include/ecrt.h
author Florian Pose <fp@igh-essen.com>
Tue, 19 Jan 2010 17:57:46 +0100
changeset 1774 a9143f82c7c5
parent 1611 7c49cd56f96f
child 1804 742607c464c4
permissions -rw-r--r--
Fixed name of byte transmission time define; changed coding style.
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     1
/******************************************************************************
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     2
 *
1341
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
     3
 *  $Id$
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
     4
 *
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
     5
 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
     6
 *
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
     7
 *  This file is part of the IgH EtherCAT master userspace library.
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
     8
 *  
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
     9
 *  The IgH EtherCAT master userspace library is free software; you can
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
    10
 *  redistribute it and/or modify it under the terms of the GNU Lesser General
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
    11
 *  Public License as published by the Free Software Foundation; version 2.1
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
    12
 *  of the License.
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
    13
 *
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
    14
 *  The IgH EtherCAT master userspace library is distributed in the hope that
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
    15
 *  it will be useful, but WITHOUT ANY WARRANTY; without even the implied
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
    16
 *  warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
    17
 *  GNU Lesser General Public License for more details.
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
    18
 *
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
    19
 *  You should have received a copy of the GNU Lesser General Public License
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
    20
 *  along with the IgH EtherCAT master userspace library. If not, see
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
    21
 *  <http://www.gnu.org/licenses/>.
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
    22
 *  
1363
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1352
diff changeset
    23
 *  ---
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1352
diff changeset
    24
 *  
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1352
diff changeset
    25
 *  The license mentioned above concerns the source code only. Using the
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1352
diff changeset
    26
 *  EtherCAT technology and brand is only permitted in compliance with the
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1352
diff changeset
    27
 *  industrial property and similar rights of Beckhoff Automation GmbH.
246
0bf7c769de06 Changed license headers and added EtherCAT license notice.
Florian Pose <fp@igh-essen.com>
parents: 206
diff changeset
    28
 *
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    29
 *****************************************************************************/
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    30
786
ad618c76e9bd Updated doxygen docs.
Florian Pose <fp@igh-essen.com>
parents: 781
diff changeset
    31
/** \file
ad618c76e9bd Updated doxygen docs.
Florian Pose <fp@igh-essen.com>
parents: 781
diff changeset
    32
 *
1182
f5e725aa5483 ApplicationInterface
Florian Pose <fp@igh-essen.com>
parents: 1113
diff changeset
    33
 * EtherCAT master application interface.
f5e725aa5483 ApplicationInterface
Florian Pose <fp@igh-essen.com>
parents: 1113
diff changeset
    34
 *
f5e725aa5483 ApplicationInterface
Florian Pose <fp@igh-essen.com>
parents: 1113
diff changeset
    35
 * \defgroup ApplicationInterface EtherCAT Application Interface
786
ad618c76e9bd Updated doxygen docs.
Florian Pose <fp@igh-essen.com>
parents: 781
diff changeset
    36
 *
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
    37
 * EtherCAT interface for realtime applications. This interface is designed
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
    38
 * for realtime modules that want to use EtherCAT. There are functions to
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
    39
 * request a master, to map process data, to communicate with slaves via CoE
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
    40
 * and to configure and activate the bus.
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
    41
 *
1239
b50b93faaf3e Used ERR_PTR() macro for return value of ecrt_request_master().
Florian Pose <fp@igh-essen.com>
parents: 1226
diff changeset
    42
 * Changes in version 1.5:
b50b93faaf3e Used ERR_PTR() macro for return value of ecrt_request_master().
Florian Pose <fp@igh-essen.com>
parents: 1226
diff changeset
    43
 *
1448
d7ba0c408a07 Merged ecrt_slave_config_dc_assign_activate() and
Florian Pose <fp@igh-essen.com>
parents: 1441
diff changeset
    44
 * - Added the distributed clocks feature and the respective method
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1497
diff changeset
    45
 *   ecrt_slave_config_dc() to configure a slave for cyclic operation, and
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1497
diff changeset
    46
 *   ecrt_master_application_time(), ecrt_master_sync_reference_clock() and
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1497
diff changeset
    47
 *   ecrt_master_sync_slave_clocks() for offset and drift compensation. The
1535
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
    48
 *   EC_TIMEVAL2NANO() macro can be used for epoch time conversion, while the
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
    49
 *   ecrt_master_sync_monitor_queue() and ecrt_master_sync_monitor_process()
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
    50
 *   methods can be used to monitor the synchrony. 
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1497
diff changeset
    51
 * - Improved the callback mechanism. ecrt_master_callbacks() now takes two
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1497
diff changeset
    52
 *   callback functions for sending and receiving datagrams.
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1497
diff changeset
    53
 *   ecrt_master_send_ext() is used to execute the sending of non-application
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1497
diff changeset
    54
 *   datagrams.
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
    55
 * - Added watchdog configuration (method ecrt_slave_config_watchdog(),
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
    56
 *   #ec_watchdog_mode_t, \a watchdog_mode parameter in ec_sync_info_t and
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
    57
 *   ecrt_slave_config_sync_manager()).
1526
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1513
diff changeset
    58
 * - Added ecrt_slave_config_complete_sdo() method to download an SDO during
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1513
diff changeset
    59
 *   configuration via CompleteAccess.
1530
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
    60
 * - Added ecrt_master_deactivate() to remove the bus configuration.
1497
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
    61
 * - Added ecrt_open_master() and ecrt_master_reserve() separation for
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
    62
 *   userspace.
