include/ecrt.h
author Florian Pose <fp@igh-essen.com>
Mon, 07 Apr 2008 15:12:43 +0000
changeset 889 661b61ca86ed
parent 886 ee1b25db1fbf
child 893 d921fff3d6e2
permissions -rw-r--r--
Moved configuration of Pdo mapping before Pdo assignment.
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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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/** \file
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 *
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 * EtherCAT Realtime Interface.
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 *
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 * \defgroup RealtimeInterface EtherCAT Realtime Interface
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 *
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 * EtherCAT interface for realtime applications. This interface is designed
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 * for realtime modules that want to use EtherCAT. There are functions to
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 * request a master, to map process data, to communicate with slaves via CoE
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 * and to configure and activate the bus.
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 *
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 * Changes in Version 1.4:
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 *
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 * - Replaced ec_slave_t with ec_slave_config_t, separating the slave objects
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 *   from the requested bus configuration. Therefore, renamed
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 *   ecrt_master_get_slave() to ecrt_master_slave_config().
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 * - Replaced slave address string with alias and position values. See
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 *   ecrt_master_slave_config().
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 * - Removed ecrt_master_get_slave_by_pos(), because it is no longer
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 *   necessary due to alias/position addressing.
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 * - Added ec_slave_config_state_t for the new method
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 *   ecrt_slave_config_state().
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 * - Process data memory for a domain can now be allocated externally. This
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 *   offers the possibility to use a shared-memory region. Therefore,
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 *   added the domain methods ecrt_domain_size() and
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 *   ecrt_domain_external_memory().
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 * - Replaced the process data pointers in the Pdo entry registration
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 *   functions with a process data offset, that is now returned by
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 *   ecrt_slave_config_reg_pdo_entry(). This was necessary for the external
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 *   domain memory. An additional advantage is, that the returned offset value
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 *   is directly usable. If the domain's process data is allocated internally,
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 *   the start address can be retrieved with ecrt_domain_data().
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 * - Replaced ecrt_slave_pdo_mapping/add/clear() with
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 *   ecrt_slave_config_pdo_assign_add() to add a Pdo to a sync manager's Pdo
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 *   assignment and ecrt_slave_config_pdo_mapping_add() to add a Pdo entry to a
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 *   Pdo's mapping. ecrt_slave_config_pdos() is a convenience function
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 *   for both, that uses the new data types ec_pdo_info_t and
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 *   ec_pdo_entry_info_t. Pdo entries, that are mapped with these functions
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 *   can now immediately be registered, even if the bus is offline.
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 * - Renamed ec_bus_status_t, ec_master_status_t to ec_bus_state_t and
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 *   ec_master_state_t, respectively. Renamed ecrt_master_get_status() to
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 *   ecrt_master_state(), for consistency reasons.
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 * - Added ec_domain_state_t and ec_wc_state_t for a new output parameter
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 *   of ecrt_domain_state(). The domain state object does now contain
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 *   information, if the process data was exchanged completely.
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 * - Former "Pdo registration" meant Pdo entry registration in fact, therefore
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 *   renamed ec_pdo_reg_t to ec_pdo_entry_reg_t and ecrt_domain_register_pdo()
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 *   to ecrt_slave_config_reg_pdo_entry().
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 * - Removed ecrt_domain_register_pdo_range(), because it's functionality can
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 *   be reached by specifying an explicit Pdo mapping and registering those
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 *   Pdo entries.
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 * - Added an Sdo access interface, working with Sdo requests. These can be
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 *   scheduled for reading and writing during realtime operation.
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 *
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 * @{
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 */
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/*****************************************************************************/
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#ifndef __ECRT_H__
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#define __ECRT_H__
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#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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 * Global definitions
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 *****************************************************************************/
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/** EtherCAT realtime interface major version number.
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 */
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#define ECRT_VER_MAJOR 1
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/** EtherCAT realtime interface minor version number.
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 */
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#define ECRT_VER_MINOR 4
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/** EtherCAT realtime interface version word generator.
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 */
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#define ECRT_VERSION(a, b) (((a) << 8) + (b))
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/** EtherCAT realtime interface version word.
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 */
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#define ECRT_VERSION_MAGIC ECRT_VERSION(ECRT_VER_MAJOR, ECRT_VER_MINOR)
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/*****************************************************************************/
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/** End of the Pdo list.
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 *
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 * This is used in ecrt_slave_config_pdos().
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 */
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#define EC_END ~0U
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/******************************************************************************
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 * Data types 
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 *****************************************************************************/
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struct ec_master;
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typedef struct ec_master ec_master_t; /**< \see ec_master */
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struct ec_slave_config;
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typedef struct ec_slave_config ec_slave_config_t; /**< \see ec_slave_config */
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struct ec_domain;
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typedef struct ec_domain ec_domain_t; /**< \see ec_domain */
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struct ec_sdo_request;
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typedef struct ec_sdo_request ec_sdo_request_t; /**< \see ec_sdo_request. */
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/*****************************************************************************/
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/** Bus state.
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 *
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 * This is used in ec_master_state_t.
