etherlabmaster: include/ecrt.h@5cff10efb927 (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	*
1618 5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	5	* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	6	*
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	7	* This file is part of the IgH EtherCAT Master.
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	8	*
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	9	* The IgH EtherCAT Master is free software; you can redistribute it
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	10	* and/or modify it under the terms of the GNU General Public License
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	11	* as published by the Free Software Foundation; version 2 of the License.
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	12	*
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	13	* The IgH EtherCAT Master is distributed in the hope that it will be
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	14	* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	15	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	16	* GNU General Public License for more details.
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	17	*
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	18	* You should have received a copy of the GNU General Public License
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	19	* along with the IgH EtherCAT Master; if not, write to the Free Software
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	20	* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	21	*
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	22	*****************************************************************************/
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	23
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	24	/**
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	25	\file
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	26	EtherCAT realtime interface.
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	27	*/
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	28
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	29	/**
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	30	\defgroup RealtimeInterface EtherCAT realtime interface
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	31	EtherCAT interface for realtime modules.
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	32	This interface is designed for realtime modules that want to use EtherCAT.
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	33	There are functions to request a master, to map process data, to communicate
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	34	with slaves via CoE and to configure and activate the bus.
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	35	*/
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	36
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	37	/*****************************************************************************/
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	38
125 b01bd5b830d7 Sch?nheitskorrekturen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	39	#ifndef __ECRT_H__
b01bd5b830d7 Sch?nheitskorrekturen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	40	#define __ECRT_H__
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	41
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	42	#include <asm/byteorder.h>
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	43
110 2346e2963087 Integer-Typen in ecrt.h. Florian Pose <fp@igh-essen.com> parents: 106 diff changeset	44	#ifdef __KERNEL__
2346e2963087 Integer-Typen in ecrt.h. Florian Pose <fp@igh-essen.com> parents: 106 diff changeset	45	#include <linux/types.h>
2346e2963087 Integer-Typen in ecrt.h. Florian Pose <fp@igh-essen.com> parents: 106 diff changeset	46	#else
2346e2963087 Integer-Typen in ecrt.h. Florian Pose <fp@igh-essen.com> parents: 106 diff changeset	47	#include <stdint.h>
2346e2963087 Integer-Typen in ecrt.h. Florian Pose <fp@igh-essen.com> parents: 106 diff changeset	48	#endif
2346e2963087 Integer-Typen in ecrt.h. Florian Pose <fp@igh-essen.com> parents: 106 diff changeset	49
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	50	/*****************************************************************************/
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	51
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	52	struct ec_master;
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	53	typedef struct ec_master ec_master_t;
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	54
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	55	struct ec_domain;
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	56	typedef struct ec_domain ec_domain_t;
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	57
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	58	struct ec_slave;
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	59	typedef struct ec_slave ec_slave_t;
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	60
1618 5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	61	/**
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	62	Initialization type for field registrations.
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	63	This type is used as a parameter for the ec_domain_register_field_list()
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	64	function.
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	65	*/
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	66
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	67	typedef struct
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	68	{
1618 5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	69	void data_ptr; /< address of the process data pointer */
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	70	const char slave_address; /*< slave address string (see
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	71	ecrt_master_get_slave()) */
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	72	const char vendor_name; /< vendor name /
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	73	const char product_name; /< product name /
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	74	const char field_name; /< data field name /
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	75	unsigned int field_index; /*< index in data fields with same name /
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	76	unsigned int field_count; /*< number of data fields with same name /
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	77	}
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	78	ec_field_init_t;
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	79
1618 5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	80	/******************************************************************************
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	81	* Master request functions
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	82	*****************************************************************************/
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	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	85	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	86
1618 5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	87	/******************************************************************************
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	88	* Master methods
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	89	*****************************************************************************/
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	90
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	91	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	92
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	93	int ecrt_master_activate(ec_master_t *master);
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	94	void ecrt_master_deactivate(ec_master_t *master);
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	95
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 125 diff changeset	96	int ecrt_master_fetch_sdo_lists(ec_master_t *master);
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	97
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	98	void ecrt_master_sync_io(ec_master_t *master);
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	99	void ecrt_master_async_send(ec_master_t *master);
