include/ecrt.h
author Florian Pose <fp@igh-essen.com>
Thu, 02 Oct 2008 10:44:43 +0000
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parent 1244 0b70040d3daa
child 1248 3cc16b60a571
permissions -rw-r--r--
Minor change.
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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 master application interface.
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 *
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 * \defgroup ApplicationInterface EtherCAT Application 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 1.5:
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 *
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 * - Changed the return value of ecrt_request_master().
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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 bus
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 *   configuration from the actual slaves. 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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 * - Pdo entry registration functions do not return a process data pointer,
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 *   but an offset in the domain's process data. In addition, an optional bit
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 *   position can be requested. This was necessary for the external domain
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 *   memory. An additional advantage is, that the returned offset is
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 *   immediately valid. 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 assignment/mapping and
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 *   registering the mapped 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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 * - Exported ecrt_slave_config_sdo(), the generic Sdo configuration function.
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 * - Removed the bus_state and bus_tainted flags from ec_master_state_t.
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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 5
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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 list marker.
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 *
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 * This can be used with ecrt_slave_config_pdos().
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 */
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#define EC_END ~0U
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/** Maximum number of sync managers per slave.
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 */
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#define EC_MAX_SYNC_MANAGERS 16
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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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struct ec_voe_handler;
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typedef struct ec_voe_handler ec_voe_handler_t; /**< \see ec_voe_handler. */
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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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 * \see ecrt_master_state().
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 */
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typedef struct {
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    unsigned int slaves_responding; /**< Number of slaves in the bus. */
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    unsigned int al_states : 4; /**< Application-layer states of all slaves.
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                                  The states are coded in the lower 4 bits.
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                                  If a bit is set, it means that at least one
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                                  slave in the bus is in the corresponding
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                                  state:
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                                  - Bit 0: \a INIT
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                                  - Bit 1: \a PREOP
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                                  - Bit 2: \a SAFEOP
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                                  - Bit 3: \a OP */
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    unsigned int link_up : 1; /**< \a true, if the network link is up. */
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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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 * This is used as an output parameter of ecrt_slave_config_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 operational : 1; /**< The slave was brought into \a OP state
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                                    using the specified configuration. */
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    unsigned int al_state : 4; /**< The application-layer state of the slave.
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                                 - 1: \a INIT
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                                 - 2: \a PREOP
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                                 - 4: \a SAFEOP
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                                 - 8: \a OP
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                                 Note that each state is coded in a different
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                                 bit! */
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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 registered process data were exchanged. */
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    EC_WC_INCOMPLETE, /**< Some of the registered process data were
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                        exchanged. */
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    EC_WC_COMPLETE    /**< All registered process data 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 assignment functions.
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 */
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typedef enum {
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    EC_DIR_INVALID, /**< Invalid direction. Do not use this value. */
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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_DIR_COUNT /**< Number of directions. For internal use only. */
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} ec_direction_t;
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/*****************************************************************************/
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/** Pdo entry configuration information.
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 *
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 * This is the data type of the \a entries field in ec_pdo_info_t.
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 *
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 * \see ecrt_slave_config_pdos().
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 */
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typedef struct {
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    uint16_t index; /**< Pdo entry index. */
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    uint8_t subindex; /**< Pdo entry subindex. */
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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 configuration information.
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 * 
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 * This is the data type of the \a pdos field in ec_sync_info_t.
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 * 
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 * \see ecrt_slave_config_pdos().
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 */
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typedef struct {
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    uint16_t index; /**< Pdo index. */
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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 (this can only be done if the slave is
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                              present at bus configuration time). */
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    ec_pdo_entry_info_t *entries; /**< Array of Pdo entries to map. Can either
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                                    be \a NULL, or must contain at
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                                    least \a n_entries values. */
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} ec_pdo_info_t;
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/*****************************************************************************/
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/** Sync manager configuration information.
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 *
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 * This can be use to configure multiple sync managers including the Pdo
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 * assignment and Pdo mapping. It is used as an input parameter type in
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 * ecrt_slave_config_pdos().
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 */
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typedef struct {
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    uint8_t index; /**< Sync manager index. Must be less
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                     than #EC_MAX_SYNC_MANAGERS for a valid sync manager,
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                     but can also be \a 0xff to mark the end of the list. */
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    ec_direction_t dir; /**< Sync manager direction. */
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    unsigned int n_pdos; /**< Number of Pdos in \a pdos. */
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    ec_pdo_info_t *pdos; /**< Array with Pdos to assign. This must contain
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                            at least \a n_pdos Pdos. */
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} ec_sync_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()
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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 entry's
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                       (byte-)offset in the process data. */
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    unsigned int *bit_position; /**< Pointer to a variable to store a bit 
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                                  position (0-7) within the \a offset. Can be
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                                  NULL, in which case an error is raised if the
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                                  Pdo entry does not byte-align. */
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} ec_pdo_entry_reg_t;
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/*****************************************************************************/
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/** Request state.
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 *
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 * This is used as return type for ecrt_sdo_request_state() and
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 * ecrt_voe_handler_state().
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 */
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typedef enum {
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    EC_REQUEST_UNUSED, /**< Not requested. */
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    EC_REQUEST_BUSY, /**< Request is being processed. */
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    EC_REQUEST_SUCCESS, /**< Request was processed successfully. */
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    EC_REQUEST_ERROR, /**< Request processing failed. */
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} ec_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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 * Before an application can access an EtherCAT master, it has to reserve one
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 * for exclusive use.
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 *
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 * This function has to be the first function an application has to call to
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 * use EtherCAT. The function takes the index of the master as its argument.
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 * The first master has index 0, the n-th master has index n - 1. The number
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 * of masters has to be specified when loading the master module.
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 *
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 * \attention In kernel context, the returned pointer has to be checked for
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 * errors using the IS_ERR() macro.
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 *
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 * \return If \a IS_ERR() returns zero, the result is a pointer to the
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 * reserved master, otherwise, the result is an error code.
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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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 * After use, a master it has to be released to make it available for other
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 * applications.
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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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#ifdef __KERNEL__
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/** Sets the locking callbacks.