1510
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
    63
 * - Added bus information interface (methods ecrt_master(),
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
    64
 *   ecrt_master_get_slave(), ecrt_master_get_sync_manager(),
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
    65
 *   ecrt_master_get_pdo() and ecrt_master_get_pdo_entry()) to get information
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
    66
 *   about the currently connected slaves and the PDO entries provided.
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
    67
 * - Added ecrt_master_sdo_download() and ecrt_master_sdo_upload()
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
    68
 *   methods to let an application transfer SDOs before activating the master.
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
    69
 * - Changed the meaning of the negative return values of
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
    70
 *   ecrt_slave_config_reg_pdo_entry() and ecrt_slave_config_sdo*().
1512
388901f44a5e Fixed typos.
Florian Pose <fp@igh-essen.com>
parents: 1510
diff changeset
    71
 * - Implemented the Vendor-specific over EtherCAT mailbox protocol. See
1341
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
    72
 *   ecrt_slave_config_create_voe_handler().
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
    73
 * - Renamed ec_sdo_request_state_t to #ec_request_state_t, because it is also
1341
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
    74
 *   used by VoE handlers.
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1341
diff changeset
    75
 * - Removed 'const' from argument of ecrt_sdo_request_state(), because the
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1341
diff changeset
    76
 *   userspace library has to modify object internals.
1384
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
    77
 * - Added 64-bit data access macros.
1239
b50b93faaf3e Used ERR_PTR() macro for return value of ecrt_request_master().
Florian Pose <fp@igh-essen.com>
parents: 1226
diff changeset
    78
 *
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
    79
 * @{
786
ad618c76e9bd Updated doxygen docs.
Florian Pose <fp@igh-essen.com>
parents: 781
diff changeset
    80
 */
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
    81
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
    82
/*****************************************************************************/
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
    83
125
b01bd5b830d7 Sch?nheitskorrekturen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
    84
#ifndef __ECRT_H__
b01bd5b830d7 Sch?nheitskorrekturen.
Florian Pose <fp@igh-essen.com>
parents: 114
diff changeset
    85
#define __ECRT_H__
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    86
1254
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
    87
#ifdef __KERNEL__
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    88
#include <asm/byteorder.h>
110
2346e2963087 Integer-Typen in ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 106
diff changeset
    89
#include <linux/types.h>
1396
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1394
diff changeset
    90
#include <linux/time.h>
110
2346e2963087 Integer-Typen in ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 106
diff changeset
    91
#else
1254
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
    92
#include <stdlib.h> // for size_t
110
2346e2963087 Integer-Typen in ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 106
diff changeset
    93
#include <stdint.h>
1396
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1394
diff changeset
    94
#include <sys/time.h> // for struct timeval
110
2346e2963087 Integer-Typen in ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 106
diff changeset
    95
#endif
2346e2963087 Integer-Typen in ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 106
diff changeset
    96
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
    97
/******************************************************************************
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
    98
 * Global definitions
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
    99
 *****************************************************************************/
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   100
864
5b6992df2931 Updated docs.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   101
/** EtherCAT realtime interface major version number.
758
8fa6f825eb7d Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 707
diff changeset
   102
 */
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   103
#define ECRT_VER_MAJOR 1
758
8fa6f825eb7d Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 707
diff changeset
   104
864
5b6992df2931 Updated docs.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   105
/** EtherCAT realtime interface minor version number.
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   106
 */
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   107
#define ECRT_VER_MINOR 5
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   108
864
5b6992df2931 Updated docs.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   109
/** EtherCAT realtime interface version word generator.
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   110
 */
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   111
#define ECRT_VERSION(a, b) (((a) << 8) + (b))
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   112
864
5b6992df2931 Updated docs.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   113
/** EtherCAT realtime interface version word.
758
8fa6f825eb7d Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 707
diff changeset
   114
 */
541
5a2b1658b67f Introduced ECRT version magic.
Florian Pose <fp@igh-essen.com>
parents: 495
diff changeset
   115
#define ECRT_VERSION_MAGIC ECRT_VERSION(ECRT_VER_MAJOR, ECRT_VER_MINOR)
5a2b1658b67f Introduced ECRT version magic.
Florian Pose <fp@igh-essen.com>
parents: 495
diff changeset
   116
878
40c379697ebf Introduced EC_MAP_END.
Florian Pose <fp@igh-essen.com>
parents: 869
diff changeset
   117
/*****************************************************************************/
40c379697ebf Introduced EC_MAP_END.
Florian Pose <fp@igh-essen.com>
parents: 869
diff changeset
   118
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   119
/** End of list marker.
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   120
 *
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   121
 * This can be used with 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
   122
 */
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   123
#define EC_END ~0U
878
40c379697ebf Introduced EC_MAP_END.
Florian Pose <fp@igh-essen.com>
parents: 869
diff changeset
   124
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   125
/** Maximum number of sync managers per slave.
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   126
 */
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   127
#define EC_MAX_SYNC_MANAGERS 16
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   128
1341
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   129
/** Maximum string length.
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   130
 *
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   131
 * Used in ec_slave_info_t.
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   132
 */
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   133
#define EC_MAX_STRING_LENGTH 64
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   134
1417
7c2d5d69134c Replaced timeval by 64-bit EtherCAT time.
Florian Pose <fp@igh-essen.com>
parents: 1411
diff changeset
   135
/** Timeval to nanoseconds conversion.
7c2d5d69134c Replaced timeval by 64-bit EtherCAT time.
Florian Pose <fp@igh-essen.com>
parents: 1411
diff changeset
   136
 *
1512
388901f44a5e Fixed typos.
Florian Pose <fp@igh-essen.com>
parents: 1510
diff changeset
   137
 * This macro converts a Unix epoch time to EtherCAT DC time.
