etherlabmaster: include/ecrt.h@53b9a0a92154 (annotated)

104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	1	/******************************************************************************
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	2	*
125 b01bd5b830d7 Sch?nheitskorrekturen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	3	* $Id$
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	4	*
197 b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	5	* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	6	*
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	7	* This file is part of the IgH EtherCAT Master.
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	8	*
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	9	* The IgH EtherCAT Master is free software; you can redistribute it
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	10	* and/or modify it under the terms of the GNU General Public License
246 0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 206 diff changeset	11	* as published by the Free Software Foundation; either version 2 of the
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 206 diff changeset	12	* License, or (at your option) any later version.
197 b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	13	*
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	14	* The IgH EtherCAT Master is distributed in the hope that it will be
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	15	* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	16	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	17	* GNU General Public License for more details.
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	18	*
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	19	* You should have received a copy of the GNU General Public License
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	20	* along with the IgH EtherCAT Master; if not, write to the Free Software
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	21	* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	22	*
246 0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 206 diff changeset	23	* The right to use EtherCAT Technology is granted and comes free of
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 206 diff changeset	24	* charge under condition of compatibility of product made by
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 206 diff changeset	25	* Licensee. People intending to distribute/sell products based on the
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 206 diff changeset	26	* code, have to sign an agreement to guarantee that products using
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 206 diff changeset	27	* software based on IgH EtherCAT master stay compatible with the actual
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 206 diff changeset	28	* EtherCAT specification (which are released themselves as an open
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 206 diff changeset	29	* standard) as the (only) precondition to have the right to use EtherCAT
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 206 diff changeset	30	* Technology, IP and trade marks.
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 206 diff changeset	31	*
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	32	*****************************************************************************/
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	33
779 b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	34	/** \file EtherCAT realtime interface.
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	35
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	36	\defgroup RealtimeInterface EtherCAT realtime interface
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	37
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	38	EtherCAT interface for realtime modules. This interface is designed for
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	39	realtime modules that want to use EtherCAT. There are functions to request a
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	40	master, to map process data, to communicate with slaves via CoE and to
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	41	configure and activate the bus.
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	42	*/
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	43
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	44	/*****************************************************************************/
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	45
125 b01bd5b830d7 Sch?nheitskorrekturen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	46	#ifndef __ECRT_H__
b01bd5b830d7 Sch?nheitskorrekturen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	47	#define __ECRT_H__
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	48
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	49	#include <asm/byteorder.h>
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	50
110 2346e2963087 Integer-Typen in ecrt.h. Florian Pose <fp@igh-essen.com> parents: 106 diff changeset	51	#ifdef __KERNEL__
2346e2963087 Integer-Typen in ecrt.h. Florian Pose <fp@igh-essen.com> parents: 106 diff changeset	52	#include <linux/types.h>
2346e2963087 Integer-Typen in ecrt.h. Florian Pose <fp@igh-essen.com> parents: 106 diff changeset	53	#else
2346e2963087 Integer-Typen in ecrt.h. Florian Pose <fp@igh-essen.com> parents: 106 diff changeset	54	#include <stdint.h>
2346e2963087 Integer-Typen in ecrt.h. Florian Pose <fp@igh-essen.com> parents: 106 diff changeset	55	#endif
2346e2963087 Integer-Typen in ecrt.h. Florian Pose <fp@igh-essen.com> parents: 106 diff changeset	56
779 b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	57	/******************************************************************************
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	58	* Global definitions
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	59	*****************************************************************************/
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	60
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	61	/** EtherCAT real-time interface major version number.
758 8fa6f825eb7d Updated Doxygen documentation. Florian Pose <fp@igh-essen.com> parents: 707 diff changeset	62	*/
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 635 diff changeset	63	#define ECRT_VER_MAJOR 1
758 8fa6f825eb7d Updated Doxygen documentation. Florian Pose <fp@igh-essen.com> parents: 707 diff changeset	64
779 b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	65	/** EtherCAT real-time interface minor version number.
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	66	*/
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	67	#define ECRT_VER_MINOR 4
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	68
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	69	/** EtherCAT real-time interface version word generator.
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	70	*/
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	71	#define ECRT_VERSION(a, b) (((a) << 8) + (b))
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	72
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	73	/** EtherCAT real-time interface version word.
