etherlabmaster: include/ecrt.h@7bc131b92039 (annotated)

104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	1	/******************************************************************************
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	2	*
125 b01bd5b830d7 Sch?nheitskorrekturen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	3	* $Id$
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	4	*
197 b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	5	* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	6	*
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	7	* This file is part of the IgH EtherCAT Master.
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	8	*
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	9	* The IgH EtherCAT Master is free software; you can redistribute it
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	10	* and/or modify it under the terms of the GNU General Public License
246 0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 206 diff changeset	11	* as published by the Free Software Foundation; either version 2 of the
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 206 diff changeset	12	* License, or (at your option) any later version.
197 b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	13	*
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	14	* The IgH EtherCAT Master is distributed in the hope that it will be
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	15	* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	16	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	17	* GNU General Public License for more details.
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	18	*
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	19	* You should have received a copy of the GNU General Public License
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	20	* along with the IgH EtherCAT Master; if not, write to the Free Software
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	21	* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	22	*
246 0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 206 diff changeset	23	* The right to use EtherCAT Technology is granted and comes free of
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 206 diff changeset	24	* charge under condition of compatibility of product made by
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 206 diff changeset	25	* Licensee. People intending to distribute/sell products based on the
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 206 diff changeset	26	* code, have to sign an agreement to guarantee that products using
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 206 diff changeset	27	* software based on IgH EtherCAT master stay compatible with the actual
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 206 diff changeset	28	* EtherCAT specification (which are released themselves as an open
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 206 diff changeset	29	* standard) as the (only) precondition to have the right to use EtherCAT
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 206 diff changeset	30	* Technology, IP and trade marks.
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 206 diff changeset	31	*
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	32	*****************************************************************************/
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	33
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	34	/**
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	35	\file
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	36	EtherCAT realtime interface.
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	37	*/
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	38
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	39	/**
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	40	\defgroup RealtimeInterface EtherCAT realtime interface
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	41	EtherCAT interface for realtime modules.
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	42	This interface is designed for realtime modules that want to use EtherCAT.
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	43	There are functions to request a master, to map process data, to communicate
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	44	with slaves via CoE and to configure and activate the bus.
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	45	*/
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	46
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	47	/*****************************************************************************/
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	48
125 b01bd5b830d7 Sch?nheitskorrekturen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	49	#ifndef __ECRT_H__
b01bd5b830d7 Sch?nheitskorrekturen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	50	#define __ECRT_H__
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	51
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	52	#include <asm/byteorder.h>
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	53
110 2346e2963087 Integer-Typen in ecrt.h. Florian Pose <fp@igh-essen.com> parents: 106 diff changeset	54	#ifdef __KERNEL__
2346e2963087 Integer-Typen in ecrt.h. Florian Pose <fp@igh-essen.com> parents: 106 diff changeset	55	#include <linux/types.h>
2346e2963087 Integer-Typen in ecrt.h. Florian Pose <fp@igh-essen.com> parents: 106 diff changeset	56	#else
2346e2963087 Integer-Typen in ecrt.h. Florian Pose <fp@igh-essen.com> parents: 106 diff changeset	57	#include <stdint.h>
2346e2963087 Integer-Typen in ecrt.h. Florian Pose <fp@igh-essen.com> parents: 106 diff changeset	58	#endif
2346e2963087 Integer-Typen in ecrt.h. Florian Pose <fp@igh-essen.com> parents: 106 diff changeset	59
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	60	/*****************************************************************************/
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	61
1744 7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	62	#define ECRT_VER_MAJOR 1
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	63	#define ECRT_VER_MINOR 3
1739 5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one). Florian Pose <fp@igh-essen.com> parents: 1733 diff changeset	64
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one). Florian Pose <fp@igh-essen.com> parents: 1733 diff changeset	65	#define ECRT_VERSION(a,b) (((a) << 8) + (b))
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one). Florian Pose <fp@igh-essen.com> parents: 1733 diff changeset	66	#define ECRT_VERSION_MAGIC ECRT_VERSION(ECRT_VER_MAJOR, ECRT_VER_MINOR)
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one). Florian Pose <fp@igh-essen.com> parents: 1733 diff changeset	67
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one). Florian Pose <fp@igh-essen.com> parents: 1733 diff changeset	68	/*****************************************************************************/
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one). Florian Pose <fp@igh-essen.com> parents: 1733 diff changeset	69
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	70	struct ec_master;
286 f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 276 diff changeset	71	typedef struct ec_master ec_master_t; /*< \see ec_master /
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	72
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	73	struct ec_domain;
286 f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 276 diff changeset	74	typedef struct ec_domain ec_domain_t; /*< \see ec_domain /
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	75
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	76	struct ec_slave;
286 f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 276 diff changeset	77	typedef struct ec_slave ec_slave_t; /*< \see ec_slave /
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	78
200 72c969ea6558 Documentation update + Doxygen generate LaTeX reference manual. Florian Pose <fp@igh-essen.com> parents: 199 diff changeset	79	/**
1744 7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	80	* Bus status.