1417
7c2d5d69134c Replaced timeval by 64-bit EtherCAT time.
Florian Pose <fp@igh-essen.com>
parents: 1411
diff changeset
   138
 *
1466
362147819ca1 EC_TIMEVAL2NANO() takes no pointer argument any more.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
   139
 * \see void ecrt_master_application_time()
362147819ca1 EC_TIMEVAL2NANO() takes no pointer argument any more.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
   140
 *
362147819ca1 EC_TIMEVAL2NANO() takes no pointer argument any more.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
   141
 * \param TV struct timeval containing epoch time.
1417
7c2d5d69134c Replaced timeval by 64-bit EtherCAT time.
Florian Pose <fp@igh-essen.com>
parents: 1411
diff changeset
   142
 */
7c2d5d69134c Replaced timeval by 64-bit EtherCAT time.
Florian Pose <fp@igh-essen.com>
parents: 1411
diff changeset
   143
#define EC_TIMEVAL2NANO(TV) \
1466
362147819ca1 EC_TIMEVAL2NANO() takes no pointer argument any more.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
   144
    (((TV).tv_sec - 946684800ULL) * 1000000000ULL + (TV).tv_usec * 1000ULL)
1417
7c2d5d69134c Replaced timeval by 64-bit EtherCAT time.
Florian Pose <fp@igh-essen.com>
parents: 1411
diff changeset
   145
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   146
/******************************************************************************
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   147
 * Data types 
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   148
 *****************************************************************************/
541
5a2b1658b67f Introduced ECRT version magic.
Florian Pose <fp@igh-essen.com>
parents: 495
diff changeset
   149
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   150
struct ec_master;
286
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 276
diff changeset
   151
typedef struct ec_master ec_master_t; /**< \see ec_master */
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   152
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   153
struct ec_slave_config;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   154
typedef struct ec_slave_config ec_slave_config_t; /**< \see ec_slave_config */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   155
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   156
struct ec_domain;
286
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 276
diff changeset
   157
typedef struct ec_domain ec_domain_t; /**< \see ec_domain */
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   158
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   159
struct ec_sdo_request;
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   160
typedef struct ec_sdo_request ec_sdo_request_t; /**< \see ec_sdo_request. */
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   161
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   162
struct ec_voe_handler;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   163
typedef struct ec_voe_handler ec_voe_handler_t; /**< \see ec_voe_handler. */
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   164
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   165
/*****************************************************************************/
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   166
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   167
/** Master state.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   168
 *
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   169
 * This is used for the output parameter of ecrt_master_state().
1020
9bf2ddf05e17 Completed ec_master_state_t and documented ec_master_state_t and
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
   170
 *
9bf2ddf05e17 Completed ec_master_state_t and documented ec_master_state_t and
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
   171
 * \see ecrt_master_state().
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 541
diff changeset
   172
 */
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 541
diff changeset
   173
typedef struct {
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   174
    unsigned int slaves_responding; /**< Number of slaves in the bus. */
1022
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 1020
diff changeset
   175
    unsigned int al_states : 4; /**< Application-layer states of all slaves.
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 1020
diff changeset
   176
                                  The states are coded in the lower 4 bits.
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 1020
diff changeset
   177
                                  If a bit is set, it means that at least one
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 1020
diff changeset
   178
                                  slave in the bus is in the corresponding
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 1020
diff changeset
   179
                                  state:
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 1020
diff changeset
   180
                                  - Bit 0: \a INIT
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 1020
diff changeset
   181
                                  - Bit 1: \a PREOP
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 1020
diff changeset
   182
                                  - Bit 2: \a SAFEOP
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 1020
diff changeset
   183
                                  - Bit 3: \a OP */
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 1020
diff changeset
   184
    unsigned int link_up : 1; /**< \a true, if the network link is up. */
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   185
} ec_master_state_t;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   186
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   187
/*****************************************************************************/
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   188
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   189
/** Slave configuration state.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   190
 *
1020
9bf2ddf05e17 Completed ec_master_state_t and documented ec_master_state_t and
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
   191
 * This is used as an output parameter of ecrt_slave_config_state().
9bf2ddf05e17 Completed ec_master_state_t and documented ec_master_state_t and
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
   192
 * 
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   193
 * \see 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
   194
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   195
typedef struct  {
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   196
    unsigned int online : 1; /**< The slave is online. */
1020
9bf2ddf05e17 Completed ec_master_state_t and documented ec_master_state_t and
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
   197
    unsigned int operational : 1; /**< The slave was brought into \a OP state
9bf2ddf05e17 Completed ec_master_state_t and documented ec_master_state_t and
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
   198
                                    using the specified configuration. */
1022
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 1020
diff changeset
   199
    unsigned int al_state : 4; /**< The application-layer state of the slave.
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 1020
diff changeset
   200
                                 - 1: \a INIT
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 1020
diff changeset
   201
                                 - 2: \a PREOP
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 1020
diff changeset
   202
                                 - 4: \a SAFEOP
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 1020
diff changeset
   203
                                 - 8: \a OP
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 1020
diff changeset
   204
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 1020
diff changeset
   205
                                 Note that each state is coded in a different
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 1020
diff changeset
   206
                                 bit! */
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   207
} ec_slave_config_state_t;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   208
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   209
/*****************************************************************************/
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   210
1497
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   211
/** Master information.
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   212
 *
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   213
 * This is used as an output parameter of ecrt_master().
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   214
 *
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   215
 * \see ecrt_master().
