given \a alias and \a position
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   421
 * tuple and returns it. If a configuration with the same \a alias and \a
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   422
 * position already exists, it will be re-used. In the latter case, the given
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   423
 * vendor ID and product code are compared to the stored ones. On mismatch, an
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   424
 * error message is raised and the function returns \a NULL.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   425
 *
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   426
 * Slaves are addressed with the \a alias and \a position parameters.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   427
 * - If \a alias is zero, \a position is interpreted as the desired slave's
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   428
 *   ring position.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   429
 * - If \a alias is non-zero, it matches a slave with the given alias. In this
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   430
 *   case, \a position is interpreted as ring offset, starting from the
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   431
 *   aliased slave, so a position of zero means the aliased slave itself and a
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   432
 *   positive value matches the n-th slave behind the aliased one.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   433
 *
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   434
 * If the slave with the given address is found during the bus configuration,
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   435
 * its vendor ID and product code are matched against the given value. On
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   436
 * mismatch, the slave is not configured and an error message is raised.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   437
 *
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   438
 * If different slave configurations are pointing to the same slave during bus
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   439
 * configuration, a warning is raised and only the first configuration is
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   440
 * applied.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   441
 *
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   442
 * \retval >0 Pointer to the slave configuration structure.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   443
 * \retval NULL in the error case.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   444
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   445
ec_slave_config_t *ecrt_master_slave_config(
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   446
        ec_master_t *master, /**< EtherCAT master */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   447
        uint16_t alias, /**< Slave alias. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   448
        uint16_t position, /**< Slave position. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   449
        uint32_t vendor_id, /**< Expected vendor ID. */
1010
6672b86e7b10 Reverted revision number checking from r1228.
Florian Pose <fp@igh-essen.com>
parents: 1009
diff changeset
   450
        uint32_t product_code /**< Expected product code. */
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   451
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   452
1441
27a8d6f97a95 Added ecrt_slave_sdo_upload() and ecrt_slave_sdo_download(). Thanks to
Florian Pose <fp@igh-essen.com>
parents: 1438
diff changeset
   453
#ifndef __KERNEL__
27a8d6f97a95 Added ecrt_slave_sdo_upload() and ecrt_slave_sdo_download(). Thanks to
Florian Pose <fp@igh-essen.com>
parents: 1438
diff changeset
   454
1341
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   455
/** Obtains slave information.
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   456
 *
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   457
 * Tries to find the slave with the given ring position. The obtained
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   458
 * information is stored in a structure. No memory is allocated on the heap in
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   459
 * this function.
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   460
 *
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   461
 * \attention The pointer to this structure must point to a valid variable.
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   462
 *
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   463
 * \return 0 in case of success, else < 0
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   464
 */
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   465
int ecrt_master_slave(
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   466
        ec_master_t *master, /**< EtherCAT master */
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   467
        uint16_t position, /**< Slave position. */
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   468
        ec_slave_info_t *slave_info /**< Structure that will output the
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   469
                                      information */
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   470
        );
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   471
1441
27a8d6f97a95 Added ecrt_slave_sdo_upload() and ecrt_slave_sdo_download(). Thanks to
Florian Pose <fp@igh-essen.com>
parents: 1438
diff changeset
   472
#endif /* ifndef __KERNEL__ */
27a8d6f97a95 Added ecrt_slave_sdo_upload() and ecrt_slave_sdo_download(). Thanks to
Florian Pose <fp@igh-essen.com>
parents: 1438
diff changeset
   473
1096
a32a102a30db Minor change.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
   474
/** Finishes the configuration phase and prepares for cyclic operation.
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   475
 *
925
939f3e9bba1e Some improvements concerning bit_position.
Florian Pose <fp@igh-essen.com>
parents: 923
diff changeset
   476
 * This function tells the master that the configuration phase is finished and
939f3e9bba1e Some improvements concerning bit_position.
Florian Pose <fp@igh-essen.com>
parents: 923
diff changeset
   477
 * the realtime operation will begin. The function allocates internal memory
939f3e9bba1e Some improvements concerning bit_position.
Florian Pose <fp@igh-essen.com>
parents: 923
diff changeset
   478
 * for the domains and calculates the logical FMMU addresses for domain
939f3e9bba1e Some improvements concerning bit_position.
Florian Pose <fp@igh-essen.com>
parents: 923
diff changeset
   479
 * members. It tells the master state machine that the bus configuration is
939f3e9bba1e Some improvements concerning bit_position.
Florian Pose <fp@igh-essen.com>
parents: 923
diff changeset
   480
 * now to be applied.
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   481
 *
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   482
 * \attention After this function has been called, the realtime application is
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   483
 * in charge of cyclically calling ecrt_master_send() and
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   484
 * ecrt_master_receive() to ensure bus communication. Before calling this
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   485
 * function, the master thread is responsible for that, so these functions may
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   486
 * not be called!
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   487
 *
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   488
 * \return 0 in case of success, else < 0
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   489
 */
1007
b6c3527697c3 Minor change.
Florian Pose <fp@igh-essen.com>
parents: 925
diff changeset
   490
int ecrt_master_activate(
b6c3527697c3 Minor change.
Florian Pose <fp@igh-essen.com>
parents: 925
diff changeset
   491
        ec_master_t *master /**< EtherCAT master. */
b6c3527697c3 Minor change.
Florian Pose <fp@igh-essen.com>
parents: 925
diff changeset
   492
        );
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   493
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   494
/** Sends all datagrams in the queue.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   495
 *
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   496
 * This method takes all datagrams, that have been queued for transmission,
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   497
 * puts them into frames, and passes them to the Ethernet device for sending.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   498
 *
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   499
 * Has to be called cyclically by the application after ecrt_master_activate()
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   500
 * has returned.
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   501
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   502
void ecrt_master_send(
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   503
        ec_master_t *master /**< EtherCAT master. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   504
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   505
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   506
/** Fetches received frames from the hardware and processes the datagrams.
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   507
 *
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   508
 * Queries the network device for received frames by calling the interrupt
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   509
 * service routine. Extracts received datagrams and dispatches the results to
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   510
 * the datagram objects in the queue. Received datagrams, and the ones that
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   511
 * timed out, will be marked, and dequeued.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   512
 *
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   513
 * Has to be called cyclically by the realtime application after
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   514
 * ecrt_master_activate() has returned.
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   515
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   516
void ecrt_master_receive(
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   517
        ec_master_t *master /**< EtherCAT master. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   518
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   519
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   520
/** Reads the current master state.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   521
 *
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   522
 * Stores the master state information in the given \a state structure.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   523
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   524
void ecrt_master_state(
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   525
        const ec_master_t *master, /**< EtherCAT master. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   526
        ec_master_state_t *state /**< Structure to store the information. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   527
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   528
1434
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1417
diff changeset
   529
/** Sets the application time.
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1417
diff changeset
   530
 *
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1417
diff changeset
   531
 * The master has to know the application time when operation slaves with
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1417
diff changeset
   532
 * distributed clocks. The time is not incremented by the master, so this
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1417
diff changeset
   533
 * method has to be called cyclically.
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1417
diff changeset
   534
 * 
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1417
diff changeset
   535
 * The time is defined as nanoseconds from 2000-01-01 00:00. Converting an
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1417
diff changeset
   536
 * epoch time can be done with the EC_TIMEVAL2NANO() macro.
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1417
diff changeset
   537
 */
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1417
diff changeset
   538
void ecrt_master_application_time(
1396
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1394
diff changeset
   539
        ec_master_t *master, /**< EtherCAT master. */
1417
7c2d5d69134c Replaced timeval by 64-bit EtherCAT time.
Florian Pose <fp@igh-essen.com>
parents: 1411
diff changeset
   540
        uint64_t app_time /**< Application time. */
1394
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1392
diff changeset
   541
        );
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1392
diff changeset
   542
1434
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1417
diff changeset
   543
/** Queues the DC reference clock drift compensation datagram for sending.
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1417
diff changeset
   544
 *
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1417
diff changeset
   545
 * The reference clock will by synchronized to the application time provided
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1417
diff changeset
   546
 * by the last call off ecrt_master_application_time().
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1417
diff changeset
   547
 */
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1417
diff changeset
   548
void ecrt_master_sync_reference_clock(
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1417
diff changeset
   549
        ec_master_t *master /**< EtherCAT master. */
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1417
diff changeset
   550
        );
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1417
diff changeset
   551
1410
fb6719008bf5 Separated sync_reference_clock() and sync_slave_clocks().
Florian Pose <fp@igh-essen.com>
parents: 1396
diff changeset
   552
/** Queues the DC clock drift compensation datagram for sending.
fb6719008bf5 Separated sync_reference_clock() and sync_slave_clocks().
Florian Pose <fp@igh-essen.com>
parents: 1396
diff changeset
   553
 *
fb6719008bf5 Separated sync_reference_clock() and sync_slave_clocks().
Florian Pose <fp@igh-essen.com>
parents: 1396
diff changeset
   554
 * All slave clocks synchronized to the reference clock.
fb6719008bf5 Separated sync_reference_clock() and sync_slave_clocks().
Florian Pose <fp@igh-essen.com>
parents: 1396
diff changeset
   555
 */
fb6719008bf5 Separated sync_reference_clock() and sync_slave_clocks().
Florian Pose <fp@igh-essen.com>
parents: 1396
diff changeset
   556
void ecrt_master_sync_slave_clocks(
fb6719008bf5 Separated sync_reference_clock() and sync_slave_clocks().
