1

/******************************************************************************

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH

     6

 *

     7

 *  This file is part of the IgH EtherCAT Master.

     8

 *

     9

 *  The IgH EtherCAT Master is free software; you can redistribute it

    10

 *  and/or modify it under the terms of the GNU General Public License

    11

 *  as published by the Free Software Foundation; either version 2 of the

    12

 *  License, or (at your option) any later version.

    13

 *

    14

 *  The IgH EtherCAT Master is distributed in the hope that it will be

    15

 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of

    16

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    17

 *  GNU General Public License for more details.

    18

 *

    19

 *  You should have received a copy of the GNU General Public License

    20

 *  along with the IgH EtherCAT Master; if not, write to the Free Software

    21

 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

    22

 *

    23

 *  The right to use EtherCAT Technology is granted and comes free of

    24

 *  charge under condition of compatibility of product made by

    25

 *  Licensee. People intending to distribute/sell products based on the

    26

 *  code, have to sign an agreement to guarantee that products using

    27

 *  software based on IgH EtherCAT master stay compatible with the actual

    28

 *  EtherCAT specification (which are released themselves as an open

    29

 *  standard) as the (only) precondition to have the right to use EtherCAT

    30

 *  Technology, IP and trade marks.

    31

 *

    32

 *****************************************************************************/

    33

    34

/**

    35

   \file

    36

   EtherCAT realtime interface.

    37

*/

    38

    39

/**

    40

   \defgroup RealtimeInterface EtherCAT realtime interface

    41

   EtherCAT interface for realtime modules.

    42

   This interface is designed for realtime modules that want to use EtherCAT.

    43

   There are functions to request a master, to map process data, to communicate

    44

   with slaves via CoE and to configure and activate the bus.

    45

*/

    46

    47

/*****************************************************************************/

    48

    49

#ifndef __ECRT_H__

    50

#define __ECRT_H__

    51

    52

#include <asm/byteorder.h>

    53

    54

#ifdef __KERNEL__

    55

#include <linux/types.h>

    56

#else

    57

#include <stdint.h>

    58

#endif

    59

    60

/*****************************************************************************/

    61

    62

struct ec_master;

    63

typedef struct ec_master ec_master_t;

    64

    65

struct ec_domain;

    66

typedef struct ec_domain ec_domain_t;

    67

    68

struct ec_slave;

    69

typedef struct ec_slave ec_slave_t;

    70

    71

/**

    72

   Initialization type for field registrations.

    73

   This type is used as a parameter for the ec_domain_register_field_list()

    74

   function.

    75

*/

    76

    77

typedef struct

    78

{

    79

    void **data_ptr; /**< address of the process data pointer */

    80

    const char *slave_address; /**< slave address string (see

    81

                                  ecrt_master_get_slave()) */

    82

    const char *vendor_name; /**< vendor name */

    83

    const char *product_name; /**< product name */

    84

    const char *field_name; /**< data field name */

    85

    unsigned int field_index; /**< index in data fields with same name */

    86

    unsigned int field_count; /**< number of data fields with same name */

    87

}

    88

ec_field_init_t;

    89

    90

/******************************************************************************

    91

 *  Master request functions

    92

 *****************************************************************************/

    93

    94

ec_master_t *ecrt_request_master(unsigned int master_index);

    95

void ecrt_release_master(ec_master_t *master);

    96

    97

/******************************************************************************

    98

 *  Master methods

    99

 *****************************************************************************/

   100

   101

void ecrt_master_callbacks(ec_master_t *master, int (*request_cb)(void *),

   102

                           void (*release_cb)(void *), void *cb_data);

   103

   104

ec_domain_t *ecrt_master_create_domain(ec_master_t *master);

   105

   106

int ecrt_master_activate(ec_master_t *master);

   107

void ecrt_master_deactivate(ec_master_t *master);

   108

   109

int ecrt_master_fetch_sdo_lists(ec_master_t *master);

   110

   111

void ecrt_master_sync_io(ec_master_t *master);

   112

void ecrt_master_async_send(ec_master_t *master);