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   216
 */
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   217
typedef struct {
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   218
   unsigned int slave_count; /**< Number of slaves in the bus. */
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   219
   unsigned int link_up : 1; /**< \a true, if the network link is up. */
1579
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1510
diff changeset
   220
   uint8_t scan_busy;	/**< \a true, while the master is scanning the bus */   
1497
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   221
   uint64_t app_time; /**< Application time. */
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   222
} ec_master_info_t;
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   223
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   224
/*****************************************************************************/
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   225
1341
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   226
/** Slave information.
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   227
 *
1510
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   228
 * This is used as an output parameter of ecrt_master_get_slave().
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   229
 *
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   230
 * \see ecrt_master_get_slave().
1341
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   231
 */
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   232
typedef struct {
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   233
    uint16_t position; /**< Offset of the slave in the ring. */
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   234
    uint32_t vendor_id; /**< Vendor-ID stored on the slave. */
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   235
    uint32_t product_code; /**< Product-Code stored on the slave. */
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   236
    uint32_t revision_number; /**< Revision-Number stored on the slave. */
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   237
    uint32_t serial_number; /**< Serial-Number stored on the slave. */
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   238
    uint16_t alias; /**< The slaves alias if not equal to 0. */
1466
362147819ca1 EC_TIMEVAL2NANO() takes no pointer argument any more.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
   239
    int16_t current_on_ebus; /**< Used current in mA. */
1341
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   240
    uint8_t al_state; /**< Current state of the slave. */
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   241
    uint8_t error_flag; /**< Error flag for that slave. */
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   242
    uint8_t sync_count; /**< Number of sync managers. */
1512
388901f44a5e Fixed typos.
Florian Pose <fp@igh-essen.com>
parents: 1510
diff changeset
   243
    uint16_t sdo_count; /**< Number of SDOs. */
1341
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   244
    char name[EC_MAX_STRING_LENGTH]; /**< Name of the slave. */
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   245
} ec_slave_info_t;
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   246
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   247
/*****************************************************************************/
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   248
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   249
/** Domain working counter interpretation.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   250
 *
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   251
 * This is used in ec_domain_state_t.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   252
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   253
typedef enum {
925
939f3e9bba1e Some improvements concerning bit_position.
Florian Pose <fp@igh-essen.com>
parents: 923
diff changeset
   254
    EC_WC_ZERO = 0,   /**< No registered process data were exchanged. */
939f3e9bba1e Some improvements concerning bit_position.
Florian Pose <fp@igh-essen.com>
parents: 923
diff changeset
   255
    EC_WC_INCOMPLETE, /**< Some of the registered process data were
939f3e9bba1e Some improvements concerning bit_position.
Florian Pose <fp@igh-essen.com>
parents: 923
diff changeset
   256
                        exchanged. */
939f3e9bba1e Some improvements concerning bit_position.
Florian Pose <fp@igh-essen.com>
parents: 923
diff changeset
   257
    EC_WC_COMPLETE    /**< All registered process data were exchanged. */
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   258
} ec_wc_state_t;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   259
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   260
/*****************************************************************************/
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   261
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   262
/** Domain state.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   263
 *
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   264
 * This is used for the output parameter of ecrt_domain_state().
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
   265
 */
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   266
typedef struct {
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   267
    unsigned int working_counter; /**< Value of the last working counter. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   268
    ec_wc_state_t wc_state; /**< Working counter interpretation. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   269
} ec_domain_state_t;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   270
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   271
/*****************************************************************************/
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   272
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   273
/** Direction type for PDO assignment functions.
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   274
 */
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
   275
typedef enum {
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   276
    EC_DIR_INVALID, /**< Invalid direction. Do not use this value. */
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   277
    EC_DIR_OUTPUT, /**< Values written by the master. */
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   278
    EC_DIR_INPUT, /**< Values read by the master. */
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   279
    EC_DIR_COUNT /**< Number of directions. For internal use only. */
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   280
} ec_direction_t;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   281
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   282
/*****************************************************************************/
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   283
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
   284
/** Watchdog mode for sync manager configuration.
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
   285
 *
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
   286
 * Used to specify, if a sync manager's watchdog is to be enabled.
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
   287
 */
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
   288
typedef enum {
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
   289
    EC_WD_DEFAULT, /**< Use the default setting of the sync manager. */
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
   290
    EC_WD_ENABLE, /**< Enable the watchdog. */
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
   291
    EC_WD_DISABLE, /**< Disable the watchdog. */
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
   292
} ec_watchdog_mode_t;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
   293
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
   294
/*****************************************************************************/
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
   295
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   296
/** PDO entry configuration information.
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   297
 *
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   298
 * This is the data type of the \a entries field in ec_pdo_info_t.
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   299
 *
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   300
 * \see 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
   301
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   302
typedef struct {
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   303
    uint16_t index; /**< PDO entry index. */
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   304
    uint8_t subindex; /**< PDO entry subindex. */
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   305
    uint8_t bit_length; /**< Size of the PDO entry in bit. */
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   306
} ec_pdo_entry_info_t;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   307
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   308
/*****************************************************************************/
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   309
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   310
/** PDO configuration information.
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   311
 * 
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   312
 * This is the data type of the \a pdos field in ec_sync_info_t.
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   313
 * 
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   314
 * \see 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
   315
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   316
typedef struct {
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   317
    uint16_t index; /**< PDO index. */
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   318
    unsigned int n_entries; /**< Number of PDO entries in \a entries to map.
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   319
                              Zero means, that the default mapping shall be
925
939f3e9bba1e Some improvements concerning bit_position.
Florian Pose <fp@igh-essen.com>
parents: 923
diff changeset
   320
                              used (this can only be done if the slave is
939f3e9bba1e Some improvements concerning bit_position.