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 *
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 * \deprecated
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 * \todo remove
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 */
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typedef enum {
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    EC_BUS_FAILURE = -1, /**< At least one configured slave is offline. */
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    EC_BUS_OK            /**< All configured slaves are online. */
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} ec_bus_state_t;
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/*****************************************************************************/
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/** Master state.
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 *
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 * This is used for the output parameter of ecrt_master_state().
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 */
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typedef struct {
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    ec_bus_state_t bus_state; /**< \see ec_bus_state_t */
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    unsigned int bus_tainted; /**< Non-zero, if the bus topology differs from
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                                the requested configuration. */
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    unsigned int slaves_responding; /**< Number of slaves in the bus. */
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} ec_master_state_t;
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/*****************************************************************************/
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/** Slave configuration state.
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 *
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 * \see ecrt_slave_config_state().
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 */
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typedef struct  {
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    unsigned int online : 1; /**< The slave is online. */
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    unsigned int configured : 1; /**< The slave was configured according to
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                                   the specified configuration. */
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} ec_slave_config_state_t;
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/*****************************************************************************/
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/** Domain working counter interpretation.
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 *
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 * This is used in ec_domain_state_t.
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 */
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typedef enum {
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    EC_WC_ZERO = 0,   /**< No Pdos were exchanged. */
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    EC_WC_INCOMPLETE, /**< Some of the registered Pdos were exchanged. */
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    EC_WC_COMPLETE    /**< All registered Pdos were exchanged. */
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} ec_wc_state_t;
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/*****************************************************************************/
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/** Domain state.
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 *
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 * This is used for the output parameter of ecrt_domain_state().
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 */
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typedef struct {
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    unsigned int working_counter; /**< Value of the last working counter. */
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    ec_wc_state_t wc_state; /**< Working counter interpretation. */
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} ec_domain_state_t;
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/*****************************************************************************/
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/** Direction type for Pdo mapping functions.
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 */
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typedef enum {
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    EC_DIR_OUTPUT, /**< Values written by the master. */
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    EC_DIR_INPUT   /**< Values read by the master. */
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} ec_direction_t;
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/*****************************************************************************/
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/** Pdo entry information.
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 *
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 * This can be used to map multiple Pdo entries into a given Pdo using
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 * ecrt_slave_config_pdos().
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 */
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typedef struct {
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    uint16_t index; /**< Index of the Pdo entry to add to the Pdo
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                            configuration. */
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    uint8_t subindex; /**< Subindex of the Pdo entry to add to the
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                              Pdo configuration. */
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    uint8_t bit_length; /**< Size of the Pdo entry in bit. */
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} ec_pdo_entry_info_t;
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/*****************************************************************************/
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/** Pdo information.
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 *
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 * This can be use to assign multiple Pdos to a sync manager using
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 * ecrt_slave_config_pdos().
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 */
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typedef struct {
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    ec_direction_t dir; /**< Pdo direction (input/output). */
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    uint16_t index; /**< Index of the Pdo to map. */
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    unsigned int n_entries; /**< Number of Pdo entries in \a entries to map.
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                              Zero means, that the default mapping shall be
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                              used. */
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    ec_pdo_entry_info_t *entries; /**< Array of Pdo entries to map. This must
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                                    contain at least \a n_entries values. */
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} ec_pdo_info_t;
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/*****************************************************************************/
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/** List record type for Pdo entry mass-registration.
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 *
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 * This type is used for the array parameter of the
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 * ecrt_domain_reg_pdo_entry_list() convenience function.
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 */
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typedef struct {
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    uint16_t alias; /**< Slave alias address. */
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    uint16_t position; /**< Slave position. */
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    uint32_t vendor_id; /**< Slave vendor ID. */
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    uint32_t product_code; /**< Slave product code. */
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    uint16_t index; /**< Pdo entry index. */
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    uint8_t subindex; /**< Pdo entry subindex. */
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    unsigned int *offset; /**< Pointer to a variable to store the Pdo's
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                       offset in the process data. */
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} ec_pdo_entry_reg_t;
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/*****************************************************************************/
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/** Sdo request state.
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 *
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 * This is used as return type of ecrt_sdo_request_state().
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 */
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typedef enum {
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    EC_SDO_REQUEST_UNUSED, /**< Not requested. */
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    EC_SDO_REQUEST_BUSY, /**< Request is being processed. */
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    EC_SDO_REQUEST_SUCCESS, /**< Request was processed successfully. */
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    EC_SDO_REQUEST_ERROR, /**< Request processing failed. */
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} ec_sdo_request_state_t;
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/******************************************************************************
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 * Global functions
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 *****************************************************************************/
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/** Returns the version magic of the realtime interface.
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 *
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 * \return Value of ECRT_VERSION_MAGIC() at EtherCAT master compile time.
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 */
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unsigned int ecrt_version_magic(void);
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/** Requests an EtherCAT master for realtime operation.
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 * 
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 * \return pointer to reserved master, or NULL on error
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 */
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ec_master_t *ecrt_request_master(
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        unsigned int master_index /**< Index of the master to request. */
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        );
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/** Releases a requested EtherCAT master.