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 *
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 * For concurrent master access, the application has to provide a locking
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 * mechanism (see section FIXME in the docs). The method takes two function
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 * pointers and a data value as its parameters. The arbitrary \a cb_data value
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 * will be passed as argument on every callback. Asynchronous master access
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 * (like EoE processing) is only possible if the callbacks have been set.
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 *
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 * The request_cb function must return zero, to allow another instance
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 * (an EoE process for example) to access the master. Non-zero means,
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 * that access is currently forbidden.
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 */
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void ecrt_master_callbacks(
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Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   385
        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
   386
        int (*request_cb)(void *), /**< Lock request function. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   387
        void (*release_cb)(void *), /**< Lock release function. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   388
        void *cb_data /**< Arbitrary user data. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   389
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   390
1244
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1239
diff changeset
   391
#endif /* __KERNEL__ */
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1239
diff changeset
   392
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   393
/** Creates a new process data domain.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   394
 *
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   395
 * For process data exchange, at least one process data domain is needed.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   396
 * This method creates a new process data domain and returns a pointer to the
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   397
 * new domain object. This object can be used for registering Pdos and
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   398
 * exchanging them in cyclic operation.
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   399
 *
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   400
 * \return Pointer to the new domain on success, else NULL.
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
ec_domain_t *ecrt_master_create_domain(
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   403
        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
   404
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   405
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   406
/** Obtains a slave configuration.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   407
 *
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   408
 * Creates a slave configuration object for the given \a alias and \a position
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   409
 * tuple and returns it. If a configuration with the same \a alias and \a
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   410
 * position already exists, it will be re-used. In the latter case, the given
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   411
 * vendor ID and product code are compared to the stored ones. On mismatch, an
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   412
 * error message is raised and the function returns \a NULL.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   413
 *
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   414
 * Slaves are addressed with the \a alias and \a position parameters.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   415
 * - If \a alias is zero, \a position is interpreted as the desired slave's
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   416
 *   ring position.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   417
 * - If \a alias is non-zero, it matches a slave with the given alias. In this
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   418
 *   case, \a position is interpreted as ring offset, starting from the
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   419
 *   aliased slave, so a position of zero means the aliased slave itself and a
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   420
 *   positive value matches the n-th slave behind the aliased one.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   421
 *
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   422
 * If the slave with the given address is found during the bus configuration,
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   423
 * its vendor ID and product code are matched against the given value. On
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   424
 * mismatch, the slave is not configured and an error message is raised.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   425
 *
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   426
 * If different slave configurations are pointing to the same slave during bus
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   427
 * configuration, a warning is raised and only the first configuration is
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   428
 * applied.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   429
 *
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   430
 * \retval >0 Pointer to the slave configuration structure.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   431
 * \retval NULL in the error case.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   432
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   433
ec_slave_config_t *ecrt_master_slave_config(
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   434
        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
   435
        uint16_t alias, /**< Slave alias. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   436
        uint16_t position, /**< Slave position. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   437
        uint32_t vendor_id, /**< Expected vendor ID. */
1010
6672b86e7b10 Reverted revision number checking from r1228.
Florian Pose <fp@igh-essen.com>
parents: 1009
diff changeset
   438
        uint32_t product_code /**< Expected product code. */
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   439
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   440
1096
a32a102a30db Minor change.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
   441
/** Finishes the configuration phase and prepares for cyclic operation.
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   442
 *
925
939f3e9bba1e Some improvements concerning bit_position.
Florian Pose <fp@igh-essen.com>
parents: 923
diff changeset
   443
 * This function tells the master that the configuration phase is finished and
939f3e9bba1e Some improvements concerning bit_position.
Florian Pose <fp@igh-essen.com>
parents: 923
diff changeset
   444
 * the realtime operation will begin. The function allocates internal memory
939f3e9bba1e Some improvements concerning bit_position.
Florian Pose <fp@igh-essen.com>
parents: 923
diff changeset
   445
 * for the domains and calculates the logical FMMU addresses for domain
939f3e9bba1e Some improvements concerning bit_position.
Florian Pose <fp@igh-essen.com>
parents: 923
diff changeset
   446
 * members. It tells the master state machine that the bus configuration is
939f3e9bba1e Some improvements concerning bit_position.
Florian Pose <fp@igh-essen.com>
parents: 923
diff changeset
   447
 * now to be applied.
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   448
 *
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   449
 * \attention After this function has been called, the realtime application is
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   450
 * in charge of cyclically calling ecrt_master_send() and
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   451
 * ecrt_master_receive() to ensure bus communication. Before calling this
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   452
 * function, the master thread is responsible for that, so these functions may
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   453
 * not be called!
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   454
 *
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   455
 * \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
   456
 */
1007
b6c3527697c3 Minor change.
Florian Pose <fp@igh-essen.com>
parents: 925
diff changeset
   457
int ecrt_master_activate(
b6c3527697c3 Minor change.
Florian Pose <fp@igh-essen.com>
parents: 925
diff changeset
   458
        ec_master_t *master /**< EtherCAT master. */
b6c3527697c3 Minor change.
Florian Pose <fp@igh-essen.com>
parents: 925
diff changeset
   459
        );
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   460
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   461
/** Sends all datagrams in the queue.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   462
 *
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   463
 * This method takes all datagrams, that have been queued for transmission,
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   464
 * puts them into frames, and passes them to the Ethernet device for sending.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   465
 *
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   466
 * Has to be called cyclically by the application after ecrt_master_activate()
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   467
 * has returned.
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   468
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   469
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
   470
        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
   471
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   472
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   473
/** 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
   474
 *
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   475
 * Queries the network device for received frames by calling the interrupt
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   476
 * service routine. Extracts received datagrams and dispatches the results to
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   477
 * the datagram objects in the queue. Received datagrams, and the ones that
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   478
 * timed out, will be marked, and dequeued.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   479
 *
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   480
 * Has to be called cyclically by the realtime application after
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   481
 * ecrt_master_activate() has returned.
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   482
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   483
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
   484
        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
   485
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   486
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   487
/** 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
   488
 *
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   489
 * 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
   490
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   491
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
   492
        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
   493
        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
   494
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   495
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   496
/******************************************************************************
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   497
 * Slave configuration methods
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   498
 *****************************************************************************/
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   499
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   500
/** Configure a sync manager.