Florian Pose <fp@igh-essen.com>
parents: 923
diff changeset
   321
                              present at bus configuration time). */
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   322
    ec_pdo_entry_info_t *entries; /**< Array of PDO entries to map. Can either
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   323
                                    be \a NULL, or must contain at
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   324
                                    least \a n_entries values. */
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   325
} ec_pdo_info_t;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   326
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   327
/*****************************************************************************/
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   328
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   329
/** Sync manager configuration information.
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   330
 *
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   331
 * This can be use to configure multiple sync managers including the PDO
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   332
 * assignment and PDO mapping. It is used as an input parameter type in
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   333
 * ecrt_slave_config_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
   334
 */
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   335
typedef struct {
1083
1322dc34cb37 Updated header docs, features and news file.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
   336
    uint8_t 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
   337
                     than #EC_MAX_SYNC_MANAGERS for a valid sync manager,
1322dc34cb37 Updated header docs, features and news file.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
   338
                     but can also be \a 0xff to mark the end of the list. */
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   339
    ec_direction_t dir; /**< Sync manager direction. */
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   340
    unsigned int n_pdos; /**< Number of PDOs in \a pdos. */
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   341
    ec_pdo_info_t *pdos; /**< Array with PDOs to assign. This must contain
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   342
                            at least \a n_pdos PDOs. */
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
   343
    ec_watchdog_mode_t watchdog_mode; /**< Watchdog mode. */
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   344
} ec_sync_info_t;
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   345
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   346
/*****************************************************************************/
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   347
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   348
/** List record type for PDO entry mass-registration.
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   349
 *
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   350
 * This type is used for the array parameter of the
923
a6b51990e7e6 Changed Pdo entry registration function - return byte and bit positions
Richard Hacker <ha@igh-essen.com>
parents: 916
diff changeset
   351
 * ecrt_domain_reg_pdo_entry_list()
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   352
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   353
typedef struct {
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   354
    uint16_t alias; /**< Slave alias address. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   355
    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
   356
    uint32_t vendor_id; /**< Slave vendor ID. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   357
    uint32_t product_code; /**< Slave product code. */
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   358
    uint16_t index; /**< PDO entry index. */
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   359
    uint8_t subindex; /**< PDO entry subindex. */
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   360
    unsigned int *offset; /**< Pointer to a variable to store the PDO entry's
925
939f3e9bba1e Some improvements concerning bit_position.
Florian Pose <fp@igh-essen.com>
parents: 923
diff changeset
   361
                       (byte-)offset in the process data. */
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   362
    unsigned int *bit_position; /**< Pointer to a variable to store a bit 
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   363
                                  position (0-7) within the \a offset. Can be
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   364
                                  NULL, in which case an error is raised if the
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   365
                                  PDO entry does not byte-align. */
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   366
} ec_pdo_entry_reg_t;
416
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   367
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   368
/*****************************************************************************/
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   369
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   370
/** Request state.
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   371
 *
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   372
 * This is used as return type for ecrt_sdo_request_state() and
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   373
 * ecrt_voe_handler_state().
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   374
 */
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   375
typedef enum {
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   376
    EC_REQUEST_UNUSED, /**< Not requested. */
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   377
    EC_REQUEST_BUSY, /**< Request is being processed. */
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   378
    EC_REQUEST_SUCCESS, /**< Request was processed successfully. */
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   379
    EC_REQUEST_ERROR, /**< Request processing failed. */
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   380
} ec_request_state_t;
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   381
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   382
/******************************************************************************
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   383
 * Global functions
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   384
 *****************************************************************************/
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   385
1288
bf0d42ca5aec Wrapped c function in 'extern "C"' to make the library usable in C++
Florian Pose <fp@igh-essen.com>
parents: 1287
diff changeset
   386
#ifdef __cplusplus
bf0d42ca5aec Wrapped c function in 'extern "C"' to make the library usable in C++
Florian Pose <fp@igh-essen.com>
parents: 1287
diff changeset
   387
extern "C" {
bf0d42ca5aec Wrapped c function in 'extern "C"' to make the library usable in C++
Florian Pose <fp@igh-essen.com>
parents: 1287
diff changeset
   388
#endif
bf0d42ca5aec Wrapped c function in 'extern "C"' to make the library usable in C++
Florian Pose <fp@igh-essen.com>
parents: 1287
diff changeset
   389
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   390
/** Returns the version magic of the realtime interface.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   391
 *
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   392
 * \return Value of ECRT_VERSION_MAGIC() at EtherCAT master compile time.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   393
 */
541
5a2b1658b67f Introduced ECRT version magic.
Florian Pose <fp@igh-essen.com>
parents: 495
diff changeset
   394
unsigned int ecrt_version_magic(void);
5a2b1658b67f Introduced ECRT version magic.
Florian Pose <fp@igh-essen.com>
parents: 495
diff changeset
   395
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   396
/** Requests an EtherCAT master for realtime operation.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   397
 * 
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   398
 * Before an application can access an EtherCAT master, it has to reserve one
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   399
 * for exclusive use.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   400
 *
1497
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   401
 * In userspace, this is a convenience function for ecrt_open_master() and
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   402
 * ecrt_master_reserve().
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   403
 *
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   404
 * This function has to be the first function an application has to call to
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   405
 * use EtherCAT. The function takes the index of the master as its argument.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   406
 * The first master has index 0, the n-th master has index n - 1. The number
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   407
 * of masters has to be specified when loading the master module.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   408
 *
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1288
diff changeset
   409
 * \return Pointer to the reserved master, otherwise \a NULL.