Florian Pose <fp@igh-essen.com>
parents: 1396
diff changeset
   557
        ec_master_t *master /**< EtherCAT master. */
fb6719008bf5 Separated sync_reference_clock() and sync_slave_clocks().
Florian Pose <fp@igh-essen.com>
parents: 1396
diff changeset
   558
        );
fb6719008bf5 Separated sync_reference_clock() and sync_slave_clocks().
Florian Pose <fp@igh-essen.com>
parents: 1396
diff changeset
   559
1441
27a8d6f97a95 Added ecrt_slave_sdo_upload() and ecrt_slave_sdo_download(). Thanks to
Florian Pose <fp@igh-essen.com>
parents: 1438
diff changeset
   560
#ifndef __KERNEL__
27a8d6f97a95 Added ecrt_slave_sdo_upload() and ecrt_slave_sdo_download(). Thanks to
Florian Pose <fp@igh-essen.com>
parents: 1438
diff changeset
   561
27a8d6f97a95 Added ecrt_slave_sdo_upload() and ecrt_slave_sdo_download(). Thanks to
Florian Pose <fp@igh-essen.com>
parents: 1438
diff changeset
   562
/** Executes an SDO write request to download data.
27a8d6f97a95 Added ecrt_slave_sdo_upload() and ecrt_slave_sdo_download(). Thanks to
Florian Pose <fp@igh-essen.com>
parents: 1438
diff changeset
   563
 *
27a8d6f97a95 Added ecrt_slave_sdo_upload() and ecrt_slave_sdo_download(). Thanks to
Florian Pose <fp@igh-essen.com>
parents: 1438
diff changeset
   564
 * This function operates aside of the normal way to request SDOs. Before the
27a8d6f97a95 Added ecrt_slave_sdo_upload() and ecrt_slave_sdo_download(). Thanks to
Florian Pose <fp@igh-essen.com>
parents: 1438
diff changeset
   565
 * activation of the master, these requests are processed by the master state
27a8d6f97a95 Added ecrt_slave_sdo_upload() and ecrt_slave_sdo_download(). Thanks to
Florian Pose <fp@igh-essen.com>
parents: 1438
diff changeset
   566
 * machine itself. After activation the user has to ensure cyclic processing.
27a8d6f97a95 Added ecrt_slave_sdo_upload() and ecrt_slave_sdo_download(). Thanks to
Florian Pose <fp@igh-essen.com>
parents: 1438
diff changeset
   567
 *
27a8d6f97a95 Added ecrt_slave_sdo_upload() and ecrt_slave_sdo_download(). Thanks to
Florian Pose <fp@igh-essen.com>
parents: 1438
diff changeset
   568
 * \retval  0 Success.
27a8d6f97a95 Added ecrt_slave_sdo_upload() and ecrt_slave_sdo_download(). Thanks to
Florian Pose <fp@igh-essen.com>
parents: 1438
diff changeset
   569
 * \retval -1 An error occured.
27a8d6f97a95 Added ecrt_slave_sdo_upload() and ecrt_slave_sdo_download(). Thanks to
Florian Pose <fp@igh-essen.com>
parents: 1438
diff changeset
   570
 */
27a8d6f97a95 Added ecrt_slave_sdo_upload() and ecrt_slave_sdo_download(). Thanks to
Florian Pose <fp@igh-essen.com>
parents: 1438
diff changeset
   571
int ecrt_slave_sdo_download(
27a8d6f97a95 Added ecrt_slave_sdo_upload() and ecrt_slave_sdo_download(). Thanks to
Florian Pose <fp@igh-essen.com>
parents: 1438
diff changeset
   572
        ec_master_t* master, /**< EtherCAT master. */
27a8d6f97a95 Added ecrt_slave_sdo_upload() and ecrt_slave_sdo_download(). Thanks to
Florian Pose <fp@igh-essen.com>
parents: 1438
diff changeset
   573
        uint16_t slave_position, /**< Slave position. */
27a8d6f97a95 Added ecrt_slave_sdo_upload() and ecrt_slave_sdo_download(). Thanks to
Florian Pose <fp@igh-essen.com>
parents: 1438
diff changeset
   574
        uint16_t index, /**< Index of the SDO. */
27a8d6f97a95 Added ecrt_slave_sdo_upload() and ecrt_slave_sdo_download(). Thanks to
Florian Pose <fp@igh-essen.com>
parents: 1438
diff changeset
   575
        uint8_t subindex, /**< Subindex of the SDO. */
27a8d6f97a95 Added ecrt_slave_sdo_upload() and ecrt_slave_sdo_download(). Thanks to
Florian Pose <fp@igh-essen.com>
parents: 1438
diff changeset
   576
        uint8_t *data, /**< Data buffer to download. */
27a8d6f97a95 Added ecrt_slave_sdo_upload() and ecrt_slave_sdo_download(). Thanks to
Florian Pose <fp@igh-essen.com>
parents: 1438
diff changeset
   577
        size_t data_size, /**< Size of the data buffer. */
27a8d6f97a95 Added ecrt_slave_sdo_upload() and ecrt_slave_sdo_download(). Thanks to
Florian Pose <fp@igh-essen.com>
parents: 1438
diff changeset
   578
        uint32_t *abort_code /**< Abort code of the SDO download. */
27a8d6f97a95 Added ecrt_slave_sdo_upload() and ecrt_slave_sdo_download(). Thanks to
Florian Pose <fp@igh-essen.com>
parents: 1438
diff changeset
   579
        );
27a8d6f97a95 Added ecrt_slave_sdo_upload() and ecrt_slave_sdo_download(). Thanks to
Florian Pose <fp@igh-essen.com>
parents: 1438
diff changeset
   580
27a8d6f97a95 Added ecrt_slave_sdo_upload() and ecrt_slave_sdo_download(). Thanks to
Florian Pose <fp@igh-essen.com>
parents: 1438
diff changeset
   581
/** Executes a SDO read request to upload data.
27a8d6f97a95 Added ecrt_slave_sdo_upload() and ecrt_slave_sdo_download(). Thanks to
Florian Pose <fp@igh-essen.com>
parents: 1438
diff changeset
   582
 *
27a8d6f97a95 Added ecrt_slave_sdo_upload() and ecrt_slave_sdo_download(). Thanks to
Florian Pose <fp@igh-essen.com>
parents: 1438
diff changeset
   583
 * This function operates aside of the normal way to request SDOs. Before the
27a8d6f97a95 Added ecrt_slave_sdo_upload() and ecrt_slave_sdo_download(). Thanks to
Florian Pose <fp@igh-essen.com>
parents: 1438
diff changeset
   584
 * activation of the master, these requests are processed by the master state
27a8d6f97a95 Added ecrt_slave_sdo_upload() and ecrt_slave_sdo_download(). Thanks to
Florian Pose <fp@igh-essen.com>
parents: 1438
diff changeset
   585
 * machine itself. After activation the user have to ensure cyclic
27a8d6f97a95 Added ecrt_slave_sdo_upload() and ecrt_slave_sdo_download(). Thanks to
Florian Pose <fp@igh-essen.com>
parents: 1438
diff changeset
   586
 * processing.
27a8d6f97a95 Added ecrt_slave_sdo_upload() and ecrt_slave_sdo_download(). Thanks to
Florian Pose <fp@igh-essen.com>
parents: 1438
diff changeset
   587
 *
27a8d6f97a95 Added ecrt_slave_sdo_upload() and ecrt_slave_sdo_download(). Thanks to
Florian Pose <fp@igh-essen.com>
parents: 1438
diff changeset
   588
 * \retval  0 Success.
27a8d6f97a95 Added ecrt_slave_sdo_upload() and ecrt_slave_sdo_download(). Thanks to
Florian Pose <fp@igh-essen.com>
parents: 1438
diff changeset
   589
 * \retval -1 Error occured.