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   501
 *
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   502
 * Sets the direction of a sync manager. This overrides the direction bits
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   503
 * from the default control register from SII.
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   504
 *
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   505
 * \return zero on success, else non-zero
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   506
 */
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   507
int ecrt_slave_config_sync_manager(
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   508
        ec_slave_config_t *sc, /**< Slave configuration. */
1083
1322dc34cb37 Updated header docs, features and news file.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
   509
        uint8_t sync_index, /**< Sync manager index. Must be less
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   510
                              than #EC_MAX_SYNC_MANAGERS. */
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   511
        ec_direction_t dir /**< Input/Output. */
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   512
        );
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   513
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   514
/** 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
   515
 *
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   516
 * \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
   517
 * \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
   518
 */
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   519
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
   520
        ec_slave_config_t *sc, /**< Slave configuration. */
1083
1322dc34cb37 Updated header docs, features and news file.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
   521
        uint8_t sync_index, /**< Sync manager index. Must be less
1322dc34cb37 Updated header docs, features and news file.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
   522
                              than #EC_MAX_SYNC_MANAGERS. */
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   523
        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
   524
        );
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   525
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   526
/** 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
   527
 *
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   528
 * This can be called before assigning Pdos via
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   529
 * ecrt_slave_config_pdo_assign_add(), to clear the default assignment of a
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   530
 * sync manager.
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   531
 * 
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   532
 * \see ecrt_slave_config_pdos()
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   533
 */
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   534
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
   535
        ec_slave_config_t *sc, /**< Slave configuration. */
1083
1322dc34cb37 Updated header docs, features and news file.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
   536
        uint8_t sync_index /**< Sync manager index. Must be less
1322dc34cb37 Updated header docs, features and news file.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
   537
                              than #EC_MAX_SYNC_MANAGERS. */
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   538
        );
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   539
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   540
/** 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
   541
 *
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   542
 * \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
   543
 * \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
   544
 */
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   545
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
   546
        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
   547
        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
   548
        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
   549
                                mapping. */
842
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 832
diff changeset
   550
        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
   551
                                  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
   552
        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
   553
        );
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 832
diff changeset
   554
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   555
/** 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
   556
 *
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   557
 * 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
   558
 * ecrt_slave_config_pdo_mapping_add(), to clear the default mapping.
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   559
 *
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   560
 * \see ecrt_slave_config_pdos()
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   561
 */
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   562
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
   563
        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
   564
        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
   565
        );
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   566
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   567
/** Specify a complete Pdo configuration.
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   568
 *
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   569
 * This function is a convenience wrapper for the functions
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   570
 * ecrt_slave_config_sync_manager(), ecrt_slave_config_pdo_assign_clear(),
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   571
 * ecrt_slave_config_pdo_assign_add(), ecrt_slave_config_pdo_mapping_clear()
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   572
 * and ecrt_slave_config_pdo_mapping_add(), that are better suitable for
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   573
 * automatic code generation.
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   574
 *
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   575
 * The following example shows, how to specify a complete configuration,
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   576
 * 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
   577
 * 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
   578
 * configuration time:
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   579
 *
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   580
 * \code
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   581
 * ec_pdo_entry_info_t el3162_channel1[] = {
842
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 832
diff changeset
   582
 *     {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
   583
 *     {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
   584
 * };
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   585
 * 
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   586
 * ec_pdo_entry_info_t el3162_channel2[] = {
842
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 832
diff changeset
   587
 *     {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
   588
 *     {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
   589
 * };
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 832
diff changeset
   590
 * 
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   591
 * ec_pdo_info_t el3162_pdos[] = {
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   592
 *     {0x1A00, 2, el3162_channel1},
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   593
 *     {0x1A01, 2, el3162_channel2}
842
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 832
diff changeset
   594
 * };
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 832
diff changeset
   595
 * 
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   596
 * ec_sync_info_t el3162_syncs[] = {
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   597
 *     {2, EC_DIR_OUTPUT},
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   598
 *     {3, EC_DIR_INPUT, 2, el3162_pdos},
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   599
 *     {0xff}
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   600
 * };
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   601
 * 
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   602
 * if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3162_syncs)) {
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   603
 *     // handle error
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
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
 * \endcode
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   606
 * 
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   607
 * The next example shows, how to configure the Pdo assignment only. The
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   608
 * 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
   609
 * 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
   610
 * 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
   611
 *
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   612
 * \code
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   613
 * ec_pdo_info_t pdos[] = {
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   614
 *     {0x1600}, // Channel 1
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   615
 *     {0x1601}  // Channel 2
792
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
 * 
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   618
 * ec_sync_info_t syncs[] = {
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   619
 *     {3, EC_DIR_INPUT, 2, pdos},
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   620
 * };
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   621
 * 
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   622
 * if (ecrt_slave_config_pdos(slave_config_ana_in, 1, syncs)) {
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   623
 *     // handle error
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   624
 * }
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   625
 * \endcode
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   626
 *
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   627
 * Processing of \a syncs will stop, if
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   628
 * - the number of processed items reaches \a n_syncs, or
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   629
 * - the \a index member of an ec_sync_info_t item is 0xff. In this case,
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   630
 *   \a n_syncs 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
   631
 *   using EC_END is recommended.
878
40c379697ebf Introduced EC_MAP_END.
Florian Pose <fp@igh-essen.com>
parents: 869
diff changeset
   632
 *
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   633
 * \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
   634
 */
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   635
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
   636
        ec_slave_config_t *sc, /**< Slave configuration. */
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   637
        unsigned int n_syncs, /**< Number of sync manager configurations in
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   638
                                \a syncs. */
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   639
        const ec_sync_info_t syncs[] /**< Array of sync manager
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   640
                                       configurations. */
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   641
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   642
842
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 832
diff changeset
   643
/** 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
   644
 *
925
939f3e9bba1e Some improvements concerning bit_position.
Florian Pose <fp@igh-essen.com>
parents: 923
diff changeset
   645
 * Searches the assigned Pdos for the given Pdo entry. An error is raised, if
939f3e9bba1e Some improvements concerning bit_position.
Florian Pose <fp@igh-essen.com>
parents: 923
diff changeset
   646
 * the given entry is not mapped. Otherwise, the corresponding sync manager
939f3e9bba1e Some improvements concerning bit_position.