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 */
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void ecrt_release_master(
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        ec_master_t *master /**< EtherCAT master */
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        );
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/******************************************************************************
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 * Master methods
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 *****************************************************************************/
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/** Sets the locking callbacks.
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 *
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 * The request_cb function must return zero, to allow another instance
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 * (the EoE process for example) to access the master. Non-zero means,
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 * that access is forbidden at this time.
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 */
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void ecrt_master_callbacks(
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        ec_master_t *master, /**< EtherCAT master */
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        int (*request_cb)(void *), /**< Lock request function. */
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        void (*release_cb)(void *), /**< Lock release function. */
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        void *cb_data /**< Arbitrary user data. */
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        );
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/** Creates a new domain.
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 *
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 * \return Pointer to the new domain on success, else NULL.
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 */
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ec_domain_t *ecrt_master_create_domain(
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        ec_master_t *master /**< EtherCAT master. */
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        );
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/** Obtains a slave configuration.
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 *
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 * Creates a slave configuration object for the given \a alias and \a position
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 * tuple and returns it. If a configuration with the same \a alias and \a
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 * position already exists, it will be re-used. In the latter case, the given
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 * vendor ID and product code are compared to the stored ones. On mismatch, an
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 * error message is raised and the function returns \a NULL.
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 *
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 * Slaves are addressed with the \a alias and \a position parameters.
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 * - If \a alias is zero, \a position is interpreted as the desired slave's
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 *   ring position.
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 * - If \a alias is non-zero, it matches a slave with the given alias. In this
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 *   case, \a position is interpreted as ring offset, starting from the
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 *   aliased slave, so a position of zero means the aliased slave itself and a
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 *   positive value matches the n-th slave behind the aliased one.
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 *
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 * If the slave with the given address is found during the bus configuration,
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 * its vendor ID and product code are matched against the given value. On
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 * mismatch, the slave is not configured and an error message is raised.
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 *
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 * If different slave configurations are pointing to the same slave during bus
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 * configuration, a warning is raised and only the first configuration is
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 * applied.
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 *
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 * \retval >0 Pointer to the slave configuration structure.
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 * \retval NULL in the error case.
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 */
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ec_slave_config_t *ecrt_master_slave_config(
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        ec_master_t *master, /**< EtherCAT master */
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        uint16_t alias, /**< Slave alias. */
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        uint16_t position, /**< Slave position. */
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        uint32_t vendor_id, /**< Expected vendor ID. */
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        uint32_t product_code /**< Expected product code. */
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        );
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879
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/** Finishes the configuration phase and prepares for realtime mode.
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 *
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 * This function has to be called after all Pdo entries are registered. It
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 * tells the master that the configuration phase is finished and the realtime
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 * operation will begin. The function allocates internal memory for the
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 * domains and calculates the logical FMMU addresses for domain members. It
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 * tells the master state machine that the bus configuration is now to be
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 * applied.
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 *
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 * \attention After this function has been called, the realtime application is
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 * in charge of cyclically calling ecrt_master_send() and
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 * ecrt_master_receive() to ensure bus communication. Before calling this
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 * function, the master thread is responsible for that, so these functions may
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 * not be called!
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 *
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   381
 * \return 0 in case of success, else < 0
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diff changeset
   382
 */
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
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diff changeset
   383
int ecrt_master_activate( ec_master_t *master /**< EtherCAT master. */);
792
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diff changeset
   384
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
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diff changeset
   385
/** Sends all datagrams in the queue.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
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diff changeset
   386
 *
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   387
 * This has to be called cyclically by the realtime application after
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
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parents: 878
diff changeset
   388
 * ecrt_master_activate() has returned.
792
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diff changeset
   389
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
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diff changeset
   390
void ecrt_master_send(
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   391
        ec_master_t *master /**< EtherCAT master. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
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diff changeset
   392
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   393
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   394
/** Fetches received frames from the hardware and processes the datagrams.
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   395
 *
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   396
 * This has to be called cyclically by the realtime application after
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   397
 * ecrt_master_activate() has returned.
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
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diff changeset
   398
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   399
void ecrt_master_receive(
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   400
        ec_master_t *master /**< EtherCAT master. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   401
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   402
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   403
/** Reads the current master state.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   404
 *
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   405
 * Stores the master state information in the given \a state structure.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   406
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   407
void ecrt_master_state(
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   408
        const ec_master_t *master, /**< EtherCAT master. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   409
        ec_master_state_t *state /**< Structure to store the information. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   410
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   411
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
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diff changeset
   412
/******************************************************************************
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   413
 * Slave configuration methods
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Florian Pose <fp@igh-essen.com>
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diff changeset
   414
 *****************************************************************************/
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
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parents: 786
diff changeset
   415
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   416
/** Add a Pdo to a sync manager's Pdo assignment.
