author | Florian Pose <fp@igh-essen.com> |
Mon, 24 Sep 2007 10:35:00 +0000 | |
changeset 757 | 6210c4260899 |
parent 707 | 9ae68af8e17a |
child 758 | 8fa6f825eb7d |
permissions | -rw-r--r-- |
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/****************************************************************************** |
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* |
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* $Id$ |
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* |
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* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH |
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* |
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* This file is part of the IgH EtherCAT Master. |
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* |
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* The IgH EtherCAT Master is free software; you can redistribute it |
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* and/or modify it under the terms of the GNU General Public License |
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* as published by the Free Software Foundation; either version 2 of the |
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* License, or (at your option) any later version. |
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* |
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* The IgH EtherCAT Master is distributed in the hope that it will be |
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* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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* GNU General Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License |
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* along with the IgH EtherCAT Master; if not, write to the Free Software |
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
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* |
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* The right to use EtherCAT Technology is granted and comes free of |
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* charge under condition of compatibility of product made by |
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* Licensee. People intending to distribute/sell products based on the |
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* code, have to sign an agreement to guarantee that products using |
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* software based on IgH EtherCAT master stay compatible with the actual |
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* EtherCAT specification (which are released themselves as an open |
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* standard) as the (only) precondition to have the right to use EtherCAT |
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* Technology, IP and trade marks. |
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* |
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*****************************************************************************/ |
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/** |
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\file |
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EtherCAT realtime interface. |
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*/ |
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/** |
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\defgroup RealtimeInterface EtherCAT realtime interface |
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EtherCAT interface for realtime modules. |
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This interface is designed for realtime modules that want to use EtherCAT. |
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There are functions to request a master, to map process data, to communicate |
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with slaves via CoE and to configure and activate the bus. |
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*/ |
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/*****************************************************************************/ |
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#ifndef __ECRT_H__ |
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#define __ECRT_H__ |
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#include <asm/byteorder.h> |
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#ifdef __KERNEL__ |
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#include <linux/types.h> |
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#else |
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#include <stdint.h> |
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#endif |
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/*****************************************************************************/ |
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#define ECRT_VER_MAJOR 1 |
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#define ECRT_VER_MINOR 3 |
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#define ECRT_VERSION(a,b) (((a) << 8) + (b)) |
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#define ECRT_VERSION_MAGIC ECRT_VERSION(ECRT_VER_MAJOR, ECRT_VER_MINOR) |
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/*****************************************************************************/ |
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struct ec_master; |
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typedef struct ec_master ec_master_t; /**< \see ec_master */ |
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struct ec_domain; |
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typedef struct ec_domain ec_domain_t; /**< \see ec_domain */ |
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struct ec_slave; |
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typedef struct ec_slave ec_slave_t; /**< \see ec_slave */ |
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/** |
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* Bus status. |
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*/ |
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typedef enum { |
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EC_BUS_FAILURE = -1, /**< At least one slave with process data exchange |
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is offline. */ |
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EC_BUS_OK /**< All slaves with process data exchange are |
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online. */ |
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} |
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ec_bus_status_t; |
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/** |
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* Master status. |
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* This is used for the output parameter of ecrt_master_get_status(). |
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*/ |
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typedef struct { |
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ec_bus_status_t bus_status; /**< \see ec_bus_status_t */ |
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unsigned int bus_tainted; /**< non-zero, if the bus topology is invalid */ |
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unsigned int slaves_responding; /**< number of responging slaves */ |
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} |
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ec_master_status_t; |
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/** |
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* List entry for domain PDO registrations. |
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* This type is used as a parameter for the ecrt_domain_register_pdo_list() |
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* convenience function. |
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*/ |
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typedef struct { |
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const char *slave_address; /**< slave address string |
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\see ec_master_parse_slave_address() */ |
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uint32_t vendor_id; /**< vendor ID */ |
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uint32_t product_code; /**< product code */ |
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uint16_t pdo_entry_index; /**< PDO entry index */ |
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uint8_t pdo_entry_subindex; /**< PDO entry subindex */ |
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void **data_ptr; /**< address of the process data pointer */ |
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} |
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ec_pdo_reg_t; |
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/** |
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* Direction type for PDO mapping and range registration functions. |
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*/ |
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typedef enum { |
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EC_DIR_OUTPUT, /**< values written by master */ |
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EC_DIR_INPUT /**< values read by master */ |
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} |
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ec_direction_t; |
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/****************************************************************************** |
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* Global functions |
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*****************************************************************************/ |