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   410
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   411
ec_master_t *ecrt_request_master(
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   412
        unsigned int master_index /**< Index of the master to request. */
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
1497
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   415
#ifndef __KERNEL__
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   416
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   417
/** Opens an EtherCAT master for userspace access.
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   418
 *
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   419
 * This function has to be the first function an application has to call to
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   420
 * use EtherCAT. The function takes the index of the master as its argument.
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   421
 * The first master has index 0, the n-th master has index n - 1. The number
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   422
 * of masters has to be specified when loading the master module.
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   423
 *
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   424
 * For convenience, the function ecrt_request_master() can be used.
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   425
 *
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   426
 * \return Pointer to the opened master, otherwise \a NULL.
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   427
 */
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   428
ec_master_t *ecrt_open_master(
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   429
		unsigned int master_index /**< Index of the master to request. */
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   430
		);
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   431
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   432
#endif // #ifndef __KERNEL__
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   433
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   434
/** Releases a requested EtherCAT master.
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   435
 *
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   436
 * After use, a master it has to be released to make it available for other
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   437
 * applications.
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   438
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   439
void ecrt_release_master(
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   440
        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
   441
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   442
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   443
/******************************************************************************
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   444
 * Master methods
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   445
 *****************************************************************************/
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   446
1497
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   447
#ifndef __KERNEL__
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   448
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   449
/** Reserves an EtherCAT master for realtime operation.
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   450
 *
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   451
 * Before an application can use PDO/domain registration functions or SDO
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   452
 * request functions on the master, it has to reserve one for exclusive use.
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   453
 *
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   454
 * \return 0 in case of success, else < 0
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   455
 *
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   456
 */
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   457
int ecrt_master_reserve(
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   458
		ec_master_t *master /**< EtherCAT master */
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   459
		);
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   460
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   461
#endif // #ifndef __KERNEL__
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   462
1244
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1239
diff changeset
   463
#ifdef __KERNEL__
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1239
diff changeset
   464
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   465
/** Sets the locking callbacks.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   466
 *
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1497
diff changeset
   467
 * For concurrent master access, i. e. if other instances than the application
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1497
diff changeset
   468
 * want to send and receive datagrams on the bus, the application has to
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1497
diff changeset
   469
 * provide a callback mechanism. This method takes two function pointers as
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1497
diff changeset
   470
 * its parameters. Asynchronous master access (like EoE processing) is only
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1497
diff changeset
   471
 * possible if the callbacks have been set.
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1497
diff changeset
   472
 *
1512
388901f44a5e Fixed typos.
Florian Pose <fp@igh-essen.com>
parents: 1510
diff changeset
   473
 * The task of the send callback (\a send_cb) is to decide, if the bus is
388901f44a5e Fixed typos.
Florian Pose <fp@igh-essen.com>
parents: 1510
diff changeset
   474
 * currently accessible and whether or not to call the ecrt_master_send_ext()
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1497
diff changeset
   475
 * method.
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1497
diff changeset
   476
 *
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1497
diff changeset
   477
 * The task of the receive callback (\a receive_cb) is to decide, if a call to
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1497
diff changeset
   478
 * ecrt_master_receive() is allowed and to execute it respectively.
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   479
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   480
void ecrt_master_callbacks(
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   481
        ec_master_t *master, /**< EtherCAT master */
1513
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents: 1512
diff changeset
   482
        void (*send_cb)(void *), /**< Datagram sending callback. */
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents: 1512
diff changeset
   483
        void (*receive_cb)(void *), /**< Receive callback. */
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents: 1512
diff changeset
   484
        void *cb_data /**< Arbitraty pointer passed to the callback functions.
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents: 1512
diff changeset
   485
                       */
792
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
1244
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1239
diff changeset
   488
#endif /* __KERNEL__ */
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1239
diff changeset
   489
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   490
/** Creates a new process data domain.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   491
 *
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   492
 * 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
   493
 * This method creates a new process data domain and returns a pointer to the
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   494
 * new domain object. This object can be used for registering PDOs and
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   495
 * 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
   496
 *
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   497
 * \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
   498
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   499
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
   500
        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
   501
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   502
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   503
/** 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
   504
 *
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   505
 * 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
   506
 * 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
   507
 * 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
   508
 * 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
   509
 * 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
   510
 *
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   511
 * 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
   512
 * - 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
   513
 *   ring position.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   514
 * - 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
   515
 *   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
   516
 *   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
   517
 *   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
   518
 *
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   519
 * 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
   520
 * 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
   521
 * 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
   522
 *
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   523
 * 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
   524
 * 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
   525
 * applied.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   526
 *
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   527
 * \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
   528
 * \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
   529
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   530
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
   531
        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
   532
        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
   533
        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
   534
        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
   535
        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
   536
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   537
1497
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   538
/** Obtains master information.
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   539
 *
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   540
 * No memory is allocated on the heap in
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   541
 * this function.
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   542
 *
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   543
 * \attention The pointer to this structure must point to a valid variable.
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   544
 *
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   545
 * \return 0 in case of success, else < 0
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   546
 */
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   547
int ecrt_master(
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   548
		ec_master_t *master, /**< EtherCAT master */
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   549
		ec_master_info_t *master_info /**< Structure that will output the
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   550
									  information */
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   551
		);
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   552
1341
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   553
/** Obtains slave information.
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   554
 *
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   555
 * Tries to find the slave with the given ring position. The obtained
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   556
 * information is stored in a structure. No memory is allocated on the heap in
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   557
 * this function.
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   558
 *
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   559
 * \attention The pointer to this structure must point to a valid variable.