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	81	*/
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	82
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	83	typedef enum {
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	84	EC_BUS_FAILURE = -1, /**< At least one slave with process data exchange
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	85	is offline. */
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	86	EC_BUS_OK /**< All slaves with process data exchange are
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	87	online. */
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	88	}
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	89	ec_bus_status_t;
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	90
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	91	/**
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	92	* Master status.
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	93	* This is used for the output parameter of ecrt_master_get_status().
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	94	*/
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	95
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	96	typedef struct {
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	97	ec_bus_status_t bus_status; /*< \see ec_bus_status_t /
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	98	unsigned int bus_tainted; /*< non-zero, if the bus topology is invalid /
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	99	unsigned int slaves_responding; /*< number of responging slaves /
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	100	}
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	101	ec_master_status_t;
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	102
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	103	/**
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	104	* List entry for domain PDO registrations.
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	105	* This type is used as a parameter for the ecrt_domain_register_pdo_list()
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	106	* convenience function.
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	107	*/
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	108
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	109	typedef struct {
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	110	const char slave_address; /*< slave address string
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	111	\see ec_master_parse_slave_address() */
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 288 diff changeset	112	uint32_t vendor_id; /*< vendor ID /
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 288 diff changeset	113	uint32_t product_code; /*< product code /
1744 7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	114	uint16_t pdo_entry_index; /*< PDO entry index /
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	115	uint8_t pdo_entry_subindex; /*< PDO entry subindex /
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 288 diff changeset	116	void data_ptr; /< address of the process data pointer */
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	117	}
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 288 diff changeset	118	ec_pdo_reg_t;
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	119
1732 1cc865ba17c2 MERGE trunk -r588:681 -> branches/stable-1.1 (Bugfixes, Ack behaviour, CoE via Sysfs, PDO ranges, 2.6.17 support, improved autotools, documentation) Florian Pose <fp@igh-essen.com> parents: 1715 diff changeset	120	/**
1744 7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	121	* Direction type for PDO mapping and range registration functions.
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	122	*/
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	123
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	124	typedef enum {
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	125	EC_DIR_OUTPUT, /*< values written by master /
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	126	EC_DIR_INPUT /*< values read by master /
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	127	}
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	128	ec_direction_t;
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	129
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	130	/******************************************************************************
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	131	* Global functions
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	132	*****************************************************************************/
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	133
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	134	ec_master_t *ecrt_request_master(unsigned int master_index);
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	135	void ecrt_release_master(ec_master_t *master);
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	136
1739 5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one). Florian Pose <fp@igh-essen.com> parents: 1733 diff changeset	137	unsigned int ecrt_version_magic(void);
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one). Florian Pose <fp@igh-essen.com> parents: 1733 diff changeset	138
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	139	/******************************************************************************
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	140	* Master methods
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	141	*****************************************************************************/
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	142
204 5ab50514d9b2 Locking callback interface. Florian Pose <fp@igh-essen.com> parents: 200 diff changeset	143	void ecrt_master_callbacks(ec_master_t master, int (request_cb)(void *),
5ab50514d9b2 Locking callback interface. Florian Pose <fp@igh-essen.com> parents: 200 diff changeset	144	void (release_cb)(void ), void *cb_data);
5ab50514d9b2 Locking callback interface. Florian Pose <fp@igh-essen.com> parents: 200 diff changeset	145
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	146	ec_domain_t ecrt_master_create_domain(ec_master_t master);
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	147
1744 7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	148	ec_slave_t ecrt_master_get_slave(const ec_master_t , const char *,
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	149	uint32_t vendor_id, uint32_t product_code);
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	150	ec_slave_t ecrt_master_get_slave_by_pos(const ec_master_t , uint16_t,
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	151	uint32_t vendor_id, uint32_t product_code);
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	152
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	153	int ecrt_master_activate(ec_master_t *master);
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 288 diff changeset	154
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 288 diff changeset	155	void ecrt_master_send(ec_master_t *master);
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 288 diff changeset	156	void ecrt_master_receive(ec_master_t *master);
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	157