27a8d6f97a95 Added ecrt_slave_sdo_upload() and ecrt_slave_sdo_download(). Thanks to
Florian Pose <fp@igh-essen.com>
parents: 1438
diff changeset
   590
 */
27a8d6f97a95 Added ecrt_slave_sdo_upload() and ecrt_slave_sdo_download(). Thanks to
Florian Pose <fp@igh-essen.com>
parents: 1438
diff changeset
   591
int ecrt_slave_sdo_upload(
27a8d6f97a95 Added ecrt_slave_sdo_upload() and ecrt_slave_sdo_download(). Thanks to
Florian Pose <fp@igh-essen.com>
parents: 1438
diff changeset
   592
        ec_master_t* master, /**< EtherCAT master. */
27a8d6f97a95 Added ecrt_slave_sdo_upload() and ecrt_slave_sdo_download(). Thanks to
Florian Pose <fp@igh-essen.com>
parents: 1438
diff changeset
   593
        uint16_t slave_position, /**< Slave position. */
27a8d6f97a95 Added ecrt_slave_sdo_upload() and ecrt_slave_sdo_download(). Thanks to
Florian Pose <fp@igh-essen.com>
parents: 1438
diff changeset
   594
        uint16_t index, /**< Index of the SDO. */
27a8d6f97a95 Added ecrt_slave_sdo_upload() and ecrt_slave_sdo_download(). Thanks to
Florian Pose <fp@igh-essen.com>
parents: 1438
diff changeset
   595
        uint8_t subindex, /**< Subindex of the SDO. */
27a8d6f97a95 Added ecrt_slave_sdo_upload() and ecrt_slave_sdo_download(). Thanks to
Florian Pose <fp@igh-essen.com>
parents: 1438
diff changeset
   596
        uint8_t *target, /**< Target buffer for the upload. */
27a8d6f97a95 Added ecrt_slave_sdo_upload() and ecrt_slave_sdo_download(). Thanks to
Florian Pose <fp@igh-essen.com>
parents: 1438
diff changeset
   597
        size_t target_size, /**< Size of the target buffer. */
27a8d6f97a95 Added ecrt_slave_sdo_upload() and ecrt_slave_sdo_download(). Thanks to
Florian Pose <fp@igh-essen.com>
parents: 1438
diff changeset
   598
        size_t *result_size, /**< Uploaded data size. */
27a8d6f97a95 Added ecrt_slave_sdo_upload() and ecrt_slave_sdo_download(). Thanks to
Florian Pose <fp@igh-essen.com>
parents: 1438
diff changeset
   599
        uint32_t *abort_code /**< Abort code of the SDO upload. */
27a8d6f97a95 Added ecrt_slave_sdo_upload() and ecrt_slave_sdo_download(). Thanks to
Florian Pose <fp@igh-essen.com>
parents: 1438
diff changeset
   600
        );
27a8d6f97a95 Added ecrt_slave_sdo_upload() and ecrt_slave_sdo_download(). Thanks to
Florian Pose <fp@igh-essen.com>
parents: 1438
diff changeset
   601
27a8d6f97a95 Added ecrt_slave_sdo_upload() and ecrt_slave_sdo_download(). Thanks to
Florian Pose <fp@igh-essen.com>
parents: 1438
diff changeset
   602
#endif /* ifndef __KERNEL__ */
27a8d6f97a95 Added ecrt_slave_sdo_upload() and ecrt_slave_sdo_download(). Thanks to
Florian Pose <fp@igh-essen.com>
parents: 1438
diff changeset
   603
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   604
/******************************************************************************
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   605
 * Slave configuration methods
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   606
 *****************************************************************************/
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   607
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   608
/** Configure a sync manager.
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   609
 *
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   610
 * Sets the direction of a sync manager. This overrides the direction bits
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   611
 * from the default control register from SII.
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   612
 *
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   613
 * \return zero on success, else non-zero
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   614
 */
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   615
int ecrt_slave_config_sync_manager(
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   616
        ec_slave_config_t *sc, /**< Slave configuration. */
1083
1322dc34cb37 Updated header docs, features and news file.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
   617
        uint8_t sync_index, /**< Sync manager index. Must be less
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   618
                              than #EC_MAX_SYNC_MANAGERS. */
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   619
        ec_direction_t dir /**< Input/Output. */
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   620
        );
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   621
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   622
/** Add a PDO to a sync manager's PDO assignment.
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   623
 *
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   624
 * \see ecrt_slave_config_pdos()
842
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 832
diff changeset
   625
 * \return zero on success, else non-zero
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 832
diff changeset
   626
 */
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   627
int ecrt_slave_config_pdo_assign_add(
842
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 832
diff changeset
   628
        ec_slave_config_t *sc, /**< Slave configuration. */
1083
1322dc34cb37 Updated header docs, features and news file.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
   629
        uint8_t sync_index, /**< Sync manager index. Must be less
1322dc34cb37 Updated header docs, features and news file.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
   630
                              than #EC_MAX_SYNC_MANAGERS. */
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   631
        uint16_t index /**< Index of the PDO to assign. */
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   632
        );
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   633
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   634
/** Clear a sync manager's PDO assignment.
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   635
 *
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   636
 * This can be called before assigning PDOs via
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   637
 * ecrt_slave_config_pdo_assign_add(), to clear the default assignment of a
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   638
 * sync manager.
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   639
 * 
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   640
 * \see ecrt_slave_config_pdos()
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   641
 */
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   642
void ecrt_slave_config_pdo_assign_clear(
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   643
        ec_slave_config_t *sc, /**< Slave configuration. */
1083
1322dc34cb37 Updated header docs, features and news file.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
   644
        uint8_t sync_index /**< Sync manager index. Must be less
1322dc34cb37 Updated header docs, features and news file.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
   645
                              than #EC_MAX_SYNC_MANAGERS. */
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   646
        );
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   647
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   648
/** Add a PDO entry to the given PDO's mapping.
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   649
 *
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   650
 * \see ecrt_slave_config_pdos()
842
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 832
diff changeset
   651
 * \return zero on success, else non-zero
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 832
diff changeset
   652
 */
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   653
int ecrt_slave_config_pdo_mapping_add(
842
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 832
diff changeset
   654
        ec_slave_config_t *sc, /**< Slave configuration. */
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   655
        uint16_t pdo_index, /**< Index of the PDO. */
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   656
        uint16_t entry_index, /**< Index of the PDO entry to add to the PDO's
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   657
                                mapping. */
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   658
        uint8_t entry_subindex, /**< Subindex of the PDO entry to add to the
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   659
                                  PDO's mapping. */
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   660
        uint8_t entry_bit_length /**< Size of the PDO entry in bit. */
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   661
        );
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   662
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   663
/** Clear the mapping of a given PDO.
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   664
 *
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   665
 * This can be called before mapping PDO entries via
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   666
 * ecrt_slave_config_pdo_mapping_add(), to clear the default mapping.
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   667
 *
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   668
 * \see ecrt_slave_config_pdos()
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   669
 */
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   670
void ecrt_slave_config_pdo_mapping_clear(
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   671
        ec_slave_config_t *sc, /**< Slave configuration. */
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   672
        uint16_t pdo_index /**< Index of the PDO. */
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   673
        );
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   674
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   675
/** Specify a complete PDO configuration.
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   676
 *
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   677
 * This function is a convenience wrapper for the functions
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   678
 * ecrt_slave_config_sync_manager(), ecrt_slave_config_pdo_assign_clear(),
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   679
 * ecrt_slave_config_pdo_assign_add(), ecrt_slave_config_pdo_mapping_clear()
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   680
 * and ecrt_slave_config_pdo_mapping_add(), that are better suitable for
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   681
 * automatic code generation.
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   682
 *
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   683
 * The following example shows, how to specify a complete configuration,
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   684
 * including the PDO mappings. With this information, the master is able to
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   685
 * reserve the complete process data, even if the slave is not present at
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   686
 * configuration time:
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   687
 *
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   688
 * \code
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   689
 * ec_pdo_entry_info_t el3162_channel1[] = {
842
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 832
diff changeset
   690
 *     {0x3101, 1,  8}, // status
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 832
diff changeset
   691
 *     {0x3101, 2, 16}  // value
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   692
 * };
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   693
 * 
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   694
 * ec_pdo_entry_info_t el3162_channel2[] = {
842
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 832
diff changeset
   695
 *     {0x3102, 1,  8}, // status
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 832
diff changeset
   696
 *     {0x3102, 2, 16}  // value
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 832
diff changeset
   697
 * };
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 832
diff changeset
   698
 * 
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   699
 * ec_pdo_info_t el3162_pdos[] = {
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   700
 *     {0x1A00, 2, el3162_channel1},
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   701
 *     {0x1A01, 2, el3162_channel2}
842
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 832
diff changeset
   702
 * };
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 832
diff changeset
   703
 * 
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   704
 * ec_sync_info_t el3162_syncs[] = {
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   705
 *     {2, EC_DIR_OUTPUT},
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   706
 *     {3, EC_DIR_INPUT, 2, el3162_pdos},
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   707
 *     {0xff}
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   708
 * };
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   709
 * 
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   710
 * if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3162_syncs)) {
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   711
 *     // handle error
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   712
 * }
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   713
 * \endcode
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   714
 * 
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   715
 * The next example shows, how to configure the PDO assignment only. The
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   716
 * entries for each assigned PDO are taken from the PDO's default mapping.
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   717
 * Please note, that PDO entry registration will fail, if the PDO
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   718
 * configuration is left empty and the slave is offline.
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   719
 *
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   720
 * \code
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   721
 * ec_pdo_info_t pdos[] = {
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   722
 *     {0x1600}, // Channel 1
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   723
 *     {0x1601}  // Channel 2
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   724
 * };
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   725
 * 
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   726
 * ec_sync_info_t syncs[] = {
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   727
 *     {3, EC_DIR_INPUT, 2, pdos},
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   728
 * };
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   729
 * 
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   730
 * if (ecrt_slave_config_pdos(slave_config_ana_in, 1, syncs)) {
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   731
 *     // handle error
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   732
 * }
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   733
 * \endcode
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   734
 *
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   735
 * Processing of \a syncs will stop, if
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   736
 * - the number of processed items reaches \a n_syncs, or
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   737
 * - the \a index member of an ec_sync_info_t item is 0xff. In this case,
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   738
 *   \a n_syncs should set to a number greater than the number of list items;
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   739
 *   using EC_END is recommended.
878
40c379697ebf Introduced EC_MAP_END.
Florian Pose <fp@igh-essen.com>
parents: 869
diff changeset
   740
 *
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   741
 * \return zero on success, else non-zero
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   742
 */
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   743
int ecrt_slave_config_pdos(
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   744
        ec_slave_config_t *sc, /**< Slave configuration. */
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   745
        unsigned int n_syncs, /**< Number of sync manager configurations in
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   746
                                \a syncs. */
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   747
        const ec_sync_info_t syncs[] /**< Array of sync manager
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   748
                                       configurations. */
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   749
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   750
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   751
/** Registers a PDO entry for process data exchange in a domain.