758 8fa6f825eb7d Updated Doxygen documentation. Florian Pose <fp@igh-essen.com> parents: 707 diff changeset	74	*/
541 5a2b1658b67f Introduced ECRT version magic. Florian Pose <fp@igh-essen.com> parents: 495 diff changeset	75	#define ECRT_VERSION_MAGIC ECRT_VERSION(ECRT_VER_MAJOR, ECRT_VER_MINOR)
5a2b1658b67f Introduced ECRT version magic. Florian Pose <fp@igh-essen.com> parents: 495 diff changeset	76
779 b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	77	/******************************************************************************
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	78	* Data types
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	79	*****************************************************************************/
541 5a2b1658b67f Introduced ECRT version magic. Florian Pose <fp@igh-essen.com> parents: 495 diff changeset	80
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	81	struct ec_master;
286 f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 276 diff changeset	82	typedef struct ec_master ec_master_t; /*< \see ec_master /
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	83
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	84	struct ec_domain;
286 f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 276 diff changeset	85	typedef struct ec_domain ec_domain_t; /*< \see ec_domain /
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	86
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	87	struct ec_slave;
286 f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 276 diff changeset	88	typedef struct ec_slave ec_slave_t; /*< \see ec_slave /
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	89
779 b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	90	/*****************************************************************************/
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	91
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	92	/** Bus status.
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	93	*/
612 aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 541 diff changeset	94	typedef enum {
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	95	EC_BUS_FAILURE = -1, /**< At least one slave with process data exchange
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	96	is offline. */
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	97	EC_BUS_OK /**< All slaves with process data exchange are
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	98	online. */
612 aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 541 diff changeset	99	}
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 541 diff changeset	100	ec_bus_status_t;
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 541 diff changeset	101
779 b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	102	/*****************************************************************************/
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	103
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	104	/** Master status.
612 aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 541 diff changeset	105	* This is used for the output parameter of ecrt_master_get_status().
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 541 diff changeset	106	*/
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 541 diff changeset	107	typedef struct {
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	108	ec_bus_status_t bus_status; /*< \see ec_bus_status_t /
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	109	unsigned int bus_tainted; /*< non-zero, if the bus topology is invalid /
780 53b9a0a92154 Minor fixes. Florian Pose <fp@igh-essen.com> parents: 779 diff changeset	110	unsigned int slaves_responding; /*< number of responding slaves /
612 aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 541 diff changeset	111	}
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 541 diff changeset	112	ec_master_status_t;
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 541 diff changeset	113
779 b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	114	/*****************************************************************************/
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	115
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	116	/** List entry for domain PDO registrations.
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	117	* This type is used as a parameter for the ecrt_domain_register_pdo_list()
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	118	* convenience function.
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	119	*/
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	120	typedef struct {
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	121	const char slave_address; /*< slave address string
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	122	\see ec_master_parse_slave_address() */
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 288 diff changeset	123	uint32_t vendor_id; /*< vendor ID /
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 288 diff changeset	124	uint32_t product_code; /*< product code /
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	125	uint16_t pdo_entry_index; /*< PDO entry index /
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	126	uint8_t pdo_entry_subindex; /*< PDO entry subindex /
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 288 diff changeset	127	void data_ptr; /< address of the process data pointer */
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	128	}
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 288 diff changeset	129	ec_pdo_reg_t;
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	130
779 b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	131	/*****************************************************************************/
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	132
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	133	/** Direction type for PDO mapping and range registration functions.
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	134	*/
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	135	typedef enum {
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	136	EC_DIR_OUTPUT, /*< values written by master /
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	137	EC_DIR_INPUT /*< values read by master /
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	138	}
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	139	ec_direction_t;
416 4f007cd2a79d ecrt_domain_register_pdo_range() implemented. Florian Pose <fp@igh-essen.com> parents: 325 diff changeset	140
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	141	/******************************************************************************
779 b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	142	* Global functions
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	143	*****************************************************************************/
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	144
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	145	ec_master_t *ecrt_request_master(unsigned int master_index);
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	146	void ecrt_release_master(ec_master_t *master);
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	147
541 5a2b1658b67f Introduced ECRT version magic. Florian Pose <fp@igh-essen.com> parents: 495 diff changeset	148	unsigned int ecrt_version_magic(void);
5a2b1658b67f Introduced ECRT version magic. Florian Pose <fp@igh-essen.com> parents: 495 diff changeset	149
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	150	/******************************************************************************
779 b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	151	* Master methods
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	152	*****************************************************************************/
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	153