1744 7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	158	void ecrt_master_get_status(const ec_master_t master, ec_master_status_t );
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 288 diff changeset	159
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	160	/******************************************************************************
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	161	* Domain Methods
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	162	*****************************************************************************/
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	163
1744 7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	164	int ecrt_domain_register_pdo(ec_domain_t domain, ec_slave_t slave,
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	165	uint16_t pdo_index, uint8_t pdo_subindex, void **data_ptr);
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	166
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	167	int ecrt_domain_register_pdo_range(ec_domain_t domain, ec_slave_t slave,
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	168	ec_direction_t direction, uint16_t offset, uint16_t length,
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	169	void **data_ptr);
1732 1cc865ba17c2 MERGE trunk -r588:681 -> branches/stable-1.1 (Bugfixes, Ack behaviour, CoE via Sysfs, PDO ranges, 2.6.17 support, improved autotools, documentation) Florian Pose <fp@igh-essen.com> parents: 1715 diff changeset	170
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 288 diff changeset	171	int ecrt_domain_register_pdo_list(ec_domain_t *domain,
1744 7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	172	const ec_pdo_reg_t *pdos);
1732 1cc865ba17c2 MERGE trunk -r588:681 -> branches/stable-1.1 (Bugfixes, Ack behaviour, CoE via Sysfs, PDO ranges, 2.6.17 support, improved autotools, documentation) Florian Pose <fp@igh-essen.com> parents: 1715 diff changeset	173
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	174	void ecrt_domain_process(ec_domain_t *domain);
1739 5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one). Florian Pose <fp@igh-essen.com> parents: 1733 diff changeset	175	void ecrt_domain_queue(ec_domain_t *domain);
1744 7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	176
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 288 diff changeset	177	int ecrt_domain_state(const ec_domain_t *domain);
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	178
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	179	/******************************************************************************
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	180	* Slave Methods
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	181	*****************************************************************************/
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	182
1715 e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 288 diff changeset	183	int ecrt_slave_conf_sdo8(ec_slave_t *slave, uint16_t sdo_index,
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 288 diff changeset	184	uint8_t sdo_subindex, uint8_t value);
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 288 diff changeset	185	int ecrt_slave_conf_sdo16(ec_slave_t *slave, uint16_t sdo_index,
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 288 diff changeset	186	uint8_t sdo_subindex, uint16_t value);
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 288 diff changeset	187	int ecrt_slave_conf_sdo32(ec_slave_t *slave, uint16_t sdo_index,
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 288 diff changeset	188	uint8_t sdo_subindex, uint32_t value);
e675450f2174 MERGE trunk -r463:494 -> branches/stable-1.1 (Version 1.1) Florian Pose <fp@igh-essen.com> parents: 288 diff changeset	189
1744 7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	190	void ecrt_slave_pdo_mapping_clear(ec_slave_t *, ec_direction_t);
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	191	int ecrt_slave_pdo_mapping_add(ec_slave_t *, ec_direction_t, uint16_t);
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	192	int ecrt_slave_pdo_mapping(ec_slave_t *, ec_direction_t, unsigned int, ...);
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	193
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	194	/******************************************************************************
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	195	* Bitwise read/write macros
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	196	*****************************************************************************/
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	197
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	198	/**
1744 7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	199	* Read a certain bit of an EtherCAT data byte.
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	200	* \param DATA EtherCAT data pointer
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	201	* \param POS bit position
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	202	*/
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	203
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	204	#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	205
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	206	/**
1744 7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	207	* Write a certain bit of an EtherCAT data byte.
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	208	* \param DATA EtherCAT data pointer
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	209	* \param POS bit position
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	210	* \param VAL new bit value
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	211	*/
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	212
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	213	#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	214	do { \
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	215	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	216	else ((uint8_t ) (DATA)) &= ~(1 << (POS)); \
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	217	} while (0)
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	218
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	219	/******************************************************************************
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	220	* Read macros
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	221	*****************************************************************************/
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	222
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	223	/**
1744 7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	224	* Read an 8-bit unsigned value from EtherCAT data.
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	225	* \return EtherCAT data value
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	226	*/
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	227
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	228	#define EC_READ_U8(DATA) \
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	229	((uint8_t) ((uint8_t ) (DATA)))
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	230
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	231	/**
1744 7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	232	* Read an 8-bit signed value from EtherCAT data.