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   417
 *
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   418
 * \see ecrt_slave_config_pdos()
842
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 832
diff changeset
   419
 * \return zero on success, else non-zero
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 832
diff changeset
   420
 */
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   421
int ecrt_slave_config_pdo_assign_add(
842
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 832
diff changeset
   422
        ec_slave_config_t *sc, /**< Slave configuration. */
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   423
        ec_direction_t dir, /**< Sync manager direction (input/output). */
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   424
        uint16_t index /**< Index of the Pdo to assign. */
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   425
        );
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   426
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   427
/** Clear a sync manager's Pdo assignment.
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   428
 *
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   429
 * This can be called before assigning Pdos via
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   430
 * ecrt_slave_config_pdo_assign_add(), to clear the default assignment.
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   431
 */
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   432
void ecrt_slave_config_pdo_assign_clear(
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   433
        ec_slave_config_t *sc, /**< Slave configuration. */
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   434
        ec_direction_t dir /**< Sync manager direction (input/output). */
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   435
        );
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   436
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   437
/** Add a Pdo entry to the given Pdo's mapping.
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   438
 *
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   439
 * \see ecrt_slave_config_pdos()
842
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 832
diff changeset
   440
 * \return zero on success, else non-zero
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 832
diff changeset
   441
 */
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   442
int ecrt_slave_config_pdo_mapping_add(
842
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 832
diff changeset
   443
        ec_slave_config_t *sc, /**< Slave configuration. */
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   444
        uint16_t pdo_index, /**< Index of the Pdo. */
842
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 832
diff changeset
   445
        uint16_t entry_index, /**< Index of the Pdo entry to add to the Pdo's
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   446
                                mapping. */
842
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 832
diff changeset
   447
        uint8_t entry_subindex, /**< Subindex of the Pdo entry to add to the
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   448
                                  Pdo's mapping. */
842
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 832
diff changeset
   449
        uint8_t entry_bit_length /**< Size of the Pdo entry in bit. */
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 832
diff changeset
   450
        );
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 832
diff changeset
   451
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   452
/** Clear the mapping of a given Pdo.
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   453
 *
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   454
 * This can be called before mapping Pdo entries via
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   455
 * ecrt_slave_config_pdo_mapping_add(), to clear the default mapping.
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   456
 */
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   457
void ecrt_slave_config_pdo_mapping_clear(
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   458
        ec_slave_config_t *sc, /**< Slave configuration. */
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   459
        uint16_t pdo_index /**< Index of the Pdo. */
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   460
        );
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   461
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   462
/** Specify the Pdo assignment and (optionally) the Pdo mappings.
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   463
 *
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   464
 * This function is a convenience wrapper for the functions
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   465
 * ecrt_slave_config_pdo_assign_clear(), ecrt_slave_config_pdo_assign_add(),
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   466
 * ecrt_slave_config_pdo_mapping_clear() and
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   467
 * ecrt_slave_config_pdo_mapping_add(), that are better suitable for automatic
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   468
 * code generation.
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   469
 *
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   470
 * The following example shows, how to specify a complete Pdo assignment
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   471
 * including the Pdo mappings. With this information, the master is able to
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   472
 * reserve the complete process data, even if the slave is not present at
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   473
 * configuration time:
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   474
 *
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   475
 * \code
842
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 832
diff changeset
   476
 * const ec_pdo_entry_info_t el3162_channel1[] = {
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 832
diff changeset
   477
 *     {0x3101, 1,  8}, // status
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 832
diff changeset
   478
 *     {0x3101, 2, 16}  // value
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   479
 * };
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   480
 * 
842
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 832
diff changeset
   481
 * const ec_pdo_entry_info_t el3162_channel2[] = {
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 832
diff changeset
   482
 *     {0x3102, 1,  8}, // status
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 832
diff changeset
   483
 *     {0x3102, 2, 16}  // value
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 832
diff changeset
   484
 * };
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 832
diff changeset
   485
 * 
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   486
 * const ec_pdo_info_t el3162_pdos[] = {
842
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 832
diff changeset
   487
 *     {EC_DIR_INPUT, 0x1A00, 2, el3162_channel1},
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 832
diff changeset
   488
 *     {EC_DIR_INPUT, 0x1A01, 2, el3162_channel2},
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 832
diff changeset
   489
 * };
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 832
diff changeset
   490
 * 
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   491
 * if (ecrt_slave_config_pdos(sc, 2, el3162_pdos))
842
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 832
diff changeset
   492
 *     return -1; // error
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   493
 * \endcode
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   494
 * 
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   495
 * The next example shows, how to configure only the Pdo assignment. The
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   496
 * entries for each assigned Pdo are taken from the Pdo's default mapping.
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   497
 * Please note, that Pdo entry registration will fail, if the Pdo
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   498
 * configuration is left empty and the slave is offline.
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   499
 *
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   500
 * \code
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   501
 * const ec_pdo_info_t pdos[] = {
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   502
 *     {EC_DIR_INPUT, 0x1600}, // Channel 1
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   503
 *     {EC_DIR_INPUT, 0x1601}  // Channel 2
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   504
 * };
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   505
 * 
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   506
 * if (ecrt_slave_config_pdos(slave_config_ana_in, 2, pdos))
842
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 832
diff changeset
   507
 *     return -1; // error
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   508
 * \endcode
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   509
 *
878
40c379697ebf Introduced EC_MAP_END.