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   752
 *
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   753
 * Searches the assigned PDOs for the given PDO entry. An error is raised, if
925
939f3e9bba1e Some improvements concerning bit_position.
Florian Pose <fp@igh-essen.com>
parents: 923
diff changeset
   754
 * the given entry is not mapped. Otherwise, the corresponding sync manager
939f3e9bba1e Some improvements concerning bit_position.
Florian Pose <fp@igh-essen.com>
parents: 923
diff changeset
   755
 * and FMMU configurations are provided for slave configuration and the
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   756
 * respective sync manager's assigned PDOs are appended to the given domain,
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   757
 * if not already done. The offset of the requested PDO entry's data inside
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   758
 * the domain's process data is returned. Optionally, the PDO entry bit
925
939f3e9bba1e Some improvements concerning bit_position.
Florian Pose <fp@igh-essen.com>
parents: 923
diff changeset
   759
 * position (0-7) can be retrieved via the \a bit_position output parameter.
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   760
 * This pointer may be \a NULL, in this case an error is raised if the PDO
925
939f3e9bba1e Some improvements concerning bit_position.
Florian Pose <fp@igh-essen.com>
parents: 923
diff changeset
   761
 * entry does not byte-align.
842
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 832
diff changeset
   762
 *
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   763
 * \retval >=0 Success: Offset of the PDO entry's process data.
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   764
 * \retval  <0 Error code.
807
f8bca95ab75d Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents: 793
diff changeset
   765
 */
f8bca95ab75d Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents: 793
diff changeset
   766
int ecrt_slave_config_reg_pdo_entry(
f8bca95ab75d Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents: 793
diff changeset
   767
        ec_slave_config_t *sc, /**< Slave configuration. */
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   768
        uint16_t entry_index, /**< Index of the PDO entry to register. */
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   769
        uint8_t entry_subindex, /**< Subindex of the PDO entry to register. */
923
a6b51990e7e6 Changed Pdo entry registration function - return byte and bit positions
Richard Hacker <ha@igh-essen.com>
parents: 916
diff changeset
   770
        ec_domain_t *domain, /**< Domain. */
925
939f3e9bba1e Some improvements concerning bit_position.
Florian Pose <fp@igh-essen.com>
parents: 923
diff changeset
   771
        unsigned int *bit_position /**< Optional address if bit addressing 
923
a6b51990e7e6 Changed Pdo entry registration function - return byte and bit positions
Richard Hacker <ha@igh-essen.com>
parents: 916
diff changeset
   772
                                 is desired */
916
db73994fbdac Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents: 900
diff changeset
   773
        );
db73994fbdac Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents: 900
diff changeset
   774
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1384
diff changeset
   775
/** Sets the AssignActivate word necessary for DC operation.
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1384
diff changeset
   776
 *
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1384
diff changeset
   777
 * The AssignActivate word is vendor-specific and can be taken from the XML
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1384
diff changeset
   778
 * device description file (Device -> Dc -> AssignActivate). Set this to zero,
1396
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1394
diff changeset
   779
 * if the slave shall be operated without distributed clocks (default).
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1384
diff changeset
   780
 */
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1384
diff changeset
   781
void ecrt_slave_config_dc_assign_activate(
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1384
diff changeset
   782
		ec_slave_config_t *sc, /**< Slave configuration. */
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1384
diff changeset
   783
        uint16_t assign_activate /**< AssignActivate word. */
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1384
diff changeset
   784
		);
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1384
diff changeset
   785
1438
1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals().
Florian Pose <fp@igh-essen.com>
parents: 1434
diff changeset
   786
/** Sets the cycle and shift times for the sync signals.
1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals().
Florian Pose <fp@igh-essen.com>
parents: 1434
diff changeset
   787
 */
1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals().
Florian Pose <fp@igh-essen.com>
parents: 1434
diff changeset
   788
void ecrt_slave_config_dc_sync_signals(
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1384
diff changeset
   789
		ec_slave_config_t *sc, /**< Slave configuration. */
1438
1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals().
Florian Pose <fp@igh-essen.com>
parents: 1434
diff changeset
   790
        uint32_t sync0_cycle, /**< SYNC0 cycle time [ns]. */
1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals().
Florian Pose <fp@igh-essen.com>
parents: 1434
diff changeset
   791
		uint32_t sync0_shift, /**< SYNC0 shift time [ns]. */
1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals().
Florian Pose <fp@igh-essen.com>
parents: 1434
diff changeset
   792
        uint32_t sync1_cycle, /**< SYNC1 cycle time [ns]. */
1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals().
Florian Pose <fp@igh-essen.com>
parents: 1434
diff changeset
   793
		uint32_t sync1_shift /**< SYNC1 shift time [ns]. */
1411
3ebef749275c Added shift times to api.
Florian Pose <fp@igh-essen.com>
parents: 1410
diff changeset
   794
		);
3ebef749275c Added shift times to api.
Florian Pose <fp@igh-essen.com>
parents: 1410
diff changeset
   795
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   796
/** Add an SDO configuration.
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   797
 *
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   798
 * An SDO configuration is stored in the slave configuration object and is
893
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 886
diff changeset
   799
 * downloaded to the slave whenever the slave is being configured by the
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 886
diff changeset
   800
 * master. This usually happens once on master activation, but can be repeated
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 886
diff changeset
   801
 * subsequently, for example after the slave's power supply failed.
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 886
diff changeset
   802
 *
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   803
 * \attention The SDOs for PDO assignment (\p 0x1C10 - \p 0x1C2F) and PDO
1104
9e7fe258495e Added attention to ecrt_slave_config_sdo().
Florian Pose <fp@igh-essen.com>
parents: 1096
diff changeset
   804
 * mapping (\p 0x1600 - \p 0x17FF and \p 0x1A00 - \p 0x1BFF) should not be
9e7fe258495e Added attention to ecrt_slave_config_sdo().
Florian Pose <fp@igh-essen.com>
parents: 1096
diff changeset
   805
 * configured with this function, because they are part of the slave
9e7fe258495e Added attention to ecrt_slave_config_sdo().
Florian Pose <fp@igh-essen.com>
parents: 1096
diff changeset
   806
 * configuration done by the master. Please use ecrt_slave_config_pdos() and
9e7fe258495e Added attention to ecrt_slave_config_sdo().
Florian Pose <fp@igh-essen.com>
parents: 1096
diff changeset
   807
 * friends instead.
9e7fe258495e Added attention to ecrt_slave_config_sdo().
Florian Pose <fp@igh-essen.com>
parents: 1096
diff changeset
   808
 *
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   809
 * This is the generic function for adding an SDO configuration. Please note
893
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 886
diff changeset
   810
 * that the this function does not do any endianess correction. If
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 886
diff changeset
   811
 * datatype-specific functions are needed (that automatically correct the
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 886
diff changeset
   812
 * endianess), have a look at ecrt_slave_config_sdo8(),
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 886
diff changeset
   813
 * ecrt_slave_config_sdo16() and ecrt_slave_config_sdo32().
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 886
diff changeset
   814
 *
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   815
 * \retval  0 Success.
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   816
 * \retval <0 Error code.
893
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 886
diff changeset
   817
 */
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 886
diff changeset
   818
int ecrt_slave_config_sdo(
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 886
diff changeset
   819
        ec_slave_config_t *sc, /**< Slave configuration. */
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   820
        uint16_t index, /**< Index of the SDO to configure. */
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   821
        uint8_t subindex, /**< Subindex of the SDO to configure. */
893
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 886
diff changeset
   822
        const uint8_t *data, /**< Pointer to the data. */
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 886
diff changeset
   823
        size_t size /**< Size of the \a data. */
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 886
diff changeset
   824
        );
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 886
diff changeset
   825
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   826
/** Add a configuration value for an 8-bit SDO.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   827
 *
893
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 886
diff changeset
   828
 * \see ecrt_slave_config_sdo().
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   829
 *
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   830
 * \retval  0 Success.
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   831
 * \retval <0 Error code.
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   832
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   833
int ecrt_slave_config_sdo8(
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   834
        ec_slave_config_t *sc, /**< Slave configuration */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   835
        uint16_t sdo_index, /**< Index of the SDO to configure. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   836
        uint8_t sdo_subindex, /**< Subindex of the SDO to configure. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   837
        uint8_t value /**< Value to set. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   838
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   839
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   840
/** Add a configuration value for a 16-bit SDO.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   841
 *
893
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 886
diff changeset
   842
 * \see ecrt_slave_config_sdo().
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   843
 *
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   844
 * \retval  0 Success.
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   845
 * \retval <0 Error code.
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   846
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   847
int ecrt_slave_config_sdo16(
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   848
        ec_slave_config_t *sc, /**< Slave configuration */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   849
        uint16_t sdo_index, /**< Index of the SDO to configure. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   850
        uint8_t sdo_subindex, /**< Subindex of the SDO to configure. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   851
        uint16_t value /**< Value to set. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   852
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   853
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   854
/** Add a configuration value for a 32-bit SDO.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   855
 *
893
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 886
diff changeset
   856
 * \see ecrt_slave_config_sdo().
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   857
 *
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   858
 * \retval  0 Success.
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   859
 * \retval <0 Error code.