204 5ab50514d9b2 Locking callback interface. Florian Pose <fp@igh-essen.com> parents: 200 diff changeset	154	void ecrt_master_callbacks(ec_master_t master, int (request_cb)(void *),
5ab50514d9b2 Locking callback interface. Florian Pose <fp@igh-essen.com> parents: 200 diff changeset	155	void (release_cb)(void ), void *cb_data);
5ab50514d9b2 Locking callback interface. Florian Pose <fp@igh-essen.com> parents: 200 diff changeset	156
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	157	ec_domain_t ecrt_master_create_domain(ec_master_t master);
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	158
780 53b9a0a92154 Minor fixes. Florian Pose <fp@igh-essen.com> parents: 779 diff changeset	159	ec_slave_t ecrt_master_get_slave(const ec_master_t master,
53b9a0a92154 Minor fixes. Florian Pose <fp@igh-essen.com> parents: 779 diff changeset	160	const char *address, uint32_t vendor_id, uint32_t product_code);
53b9a0a92154 Minor fixes. Florian Pose <fp@igh-essen.com> parents: 779 diff changeset	161	ec_slave_t ecrt_master_get_slave_by_pos(const ec_master_t master,
53b9a0a92154 Minor fixes. Florian Pose <fp@igh-essen.com> parents: 779 diff changeset	162	uint16_t position, uint32_t vendor_id, uint32_t product_code);
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	163
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	164	int ecrt_master_activate(ec_master_t *master);
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	165
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 288 diff changeset	166	void ecrt_master_send(ec_master_t *master);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 288 diff changeset	167	void ecrt_master_receive(ec_master_t *master);
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	168
780 53b9a0a92154 Minor fixes. Florian Pose <fp@igh-essen.com> parents: 779 diff changeset	169	void ecrt_master_get_status(const ec_master_t master, ec_master_status_t s);
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 288 diff changeset	170
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	171	/******************************************************************************
779 b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	172	* Domain methods
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	173	*****************************************************************************/
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	174
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	175	int ecrt_domain_register_pdo(ec_domain_t domain, ec_slave_t slave,
780 53b9a0a92154 Minor fixes. Florian Pose <fp@igh-essen.com> parents: 779 diff changeset	176	uint16_t pdo_entry_index, uint8_t pdo_entry_subindex, void **data_ptr);
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	177
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	178	int ecrt_domain_register_pdo_range(ec_domain_t domain, ec_slave_t slave,
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	179	ec_direction_t direction, uint16_t offset, uint16_t length,
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	180	void **data_ptr);
416 4f007cd2a79d ecrt_domain_register_pdo_range() implemented. Florian Pose <fp@igh-essen.com> parents: 325 diff changeset	181
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 288 diff changeset	182	int ecrt_domain_register_pdo_list(ec_domain_t *domain,
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	183	const ec_pdo_reg_t *pdos);
416 4f007cd2a79d ecrt_domain_register_pdo_range() implemented. Florian Pose <fp@igh-essen.com> parents: 325 diff changeset	184
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	185	void ecrt_domain_process(ec_domain_t *domain);
494 178b1b43a88c Version 1.2.0-rc1, re-introduced ecrt_domain_queue(). Florian Pose <fp@igh-essen.com> parents: 489 diff changeset	186	void ecrt_domain_queue(ec_domain_t *domain);
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	187
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 288 diff changeset	188	int ecrt_domain_state(const ec_domain_t *domain);
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	189
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	190	/******************************************************************************
779 b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	191	* Slave methods
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	192	*****************************************************************************/
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	193
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 288 diff changeset	194	int ecrt_slave_conf_sdo8(ec_slave_t *slave, uint16_t sdo_index,
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 288 diff changeset	195	uint8_t sdo_subindex, uint8_t value);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 288 diff changeset	196	int ecrt_slave_conf_sdo16(ec_slave_t *slave, uint16_t sdo_index,
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 288 diff changeset	197	uint8_t sdo_subindex, uint16_t value);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 288 diff changeset	198	int ecrt_slave_conf_sdo32(ec_slave_t *slave, uint16_t sdo_index,
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 288 diff changeset	199	uint8_t sdo_subindex, uint32_t value);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 288 diff changeset	200
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	201	void ecrt_slave_pdo_mapping_clear(ec_slave_t *, ec_direction_t);
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	202	int ecrt_slave_pdo_mapping_add(ec_slave_t *, ec_direction_t, uint16_t);
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	203	int ecrt_slave_pdo_mapping(ec_slave_t *, ec_direction_t, unsigned int, ...);
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	204
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	205	/******************************************************************************
779 b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	206	* Bitwise read/write macros
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	207	*****************************************************************************/
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	208
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	209	/** Read a certain bit of an EtherCAT data byte.
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	210	* \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	211	* \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	212	*/
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	213	#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	214
779 b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	215	/** Write a certain bit of an EtherCAT data byte.
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	216	* \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	217	* \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	218	* \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	219	*/
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	220	#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	221	do { \
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	222	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	223	else ((uint8_t ) (DATA)) &= ~(1 << (POS)); \
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	224	} while (0)
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	225
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	226	/******************************************************************************
779 b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	227	* Read macros
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	228	*****************************************************************************/
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	229
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	230	/** Read an 8-bit unsigned value from EtherCAT data.