Florian Pose <fp@igh-essen.com>
parents: 923
diff changeset
   647
 * and FMMU configurations are provided for slave configuration and the
939f3e9bba1e Some improvements concerning bit_position.
Florian Pose <fp@igh-essen.com>
parents: 923
diff changeset
   648
 * respective sync manager's assigned Pdos are appended to the given domain,
939f3e9bba1e Some improvements concerning bit_position.
Florian Pose <fp@igh-essen.com>
parents: 923
diff changeset
   649
 * if not already done. The offset of the requested Pdo entry's data inside
939f3e9bba1e Some improvements concerning bit_position.
Florian Pose <fp@igh-essen.com>
parents: 923
diff changeset
   650
 * the domain's process data is returned. Optionally, the Pdo entry bit
939f3e9bba1e Some improvements concerning bit_position.
Florian Pose <fp@igh-essen.com>
parents: 923
diff changeset
   651
 * position (0-7) can be retrieved via the \a bit_position output parameter.
939f3e9bba1e Some improvements concerning bit_position.
Florian Pose <fp@igh-essen.com>
parents: 923
diff changeset
   652
 * This pointer may be \a NULL, in this case an error is raised if the Pdo
939f3e9bba1e Some improvements concerning bit_position.
Florian Pose <fp@igh-essen.com>
parents: 923
diff changeset
   653
 * entry does not byte-align.
842
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 832
diff changeset
   654
 *
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 832
diff changeset
   655
 * \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
   656
 * \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
   657
 * \retval -2  Error: Failed to register Pdo entry.
916
db73994fbdac Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents: 900
diff changeset
   658
 * \retval -3  Error: Pdo entry is not byte-aligned.
807
f8bca95ab75d Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents: 793
diff changeset
   659
 */
f8bca95ab75d Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents: 793
diff changeset
   660
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
   661
        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
   662
        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
   663
        uint8_t entry_subindex, /**< Subindex of the Pdo entry to register. */
923
a6b51990e7e6 Changed Pdo entry registration function - return byte and bit positions
Richard Hacker <ha@igh-essen.com>
parents: 916
diff changeset
   664
        ec_domain_t *domain, /**< Domain. */
925
939f3e9bba1e Some improvements concerning bit_position.
Florian Pose <fp@igh-essen.com>
parents: 923
diff changeset
   665
        unsigned int *bit_position /**< Optional address if bit addressing 
923
a6b51990e7e6 Changed Pdo entry registration function - return byte and bit positions
Richard Hacker <ha@igh-essen.com>
parents: 916
diff changeset
   666
                                 is desired */
916
db73994fbdac Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents: 900
diff changeset
   667
        );
db73994fbdac Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents: 900
diff changeset
   668
893
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 886
diff changeset
   669
/** Add an Sdo configuration.
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 886
diff changeset
   670
 *
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 886
diff changeset
   671
 * An Sdo configuration is stored in the slave configuration object and is
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 886
diff changeset
   672
 * downloaded to the slave whenever the slave is being configured by the
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 886
diff changeset
   673
 * master. This usually happens once on master activation, but can be repeated
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 886
diff changeset
   674
 * subsequently, for example after the slave's power supply failed.
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 886
diff changeset
   675
 *
1104
9e7fe258495e Added attention to ecrt_slave_config_sdo().
Florian Pose <fp@igh-essen.com>
parents: 1096
diff changeset
   676
 * \attention The Sdos for Pdo assignment (\p 0x1C10 - \p 0x1C2F) and Pdo
9e7fe258495e Added attention to ecrt_slave_config_sdo().
Florian Pose <fp@igh-essen.com>
parents: 1096
diff changeset
   677
 * mapping (\p 0x1600 - \p 0x17FF and \p 0x1A00 - \p 0x1BFF) should not be
9e7fe258495e Added attention to ecrt_slave_config_sdo().
Florian Pose <fp@igh-essen.com>
parents: 1096
diff changeset
   678
 * configured with this function, because they are part of the slave
9e7fe258495e Added attention to ecrt_slave_config_sdo().
Florian Pose <fp@igh-essen.com>
parents: 1096
diff changeset
   679
 * configuration done by the master. Please use ecrt_slave_config_pdos() and
9e7fe258495e Added attention to ecrt_slave_config_sdo().
Florian Pose <fp@igh-essen.com>
parents: 1096
diff changeset
   680
 * friends instead.
9e7fe258495e Added attention to ecrt_slave_config_sdo().
Florian Pose <fp@igh-essen.com>
parents: 1096
diff changeset
   681
 *
893
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 886
diff changeset
   682
 * This is the generic function for adding an Sdo configuration. Please note
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 886
diff changeset
   683
 * that the this function does not do any endianess correction. If
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 886
diff changeset
   684
 * datatype-specific functions are needed (that automatically correct the
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 886
diff changeset
   685
 * endianess), have a look at ecrt_slave_config_sdo8(),
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 886
diff changeset
   686
 * ecrt_slave_config_sdo16() and ecrt_slave_config_sdo32().
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 886
diff changeset
   687
 *
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 886
diff changeset
   688
 * \return 0 in case of success, else < 0
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 886
diff changeset
   689
 */
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 886
diff changeset
   690
int ecrt_slave_config_sdo(
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 886
diff changeset
   691
        ec_slave_config_t *sc, /**< Slave configuration. */
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 886
diff changeset
   692
        uint16_t index, /**< Index of the Sdo to configure. */
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 886
diff changeset
   693
        uint8_t subindex, /**< Subindex of the Sdo to configure. */
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 886
diff changeset
   694
        const uint8_t *data, /**< Pointer to the data. */
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 886
diff changeset
   695
        size_t size /**< Size of the \a data. */
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 886
diff changeset
   696
        );
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 886
diff changeset
   697
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   698
/** 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
   699
 *
893
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 886
diff changeset
   700
 * \see ecrt_slave_config_sdo().
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   701
 * \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
   702
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   703
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
   704
        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
   705
        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
   706
        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
   707
        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
   708
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   709
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   710
/** 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
   711
 *
893
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 886
diff changeset
   712
 * \see ecrt_slave_config_sdo().