   113

void ecrt_master_async_receive(ec_master_t *master);

   114

void ecrt_master_prepare_async_io(ec_master_t *master);

   115

   116

void ecrt_master_run(ec_master_t *master);

   117

   118

int ecrt_master_start_eoe(ec_master_t *master);

   119

   120

void ecrt_master_debug(ec_master_t *master, int level);

   121

void ecrt_master_print(const ec_master_t *master, unsigned int verbosity);

   122

   123

ec_slave_t *ecrt_master_get_slave(const ec_master_t *, const char *);

   124

   125

/******************************************************************************

   126

 *  Domain Methods

   127

 *****************************************************************************/

   128

   129

ec_slave_t *ecrt_domain_register_field(ec_domain_t *domain,

   130

                                       const char *address,

   131

                                       const char *vendor_name,

   132

                                       const char *product_name,

   133

                                       void **data_ptr, const char *field_name,

   134

                                       unsigned int field_index,

   135

                                       unsigned int field_count);

   136

int ecrt_domain_register_field_list(ec_domain_t *domain,

   137

                                    const ec_field_init_t *fields);

   138

   139

void ecrt_domain_queue(ec_domain_t *domain);

   140

void ecrt_domain_process(ec_domain_t *domain);

   141

   142

int ecrt_domain_state(ec_domain_t *domain);

   143

   144

/******************************************************************************

   145

 *  Slave Methods

   146

 *****************************************************************************/

   147

   148

int ecrt_slave_sdo_read_exp8(ec_slave_t *slave, uint16_t sdo_index,

   149

                              uint8_t sdo_subindex, uint8_t *value);

   150

int ecrt_slave_sdo_read_exp16(ec_slave_t *slave, uint16_t sdo_index,

   151

                              uint8_t sdo_subindex, uint16_t *value);

   152

int ecrt_slave_sdo_read_exp32(ec_slave_t *slave, uint16_t sdo_index,

   153

                              uint8_t sdo_subindex, uint32_t *value);

   154

int ecrt_slave_sdo_write_exp8(ec_slave_t *slave, uint16_t sdo_index,

   155

                              uint8_t sdo_subindex, uint8_t value);

   156

int ecrt_slave_sdo_write_exp16(ec_slave_t *slave, uint16_t sdo_index,

   157

                               uint8_t sdo_subindex, uint16_t value);

   158

int ecrt_slave_sdo_write_exp32(ec_slave_t *slave, uint16_t sdo_index,

   159

                               uint8_t sdo_subindex, uint32_t value);

   160

int ecrt_slave_sdo_read(ec_slave_t *slave, uint16_t sdo_index,

   161

                        uint8_t sdo_subindex, uint8_t *data, size_t *size);

   162

   163

int ecrt_slave_write_alias(ec_slave_t *slave, uint16_t alias);

   164

   165

/******************************************************************************

   166

 *  Bitwise read/write macros

   167

 *****************************************************************************/

   168

   169

/**

   170

   Read a certain bit of an EtherCAT data byte.

   171

   \param DATA EtherCAT data pointer

   172

   \param POS bit position

   173

*/

   174

   175

#define EC_READ_BIT(DATA, POS) ((*((uint8_t *) (DATA)) >> (POS)) & 0x01)

   176

   177

/**

   178

   Write a certain bit of an EtherCAT data byte.

   179

   \param DATA EtherCAT data pointer

   180

   \param POS bit position

   181

   \param VAL new bit value

   182

*/

   183

   184

#define EC_WRITE_BIT(DATA, POS, VAL) \

   185

    do { \

   186

        if (VAL) *((uint8_t *) (DATA)) |=  (1 << (POS)); \

   187

        else     *((uint8_t *) (DATA)) &= ~(1 << (POS)); \

   188

    } while (0)

   189

   190

/******************************************************************************

   191

 *  Read macros

   192

 *****************************************************************************/

   193

   194

/**

   195

   Read an 8-bit unsigned value from EtherCAT data.