Florian Pose <fp@igh-essen.com>
parents: 869
diff changeset
   510
 * Processing of \a pdo_infos will stop, if
40c379697ebf Introduced EC_MAP_END.
Florian Pose <fp@igh-essen.com>
parents: 869
diff changeset
   511
 * - the number of processed items reaches \a n_infos, or
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   512
 * - the \a dir member of an ec_pdo_info_t item is EC_END. In this case,
878
40c379697ebf Introduced EC_MAP_END.
Florian Pose <fp@igh-essen.com>
parents: 869
diff changeset
   513
 *   \a n_infos should set to a number greater than the number of list items;
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   514
 *   using EC_END is recommended.
878
40c379697ebf Introduced EC_MAP_END.
Florian Pose <fp@igh-essen.com>
parents: 869
diff changeset
   515
 *
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   516
 * \return zero on success, else non-zero
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   517
 */
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   518
int ecrt_slave_config_pdos(
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   519
        ec_slave_config_t *sc, /**< Slave configuration. */
844
8839ba8bfeb4 Fixed 2 bugs in new Pdo mapping function.
Florian Pose <fp@igh-essen.com>
parents: 842
diff changeset
   520
        unsigned int n_infos, /**< Number of Pdo infos in \a pdo_infos. */
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   521
        const ec_pdo_info_t pdo_infos[] /**< List with Pdos. */
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   522
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   523
842
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 832
diff changeset
   524
/** Registers a Pdo entry for process data exchange in a domain.
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 832
diff changeset
   525
 *
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   526
 * Searches the current Pdo assignment and Pdo mappings for the given Pdo
842
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 832
diff changeset
   527
 * entry. An error is raised, if the given entry is not mapped. Otherwise, the
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 832
diff changeset
   528
 * corresponding sync manager and FMMU configurations are provided for slave
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   529
 * configuration and the respective sync manager's assigned Pdos are appended
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   530
 * to the given domain, if not already done. The offset of the requested Pdo
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   531
 * entry's data inside the domain's process data is returned.
842
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 832
diff changeset
   532
 *
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 832
diff changeset
   533
 * \retval >=0 Success: Offset of the Pdo entry's process data.
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 832
diff changeset
   534
 * \retval -1  Error: Pdo entry not found.
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 832
diff changeset
   535
 * \retval -2  Error: Failed to register Pdo entry.
807
f8bca95ab75d Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents: 793
diff changeset
   536
 */
f8bca95ab75d Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents: 793
diff changeset
   537
int ecrt_slave_config_reg_pdo_entry(
f8bca95ab75d Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents: 793
diff changeset
   538
        ec_slave_config_t *sc, /**< Slave configuration. */
f8bca95ab75d Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents: 793
diff changeset
   539
        uint16_t entry_index, /**< Index of the Pdo entry to register. */
f8bca95ab75d Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents: 793
diff changeset
   540
        uint8_t entry_subindex, /**< Subindex of the Pdo entry to register. */
f8bca95ab75d Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents: 793
diff changeset
   541
        ec_domain_t *domain /**< Domain. */
f8bca95ab75d Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents: 793
diff changeset
   542
        );
f8bca95ab75d Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents: 793
diff changeset
   543
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   544
/** Add a configuration value for an 8-bit SDO.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   545
 *
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   546
 * \todo doc
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   547
 * \return 0 in case of success, else < 0
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   548
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   549
int ecrt_slave_config_sdo8(
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   550
        ec_slave_config_t *sc, /**< Slave configuration */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   551
        uint16_t sdo_index, /**< Index of the SDO to configure. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   552
        uint8_t sdo_subindex, /**< Subindex of the SDO to configure. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   553
        uint8_t value /**< Value to set. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   554
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   555
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   556
/** Add a configuration value for a 16-bit SDO.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   557
 *
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   558
 * \todo doc
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   559
 * \return 0 in case of success, else < 0
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   560
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   561
int ecrt_slave_config_sdo16(
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   562
        ec_slave_config_t *sc, /**< Slave configuration */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   563
        uint16_t sdo_index, /**< Index of the SDO to configure. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   564
        uint8_t sdo_subindex, /**< Subindex of the SDO to configure. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   565
        uint16_t value /**< Value to set. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   566
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   567
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   568
/** Add a configuration value for a 32-bit SDO.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   569
 *
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   570
 * \todo doc
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   571
 * \return 0 in case of success, else < 0
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   572
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   573
int ecrt_slave_config_sdo32(
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   574
        ec_slave_config_t *sc, /**< Slave configuration */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   575
        uint16_t sdo_index, /**< Index of the SDO to configure. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   576
        uint8_t sdo_subindex, /**< Subindex of the SDO to configure. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   577
        uint32_t value /**< Value to set. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   578
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   579
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   580
/** Create an Sdo request to exchange Sdos during realtime operation.
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   581
 *
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   582
 * The created Sdo request object is freed automatically when the master is
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   583
 * released.