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   560
 *
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   561
 * \return 0 in case of success, else < 0
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   562
 */
1510
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   563
int ecrt_master_get_slave(
1341
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   564
        ec_master_t *master, /**< EtherCAT master */
1510
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   565
        uint16_t slave_position, /**< Slave position. */
1341
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   566
        ec_slave_info_t *slave_info /**< Structure that will output the
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   567
                                      information */
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   568
        );
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   569
1594
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1585
diff changeset
   570
#ifndef __KERNEL__
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1585
diff changeset
   571
1510
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   572
/** Returns the proposed configuration of a slave's sync manager.
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   573
 *
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   574
 * Fills a given ec_sync_info_t structure with the attributes of a sync
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   575
 * manager. The \a pdos field of the return value is left empty. Use
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   576
 * ecrt_master_get_pdo() to get the PDO information.
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   577
 *
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   578
 * \return zero on success, else non-zero
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   579
 */
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   580
int ecrt_master_get_sync_manager(
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   581
        ec_master_t *master, /**< EtherCAT master. */
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   582
        uint16_t slave_position, /**< Slave position. */
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   583
        uint8_t sync_index, /**< Sync manager index. Must be less
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   584
                                than #EC_MAX_SYNC_MANAGERS. */
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   585
        ec_sync_info_t *sync /**< Pointer to output structure. */
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   586
        );
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   587
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   588
/** Returns information about a currently assigned PDO.
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   589
 *
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   590
 * Fills a given ec_pdo_info_t structure with the attributes of a currently
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   591
 * assigned PDO of the given sync manager. The \a entries field of the return
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   592
 * value is left empty. Use ecrt_master_get_pdo_entry() to get the PDO
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   593
 * entry information.
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   594
 *
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   595
 * \retval zero on success, else non-zero
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   596
 */
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   597
int ecrt_master_get_pdo(
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   598
        ec_master_t *master, /**< EtherCAT master. */
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   599
        uint16_t slave_position, /**< Slave position. */
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   600
        uint8_t sync_index, /**< Sync manager index. Must be less
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   601
                                 than #EC_MAX_SYNC_MANAGERS. */
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   602
        uint16_t pos, /**< Zero-based PDO position. */
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   603
        ec_pdo_info_t *pdo /**< Pointer to output structure. */
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   604
        );
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   605
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   606
/** Returns information about a currently mapped PDO entry.
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   607
 *
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   608
 * Fills a given ec_pdo_entry_info_t structure with the attributes of a
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   609
 * currently mapped PDO entry of the given PDO.
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   610
 *
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   611
 * \retval zero on success, else non-zero
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   612
 */
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   613
int ecrt_master_get_pdo_entry(
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   614
        ec_master_t *master, /**< EtherCAT master. */
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   615
        uint16_t slave_position, /**< Slave position. */
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   616
        uint8_t sync_index, /**< Sync manager index. Must be less
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   617
                                 than #EC_MAX_SYNC_MANAGERS. */
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   618
        uint16_t pdo_pos, /**< Zero-based PDO position. */
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   619
        uint16_t entry_pos, /**< Zero-based PDO entry position. */
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   620
        ec_pdo_entry_info_t *entry /**< Pointer to output structure. */
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   621
        );
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   622
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   623
/** Executes an SDO write request to download data.
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   624
 *
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   625
 * This function operates aside of the normal way to request SDOs. Before the
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   626
 * activation of the master, these requests are processed by the master state
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   627
 * machine itself. After activation the user has to ensure cyclic processing.
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   628
 *
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   629
 * \retval  0 Success.
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   630
 * \retval -1 An error occured.
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   631
 */
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   632
int ecrt_master_sdo_download(
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   633
        ec_master_t *master, /**< EtherCAT master. */
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   634
        uint16_t slave_position, /**< Slave position. */
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   635
        uint16_t index, /**< Index of the SDO. */
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   636
        uint8_t subindex, /**< Subindex of the SDO. */
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   637
        uint8_t *data, /**< Data buffer to download. */
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   638
        size_t data_size, /**< Size of the data buffer. */
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   639
        uint32_t *abort_code /**< Abort code of the SDO download. */
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   640
        );
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   641
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   642
/** Executes a SDO read request to upload data.
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   643
 *
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   644
 * This function operates aside of the normal way to request SDOs. Before the
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   645
 * activation of the master, these requests are processed by the master state
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   646
 * machine itself. After activation the user have to ensure cyclic
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   647
 * processing.
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   648
 *
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   649
 * \retval  0 Success.
1512
388901f44a5e Fixed typos.
Florian Pose <fp@igh-essen.com>
parents: 1510
diff changeset
   650
 * \retval -1 Error occurred.
1510
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   651
 */
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   652
int ecrt_master_sdo_upload(
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   653
        ec_master_t *master, /**< EtherCAT master. */
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   654
        uint16_t slave_position, /**< Slave position. */
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   655
        uint16_t index, /**< Index of the SDO. */
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   656
        uint8_t subindex, /**< Subindex of the SDO. */
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   657
        uint8_t *target, /**< Target buffer for the upload. */
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   658
        size_t target_size, /**< Size of the target buffer. */
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   659
        size_t *result_size, /**< Uploaded data size. */
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   660
        uint32_t *abort_code /**< Abort code of the SDO upload. */
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   661
        );
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   662
1497
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   663
#endif /* #ifndef __KERNEL__ */
1441
27a8d6f97a95 Added ecrt_slave_sdo_upload() and ecrt_slave_sdo_download(). Thanks to
Florian Pose <fp@igh-essen.com>
parents: 1438
diff changeset
   664
1096
a32a102a30db Minor change.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
   665
/** 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
   666
 *
925
939f3e9bba1e Some improvements concerning bit_position.