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   860
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   861
int ecrt_slave_config_sdo32(
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   862
        ec_slave_config_t *sc, /**< Slave configuration */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   863
        uint16_t sdo_index, /**< Index of the SDO to configure. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   864
        uint8_t sdo_subindex, /**< Subindex of the SDO to configure. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   865
        uint32_t value /**< Value to set. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   866
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   867
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   868
/** Create an SDO request to exchange SDOs during realtime operation.
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   869
 *
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   870
 * The created SDO request object is freed automatically when the master is
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   871
 * released.
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   872
 */
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   873
ec_sdo_request_t *ecrt_slave_config_create_sdo_request(
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   874
        ec_slave_config_t *sc, /**< Slave configuration. */
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   875
        uint16_t index, /**< SDO index. */
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   876
        uint8_t subindex, /**< SDO subindex. */
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   877
        size_t size /**< Data size to reserve. */
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   878
        );
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   879
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   880
/** Create an VoE handler to exchange vendor-specific data during realtime
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   881
 * operation.
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   882
 *
1267
75900030f0c3 Improved VoE docs.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   883
 * The number of VoE handlers per slave configuration is not limited, but
75900030f0c3 Improved VoE docs.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   884
 * usually it is enough to create one for sending and one for receiving, if
75900030f0c3 Improved VoE docs.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   885
 * both can be done simultaneously.
75900030f0c3 Improved VoE docs.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   886
 *
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   887
 * The created VoE handler object is freed automatically when the master is
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   888
 * released.
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   889
 */
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   890
ec_voe_handler_t *ecrt_slave_config_create_voe_handler(
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   891
        ec_slave_config_t *sc, /**< Slave configuration. */
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   892
        size_t size /**< Data size to reserve. */
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   893
        );
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   894
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   895
/** Outputs the state of the slave configuration.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   896
 *
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   897
 * Stores the state information in the given \a state structure.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   898
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   899
void ecrt_slave_config_state(
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   900
        const ec_slave_config_t *sc, /**< Slave configuration */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   901
        ec_slave_config_state_t *state /**< State object to write to. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   902
        );
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 288
diff changeset
   903
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   904
/******************************************************************************
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   905
 * Domain methods
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   906
 *****************************************************************************/
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   907
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   908
/** Registers a bunch of PDO entries for a domain.
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   909
 *
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   910
 * \todo doc
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   911
 * \attention The registration array has to be terminated with an empty
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   912
 *            structure, or one with the \a index field set to zero!
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   913
 * \return 0 on success, else non-zero.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   914
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   915
int ecrt_domain_reg_pdo_entry_list(
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   916
        ec_domain_t *domain, /**< Domain. */
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   917
        const ec_pdo_entry_reg_t *pdo_entry_regs /**< Array of PDO
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   918
                                                   registrations. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   919
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   920
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1257
diff changeset
   921
#ifdef __KERNEL__
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1257
diff changeset
   922
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   923
/** Returns the current size of the domain's process data.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   924
 *
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   925
 * \return Size of the process data image.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   926
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   927
size_t ecrt_domain_size(
1257
9844ac126275 Made ecrt_domain_size() const.
Florian Pose <fp@igh-essen.com>
parents: 1256
diff changeset
   928
        const ec_domain_t *domain /**< Domain. */
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   929
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   930
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   931
/** Provide external memory to store the domain's process data.
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   932
 *
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   933
 * Call this after all PDO entries have been registered and before activating
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   934
 * the master.
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   935
 *
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   936
 * The size of the allocated memory must be at least ecrt_domain_size(), after
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   937
 * all PDO entries have been registered.
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   938
 */
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   939
void ecrt_domain_external_memory(
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   940
        ec_domain_t *domain, /**< Domain. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   941
        uint8_t *memory /**< Address of the memory to store the process
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   942
                          data in. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   943
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   944
1248
3cc16b60a571 External memory only in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
   945
#endif /* __KERNEL__ */
3cc16b60a571 External memory only in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
   946
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   947
/** Returns the domain's process data.
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   948
 *
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1257
diff changeset
   949
 * - In kernel context: If external memory was provided with
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1257
diff changeset
   950
 * ecrt_domain_external_memory(), the returned pointer will contain the
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1257
diff changeset
   951
 * address of that memory. Otherwise it will point to the internally allocated
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1257
diff changeset
   952
 * memory. In the latter case, this method may not be called before
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1257
diff changeset
   953
 * ecrt_master_activate().
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1257
diff changeset
   954
 *
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1257
diff changeset
   955
 * - In userspace context: This method has to be called after
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1257
diff changeset
   956
 * ecrt_master_activate() to get the mapped domain process data memory.
1256
45fe0af4340b Warning.
Florian Pose <fp@igh-essen.com>
parents: 1254
diff changeset
   957
 *
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   958
 * \return Pointer to the process data memory.
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   959
 */
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   960
uint8_t *ecrt_domain_data(
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   961
        ec_domain_t *domain /**< Domain. */
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   962
        );
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   963
886
ee1b25db1fbf Added a few docs.
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
   964
/** Determines the states of the domain's datagrams.
ee1b25db1fbf Added a few docs.
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
   965
 *
ee1b25db1fbf Added a few docs.
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
   966
 * Evaluates the working counters of the received datagrams and outputs
ee1b25db1fbf Added a few docs.
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
   967
 * statistics, if necessary. This must be called after ecrt_master_receive()
ee1b25db1fbf Added a few docs.
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
   968
 * is expected to receive the domain datagrams in order to make
ee1b25db1fbf Added a few docs.
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
   969
 * ecrt_domain_state() return the result of the last process data exchange.
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   970
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   971
void ecrt_domain_process(
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   972
        ec_domain_t *domain /**< Domain. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   973
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   974
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   975
/** (Re-)queues all domain datagrams in the master's datagram queue.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   976
 *
886
ee1b25db1fbf Added a few docs.
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
   977
 * Call this function to mark the domain's datagrams for exchanging at the
ee1b25db1fbf Added a few docs.
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
   978
 * next call of ecrt_master_send().
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   979
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   980
void ecrt_domain_queue(
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   981
        ec_domain_t *domain /**< Domain. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   982
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   983
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   984
/** Reads the state of a domain.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   985
 *
886
ee1b25db1fbf Added a few docs.
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
   986
 * Stores the domain state in the given \a state structure.
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   987
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   988
void ecrt_domain_state(
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   989
        const ec_domain_t *domain, /**< Domain. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   990
        ec_domain_state_t *state /**< Pointer to a state object to store the
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   991
                                   information. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   992
        );
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
   993
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   994
/*****************************************************************************
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   995
 * SDO request methods.
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   996
 ****************************************************************************/
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   997
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   998
/** Set the timeout for an SDO request.
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   999
 *
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1000
 * If the request cannot be processed in the specified time, if will be marked
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1001
 * as failed.
1113
4d720feb915d Updated doc.
Florian Pose <fp@igh-essen.com>
parents: 1104
diff changeset
  1002
 *
4d720feb915d Updated doc.
Florian Pose <fp@igh-essen.com>
parents: 1104
diff changeset
  1003
 * The timeout is permanently stored in the request object and is valid until
4d720feb915d Updated doc.
Florian Pose <fp@igh-essen.com>
parents: 1104
diff changeset
  1004
 * the next call of this method.
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1005
 */
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1006
void ecrt_sdo_request_timeout(
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1007
        ec_sdo_request_t *req, /**< SDO request. */
880
f6212c54a5e3 Implemented Sdo timeout.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1008
        uint32_t timeout /**< Timeout in milliseconds. Zero means no
f6212c54a5e3 Implemented Sdo timeout.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1009
                           timeout. */
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1010
        );
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1011
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1012
/** Access to the SDO request's data.
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1013
 *
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1014
 * This function returns a pointer to the request's internal SDO data memory.
868
aaf175ef0171 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 864
diff changeset
  1015
 *
aaf175ef0171 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 864
diff changeset
  1016
 * - After a read operation was successful, integer data can be evaluated using
aaf175ef0171 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 864
diff changeset
  1017
 *   the EC_READ_*() macros as usual. Example:
aaf175ef0171 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 864
diff changeset
  1018
 *   \code
aaf175ef0171 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 864
diff changeset
  1019
 *   uint16_t value = EC_READ_U16(ecrt_sdo_request_data(sdo)));
aaf175ef0171 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 864
diff changeset
  1020
 *   \endcode
aaf175ef0171 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 864
diff changeset
  1021
 * - If a write operation shall be triggered, the data have to be written to
aaf175ef0171 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 864
diff changeset
  1022
 *   the internal memory. Use the EC_WRITE_*() macros, if you are writing
aaf175ef0171 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 864
diff changeset
  1023
 *   integer data. Be sure, that the data fit into the memory. The memory size
aaf175ef0171 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 864
diff changeset
  1024
 *   is a parameter of ecrt_slave_config_create_sdo_request().
aaf175ef0171 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 864
diff changeset
  1025
 *   \code
aaf175ef0171 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 864
diff changeset
  1026
 *   EC_WRITE_U16(ecrt_sdo_request_data(sdo), 0xFFFF);
aaf175ef0171 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 864
diff changeset
  1027
 *   \endcode
aaf175ef0171 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 864
diff changeset
  1028
 *
864
5b6992df2931 Updated docs.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
  1029
 * \attention The return value can be invalid during a read operation, because
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1030
 * the internal SDO data memory could be re-allocated if the read SDO data do
864
5b6992df2931 Updated docs.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
  1031
 * not fit inside.
