include/ecrt.h
author Florian Pose <fp@igh-essen.com>
Tue, 25 Apr 2006 12:15:54 +0000
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parent 204 5ab50514d9b2
child 206 60a10d85c20b
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documentation update.
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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; version 2 of the License.
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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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 *****************************************************************************/
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/**
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   \file
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   EtherCAT realtime interface.
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*/
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/**
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   \defgroup RealtimeInterface EtherCAT realtime interface
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   EtherCAT interface for realtime modules.
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   This interface is designed for realtime modules that want to use EtherCAT.
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   There are functions to request a master, to map process data, to communicate
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   with slaves via CoE and to configure and activate the bus.
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*/
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/*****************************************************************************/
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#ifndef __ECRT_H__
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#define __ECRT_H__
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#include <asm/byteorder.h>
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#ifdef __KERNEL__
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#include <linux/types.h>
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#else
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#include <stdint.h>
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#endif
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/*****************************************************************************/
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struct ec_master;
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typedef struct ec_master ec_master_t;
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struct ec_domain;
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typedef struct ec_domain ec_domain_t;
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struct ec_slave;
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typedef struct ec_slave ec_slave_t;
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/**
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   Initialization type for field registrations.
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   This type is used as a parameter for the ec_domain_register_field_list()
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   function.
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*/
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typedef struct
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{
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    void **data_ptr; /**< address of the process data pointer */
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    const char *slave_address; /**< slave address string (see
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                                  ecrt_master_get_slave()) */
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    const char *vendor_name; /**< vendor name */
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    const char *product_name; /**< product name */
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    const char *field_name; /**< data field name */
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    unsigned int field_index; /**< index in data fields with same name */
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    unsigned int field_count; /**< number of data fields with same name */
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}
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ec_field_init_t;
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/******************************************************************************
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 *  Master request functions
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 *****************************************************************************/
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ec_master_t *ecrt_request_master(unsigned int master_index);
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void ecrt_release_master(ec_master_t *master);
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/******************************************************************************
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 *  Master methods
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 *****************************************************************************/
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void ecrt_master_callbacks(ec_master_t *master, int (*request_cb)(void *),
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                           void (*release_cb)(void *), void *cb_data);
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ec_domain_t *ecrt_master_create_domain(ec_master_t *master);
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int ecrt_master_activate(ec_master_t *master);
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void ecrt_master_deactivate(ec_master_t *master);
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int ecrt_master_fetch_sdo_lists(ec_master_t *master);
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void ecrt_master_sync_io(ec_master_t *master);
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void ecrt_master_async_send(ec_master_t *master);
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void ecrt_master_async_receive(ec_master_t *master);
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void ecrt_master_prepare_async_io(ec_master_t *master);
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void ecrt_master_run(ec_master_t *master);
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void ecrt_master_debug(ec_master_t *master, int level);
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void ecrt_master_print(const ec_master_t *master, unsigned int verbosity);
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ec_slave_t *ecrt_master_get_slave(const ec_master_t *, const char *);
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/******************************************************************************
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 *  Domain Methods
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 *****************************************************************************/
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ec_slave_t *ecrt_domain_register_field(ec_domain_t *domain,
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                                       const char *address,
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                                       const char *vendor_name,
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                                       const char *product_name,
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                                       void **data_ptr, const char *field_name,
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                                       unsigned int field_index,
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                                       unsigned int field_count);
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int ecrt_domain_register_field_list(ec_domain_t *domain,
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                                    const ec_field_init_t *fields);
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void ecrt_domain_queue(ec_domain_t *domain);
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void ecrt_domain_process(ec_domain_t *domain);
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int ecrt_domain_state(ec_domain_t *domain);
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/******************************************************************************
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 *  Slave Methods
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 *****************************************************************************/
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int ecrt_slave_sdo_read_exp8(ec_slave_t *slave, uint16_t sdo_index,
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                              uint8_t sdo_subindex, uint8_t *value);
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int ecrt_slave_sdo_read_exp16(ec_slave_t *slave, uint16_t sdo_index,
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                              uint8_t sdo_subindex, uint16_t *value);
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int ecrt_slave_sdo_read_exp32(ec_slave_t *slave, uint16_t sdo_index,
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                              uint8_t sdo_subindex, uint32_t *value);
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int ecrt_slave_sdo_write_exp8(ec_slave_t *slave, uint16_t sdo_index,
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                              uint8_t sdo_subindex, uint8_t value);
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int ecrt_slave_sdo_write_exp16(ec_slave_t *slave, uint16_t sdo_index,
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                               uint8_t sdo_subindex, uint16_t value);
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int ecrt_slave_sdo_write_exp32(ec_slave_t *slave, uint16_t sdo_index,
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                               uint8_t sdo_subindex, uint32_t value);
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int ecrt_slave_sdo_read(ec_slave_t *slave, uint16_t sdo_index,
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                        uint8_t sdo_subindex, uint8_t *data, size_t *size);
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int ecrt_slave_write_alias(ec_slave_t *slave, uint16_t alias);
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/******************************************************************************
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 *  Bitwise read/write macros
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 *****************************************************************************/
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/**
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   Read a certain bit of an EtherCAT data byte.