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	100	void ecrt_master_async_receive(ec_master_t *master);
106 d6679c77ad3f ecrt_master_prepare_async_io() hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 105 diff changeset	101	void ecrt_master_prepare_async_io(ec_master_t *master);
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	102
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 141 diff changeset	103	void ecrt_master_run(ec_master_t *master);
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 141 diff changeset	104
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	105	void ecrt_master_debug(ec_master_t *master, int level);
140 b09658e50d6f Verbosity level in ecrt_master_print(). Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	106	void ecrt_master_print(const ec_master_t *master, unsigned int verbosity);
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	107
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	108	ec_slave_t ecrt_master_get_slave(const ec_master_t , const char *);
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	109
1618 5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	110	/******************************************************************************
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	111	* Domain Methods
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	112	*****************************************************************************/
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	113
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	114	ec_slave_t ecrt_domain_register_field(ec_domain_t domain,
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	115	const char *address,
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	116	const char *vendor_name,
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	117	const char *product_name,
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	118	void *data_ptr, const char field_name,
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	119	unsigned int field_index,
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	120	unsigned int field_count);
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	121	int ecrt_domain_register_field_list(ec_domain_t *domain,
150 36530399236b Plugfest: domain_process mit const-Zeiger. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	122	const ec_field_init_t *fields);
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	123
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	124	void ecrt_domain_queue(ec_domain_t *domain);
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	125	void ecrt_domain_process(ec_domain_t *domain);
141 5f76a36cd9b4 TO-DO und Fragen aktualisiert, kleine Sch?nheitskorrekturen. Florian Pose <fp@igh-essen.com> parents: 140 diff changeset	126
105 fad6709a526f Dom?nen-Status (ecrt_domain_state) hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	127	int ecrt_domain_state(ec_domain_t *domain);
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	128
1618 5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	129	/******************************************************************************
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	130	* Slave Methods
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	131	*****************************************************************************/
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	132
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	133	int ecrt_slave_sdo_read_exp8(ec_slave_t *slave, uint16_t sdo_index,
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	134	uint8_t sdo_subindex, uint8_t *value);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	135	int ecrt_slave_sdo_read_exp16(ec_slave_t *slave, uint16_t sdo_index,
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	136	uint8_t sdo_subindex, uint16_t *value);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	137	int ecrt_slave_sdo_read_exp32(ec_slave_t *slave, uint16_t sdo_index,
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	138	uint8_t sdo_subindex, uint32_t *value);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	139	int ecrt_slave_sdo_write_exp8(ec_slave_t *slave, uint16_t sdo_index,
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	140	uint8_t sdo_subindex, uint8_t value);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	141	int ecrt_slave_sdo_write_exp16(ec_slave_t *slave, uint16_t sdo_index,
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	142	uint8_t sdo_subindex, uint16_t value);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	143	int ecrt_slave_sdo_write_exp32(ec_slave_t *slave, uint16_t sdo_index,
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	144	uint8_t sdo_subindex, uint32_t value);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	145	int ecrt_slave_sdo_read(ec_slave_t *slave, uint16_t sdo_index,
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	146	uint8_t sdo_subindex, uint8_t data, size_t size);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	147
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	148	int ecrt_slave_write_alias(ec_slave_t *slave, uint16_t alias);
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	149
1618 5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	150	/******************************************************************************
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	151	* Bitwise read/write macros
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	152	*****************************************************************************/
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	153
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	154	/**
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	155	Read a certain bit of an EtherCAT data byte.
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	156	\param DATA EtherCAT data pointer
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	157	\param POS bit position
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	158	*/
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	159
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	160	#define EC_READ_BIT(DATA, POS) ((((uint8_t ) (DATA)) >> (POS)) & 0x01)
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	161
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	162	/**
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	163	Write a certain bit of an EtherCAT data byte.
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	164	\param DATA EtherCAT data pointer
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	165	\param POS bit position
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	166	\param VAL new bit value
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	167	*/
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	168
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	169	#define EC_WRITE_BIT(DATA, POS, VAL) \
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	170	do { \
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	171	if (VAL) ((uint8_t ) (DATA)) \|= (1 << (POS)); \
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	172	else ((uint8_t ) (DATA)) &= ~(1 << (POS)); \
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	173	} while (0)
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	174
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	175	/******************************************************************************
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	176	* Read macros
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	177	*****************************************************************************/
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	178
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	179	/**
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	180	Read an 8-bit unsigned value from EtherCAT data.
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	181	\return EtherCAT data value
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	182	*/
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	183
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	184	#define EC_READ_U8(DATA) \
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	185	((uint8_t) ((uint8_t ) (DATA)))
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	186
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	187	/**
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	188	Read an 8-bit signed value from EtherCAT data.