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   584
 */
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   585
ec_sdo_request_t *ecrt_slave_config_create_sdo_request(
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   586
        ec_slave_config_t *sc, /**< Slave configuration. */
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   587
        uint16_t index, /**< Sdo index. */
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   588
        uint8_t subindex, /**< Sdo subindex. */
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   589
        size_t size /**< Data size to reserve. */
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   590
        );
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   591
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   592
/** Outputs the state of the slave configuration.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   593
 *
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   594
 * Stores the state information in the given \a state structure.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   595
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   596
void ecrt_slave_config_state(
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   597
        const ec_slave_config_t *sc, /**< Slave configuration */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   598
        ec_slave_config_state_t *state /**< State object to write to. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   599
        );
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 288
diff changeset
   600
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   601
/******************************************************************************
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   602
 * Domain methods
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   603
 *****************************************************************************/
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   604
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   605
/** Registers a bunch of Pdo entries for a domain.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   606
 *
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   607
 * \todo doc
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   608
 * \attention The registration array has to be terminated with an empty
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   609
 *            structure, or one with the \a index field set to zero!
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   610
 * \return 0 on success, else non-zero.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   611
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   612
int ecrt_domain_reg_pdo_entry_list(
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   613
        ec_domain_t *domain, /**< Domain. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   614
        const ec_pdo_entry_reg_t *pdo_entry_regs /**< Array of Pdo
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   615
                                                   registrations. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   616
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   617
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   618
/** Returns the current size of the domain's process data.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   619
 *
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   620
 * \return Size of the process data image.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   621
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   622
size_t ecrt_domain_size(
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   623
        ec_domain_t *domain /**< Domain. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   624
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   625
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   626
/** Provide external memory to store the domain's process data.
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   627
 *
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   628
 * Call this after all Pdo entries have been registered and before activating
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   629
 * the master.
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   630
 *
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   631
 * The size of the allocated memory must be at least ecrt_domain_size(), after
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   632
 * all Pdo entries have been registered.
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   633
 */
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   634
void ecrt_domain_external_memory(
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   635
        ec_domain_t *domain, /**< Domain. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   636
        uint8_t *memory /**< Address of the memory to store the process
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   637
                          data in. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   638
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   639
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   640
/** Returns the domain's process data.
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   641
 *
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   642
 * If external memory was provided with ecrt_domain_external_memory(), the
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   643
 * returned pointer will contain the address of that memory. Otherwise it will
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   644
 * point to the internally allocated memory.
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   645
 *
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   646
 * \return Pointer to the process data memory.
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   647
 */
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   648
uint8_t *ecrt_domain_data(
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   649
        ec_domain_t *domain /**< Domain. */
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   650
        );
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   651
886
ee1b25db1fbf Added a few docs.
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
   652
/** Determines the states of the domain's datagrams.
ee1b25db1fbf Added a few docs.
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
   653
 *
ee1b25db1fbf Added a few docs.
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
   654
 * Evaluates the working counters of the received datagrams and outputs
ee1b25db1fbf Added a few docs.
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
   655
 * statistics, if necessary. This must be called after ecrt_master_receive()
ee1b25db1fbf Added a few docs.
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
   656
 * is expected to receive the domain datagrams in order to make
ee1b25db1fbf Added a few docs.
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
   657
 * ecrt_domain_state() return the result of the last process data exchange.
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   658
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   659
void ecrt_domain_process(
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   660
        ec_domain_t *domain /**< Domain. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   661
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   662
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   663
/** (Re-)queues all domain datagrams in the master's datagram queue.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   664
 *
886
ee1b25db1fbf Added a few docs.
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
   665
 * Call this function to mark the domain's datagrams for exchanging at the
ee1b25db1fbf Added a few docs.
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
   666
 * next call of ecrt_master_send().
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   667
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   668
void ecrt_domain_queue(
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   669
        ec_domain_t *domain /**< Domain. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   670
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   671
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   672
/** Reads the state of a domain.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   673
 *
886
ee1b25db1fbf Added a few docs.
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
   674
 * Stores the domain state in the given \a state structure.
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   675
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   676
void ecrt_domain_state(
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   677
        const ec_domain_t *domain, /**< Domain. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   678
        ec_domain_state_t *state /**< Pointer to a state object to store the
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   679
                                   information. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   680
        );
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
   681
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   682
/*****************************************************************************
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   683
 * Sdo request methods.
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   684
 ****************************************************************************/
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   685
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   686
/** Set the timeout for an Sdo request.
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   687
 *
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   688
 * If the request cannot be processed in the specified time, if will be marked
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   689
 * as failed.
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   690
 */
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   691
void ecrt_sdo_request_timeout(
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   692
        ec_sdo_request_t *req, /**< Sdo request. */
880
f6212c54a5e3 Implemented Sdo timeout.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   693
        uint32_t timeout /**< Timeout in milliseconds. Zero means no
f6212c54a5e3 Implemented Sdo timeout.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   694
                           timeout. */
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   695
        );
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   696
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   697
/** Access to the Sdo request's data.