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   \param DATA EtherCAT data pointer
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   \param POS bit position
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*/
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#define EC_READ_BIT(DATA, POS) ((*((uint8_t *) (DATA)) >> (POS)) & 0x01)
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/**
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   Write a certain bit of an EtherCAT data byte.
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   \param DATA EtherCAT data pointer
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   \param POS bit position
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   \param VAL new bit value
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*/
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#define EC_WRITE_BIT(DATA, POS, VAL) \
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    do { \
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        if (VAL) *((uint8_t *) (DATA)) |=  (1 << (POS)); \
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        else     *((uint8_t *) (DATA)) &= ~(1 << (POS)); \
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    } while (0)
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/******************************************************************************
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 *  Read macros
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 *****************************************************************************/
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/**
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   Read an 8-bit unsigned value from EtherCAT data.
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   \return EtherCAT data value
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*/
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#define EC_READ_U8(DATA) \
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    ((uint8_t) *((uint8_t *) (DATA)))
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/**
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   Read an 8-bit signed value from EtherCAT data.
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   \param DATA EtherCAT data pointer
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   \return EtherCAT data value
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*/
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#define EC_READ_S8(DATA) \
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     ((int8_t)  *((uint8_t *) (DATA)))
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/**
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   Read a 16-bit unsigned value from EtherCAT data.
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   \param DATA EtherCAT data pointer
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   \return EtherCAT data value
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*/
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#define EC_READ_U16(DATA) \
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     ((uint16_t) le16_to_cpup((void *) (DATA)))
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/**
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   Read a 16-bit signed value from EtherCAT data.
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   \param DATA EtherCAT data pointer
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   \return EtherCAT data value
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*/
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#define EC_READ_S16(DATA) \
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     ((int16_t)  le16_to_cpup((void *) (DATA)))
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/**
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   Read a 32-bit unsigned value from EtherCAT data.
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   \param DATA EtherCAT data pointer
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   \return EtherCAT data value
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*/
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#define EC_READ_U32(DATA) \
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     ((uint32_t) le32_to_cpup((void *) (DATA)))
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/**
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   Read a 32-bit signed value from EtherCAT data.
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   \param DATA EtherCAT data pointer
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   \return EtherCAT data value
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*/
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#define EC_READ_S32(DATA) \
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     ((int32_t)  le32_to_cpup((void *) (DATA)))
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/******************************************************************************
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 *  Write macros
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 *****************************************************************************/
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/**
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   Write an 8-bit unsigned value to EtherCAT data.
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   \param DATA EtherCAT data pointer
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   \param VAL new value
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*/
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#define EC_WRITE_U8(DATA, VAL) \
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    do { \
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        *((uint8_t *)(DATA)) = ((uint8_t) (VAL)); \
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    } while (0)
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/**
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   Write an 8-bit signed value to EtherCAT data.
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   \param DATA EtherCAT data pointer
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   \param VAL new value
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*/
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#define EC_WRITE_S8(DATA, VAL) EC_WRITE_U8(DATA, VAL)
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/**
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   Write a 16-bit unsigned value to EtherCAT data.
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   \param DATA EtherCAT data pointer
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   \param VAL new value
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*/
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#define EC_WRITE_U16(DATA, VAL) \
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    do { \
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        *((uint16_t *) (DATA)) = (uint16_t) (VAL); \
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        cpu_to_le16s(DATA); \
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    } while (0)
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/**
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   Write a 16-bit signed value to EtherCAT data.
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   \param DATA EtherCAT data pointer
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   \param VAL new value
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*/
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#define EC_WRITE_S16(DATA, VAL) EC_WRITE_U16(DATA, VAL)
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/**
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   Write a 32-bit unsigned value to EtherCAT data.
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   \param DATA EtherCAT data pointer
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   \param VAL new value
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*/
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#define EC_WRITE_U32(DATA, VAL) \
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    do { \
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        *((uint32_t *) (DATA)) = (uint32_t) (VAL); \
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        cpu_to_le16s(DATA); \
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    } while (0)
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/**
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   Write a 32-bit signed value to EtherCAT data.
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   \param DATA EtherCAT data pointer
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   \param VAL new value
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*/
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#define EC_WRITE_S32(DATA, VAL) EC_WRITE_U32(DATA, VAL)
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/*****************************************************************************/
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#endif