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ec_master_t *ecrt_request_master(unsigned int master_index); |
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void ecrt_release_master(ec_master_t *master); |
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unsigned int ecrt_version_magic(void); |
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/****************************************************************************** |
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* Master methods |
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*****************************************************************************/ |
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void ecrt_master_callbacks(ec_master_t *master, int (*request_cb)(void *), |
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void (*release_cb)(void *), void *cb_data); |
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ec_domain_t *ecrt_master_create_domain(ec_master_t *master); |
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ec_slave_t *ecrt_master_get_slave(const ec_master_t *, const char *, |
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uint32_t vendor_id, uint32_t product_code); |
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ec_slave_t *ecrt_master_get_slave_by_pos(const ec_master_t *, uint16_t, |
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uint32_t vendor_id, uint32_t product_code); |
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int ecrt_master_activate(ec_master_t *master); |
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void ecrt_master_send(ec_master_t *master); |
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void ecrt_master_receive(ec_master_t *master); |
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void ecrt_master_get_status(const ec_master_t *master, ec_master_status_t *); |
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/****************************************************************************** |
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* Domain Methods |
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*****************************************************************************/ |
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int ecrt_domain_register_pdo(ec_domain_t *domain, ec_slave_t *slave, |
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uint16_t pdo_index, uint8_t pdo_subindex, void **data_ptr); |
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int ecrt_domain_register_pdo_range(ec_domain_t *domain, ec_slave_t *slave, |
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ec_direction_t direction, uint16_t offset, uint16_t length, |
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void **data_ptr); |
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int ecrt_domain_register_pdo_list(ec_domain_t *domain, |
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const ec_pdo_reg_t *pdos); |
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void ecrt_domain_process(ec_domain_t *domain); |
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void ecrt_domain_queue(ec_domain_t *domain); |
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int ecrt_domain_state(const ec_domain_t *domain); |
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/****************************************************************************** |
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* Slave Methods |
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*****************************************************************************/ |
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int ecrt_slave_conf_sdo8(ec_slave_t *slave, uint16_t sdo_index, |
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uint8_t sdo_subindex, uint8_t value); |
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int ecrt_slave_conf_sdo16(ec_slave_t *slave, uint16_t sdo_index, |
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uint8_t sdo_subindex, uint16_t value); |
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int ecrt_slave_conf_sdo32(ec_slave_t *slave, uint16_t sdo_index, |
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uint8_t sdo_subindex, uint32_t value); |
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void ecrt_slave_pdo_mapping_clear(ec_slave_t *, ec_direction_t); |
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int ecrt_slave_pdo_mapping_add(ec_slave_t *, ec_direction_t, uint16_t); |
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int ecrt_slave_pdo_mapping(ec_slave_t *, ec_direction_t, unsigned int, ...); |
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/****************************************************************************** |
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* Bitwise read/write macros |
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*****************************************************************************/ |
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/** |
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* Read a certain bit of an EtherCAT data byte. |
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* \param DATA EtherCAT data pointer |
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* \param POS bit position |
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*/ |
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#define EC_READ_BIT(DATA, POS) ((*((uint8_t *) (DATA)) >> (POS)) & 0x01) |
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/** |
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* Write a certain bit of an EtherCAT data byte. |
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* \param DATA EtherCAT data pointer |
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* \param POS bit position |
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* \param VAL new bit value |
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*/ |
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#define EC_WRITE_BIT(DATA, POS, VAL) \ |
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do { \ |
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if (VAL) *((uint8_t *) (DATA)) |= (1 << (POS)); \ |
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else *((uint8_t *) (DATA)) &= ~(1 << (POS)); \ |
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} while (0) |
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/****************************************************************************** |
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* Read macros |
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*****************************************************************************/ |
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/** |
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* Read an 8-bit unsigned value from EtherCAT data. |
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* \return EtherCAT data value |
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*/ |
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#define EC_READ_U8(DATA) \ |
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((uint8_t) *((uint8_t *) (DATA))) |
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* \param DATA EtherCAT data pointer |
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* \return EtherCAT data value |
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#define EC_READ_U16(DATA) \ |
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* \param DATA EtherCAT data pointer |
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* \param DATA EtherCAT data pointer |
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* \return EtherCAT data value |
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*/ |
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* \param DATA EtherCAT data pointer |
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* \return EtherCAT data value |
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#define EC_READ_S32(DATA) \ |
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/****************************************************************************** |
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* Write macros |
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*****************************************************************************/ |
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* \param DATA EtherCAT data pointer |
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* \param VAL new value |
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#define EC_WRITE_U8(DATA, VAL) \ |
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do { \ |
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*((uint8_t *)(DATA)) = ((uint8_t) (VAL)); \ |
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} while (0) |
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*/ |
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do { \ |
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cpu_to_le16s(DATA); \ |
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} while (0) |
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*/ |
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do { \ |
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*((uint32_t *) (DATA)) = (uint32_t) (VAL); \ |
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cpu_to_le32s(DATA); \ |
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} while (0) |
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*/ |
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#define EC_WRITE_S32(DATA, VAL) EC_WRITE_U32(DATA, VAL) |
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/*****************************************************************************/ |
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#endif |