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   713
 * \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
   714
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   715
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
   716
        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
   717
        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
   718
        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
   719
        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
   720
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   721
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   722
/** 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
   723
 *
893
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 886
diff changeset
   724
 * \see ecrt_slave_config_sdo().
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   725
 * \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
   726
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   727
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
   728
        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
   729
        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
   730
        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
   731
        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
   732
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   733
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   734
/** 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
   735
 *
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   736
 * 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
   737
 * released.
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   738
 */
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   739
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
   740
        ec_slave_config_t *sc, /**< Slave configuration. */
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   741
        uint16_t index, /**< Sdo index. */
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   742
        uint8_t subindex, /**< Sdo subindex. */
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   743
        size_t size /**< Data size to reserve. */
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   744
        );
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   745
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   746
/** Create an VoE handler to exchange vendor-specific data during realtime
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   747
 * operation.
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   748
 *
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   749
 * The created VoE handler object is freed automatically when the master is
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   750
 * released.
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   751
 */
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   752
ec_voe_handler_t *ecrt_slave_config_create_voe_handler(
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   753
        ec_slave_config_t *sc, /**< Slave configuration. */
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   754
        size_t size /**< Data size to reserve. */
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   755
        );
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   756
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   757
/** 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
   758
 *
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   759
 * 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
   760
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   761
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
   762
        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
   763
        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
   764
        );
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 288
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
 * Domain methods
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   768
 *****************************************************************************/
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   769
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   770
/** 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
   771
 *
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   772
 * \todo doc
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   773
 * \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
   774
 *            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
   775
 * \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
   776
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   777
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
   778
        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
   779
        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
   780
                                                   registrations. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   781
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   782
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   783
/** 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
   784
 *
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   785
 * \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
   786
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   787
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
   788
        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
   789
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   790
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   791
/** Provide external memory to store the domain's process data.
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   792
 *
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   793
 * 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
   794
 * the master.
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   795
 *
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   796
 * 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
   797
 * all Pdo entries have been registered.
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   798
 */
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   799
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
   800
        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
   801
        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
   802
                          data in. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   803
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   804
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   805
/** Returns the domain's process data.
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   806
 *
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   807
 * 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
   808
 * 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
   809
 * point to the internally allocated memory.
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   810
 *
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   811
 * \return Pointer to the process data memory.
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   812
 */
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   813
uint8_t *ecrt_domain_data(
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   814
        ec_domain_t *domain /**< Domain. */
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   815
        );
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
   816
886
ee1b25db1fbf Added a few docs.
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
   817
/** Determines the states of the domain's datagrams.
ee1b25db1fbf Added a few docs.
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
   818
 *
ee1b25db1fbf Added a few docs.
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
   819
 * 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
   820
 * 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
   821
 * 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
   822
 * 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
   823
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   824
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
   825
        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
   826
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   827
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   828
/** (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
   829
 *
886
ee1b25db1fbf Added a few docs.
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
   830
 * 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
   831
 * 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
   832
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   833
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
   834
        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
   835
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   836
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   837
/** 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
   838
 *
886
ee1b25db1fbf Added a few docs.
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
   839
 * 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
   840
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   841
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
   842
        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
   843
        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
   844
                                   information. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   845
        );
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
   846
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   847
/*****************************************************************************
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   848
 * Sdo request methods.
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   849
 ****************************************************************************/
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   850
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   851
/** Set the timeout for an Sdo request.
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   852
 *
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   853
 * 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
   854
 * as failed.
1113
4d720feb915d Updated doc.
Florian Pose <fp@igh-essen.com>
parents: 1104
diff changeset
   855
 *
4d720feb915d Updated doc.
Florian Pose <fp@igh-essen.com>
parents: 1104
diff changeset
   856
 * The timeout is permanently stored in the request object and is valid until
4d720feb915d Updated doc.
Florian Pose <fp@igh-essen.com>
parents: 1104
diff changeset
   857
 * the next call of this method.
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   858
 */
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   859
void ecrt_sdo_request_timeout(
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   860
        ec_sdo_request_t *req, /**< Sdo request. */
880
f6212c54a5e3 Implemented Sdo timeout.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   861
        uint32_t timeout /**< Timeout in milliseconds. Zero means no
f6212c54a5e3 Implemented Sdo timeout.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   862
                           timeout. */
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   863
        );
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   864
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   865
/** Access to the Sdo request's data.
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   866
 *
868
aaf175ef0171 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 864
diff changeset
   867
 * 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
   868
 *
aaf175ef0171 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 864
diff changeset
   869
 * - 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
   870
 *   the EC_READ_*() macros as usual. Example:
aaf175ef0171 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 864
diff changeset
   871
 *   \code
aaf175ef0171 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 864
diff changeset
   872
 *   uint16_t value = EC_READ_U16(ecrt_sdo_request_data(sdo)));
aaf175ef0171 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 864
diff changeset
   873
 *   \endcode
aaf175ef0171 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 864
diff changeset
   874
 * - 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
   875
 *   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
   876
 *   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
   877
 *   is a parameter of ecrt_slave_config_create_sdo_request().
aaf175ef0171 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 864
diff changeset
   878
 *   \code
aaf175ef0171 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 864
diff changeset
   879
 *   EC_WRITE_U16(ecrt_sdo_request_data(sdo), 0xFFFF);
aaf175ef0171 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 864
diff changeset
   880
 *   \endcode
aaf175ef0171 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 864
diff changeset
   881
 *
864
5b6992df2931 Updated docs.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   882
 * \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
   883
 * 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
   884
 * not fit inside.
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   885
 *
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   886
 * \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
   887
 */
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   888
uint8_t *ecrt_sdo_request_data(
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   889
        ec_sdo_request_t *req /**< Sdo request. */
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   890
        );
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   891
869
6c2f4130ed46 Added ecrt_sdo_request_data_size().
Florian Pose <fp@igh-essen.com>
parents: 868
diff changeset
   892
/** Returns the current Sdo data size.
6c2f4130ed46 Added ecrt_sdo_request_data_size().
Florian Pose <fp@igh-essen.com>
parents: 868
diff changeset
   893
 *
6c2f4130ed46 Added ecrt_sdo_request_data_size().