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1032
 *
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1033
 * \return Pointer to the internal SDO data memory.
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1034
 */
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1035
uint8_t *ecrt_sdo_request_data(
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1036
        ec_sdo_request_t *req /**< SDO request. */
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1037
        );
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1038
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1039
/** Returns the current SDO data size.
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1040
 *
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1041
 * When the SDO request is created, the data size is set to the size of the
869
6c2f4130ed46 Added ecrt_sdo_request_data_size().
Florian Pose <fp@igh-essen.com>
parents: 868
diff changeset
  1042
 * reserved memory. After a read operation the size is set to the size of the
6c2f4130ed46 Added ecrt_sdo_request_data_size().
Florian Pose <fp@igh-essen.com>
parents: 868
diff changeset
  1043
 * read data. The size is not modified in any other situation.
6c2f4130ed46 Added ecrt_sdo_request_data_size().
Florian Pose <fp@igh-essen.com>
parents: 868
diff changeset
  1044
 *
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1045
 * \return SDO data size in bytes.
869
6c2f4130ed46 Added ecrt_sdo_request_data_size().
Florian Pose <fp@igh-essen.com>
parents: 868
diff changeset
  1046
 */
6c2f4130ed46 Added ecrt_sdo_request_data_size().
Florian Pose <fp@igh-essen.com>
parents: 868
diff changeset
  1047
size_t ecrt_sdo_request_data_size(
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1048
        const ec_sdo_request_t *req /**< SDO request. */
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1049
        );
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1050
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1051
/** Get the current state of the SDO request.
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1052
 *
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1053
 * \return Request state.
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1054
 */
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1341
diff changeset
  1055
#ifdef __KERNEL__
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1056
ec_request_state_t ecrt_sdo_request_state(
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1341
diff changeset
  1057
        const ec_sdo_request_t *req /**< SDO request. */
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1058
    );
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1341
diff changeset
  1059
#else
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1341
diff changeset
  1060
ec_request_state_t ecrt_sdo_request_state(
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1341
diff changeset
  1061
        ec_sdo_request_t *req /**< SDO request. */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1341
diff changeset
  1062
    );
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1341
diff changeset
  1063
#endif
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1064
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1065
/** Schedule an SDO write operation.
864
5b6992df2931 Updated docs.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
  1066
 *
5b6992df2931 Updated docs.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
  1067
 * \attention This method may not be called while ecrt_sdo_request_state()
5b6992df2931 Updated docs.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
  1068
 * returns EC_SDO_REQUEST_BUSY.
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1069
 */
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1070
void ecrt_sdo_request_write(
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1071
        ec_sdo_request_t *req /**< SDO request. */
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1072
        );
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1073
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1074
/** Schedule an SDO read operation.
864
5b6992df2931 Updated docs.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
  1075
 *
5b6992df2931 Updated docs.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
  1076
 * \attention This method may not be called while ecrt_sdo_request_state()
5b6992df2931 Updated docs.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
  1077
 * returns EC_SDO_REQUEST_BUSY.
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1078
 *
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1079
 * \attention After calling this function, the return value of
864
5b6992df2931 Updated docs.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
  1080
 * ecrt_sdo_request_data() must be considered as invalid while
5b6992df2931 Updated docs.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
  1081
 * ecrt_sdo_request_state() returns EC_SDO_REQUEST_BUSY.
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1082
 */
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1083
void ecrt_sdo_request_read(
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1084
        ec_sdo_request_t *req /**< SDO request. */
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1085
        );
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1086
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1087
/*****************************************************************************
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1088
 * VoE handler methods.
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1089
 ****************************************************************************/
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1090
1226
afb189516fcf Introduced ecrt_voe_handler_received_header(); renamed
Florian Pose <fp@igh-essen.com>
parents: 1218
diff changeset
  1091
/** Sets the VoE header for future send operations.
1218
6f3a973fc29e Introduced VoE header.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
  1092
 *
6f3a973fc29e Introduced VoE header.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
  1093
 * A VoE message shall contain a 4-byte vendor ID, followed by a 2-byte vendor
1267
75900030f0c3 Improved VoE docs.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1094
 * type at as header. These numbers can be set with this function. The values
75900030f0c3 Improved VoE docs.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1095
 * are valid and will be used for future send operations until the next call
75900030f0c3 Improved VoE docs.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1096
 * of this method.
1218
6f3a973fc29e Introduced VoE header.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
  1097
 */
1226
afb189516fcf Introduced ecrt_voe_handler_received_header(); renamed
Florian Pose <fp@igh-essen.com>
parents: 1218
diff changeset
  1098
void ecrt_voe_handler_send_header(
1218
6f3a973fc29e Introduced VoE header.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
  1099
        ec_voe_handler_t *voe, /**< VoE handler. */
6f3a973fc29e Introduced VoE header.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
  1100
        uint32_t vendor_id, /**< Vendor ID. */
6f3a973fc29e Introduced VoE header.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
  1101
        uint16_t vendor_type /**< Vendor-specific type. */
6f3a973fc29e Introduced VoE header.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
  1102
        );
6f3a973fc29e Introduced VoE header.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
  1103
1226
afb189516fcf Introduced ecrt_voe_handler_received_header(); renamed
Florian Pose <fp@igh-essen.com>
parents: 1218
diff changeset
  1104
/** Reads the header data of a received VoE message.
afb189516fcf Introduced ecrt_voe_handler_received_header(); renamed
Florian Pose <fp@igh-essen.com>
parents: 1218
diff changeset
  1105
 *
1267
75900030f0c3 Improved VoE docs.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1106
 * This method can be used to get the received VoE header information after a
75900030f0c3 Improved VoE docs.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1107
 * read operation has succeeded.
1226
afb189516fcf Introduced ecrt_voe_handler_received_header(); renamed
Florian Pose <fp@igh-essen.com>
parents: 1218
diff changeset
  1108
 *
afb189516fcf Introduced ecrt_voe_handler_received_header(); renamed
Florian Pose <fp@igh-essen.com>
parents: 1218
diff changeset
  1109
 * The header information is stored at the memory given by the pointer
afb189516fcf Introduced ecrt_voe_handler_received_header(); renamed
Florian Pose <fp@igh-essen.com>
parents: 1218
diff changeset
  1110
 * parameters.
afb189516fcf Introduced ecrt_voe_handler_received_header(); renamed
Florian Pose <fp@igh-essen.com>
parents: 1218
diff changeset
  1111
 */
afb189516fcf Introduced ecrt_voe_handler_received_header(); renamed
Florian Pose <fp@igh-essen.com>
parents: 1218
diff changeset
  1112
void ecrt_voe_handler_received_header(
afb189516fcf Introduced ecrt_voe_handler_received_header(); renamed
Florian Pose <fp@igh-essen.com>
parents: 1218
diff changeset
  1113
        const ec_voe_handler_t *voe, /**< VoE handler. */
afb189516fcf Introduced ecrt_voe_handler_received_header(); renamed
Florian Pose <fp@igh-essen.com>
parents: 1218
diff changeset
  1114
        uint32_t *vendor_id, /**< Vendor ID. */
afb189516fcf Introduced ecrt_voe_handler_received_header(); renamed
Florian Pose <fp@igh-essen.com>
parents: 1218
diff changeset
  1115
        uint16_t *vendor_type /**< Vendor-specific type. */
afb189516fcf Introduced ecrt_voe_handler_received_header(); renamed
Florian Pose <fp@igh-essen.com>
parents: 1218
diff changeset
  1116
        );
afb189516fcf Introduced ecrt_voe_handler_received_header(); renamed
Florian Pose <fp@igh-essen.com>
parents: 1218
diff changeset
  1117
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1118
/** Access to the VoE handler's data.
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1119
 *
1267
75900030f0c3 Improved VoE docs.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1120
 * This function returns a pointer to the VoE handler's internal memory, that
75900030f0c3 Improved VoE docs.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1121
 * points to the actual VoE data right after the VoE header (see
75900030f0c3 Improved VoE docs.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1122
 * ecrt_voe_handler_send_header()).
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1123
 *
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1124
 * - After a read operation was successful, the memory contains the received
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1125
 *   data. The size of the received data can be determined via
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1126
 *   ecrt_voe_handler_data_size().
1267
75900030f0c3 Improved VoE docs.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1127
 * - Before a write operation is triggered, the data have to be written to the
75900030f0c3 Improved VoE docs.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1128
 *   internal memory. Be sure, that the data fit into the memory. The reserved
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1129
 *   memory size is a parameter of ecrt_slave_config_create_voe_handler().
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1130
 *
1267
75900030f0c3 Improved VoE docs.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1131
 * \attention The returned pointer is not necessarily persistent: After a read
75900030f0c3 Improved VoE docs.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1132
 * operation, the internal memory may have been reallocated. This can be
75900030f0c3 Improved VoE docs.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1133
 * avoided by reserving enough memory via the \a size parameter of
75900030f0c3 Improved VoE docs.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1134
 * ecrt_slave_config_create_voe_handler().
75900030f0c3 Improved VoE docs.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1135
 *
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1136
 * \return Pointer to the internal memory.
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1137
 */
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1138
uint8_t *ecrt_voe_handler_data(
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1139
        ec_voe_handler_t *voe /**< VoE handler. */
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1140
        );
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1141
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1142
/** Returns the current data size.