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	231	* \return EtherCAT data value
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	232	*/
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	233	#define EC_READ_U8(DATA) \
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	234	((uint8_t) ((uint8_t ) (DATA)))
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	235
779 b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	236	/** Read an 8-bit signed value from EtherCAT data.
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	237	* \param DATA EtherCAT data pointer
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	238	* \return EtherCAT data value
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	239	*/
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	240	#define EC_READ_S8(DATA) \
288 89d3c61ef3e6 Minor changes to ecrt.h. Florian Pose <fp@igh-essen.com> parents: 286 diff changeset	241	((int8_t) ((uint8_t ) (DATA)))
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	242
779 b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	243	/** Read a 16-bit unsigned value from EtherCAT data.
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	244	* \param DATA EtherCAT data pointer
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	245	* \return EtherCAT data value
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	246	*/
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	247	#define EC_READ_U16(DATA) \
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	248	((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	249
779 b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	250	/** Read a 16-bit signed value from EtherCAT data.
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	251	* \param DATA EtherCAT data pointer
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	252	* \return EtherCAT data value
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	253	*/
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	254	#define EC_READ_S16(DATA) \
288 89d3c61ef3e6 Minor changes to ecrt.h. Florian Pose <fp@igh-essen.com> parents: 286 diff changeset	255	((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	256
779 b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	257	/** Read a 32-bit unsigned value from EtherCAT data.
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	258	* \param DATA EtherCAT data pointer
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	259	* \return EtherCAT data value
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	260	*/
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	261	#define EC_READ_U32(DATA) \
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	262	((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	263
779 b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	264	/** Read a 32-bit signed value from EtherCAT data.
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	265	* \param DATA EtherCAT data pointer
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	266	* \return EtherCAT data value
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	267	*/
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	268	#define EC_READ_S32(DATA) \
288 89d3c61ef3e6 Minor changes to ecrt.h. Florian Pose <fp@igh-essen.com> parents: 286 diff changeset	269	((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	270
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	271	/******************************************************************************
779 b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	272	* Write macros
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	273	*****************************************************************************/
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	274
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	275	/** Write an 8-bit unsigned value to EtherCAT data.
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	276	* \param DATA EtherCAT data pointer
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	277	* \param VAL new value
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	278	*/
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	279	#define EC_WRITE_U8(DATA, VAL) \
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	280	do { \
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	281	((uint8_t )(DATA)) = ((uint8_t) (VAL)); \
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	282	} while (0)
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	283
779 b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	284	/** Write an 8-bit signed value to EtherCAT data.
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	285	* \param DATA EtherCAT data pointer
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	286	* \param VAL new value
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	287	*/
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	288	#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	289
779 b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	290	/** Write a 16-bit unsigned value to EtherCAT data.
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	291	* \param DATA EtherCAT data pointer
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	292	* \param VAL new value
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	293	*/
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	294	#define EC_WRITE_U16(DATA, VAL) \
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	295	do { \
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	296	((uint16_t ) (DATA)) = (uint16_t) (VAL); \
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	297	cpu_to_le16s(DATA); \
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	298	} while (0)
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	299
779 b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	300	/** Write a 16-bit signed value to EtherCAT data.
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	301	* \param DATA EtherCAT data pointer
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	302	* \param VAL new value
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	303	*/
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	304	#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	305
779 b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	306	/** Write a 32-bit unsigned value to EtherCAT data.
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	307	* \param DATA EtherCAT data pointer
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	308	* \param VAL new value
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	309	*/
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	310	#define EC_WRITE_U32(DATA, VAL) \
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	311	do { \
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	312	((uint32_t ) (DATA)) = (uint32_t) (VAL); \
707 9ae68af8e17a Fixed bug on big-endian systems (cpu_to_le32 -> cpu_to_le64). Florian Pose <fp@igh-essen.com> parents: 697 diff changeset	313	cpu_to_le32s(DATA); \
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	314	} while (0)
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	315
779 b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	316	/** Write a 32-bit signed value to EtherCAT data.
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	317	* \param DATA EtherCAT data pointer
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	318	* \param VAL new value
b39a6a4d3671 Prepared RT interface 1.4. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	319	*/
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	320	#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	321
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	322	/*****************************************************************************/
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	323
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	324	#endif

author	Florian Pose <fp@igh-essen.com>
	Fri, 01 Feb 2008 20:35:12 +0000
changeset 780	53b9a0a92154
parent 779	b39a6a4d3671
child 781	9736efaac5d5
permissions	-rw-r--r--