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	189	\param DATA EtherCAT data pointer
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	190	\return EtherCAT data value
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	191	*/
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	192
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	193	#define EC_READ_S8(DATA) \
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	194	((int8_t) ((uint8_t ) (DATA)))
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	195
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	196	/**
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	197	Read a 16-bit unsigned value from EtherCAT data.
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	198	\param DATA EtherCAT data pointer
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	199	\return EtherCAT data value
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	200	*/
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	201
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	202	#define EC_READ_U16(DATA) \
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	203	((uint16_t) le16_to_cpup((void *) (DATA)))
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	204
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	205	/**
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	206	Read a 16-bit signed value from EtherCAT data.
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	207	\param DATA EtherCAT data pointer
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	208	\return EtherCAT data value
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	209	*/
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	210
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	211	#define EC_READ_S16(DATA) \
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	212	((int16_t) le16_to_cpup((void *) (DATA)))
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	213
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	214	/**
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	215	Read a 32-bit unsigned value from EtherCAT data.
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	216	\param DATA EtherCAT data pointer
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	217	\return EtherCAT data value
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	218	*/
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	219
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	220	#define EC_READ_U32(DATA) \
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	221	((uint32_t) le32_to_cpup((void *) (DATA)))
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	222
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	223	/**
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	224	Read a 32-bit signed value from EtherCAT data.
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	225	\param DATA EtherCAT data pointer
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	226	\return EtherCAT data value
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	227	*/
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	228
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	229	#define EC_READ_S32(DATA) \
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	230	((int32_t) le32_to_cpup((void *) (DATA)))
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	231
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	232
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	233	/******************************************************************************
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	234	* Write macros
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	235	*****************************************************************************/
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	236
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	237	/**
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	238	Write an 8-bit unsigned value to EtherCAT data.
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	239	\param DATA EtherCAT data pointer
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	240	\param VAL new value
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	241	*/
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	242
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	243	#define EC_WRITE_U8(DATA, VAL) \
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	244	do { \
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	245	((uint8_t )(DATA)) = ((uint8_t) (VAL)); \
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	246	} while (0)
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	247
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	248	/**
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	249	Write an 8-bit signed value to EtherCAT data.
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	250	\param DATA EtherCAT data pointer
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	251	\param VAL new value
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	252	*/
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	253
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	254	#define EC_WRITE_S8(DATA, VAL) EC_WRITE_U8(DATA, VAL)
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	255
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	256	/**
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	257	Write a 16-bit unsigned value to EtherCAT data.
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	258	\param DATA EtherCAT data pointer
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	259	\param VAL new value
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	260	*/
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	261
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	262	#define EC_WRITE_U16(DATA, VAL) \
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	263	do { \
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	264	((uint16_t ) (DATA)) = (uint16_t) (VAL); \
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	265	cpu_to_le16s(DATA); \
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	266	} while (0)
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	267
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	268	/**
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	269	Write a 16-bit signed value to EtherCAT data.
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	270	\param DATA EtherCAT data pointer
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	271	\param VAL new value
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	272	*/
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	273
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	274	#define EC_WRITE_S16(DATA, VAL) EC_WRITE_U16(DATA, VAL)
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	275
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	276	/**
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	277	Write a 32-bit unsigned value to EtherCAT data.
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	278	\param DATA EtherCAT data pointer
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	279	\param VAL new value
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	280	*/
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	281
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	282	#define EC_WRITE_U32(DATA, VAL) \
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	283	do { \
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	284	((uint32_t ) (DATA)) = (uint32_t) (VAL); \
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	285	cpu_to_le16s(DATA); \
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	286	} while (0)
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	287
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	288	/**
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	289	Write a 32-bit signed value to EtherCAT data.
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	290	\param DATA EtherCAT data pointer
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	291	\param VAL new value
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	292	*/
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	293
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	294	#define EC_WRITE_S32(DATA, VAL) EC_WRITE_U32(DATA, VAL)
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	295
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	296	/*****************************************************************************/
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	297
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	298	#endif

author	Florian Pose <fp@igh-essen.com>
	Mon, 24 Apr 2006 10:47:03 +0000
branch	stable-1.0
changeset 1618	5cff10efb927
parent 195	674071846ee3
child 1619	0d4119024f55
permissions	-rw-r--r--