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1143
 *
1218
6f3a973fc29e Introduced VoE header.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
  1144
 * The data size is the size of the VoE data without the header (see
1226
afb189516fcf Introduced ecrt_voe_handler_received_header(); renamed
Florian Pose <fp@igh-essen.com>
parents: 1218
diff changeset
  1145
 * ecrt_voe_handler_send_header()).
1218
6f3a973fc29e Introduced VoE header.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
  1146
 *
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1147
 * When the VoE handler is created, the data size is set to the size of the
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1148
 * reserved memory. At a write operation, the data size is set to the number
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1149
 * of bytes to write. After a read operation the size is set to the size of
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1150
 * the read data. The size is not modified in any other situation.
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1151
 *
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1152
 * \return Data size in bytes.
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1153
 */
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1154
size_t ecrt_voe_handler_data_size(
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1155
        const ec_voe_handler_t *voe /**< VoE handler. */
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1156
        );
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1157
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1158
/** Start a VoE write operation.
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1159
 *
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1160
 * After this function has been called, the ecrt_voe_handler_execute() method
1226
afb189516fcf Introduced ecrt_voe_handler_received_header(); renamed
Florian Pose <fp@igh-essen.com>
parents: 1218
diff changeset
  1161
 * must be called in every bus cycle as long as it returns EC_REQUEST_BUSY. No
afb189516fcf Introduced ecrt_voe_handler_received_header(); renamed
Florian Pose <fp@igh-essen.com>
parents: 1218
diff changeset
  1162
 * other operation may be started while the handler is busy.
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1163
 */
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1164
void ecrt_voe_handler_write(
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1165
        ec_voe_handler_t *voe, /**< VoE handler. */
1218
6f3a973fc29e Introduced VoE header.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
  1166
        size_t size /**< Number of bytes to write (without the VoE header). */
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1167
        );
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1168
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1169
/** Start a VoE read operation.
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1170
 *
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1171
 * After this function has been called, the ecrt_voe_handler_execute() method
1226
afb189516fcf Introduced ecrt_voe_handler_received_header(); renamed
Florian Pose <fp@igh-essen.com>
parents: 1218
diff changeset
  1172
 * must be called in every bus cycle as long as it returns EC_REQUEST_BUSY. No
afb189516fcf Introduced ecrt_voe_handler_received_header(); renamed
Florian Pose <fp@igh-essen.com>
parents: 1218
diff changeset
  1173
 * other operation may be started while the handler is busy.
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1174
 *
1267
75900030f0c3 Improved VoE docs.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1175
 * The state machine queries the slave's send mailbox for new data to be send
75900030f0c3 Improved VoE docs.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1176
 * to the master. If no data appear within the EC_VOE_RESPONSE_TIMEOUT
75900030f0c3 Improved VoE docs.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1177
 * (defined in master/voe_handler.c), the operation fails.
75900030f0c3 Improved VoE docs.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1178
 *
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1179
 * On success, the size of the read data can be determined via
1226
afb189516fcf Introduced ecrt_voe_handler_received_header(); renamed
Florian Pose <fp@igh-essen.com>
parents: 1218
diff changeset
  1180
 * ecrt_voe_handler_data_size(), while the VoE header of the received data
afb189516fcf Introduced ecrt_voe_handler_received_header(); renamed
Florian Pose <fp@igh-essen.com>
parents: 1218
diff changeset
  1181
 * can be retrieved with ecrt_voe_handler_received_header().
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1182
 */
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1183
void ecrt_voe_handler_read(
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1184
        ec_voe_handler_t *voe /**< VoE handler. */
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1185
        );
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1186
1314
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  1187
/** Start a VoE read operation without querying the sync manager status.
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  1188
 *
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  1189
 * After this function has been called, the ecrt_voe_handler_execute() method
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  1190
 * must be called in every bus cycle as long as it returns EC_REQUEST_BUSY. No
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  1191
 * other operation may be started while the handler is busy.
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  1192
 *
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  1193
 * The state machine queries the slave by sending an empty mailbox. The slave
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  1194
 * fills its data to the master in this mailbox. If no data appear within the
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  1195
 * EC_VOE_RESPONSE_TIMEOUT (defined in master/voe_handler.c), the operation
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  1196
 * fails.
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  1197
 *
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  1198
 * On success, the size of the read data can be determined via
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  1199
 * ecrt_voe_handler_data_size(), while the VoE header of the received data
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  1200
 * can be retrieved with ecrt_voe_handler_received_header().
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  1201
 */
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  1202
void ecrt_voe_handler_read_nosync(
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  1203
        ec_voe_handler_t *voe /**< VoE handler. */
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  1204
        );
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  1205
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1206
/** Execute the handler.
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1207
 *
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1208
 * This method executes the VoE handler. It has to be called in every bus cycle
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1209
 * as long as it returns EC_REQUEST_BUSY.
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1210
 *
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1211
 * \return Handler state.
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1212
 */
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1213
ec_request_state_t ecrt_voe_handler_execute(
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1214
    ec_voe_handler_t *voe /**< VoE handler. */
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1215
    );
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1216
1288
bf0d42ca5aec Wrapped c function in 'extern "C"' to make the library usable in C++
Florian Pose <fp@igh-essen.com>
parents: 1287
diff changeset
  1217
/*****************************************************************************/
bf0d42ca5aec Wrapped c function in 'extern "C"' to make the library usable in C++
Florian Pose <fp@igh-essen.com>
parents: 1287
diff changeset
  1218
bf0d42ca5aec Wrapped c function in 'extern "C"' to make the library usable in C++
Florian Pose <fp@igh-essen.com>
parents: 1287
diff changeset
  1219
#ifdef __cplusplus
bf0d42ca5aec Wrapped c function in 'extern "C"' to make the library usable in C++
Florian Pose <fp@igh-essen.com>
parents: 1287
diff changeset
  1220
}
bf0d42ca5aec Wrapped c function in 'extern "C"' to make the library usable in C++
Florian Pose <fp@igh-essen.com>
parents: 1287
diff changeset
  1221
#endif
bf0d42ca5aec Wrapped c function in 'extern "C"' to make the library usable in C++
Florian Pose <fp@igh-essen.com>
parents: 1287
diff changeset
  1222
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1223
/******************************************************************************
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1224
 * Bitwise read/write macros
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1225
 *****************************************************************************/
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1226
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1227
/** Read a certain bit of an EtherCAT data byte.
894
440c43d56b33 Improved EC_WRITE macros by replacing in-situ conversions
Florian Pose <fp@igh-essen.com>
parents: 893
diff changeset
  1228
 *
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1229
 * \param DATA EtherCAT data pointer
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1230
 * \param POS bit position
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1231
 */
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1232
#define EC_READ_BIT(DATA, POS) ((*((uint8_t *) (DATA)) >> (POS)) & 0x01)
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1233
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1234
/** Write a certain bit of an EtherCAT data byte.
894
440c43d56b33 Improved EC_WRITE macros by replacing in-situ conversions
Florian Pose <fp@igh-essen.com>
parents: 893
diff changeset
  1235
 *
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1236
 * \param DATA EtherCAT data pointer
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1237
 * \param POS bit position
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1238
 * \param VAL new bit value
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1239
 */
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1240
#define EC_WRITE_BIT(DATA, POS, VAL) \
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1241
    do { \
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1242
        if (VAL) *((uint8_t *) (DATA)) |=  (1 << (POS)); \
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1243
        else     *((uint8_t *) (DATA)) &= ~(1 << (POS)); \
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1244
    } while (0)
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1245
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1246
/******************************************************************************
1254
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1247
 * Byte-swapping functions for user space
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1248
 *****************************************************************************/
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1249
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1250
#ifndef __KERNEL__
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1251
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1252
#if __BYTE_ORDER == __LITTLE_ENDIAN
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1253
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1254
#define le16_to_cpu(x) x
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1255
#define le32_to_cpu(x) x
1384
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1256
#define le64_to_cpu(x) x
1254
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1257
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1258
#define cpu_to_le16(x) x
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1259
#define cpu_to_le32(x) x
1384
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1260
#define cpu_to_le64(x) x
1254
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1261
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1262
#elif __BYTE_ORDER == __BIG_ENDIAN
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1263
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1264
#define swap16(x) \
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1265
        ((uint16_t)( \
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1266
        (((uint16_t)(x) & 0x00ffU) << 8) | \
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1267
        (((uint16_t)(x) & 0xff00U) >> 8) ))
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1268
#define swap32(x) \
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1269
        ((uint32_t)( \
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1270
        (((uint32_t)(x) & 0x000000ffUL) << 24) | \
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1271
        (((uint32_t)(x) & 0x0000ff00UL) <<  8) | \
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1272
        (((uint32_t)(x) & 0x00ff0000UL) >>  8) | \
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1273
        (((uint32_t)(x) & 0xff000000UL) >> 24) ))
1384
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1274
#define swap64(x) \
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1275
        ((uint64_t)( \
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1276
        (((uint64_t)(x) & 0x00000000000000ffULL) << 56) | \
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1277
        (((uint64_t)(x) & 0x000000000000ff00ULL) << 40) | \
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1278
        (((uint64_t)(x) & 0x0000000000ff0000ULL) << 24) | \
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1279
        (((uint64_t)(x) & 0x00000000ff000000ULL) <<  8) | \
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1280
        (((uint64_t)(x) & 0x000000ff00000000ULL) >>  8) | \
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1281
        (((uint64_t)(x) & 0x0000ff0000000000ULL) >> 24) | \
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1282
        (((uint64_t)(x) & 0x00ff000000000000ULL) >> 40) | \
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1283
        (((uint64_t)(x) & 0xff00000000000000ULL) >> 56) ))
1254
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1284
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1285
#define le16_to_cpu(x) swap16(x)
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1286
#define le32_to_cpu(x) swap32(x)
1384
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1287
#define le64_to_cpu(x) swap64(x)
1254
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1288
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1289
#define cpu_to_le16(x) swap16(x)
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1290
#define cpu_to_le32(x) swap32(x)
1384
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1291
#define cpu_to_le64(x) swap64(x)
1254
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1292
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1293
#endif
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1294
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1295
#define le16_to_cpup(x) le16_to_cpu(*((uint16_t *)(x)))
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1296
#define le32_to_cpup(x) le32_to_cpu(*((uint32_t *)(x)))
1384
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1297
#define le64_to_cpup(x) le64_to_cpu(*((uint64_t *)(x)))
1254
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1298
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1299
#endif /* ifndef __KERNEL__ */
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1300
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1301
/******************************************************************************
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1302
 * Read macros
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1303
 *****************************************************************************/
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1304
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1305
/** Read an 8-bit unsigned value from EtherCAT data.