   196

   \return EtherCAT data value

   197

*/

   198

   199

#define EC_READ_U8(DATA) \

   200

    ((uint8_t) *((uint8_t *) (DATA)))

   201

   202

/**

   203

   Read an 8-bit signed value from EtherCAT data.

   204

   \param DATA EtherCAT data pointer

   205

   \return EtherCAT data value

   206

*/

   207

   208

#define EC_READ_S8(DATA) \

   209

     ((int8_t)  *((uint8_t *) (DATA)))

   210

   211

/**

   212

   Read a 16-bit unsigned value from EtherCAT data.

   213

   \param DATA EtherCAT data pointer

   214

   \return EtherCAT data value

   215

*/

   216

   217

#define EC_READ_U16(DATA) \

   218

     ((uint16_t) le16_to_cpup((void *) (DATA)))

   219

   220

/**

   221

   Read a 16-bit signed value from EtherCAT data.

   222

   \param DATA EtherCAT data pointer

   223

   \return EtherCAT data value

   224

*/

   225

   226

#define EC_READ_S16(DATA) \

   227

     ((int16_t)  le16_to_cpup((void *) (DATA)))

   228

   229

/**

   230

   Read a 32-bit unsigned value from EtherCAT data.

   231

   \param DATA EtherCAT data pointer

   232

   \return EtherCAT data value

   233

*/

   234

   235

#define EC_READ_U32(DATA) \

   236

     ((uint32_t) le32_to_cpup((void *) (DATA)))

   237

   238

/**

   239

   Read a 32-bit signed value from EtherCAT data.

   240

   \param DATA EtherCAT data pointer

   241

   \return EtherCAT data value

   242

*/

   243

   244

#define EC_READ_S32(DATA) \

   245

     ((int32_t)  le32_to_cpup((void *) (DATA)))

   246

   247

   248

/******************************************************************************

   249

 *  Write macros

   250

 *****************************************************************************/

   251

   252

/**

   253

   Write an 8-bit unsigned value to EtherCAT data.

   254

   \param DATA EtherCAT data pointer

   255

   \param VAL new value

   256

*/

   257

   258

#define EC_WRITE_U8(DATA, VAL) \

   259

    do { \

   260

        *((uint8_t *)(DATA)) = ((uint8_t) (VAL)); \

   261

    } while (0)

   262

   263

/**

   264

   Write an 8-bit signed value to EtherCAT data.

   265

   \param DATA EtherCAT data pointer

   266

   \param VAL new value

   267

*/

   268

   269

#define EC_WRITE_S8(DATA, VAL) EC_WRITE_U8(DATA, VAL)

   270

   271

/**

   272

   Write a 16-bit unsigned value to EtherCAT data.

   273

   \param DATA EtherCAT data pointer

   274

   \param VAL new value

   275

*/

   276

   277

#define EC_WRITE_U16(DATA, VAL) \

   278

    do { \

   279

        *((uint16_t *) (DATA)) = (uint16_t) (VAL); \

   280

        cpu_to_le16s(DATA); \

   281

    } while (0)

   282

   283

/**

   284

   Write a 16-bit signed value to EtherCAT data.

   285

   \param DATA EtherCAT data pointer

   286

   \param VAL new value

   287

*/

   288

   289

#define EC_WRITE_S16(DATA, VAL) EC_WRITE_U16(DATA, VAL)

   290

   291

/**

   292

   Write a 32-bit unsigned value to EtherCAT data.

   293

   \param DATA EtherCAT data pointer

   294

   \param VAL new value

   295

*/

   296

   297

#define EC_WRITE_U32(DATA, VAL) \

   298

    do { \

   299

        *((uint32_t *) (DATA)) = (uint32_t) (VAL); \

   300

        cpu_to_le16s(DATA); \

   301

    } while (0)

   302

   303

/**

   304

   Write a 32-bit signed value to EtherCAT data.

   305

   \param DATA EtherCAT data pointer

   306

   \param VAL new value

   307

*/

   308

   309

#define EC_WRITE_S32(DATA, VAL) EC_WRITE_U32(DATA, VAL)

   310

   311

/*****************************************************************************/

   312

   313

#endif