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   698
 *
868
aaf175ef0171 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 864
diff changeset
   699
 * This function returns a pointer to the request's internal Sdo data memory.
aaf175ef0171 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 864
diff changeset
   700
 *
aaf175ef0171 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 864
diff changeset
   701
 * - After a read operation was successful, integer data can be evaluated using
aaf175ef0171 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 864
diff changeset
   702
 *   the EC_READ_*() macros as usual. Example:
aaf175ef0171 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 864
diff changeset
   703
 *   \code
aaf175ef0171 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 864
diff changeset
   704
 *   uint16_t value = EC_READ_U16(ecrt_sdo_request_data(sdo)));
aaf175ef0171 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 864
diff changeset
   705
 *   \endcode
aaf175ef0171 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 864
diff changeset
   706
 * - If a write operation shall be triggered, the data have to be written to
aaf175ef0171 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 864
diff changeset
   707
 *   the internal memory. Use the EC_WRITE_*() macros, if you are writing
aaf175ef0171 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 864
diff changeset
   708
 *   integer data. Be sure, that the data fit into the memory. The memory size
aaf175ef0171 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 864
diff changeset
   709
 *   is a parameter of ecrt_slave_config_create_sdo_request().
aaf175ef0171 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 864
diff changeset
   710
 *   \code
aaf175ef0171 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 864
diff changeset
   711
 *   EC_WRITE_U16(ecrt_sdo_request_data(sdo), 0xFFFF);
aaf175ef0171 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 864
diff changeset
   712
 *   \endcode
aaf175ef0171 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 864
diff changeset
   713
 *
864
5b6992df2931 Updated docs.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   714
 * \attention The return value can be invalid during a read operation, because
5b6992df2931 Updated docs.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   715
 * the internal Sdo data memory could be re-allocated if the read Sdo data do
5b6992df2931 Updated docs.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   716
 * not fit inside.
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   717
 *
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   718
 * \return Pointer to the internal Sdo data memory.
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   719
 */
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   720
uint8_t *ecrt_sdo_request_data(
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   721
        ec_sdo_request_t *req /**< Sdo request. */
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   722
        );
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   723
869
6c2f4130ed46 Added ecrt_sdo_request_data_size().
Florian Pose <fp@igh-essen.com>
parents: 868
diff changeset
   724
/** Returns the current Sdo data size.
6c2f4130ed46 Added ecrt_sdo_request_data_size().
Florian Pose <fp@igh-essen.com>
parents: 868
diff changeset
   725
 *
6c2f4130ed46 Added ecrt_sdo_request_data_size().
Florian Pose <fp@igh-essen.com>
parents: 868
diff changeset
   726
 * When the Sdo request is created, the data size is set to the size of the
6c2f4130ed46 Added ecrt_sdo_request_data_size().
Florian Pose <fp@igh-essen.com>
parents: 868
diff changeset
   727
 * reserved memory. After a read operation the size is set to the size of the
6c2f4130ed46 Added ecrt_sdo_request_data_size().
Florian Pose <fp@igh-essen.com>
parents: 868
diff changeset
   728
 * read data. The size is not modified in any other situation.
6c2f4130ed46 Added ecrt_sdo_request_data_size().
Florian Pose <fp@igh-essen.com>
parents: 868
diff changeset
   729
 *
6c2f4130ed46 Added ecrt_sdo_request_data_size().
Florian Pose <fp@igh-essen.com>
parents: 868
diff changeset
   730
 * \return Sdo data size in bytes.
6c2f4130ed46 Added ecrt_sdo_request_data_size().
Florian Pose <fp@igh-essen.com>
parents: 868
diff changeset
   731
 */
6c2f4130ed46 Added ecrt_sdo_request_data_size().
Florian Pose <fp@igh-essen.com>
parents: 868
diff changeset
   732
size_t ecrt_sdo_request_data_size(
6c2f4130ed46 Added ecrt_sdo_request_data_size().
Florian Pose <fp@igh-essen.com>
parents: 868
diff changeset
   733
        const ec_sdo_request_t *req /**< Sdo request. */
6c2f4130ed46 Added ecrt_sdo_request_data_size().
Florian Pose <fp@igh-essen.com>
parents: 868
diff changeset
   734
        );
6c2f4130ed46 Added ecrt_sdo_request_data_size().
Florian Pose <fp@igh-essen.com>
parents: 868
diff changeset
   735
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   736
/** Get the current state of the Sdo request.
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   737
 *
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   738
 * \return Request state.
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   739
 */
861
6e3de145421a Introduced ec_sdo_request_state_t, making ec_request_t private again;
Florian Pose <fp@igh-essen.com>
parents: 858
diff changeset
   740
ec_sdo_request_state_t ecrt_sdo_request_state(
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   741
    const ec_sdo_request_t *req /**< Sdo request. */
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   742
    );
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   743
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   744
/** Schedule an Sdo write operation.
864
5b6992df2931 Updated docs.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   745
 *
5b6992df2931 Updated docs.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   746
 * \attention This method may not be called while ecrt_sdo_request_state()
5b6992df2931 Updated docs.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   747
 * returns EC_SDO_REQUEST_BUSY.
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   748
 */
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   749
void ecrt_sdo_request_write(
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   750
        ec_sdo_request_t *req /**< Sdo request. */
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   751
        );
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   752
864
5b6992df2931 Updated docs.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   753
/** Schedule an Sdo read operation.