Florian Pose <fp@igh-essen.com>
parents: 868
diff changeset
   894
 * 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
   895
 * 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
   896
 * 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
   897
 *
6c2f4130ed46 Added ecrt_sdo_request_data_size().
Florian Pose <fp@igh-essen.com>
parents: 868
diff changeset
   898
 * \return Sdo data size in bytes.
6c2f4130ed46 Added ecrt_sdo_request_data_size().
Florian Pose <fp@igh-essen.com>
parents: 868
diff changeset
   899
 */
6c2f4130ed46 Added ecrt_sdo_request_data_size().
Florian Pose <fp@igh-essen.com>
parents: 868
diff changeset
   900
size_t ecrt_sdo_request_data_size(
6c2f4130ed46 Added ecrt_sdo_request_data_size().
Florian Pose <fp@igh-essen.com>
parents: 868
diff changeset
   901
        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
   902
        );
6c2f4130ed46 Added ecrt_sdo_request_data_size().
Florian Pose <fp@igh-essen.com>
parents: 868
diff changeset
   903
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   904
/** 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
   905
 *
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   906
 * \return Request state.
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   907
 */
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   908
ec_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
   909
    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
   910
    );
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   911
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   912
/** Schedule an Sdo write operation.
864
5b6992df2931 Updated docs.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   913
 *
5b6992df2931 Updated docs.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   914
 * \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
   915
 * returns EC_SDO_REQUEST_BUSY.
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   916
 */
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   917
void ecrt_sdo_request_write(
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   918
        ec_sdo_request_t *req /**< Sdo request. */
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   919
        );
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   920
864
5b6992df2931 Updated docs.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   921
/** Schedule an Sdo read operation.
5b6992df2931 Updated docs.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   922
 *
5b6992df2931 Updated docs.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   923
 * \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
   924
 * returns EC_SDO_REQUEST_BUSY.
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   925
 *
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   926
 * \attention After calling this function, the return value of
864
5b6992df2931 Updated docs.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   927
 * ecrt_sdo_request_data() must be considered as invalid while
5b6992df2931 Updated docs.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   928
 * 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
   929
 */
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   930
void ecrt_sdo_request_read(
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   931
        ec_sdo_request_t *req /**< Sdo request. */
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   932
        );
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   933
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   934
/*****************************************************************************
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   935
 * VoE handler methods.
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   936
 ****************************************************************************/
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   937
1226
afb189516fcf Introduced ecrt_voe_handler_received_header(); renamed
Florian Pose <fp@igh-essen.com>
parents: 1218
diff changeset
   938
/** Sets the VoE header for future send operations.
1218
6f3a973fc29e Introduced VoE header.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
   939
 *
6f3a973fc29e Introduced VoE header.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
   940
 * A VoE message shall contain a 4-byte vendor ID, followed by a 2-byte vendor
6f3a973fc29e Introduced VoE header.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
   941
 * type at as header. These numbers can be set with this function.
6f3a973fc29e Introduced VoE header.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
   942
 */
1226
afb189516fcf Introduced ecrt_voe_handler_received_header(); renamed
Florian Pose <fp@igh-essen.com>
parents: 1218
diff changeset
   943
void ecrt_voe_handler_send_header(
1218
6f3a973fc29e Introduced VoE header.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
   944
        ec_voe_handler_t *voe, /**< VoE handler. */
6f3a973fc29e Introduced VoE header.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
   945
        uint32_t vendor_id, /**< Vendor ID. */
6f3a973fc29e Introduced VoE header.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
   946
        uint16_t vendor_type /**< Vendor-specific type. */
6f3a973fc29e Introduced VoE header.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
   947
        );
6f3a973fc29e Introduced VoE header.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
   948
1226
afb189516fcf Introduced ecrt_voe_handler_received_header(); renamed
Florian Pose <fp@igh-essen.com>
parents: 1218
diff changeset
   949
/** Reads the header data of a received VoE message.
afb189516fcf Introduced ecrt_voe_handler_received_header(); renamed
Florian Pose <fp@igh-essen.com>
parents: 1218
diff changeset
   950
 *
afb189516fcf Introduced ecrt_voe_handler_received_header(); renamed
Florian Pose <fp@igh-essen.com>
parents: 1218
diff changeset
   951
 * This method can be used after a read operation has succeded, to get the
afb189516fcf Introduced ecrt_voe_handler_received_header(); renamed
Florian Pose <fp@igh-essen.com>
parents: 1218
diff changeset
   952
 * received header information.
afb189516fcf Introduced ecrt_voe_handler_received_header(); renamed
Florian Pose <fp@igh-essen.com>
parents: 1218
diff changeset
   953
 *
afb189516fcf Introduced ecrt_voe_handler_received_header(); renamed
Florian Pose <fp@igh-essen.com>
parents: 1218
diff changeset
   954
 * The header information is stored at the memory given by the pointer
afb189516fcf Introduced ecrt_voe_handler_received_header(); renamed
Florian Pose <fp@igh-essen.com>
parents: 1218
diff changeset
   955
 * parameters.
afb189516fcf Introduced ecrt_voe_handler_received_header(); renamed
Florian Pose <fp@igh-essen.com>
parents: 1218
diff changeset
   956
 */
afb189516fcf Introduced ecrt_voe_handler_received_header(); renamed
Florian Pose <fp@igh-essen.com>
parents: 1218
diff changeset
   957
void ecrt_voe_handler_received_header(
afb189516fcf Introduced ecrt_voe_handler_received_header(); renamed
Florian Pose <fp@igh-essen.com>
parents: 1218
diff changeset
   958
        const ec_voe_handler_t *voe, /**< VoE handler. */
afb189516fcf Introduced ecrt_voe_handler_received_header(); renamed
Florian Pose <fp@igh-essen.com>
parents: 1218
diff changeset
   959
        uint32_t *vendor_id, /**< Vendor ID. */
afb189516fcf Introduced ecrt_voe_handler_received_header(); renamed
Florian Pose <fp@igh-essen.com>
parents: 1218
diff changeset
   960
        uint16_t *vendor_type /**< Vendor-specific type. */
afb189516fcf Introduced ecrt_voe_handler_received_header(); renamed
Florian Pose <fp@igh-essen.com>
parents: 1218
diff changeset
   961
        );
afb189516fcf Introduced ecrt_voe_handler_received_header(); renamed
Florian Pose <fp@igh-essen.com>
parents: 1218
diff changeset
   962
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   963
/** Access to the VoE handler's data.