894
440c43d56b33 Improved EC_WRITE macros by replacing in-situ conversions
Florian Pose <fp@igh-essen.com>
parents: 893
diff changeset
  1306
 *
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1307
 * \return EtherCAT data value
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1308
 */
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1309
#define EC_READ_U8(DATA) \
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1310
    ((uint8_t) *((uint8_t *) (DATA)))
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1311
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1312
/** Read an 8-bit signed value from EtherCAT data.
894
440c43d56b33 Improved EC_WRITE macros by replacing in-situ conversions
Florian Pose <fp@igh-essen.com>
parents: 893
diff changeset
  1313
 *
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1314
 * \param DATA EtherCAT data pointer
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1315
 * \return EtherCAT data value
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1316
 */
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1317
#define EC_READ_S8(DATA) \
288
89d3c61ef3e6 Minor changes to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 286
diff changeset
  1318
     ((int8_t) *((uint8_t *) (DATA)))
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1319
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1320
/** Read a 16-bit unsigned value from EtherCAT data.
894
440c43d56b33 Improved EC_WRITE macros by replacing in-situ conversions
Florian Pose <fp@igh-essen.com>
parents: 893
diff changeset
  1321
 *
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1322
 * \param DATA EtherCAT data pointer
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1323
 * \return EtherCAT data value
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1324
 */
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1325
#define EC_READ_U16(DATA) \
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1326
     ((uint16_t) le16_to_cpup((void *) (DATA)))
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1327
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1328
/** Read a 16-bit signed value from EtherCAT data.
894
440c43d56b33 Improved EC_WRITE macros by replacing in-situ conversions
Florian Pose <fp@igh-essen.com>
parents: 893
diff changeset
  1329
 *
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1330
 * \param DATA EtherCAT data pointer
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1331
 * \return EtherCAT data value
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1332
 */
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1333
#define EC_READ_S16(DATA) \
288
89d3c61ef3e6 Minor changes to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 286
diff changeset
  1334
     ((int16_t) le16_to_cpup((void *) (DATA)))
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1335
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1336
/** Read a 32-bit unsigned value from EtherCAT data.
894
440c43d56b33 Improved EC_WRITE macros by replacing in-situ conversions
Florian Pose <fp@igh-essen.com>
parents: 893
diff changeset
  1337
 *
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1338
 * \param DATA EtherCAT data pointer
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1339
 * \return EtherCAT data value
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1340
 */
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1341
#define EC_READ_U32(DATA) \
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1342
     ((uint32_t) le32_to_cpup((void *) (DATA)))
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1343
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1344
/** Read a 32-bit signed value from EtherCAT data.
894
440c43d56b33 Improved EC_WRITE macros by replacing in-situ conversions
Florian Pose <fp@igh-essen.com>
parents: 893
diff changeset
  1345
 *
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1346
 * \param DATA EtherCAT data pointer
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1347
 * \return EtherCAT data value
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1348
 */
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1349
#define EC_READ_S32(DATA) \
288
89d3c61ef3e6 Minor changes to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 286
diff changeset
  1350
     ((int32_t) le32_to_cpup((void *) (DATA)))
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1351
1384
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1352
/** Read a 64-bit unsigned value from EtherCAT data.
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1353
 *
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1354
 * \param DATA EtherCAT data pointer
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1355
 * \return EtherCAT data value
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1356
 */
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1357
#define EC_READ_U64(DATA) \
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1358
     ((uint64_t) le64_to_cpup((void *) (DATA)))
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1359
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1360
/** Read a 64-bit signed value from EtherCAT data.
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1361
 *
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1362
 * \param DATA EtherCAT data pointer
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1363
 * \return EtherCAT data value
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1364
 */
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1365
#define EC_READ_S64(DATA) \
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1366
     ((int64_t) le64_to_cpup((void *) (DATA)))
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1367
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1368
/******************************************************************************
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1369
 * Write macros
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1370
 *****************************************************************************/
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1371
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1372
/** Write an 8-bit unsigned value to EtherCAT data.
894
440c43d56b33 Improved EC_WRITE macros by replacing in-situ conversions
Florian Pose <fp@igh-essen.com>
parents: 893
diff changeset
  1373
 *
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1374
 * \param DATA EtherCAT data pointer
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1375
 * \param VAL new value
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1376
 */
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1377
#define EC_WRITE_U8(DATA, VAL) \
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1378
    do { \
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1379
        *((uint8_t *)(DATA)) = ((uint8_t) (VAL)); \
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1380
    } while (0)
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1381
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1382
/** Write an 8-bit signed value to EtherCAT data.
894
440c43d56b33 Improved EC_WRITE macros by replacing in-situ conversions
Florian Pose <fp@igh-essen.com>
parents: 893
diff changeset
  1383
 *
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1384
 * \param DATA EtherCAT data pointer
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1385
 * \param VAL new value
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1386
 */
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1387
#define EC_WRITE_S8(DATA, VAL) EC_WRITE_U8(DATA, VAL)
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1388
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1389
/** Write a 16-bit unsigned value to EtherCAT data.
894
440c43d56b33 Improved EC_WRITE macros by replacing in-situ conversions
Florian Pose <fp@igh-essen.com>
parents: 893
diff changeset
  1390
 *
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1391
 * \param DATA EtherCAT data pointer
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1392
 * \param VAL new value
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1393
 */
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1394
#define EC_WRITE_U16(DATA, VAL) \
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1395
    do { \
894
440c43d56b33 Improved EC_WRITE macros by replacing in-situ conversions
Florian Pose <fp@igh-essen.com>
parents: 893
diff changeset
  1396
        *((uint16_t *) (DATA)) = cpu_to_le16((uint16_t) (VAL)); \
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1397
    } while (0)
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1398
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1399
/** Write a 16-bit signed value to EtherCAT data.
894
440c43d56b33 Improved EC_WRITE macros by replacing in-situ conversions
Florian Pose <fp@igh-essen.com>
parents: 893
diff changeset
  1400
 *
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1401
 * \param DATA EtherCAT data pointer
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1402
 * \param VAL new value
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1403
 */
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1404
#define EC_WRITE_S16(DATA, VAL) EC_WRITE_U16(DATA, VAL)
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1405
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1406
/** Write a 32-bit unsigned value to EtherCAT data.
894
440c43d56b33 Improved EC_WRITE macros by replacing in-situ conversions
Florian Pose <fp@igh-essen.com>
parents: 893
diff changeset
  1407
 *
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1408
 * \param DATA EtherCAT data pointer
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1409
 * \param VAL new value
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1410
 */
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1411
#define EC_WRITE_U32(DATA, VAL) \
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1412
    do { \
894
440c43d56b33 Improved EC_WRITE macros by replacing in-situ conversions
Florian Pose <fp@igh-essen.com>
parents: 893
diff changeset
  1413
        *((uint32_t *) (DATA)) = cpu_to_le32((uint32_t) (VAL)); \
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1414
    } while (0)
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1415
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1416
/** Write a 32-bit signed value to EtherCAT data.
894
440c43d56b33 Improved EC_WRITE macros by replacing in-situ conversions
Florian Pose <fp@igh-essen.com>
parents: 893
diff changeset
  1417
 *
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1418
 * \param DATA EtherCAT data pointer
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1419
 * \param VAL new value
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1420
 */
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1421
#define EC_WRITE_S32(DATA, VAL) EC_WRITE_U32(DATA, VAL)
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1422
1384
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1423
/** Write a 64-bit unsigned value to EtherCAT data.
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1424
 *
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1425
 * \param DATA EtherCAT data pointer
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1426
 * \param VAL new value
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1427
 */
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1428
#define EC_WRITE_U64(DATA, VAL) \
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1429
    do { \
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1430
        *((uint64_t *) (DATA)) = cpu_to_le64((uint64_t) (VAL)); \
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1431
    } while (0)
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1432
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1433
/** Write a 64-bit signed value to EtherCAT data.
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1434
 *
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1435
 * \param DATA EtherCAT data pointer
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1436
 * \param VAL new value
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1437
 */
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1438
#define EC_WRITE_S64(DATA, VAL) EC_WRITE_U64(DATA, VAL)
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1439
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1440
/*****************************************************************************/
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1441
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1442
/** @} */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1443
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1444
#endif