5b6992df2931 Updated docs.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   754
 *
5b6992df2931 Updated docs.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   755
 * \attention This method may not be called while ecrt_sdo_request_state()
5b6992df2931 Updated docs.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   756
 * returns EC_SDO_REQUEST_BUSY.
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   757
 *
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   758
 * \attention After calling this function, the return value of
864
5b6992df2931 Updated docs.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   759
 * ecrt_sdo_request_data() must be considered as invalid while
5b6992df2931 Updated docs.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   760
 * ecrt_sdo_request_state() returns EC_SDO_REQUEST_BUSY.
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   761
 */
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   762
void ecrt_sdo_request_read(
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   763
        ec_sdo_request_t *req /**< Sdo request. */
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   764
        );
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   765
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   766
/******************************************************************************
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   767
 * Bitwise read/write macros
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   768
 *****************************************************************************/
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   769
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   770
/** 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
   771
 * \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
   772
 * \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
   773
 */
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   774
#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
   775
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   776
/** 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
   777
 * \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
   778
 * \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
   779
 * \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
   780
 */
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   781
#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
   782
    do { \
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   783
        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
   784
        else     *((uint8_t *) (DATA)) &= ~(1 << (POS)); \
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   785
    } while (0)
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   786
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   787
/******************************************************************************
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   788
 * Read macros
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   789
 *****************************************************************************/
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   790
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   791
/** 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
   792
 * \return EtherCAT data value
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   793
 */
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   794
#define EC_READ_U8(DATA) \
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   795
    ((uint8_t) *((uint8_t *) (DATA)))
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   796
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   797
/** 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
   798
 * \param DATA EtherCAT data pointer
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   799
 * \return EtherCAT data value
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   800
 */
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   801
#define EC_READ_S8(DATA) \
288
89d3c61ef3e6 Minor changes to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 286
diff changeset
   802
     ((int8_t) *((uint8_t *) (DATA)))
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   803
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   804
/** 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
   805
 * \param DATA EtherCAT data pointer
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   806
 * \return EtherCAT data value
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   807
 */
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   808
#define EC_READ_U16(DATA) \
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   809
     ((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
   810
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   811
/** 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
   812
 * \param DATA EtherCAT data pointer
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   813
 * \return EtherCAT data value
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   814
 */
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   815
#define EC_READ_S16(DATA) \
288
89d3c61ef3e6 Minor changes to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 286
diff changeset
   816
     ((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
   817
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   818
/** 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
   819
 * \param DATA EtherCAT data pointer
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   820
 * \return EtherCAT data value
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   821
 */
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   822
#define EC_READ_U32(DATA) \
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   823
     ((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
   824
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   825
/** 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
   826
 * \param DATA EtherCAT data pointer
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   827
 * \return EtherCAT data value
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   828
 */
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   829
#define EC_READ_S32(DATA) \
288
89d3c61ef3e6 Minor changes to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 286
diff changeset
   830
     ((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
   831
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   832
/******************************************************************************
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   833
 * Write macros
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   834
 *****************************************************************************/
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   835
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   836
/** 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
   837
 * \param DATA EtherCAT data pointer
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   838
 * \param VAL new value
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   839
 */
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   840
#define EC_WRITE_U8(DATA, VAL) \
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   841
    do { \
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   842
        *((uint8_t *)(DATA)) = ((uint8_t) (VAL)); \
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   843
    } while (0)
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   844
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   845
/** 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
   846
 * \param DATA EtherCAT data pointer
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   847
 * \param VAL new value
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   848
 */
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   849
#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
   850
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   851
/** 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
   852
 * \param DATA EtherCAT data pointer
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   853
 * \param VAL new value
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   854
 */
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   855
#define EC_WRITE_U16(DATA, VAL) \
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   856
    do { \
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   857
        *((uint16_t *) (DATA)) = (uint16_t) (VAL); \
810
7d7c59e1427e Avoided warning concerning EC_READ/WRITE() macros on some compilers.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   858
        cpu_to_le16s((uint16_t *) (DATA)); \
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   859
    } while (0)
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   860
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   861
/** 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
   862
 * \param DATA EtherCAT data pointer
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   863
 * \param VAL new value
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   864
 */
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   865
#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
   866
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   867
/** 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
   868
 * \param DATA EtherCAT data pointer
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   869
 * \param VAL new value
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   870
 */
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   871
#define EC_WRITE_U32(DATA, VAL) \
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   872
    do { \
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   873
        *((uint32_t *) (DATA)) = (uint32_t) (VAL); \
810
7d7c59e1427e Avoided warning concerning EC_READ/WRITE() macros on some compilers.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   874
        cpu_to_le32s((uint32_t *) (DATA)); \
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   875
    } while (0)
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   876
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   877
/** 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
   878
 * \param DATA EtherCAT data pointer
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   879
 * \param VAL new value
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   880
 */
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   881
#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
   882
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   883
/*****************************************************************************/
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   884
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   885
/** @} */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   886
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   887
#endif