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   964
 *
1218
6f3a973fc29e Introduced VoE header.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
   965
 * This function returns a pointer to the VoE handler's internal memory, after
1226
afb189516fcf Introduced ecrt_voe_handler_received_header(); renamed
Florian Pose <fp@igh-essen.com>
parents: 1218
diff changeset
   966
 * the VoE header (see ecrt_voe_handler_send_header()).
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   967
 *
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   968
 * - After a read operation was successful, the memory contains the received
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   969
 *   data. The size of the received data can be determined via
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   970
 *   ecrt_voe_handler_data_size().
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   971
 * - Before a write operation is triggered, the data have to be written to
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   972
 *   the internal memory. Be sure, that the data fit into the memory. The
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   973
 *   memory size is a parameter of ecrt_slave_config_create_voe_handler().
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   974
 *
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   975
 * \return Pointer to the internal memory.
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   976
 */
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   977
uint8_t *ecrt_voe_handler_data(
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   978
        ec_voe_handler_t *voe /**< VoE handler. */
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   979
        );
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   980
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   981
/** Returns the current data size.
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   982
 *
1218
6f3a973fc29e Introduced VoE header.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
   983
 * The data size is the size of the VoE data without the header (see
1226
afb189516fcf Introduced ecrt_voe_handler_received_header(); renamed
Florian Pose <fp@igh-essen.com>
parents: 1218
diff changeset
   984
 * ecrt_voe_handler_send_header()).
1218
6f3a973fc29e Introduced VoE header.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
   985
 *
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   986
 * When the VoE handler is created, the data size is set to the size of the
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   987
 * reserved memory. At a write operation, the data size is set to the number
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   988
 * of bytes to write. After a read operation the size is set to the size of
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   989
 * the read data. The size is not modified in any other situation.
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   990
 *
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   991
 * \return Data size in bytes.
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   992
 */
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   993
size_t ecrt_voe_handler_data_size(
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   994
        const ec_voe_handler_t *voe /**< VoE handler. */
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   995
        );
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   996
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   997
/** Start a VoE write operation.
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   998
 *
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   999
 * After this function has been called, the ecrt_voe_handler_execute() method
1226
afb189516fcf Introduced ecrt_voe_handler_received_header(); renamed
Florian Pose <fp@igh-essen.com>
parents: 1218
diff changeset
  1000
 * must be called in every bus cycle as long as it returns EC_REQUEST_BUSY. No
afb189516fcf Introduced ecrt_voe_handler_received_header(); renamed
Florian Pose <fp@igh-essen.com>
parents: 1218
diff changeset
  1001
 * other operation may be started while the handler is busy.
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1002
 */
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1003
void ecrt_voe_handler_write(
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1004
        ec_voe_handler_t *voe, /**< VoE handler. */
1218
6f3a973fc29e Introduced VoE header.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
  1005
        size_t size /**< Number of bytes to write (without the VoE header). */
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1006
        );
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1007
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1008
/** Start a VoE read operation.
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1009
 *
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1010
 * After this function has been called, the ecrt_voe_handler_execute() method
1226
afb189516fcf Introduced ecrt_voe_handler_received_header(); renamed
Florian Pose <fp@igh-essen.com>
parents: 1218
diff changeset
  1011
 * must be called in every bus cycle as long as it returns EC_REQUEST_BUSY. No
afb189516fcf Introduced ecrt_voe_handler_received_header(); renamed
Florian Pose <fp@igh-essen.com>
parents: 1218
diff changeset
  1012
 * other operation may be started while the handler is busy.
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1013
 *
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1014
 * On success, the size of the read data can be determined via
1226
afb189516fcf Introduced ecrt_voe_handler_received_header(); renamed
Florian Pose <fp@igh-essen.com>
parents: 1218
diff changeset
  1015
 * ecrt_voe_handler_data_size(), while the VoE header of the received data
afb189516fcf Introduced ecrt_voe_handler_received_header(); renamed
Florian Pose <fp@igh-essen.com>
parents: 1218
diff changeset
  1016
 * can be retrieved with ecrt_voe_handler_received_header().
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1017
 */
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1018
void ecrt_voe_handler_read(
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1019
        ec_voe_handler_t *voe /**< VoE handler. */
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1020
        );
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1021
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1022
/** Execute the handler.
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1023
 *
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1024
 * This method executes the VoE handler. It has to be called in every bus cycle
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1025
 * as long as it returns EC_REQUEST_BUSY.
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1026
 *
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1027
 * \return Handler state.
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1028
 */
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1029
ec_request_state_t ecrt_voe_handler_execute(
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1030
    ec_voe_handler_t *voe /**< VoE handler. */
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1031
    );
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1032
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1033
/******************************************************************************
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1034
 * Bitwise read/write macros
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1035
 *****************************************************************************/
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1036
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1037
/** Read a certain bit of an EtherCAT data byte.
894
440c43d56b33 Improved EC_WRITE macros by replacing in-situ conversions
Florian Pose <fp@igh-essen.com>
parents: 893
diff changeset
  1038
 *
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
  1039
 * \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
  1040
 * \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
  1041
 */
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1042
#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
  1043
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1044
/** Write a certain bit of an EtherCAT data byte.
894
440c43d56b33 Improved EC_WRITE macros by replacing in-situ conversions
Florian Pose <fp@igh-essen.com>
parents: 893
diff changeset
  1045
 *
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
  1046
 * \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
  1047
 * \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
  1048
 * \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
  1049
 */
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1050
#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
  1051
    do { \
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1052
        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
  1053
        else     *((uint8_t *) (DATA)) &= ~(1 << (POS)); \
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1054
    } while (0)
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1055
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1056
/******************************************************************************
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1057
 * Read macros
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1058
 *****************************************************************************/
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1059
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1060
/** Read an 8-bit unsigned value from EtherCAT data.