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	233	* \param DATA EtherCAT data pointer
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	234	* \return EtherCAT data value
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	235	*/
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	236
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	237	#define EC_READ_S8(DATA) \
288 89d3c61ef3e6 Minor changes to ecrt.h. Florian Pose <fp@igh-essen.com> parents: 286 diff changeset	238	((int8_t) ((uint8_t ) (DATA)))
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	239
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	240	/**
1744 7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	241	* Read a 16-bit unsigned value from EtherCAT data.
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	242	* \param DATA EtherCAT data pointer
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	243	* \return EtherCAT data value
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	244	*/
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	245
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	246	#define EC_READ_U16(DATA) \
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	247	((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	248
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	249	/**
1744 7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	250	* Read a 16-bit signed value from EtherCAT data.
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	251	* \param DATA EtherCAT data pointer
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	252	* \return EtherCAT data value
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	253	*/
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	254
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	255	#define EC_READ_S16(DATA) \
288 89d3c61ef3e6 Minor changes to ecrt.h. Florian Pose <fp@igh-essen.com> parents: 286 diff changeset	256	((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	257
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	258	/**
1744 7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	259	* Read a 32-bit unsigned value from EtherCAT data.
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	260	* \param DATA EtherCAT data pointer
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	261	* \return EtherCAT data value
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	262	*/
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	263
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	264	#define EC_READ_U32(DATA) \
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	265	((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	266
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	267	/**
1744 7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	268	* Read a 32-bit signed value from EtherCAT data.
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	269	* \param DATA EtherCAT data pointer
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	270	* \return EtherCAT data value
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	271	*/
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	272
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	273	#define EC_READ_S32(DATA) \
288 89d3c61ef3e6 Minor changes to ecrt.h. Florian Pose <fp@igh-essen.com> parents: 286 diff changeset	274	((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	275
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	276	/******************************************************************************
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	277	* Write macros
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	278	*****************************************************************************/
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	279
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	280	/**
1744 7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	281	* Write an 8-bit unsigned value to EtherCAT data.
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	282	* \param DATA EtherCAT data pointer
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	283	* \param VAL new value
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	284	*/
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	285
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	286	#define EC_WRITE_U8(DATA, VAL) \
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	287	do { \
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	288	((uint8_t )(DATA)) = ((uint8_t) (VAL)); \
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	289	} while (0)
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	290
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	291	/**
1744 7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	292	* Write an 8-bit signed value to EtherCAT data.
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	293	* \param DATA EtherCAT data pointer
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	294	* \param VAL new value
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	295	*/
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	296
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	297	#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	298
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	299	/**
1744 7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	300	* Write a 16-bit unsigned value to EtherCAT data.
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	301	* \param DATA EtherCAT data pointer
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	302	* \param VAL new value
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	303	*/
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	304
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	305	#define EC_WRITE_U16(DATA, VAL) \
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	306	do { \
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	307	((uint16_t ) (DATA)) = (uint16_t) (VAL); \
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	308	cpu_to_le16s(DATA); \
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	309	} while (0)
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	310
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	311	/**
1744 7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	312	* Write a 16-bit signed value to EtherCAT data.
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	313	* \param DATA EtherCAT data pointer
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	314	* \param VAL new value
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	315	*/
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	316
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	317	#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	318
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	319	/**
1744 7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	320	* Write a 32-bit unsigned value to EtherCAT data.
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	321	* \param DATA EtherCAT data pointer
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	322	* \param VAL new value
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	323	*/
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	324
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	325	#define EC_WRITE_U32(DATA, VAL) \
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	326	do { \
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	327	((uint32_t ) (DATA)) = (uint32_t) (VAL); \
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	328	cpu_to_le16s(DATA); \
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	329	} while (0)
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	330
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	331	/**
1744 7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	332	* Write a 32-bit signed value to EtherCAT data.
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	333	* \param DATA EtherCAT data pointer
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	334	* \param VAL new value
7bc131b92039 MERGE trunk -r770:907 -> branches-1.3 (1.3 changes) Florian Pose <fp@igh-essen.com> parents: 1739 diff changeset	335	*/
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	336
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	337	#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	338
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	339	/*****************************************************************************/
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	340
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	341	#endif

author	Florian Pose <fp@igh-essen.com>
	Fri, 10 Aug 2007 15:27:08 +0000
branch	stable-1.3
changeset 1744	7bc131b92039
parent 1739	5fcbd29151d2
child 1745	07fd94c5119d
permissions	-rw-r--r--