894
440c43d56b33 Improved EC_WRITE macros by replacing in-situ conversions
Florian Pose <fp@igh-essen.com>
parents: 893
diff changeset
  1061
 *
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1062
 * \return EtherCAT data value
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1063
 */
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1064
#define EC_READ_U8(DATA) \
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1065
    ((uint8_t) *((uint8_t *) (DATA)))
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1066
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1067
/** Read an 8-bit signed value from EtherCAT data.
894
440c43d56b33 Improved EC_WRITE macros by replacing in-situ conversions
Florian Pose <fp@igh-essen.com>
parents: 893
diff changeset
  1068
 *
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1069
 * \param DATA EtherCAT data pointer
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1070
 * \return EtherCAT data value
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1071
 */
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1072
#define EC_READ_S8(DATA) \
288
89d3c61ef3e6 Minor changes to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 286
diff changeset
  1073
     ((int8_t) *((uint8_t *) (DATA)))
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1074
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1075
/** Read a 16-bit unsigned value from EtherCAT data.
894
440c43d56b33 Improved EC_WRITE macros by replacing in-situ conversions
Florian Pose <fp@igh-essen.com>
parents: 893
diff changeset
  1076
 *
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1077
 * \param DATA EtherCAT data pointer
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1078
 * \return EtherCAT data value
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1079
 */
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1080
#define EC_READ_U16(DATA) \
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1081
     ((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
  1082
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1083
/** Read a 16-bit signed value from EtherCAT data.
894
440c43d56b33 Improved EC_WRITE macros by replacing in-situ conversions
Florian Pose <fp@igh-essen.com>
parents: 893
diff changeset
  1084
 *
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1085
 * \param DATA EtherCAT data pointer
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1086
 * \return EtherCAT data value
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1087
 */
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1088
#define EC_READ_S16(DATA) \
288
89d3c61ef3e6 Minor changes to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 286
diff changeset
  1089
     ((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
  1090
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1091
/** Read a 32-bit unsigned value from EtherCAT data.
894
440c43d56b33 Improved EC_WRITE macros by replacing in-situ conversions
Florian Pose <fp@igh-essen.com>
parents: 893
diff changeset
  1092
 *
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1093
 * \param DATA EtherCAT data pointer
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1094
 * \return EtherCAT data value
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1095
 */
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1096
#define EC_READ_U32(DATA) \
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1097
     ((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
  1098
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1099
/** Read a 32-bit signed value from EtherCAT data.
894
440c43d56b33 Improved EC_WRITE macros by replacing in-situ conversions
Florian Pose <fp@igh-essen.com>
parents: 893
diff changeset
  1100
 *
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1101
 * \param DATA EtherCAT data pointer
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1102
 * \return EtherCAT data value
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1103
 */
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1104
#define EC_READ_S32(DATA) \
288
89d3c61ef3e6 Minor changes to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 286
diff changeset
  1105
     ((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
  1106
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1107
/******************************************************************************
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1108
 * Write macros
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1109
 *****************************************************************************/
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1110
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1111
/** Write an 8-bit unsigned value to EtherCAT data.
894
440c43d56b33 Improved EC_WRITE macros by replacing in-situ conversions
Florian Pose <fp@igh-essen.com>
parents: 893
diff changeset
  1112
 *
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1113
 * \param DATA EtherCAT data pointer
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1114
 * \param VAL new value
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1115
 */
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1116
#define EC_WRITE_U8(DATA, VAL) \
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1117
    do { \
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1118
        *((uint8_t *)(DATA)) = ((uint8_t) (VAL)); \
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1119
    } while (0)
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1120
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1121
/** Write an 8-bit signed value to EtherCAT data.
894
440c43d56b33 Improved EC_WRITE macros by replacing in-situ conversions
Florian Pose <fp@igh-essen.com>
parents: 893
diff changeset
  1122
 *
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1123
 * \param DATA EtherCAT data pointer
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1124
 * \param VAL new value
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1125
 */
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1126
#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
  1127
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1128
/** Write a 16-bit unsigned value to EtherCAT data.
894
440c43d56b33 Improved EC_WRITE macros by replacing in-situ conversions
Florian Pose <fp@igh-essen.com>
parents: 893
diff changeset
  1129
 *
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1130
 * \param DATA EtherCAT data pointer
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1131
 * \param VAL new value
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1132
 */
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1133
#define EC_WRITE_U16(DATA, VAL) \
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1134
    do { \
894
440c43d56b33 Improved EC_WRITE macros by replacing in-situ conversions
Florian Pose <fp@igh-essen.com>
parents: 893
diff changeset
  1135
        *((uint16_t *) (DATA)) = cpu_to_le16((uint16_t) (VAL)); \
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1136
    } while (0)
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1137
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1138
/** Write a 16-bit signed value to EtherCAT data.
894
440c43d56b33 Improved EC_WRITE macros by replacing in-situ conversions
Florian Pose <fp@igh-essen.com>
parents: 893
diff changeset
  1139
 *
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1140
 * \param DATA EtherCAT data pointer
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1141
 * \param VAL new value
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1142
 */
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1143
#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
  1144
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1145
/** Write a 32-bit unsigned value to EtherCAT data.
894
440c43d56b33 Improved EC_WRITE macros by replacing in-situ conversions
Florian Pose <fp@igh-essen.com>
parents: 893
diff changeset
  1146
 *
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1147
 * \param DATA EtherCAT data pointer
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1148
 * \param VAL new value
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1149
 */
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1150
#define EC_WRITE_U32(DATA, VAL) \
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1151
    do { \
894
440c43d56b33 Improved EC_WRITE macros by replacing in-situ conversions
Florian Pose <fp@igh-essen.com>
parents: 893
diff changeset
  1152
        *((uint32_t *) (DATA)) = cpu_to_le32((uint32_t) (VAL)); \
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1153
    } while (0)
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1154
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1155
/** Write a 32-bit signed value to EtherCAT data.
894
440c43d56b33 Improved EC_WRITE macros by replacing in-situ conversions
Florian Pose <fp@igh-essen.com>
parents: 893
diff changeset
  1156
 *
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
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 * \param DATA EtherCAT data pointer
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  1158
 * \param VAL new value
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  1159
 */
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  1160
#define EC_WRITE_S32(DATA, VAL) EC_WRITE_U32(DATA, VAL)
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  1162
/*****************************************************************************/
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792
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  1164
/** @} */
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  1165
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  1166
#endif