Florian Pose <fp@igh-essen.com>
parents: 923
diff changeset
   667
 * 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
   668
 * 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
   669
 * 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
   670
 * 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
   671
 * 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
   672
 *
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   673
 * \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
   674
 * 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
   675
 * 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
   676
 * 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
   677
 * 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
   678
 *
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   679
 * \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
   680
 */
1007
b6c3527697c3 Minor change.
Florian Pose <fp@igh-essen.com>
parents: 925
diff changeset
   681
int ecrt_master_activate(
b6c3527697c3 Minor change.
Florian Pose <fp@igh-essen.com>
parents: 925
diff changeset
   682
        ec_master_t *master /**< EtherCAT master. */
b6c3527697c3 Minor change.
Florian Pose <fp@igh-essen.com>
parents: 925
diff changeset
   683
        );
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   684
1530
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   685
/** Deactivates the master.
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   686
 *
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   687
 * Removes the bus configuration. All objects created by
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   688
 * ecrt_master_create_domain(), ecrt_master_slave_config(), ecrt_domain_data()
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   689
 * ecrt_slave_config_create_sdo_request() and
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   690
 * ecrt_slave_config_create_voe_handler() are freed, so pointers to them
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   691
 * become invalid.
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   692
 */
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   693
void ecrt_master_deactivate(
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   694
        ec_master_t *master /**< EtherCAT master. */
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   695
        );
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   696
1585
1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   697
1600
e36c92cf58a9 use given send interval to limit SDO/FOE traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1585
diff changeset
   698
/** Set interval between calls to ecrt_master_send
e36c92cf58a9 use given send interval to limit SDO/FOE traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1585
diff changeset
   699
 *
e36c92cf58a9 use given send interval to limit SDO/FOE traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1585
diff changeset
   700
 */
e36c92cf58a9 use given send interval to limit SDO/FOE traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1585
diff changeset
   701
int ecrt_master_set_send_interval(
1585
1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   702
        ec_master_t *master, /**< EtherCAT master. */
1600
e36c92cf58a9 use given send interval to limit SDO/FOE traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1585
diff changeset
   703
		size_t send_interval /**< Send interval in us */
1585
1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   704
        );
1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   705
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   706
/** 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
   707
 *
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   708
 * 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
   709
 * 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
   710
 *
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   711
 * 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
   712
 * has returned.
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   713
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   714
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
   715
        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
   716
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   717
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   718
/** 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
   719
 *
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   720
 * 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
   721
 * 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
   722
 * 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
   723
 * timed out, will be marked, and dequeued.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   724
 *
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   725
 * 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
   726
 * 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
   727
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   728
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
   729
        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
   730
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   731
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1497
diff changeset
   732
/** Sends non-application datagrams.
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1497
diff changeset
   733
 *
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1497
diff changeset
   734
 * This method has to be called in the send callback function passed via
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1497
diff changeset
   735
 * ecrt_master_callbacks() to allow the sending of non-application datagrams.
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1497
diff changeset
   736
 */
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1497
diff changeset
   737
void ecrt_master_send_ext(
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1497
diff changeset
   738
        ec_master_t *master /**< EtherCAT master. */
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1497
diff changeset
   739
        );
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1497
diff changeset
   740
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   741
/** 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
   742
 *
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   743
 * 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
   744
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   745
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
   746
        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
   747
        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
   748
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   749
1434
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1417
diff changeset
   750
/** Sets the application time.
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1417
diff changeset
   751
 *
1466
362147819ca1 EC_TIMEVAL2NANO() takes no pointer argument any more.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
   752
 * The master has to know the application's time when operating slaves with
362147819ca1 EC_TIMEVAL2NANO() takes no pointer argument any more.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
   753
 * distributed clocks. The time is not incremented by the master itself, so
362147819ca1 EC_TIMEVAL2NANO() takes no pointer argument any more.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
   754
 * this method has to be called cyclically.
362147819ca1 EC_TIMEVAL2NANO() takes no pointer argument any more.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
   755
 * 
362147819ca1 EC_TIMEVAL2NANO() takes no pointer argument any more.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
   756
 * The time is used when setting the slaves' <tt>System Time Offset</tt> and
362147819ca1 EC_TIMEVAL2NANO() takes no pointer argument any more.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
   757
 * <tt>Cyclic Operation Start Time</tt> registers and when synchronizing the
362147819ca1 EC_TIMEVAL2NANO() takes no pointer argument any more.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
   758
 * DC reference clock to the application time via
362147819ca1 EC_TIMEVAL2NANO() takes no pointer argument any more.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
   759
 * ecrt_master_sync_reference_clock().
1434
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1417
diff changeset
   760
 * 
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1417
diff changeset
   761
 * The time is defined as nanoseconds from 2000-01-01 00:00. Converting an
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1417
diff changeset
   762
 * epoch time can be done with the EC_TIMEVAL2NANO() macro.
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1417
diff changeset
   763
 */
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1417
diff changeset
   764
void ecrt_master_application_time(
1396
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1394
diff changeset
   765
        ec_master_t *master, /**< EtherCAT master. */
1417
7c2d5d69134c Replaced timeval by 64-bit EtherCAT time.
Florian Pose <fp@igh-essen.com>
parents: 1411
diff changeset
   766
        uint64_t app_time /**< Application time. */
1394
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1392
diff changeset
   767
        );
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1392
diff changeset
   768
1434
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1417
diff changeset
   769
/** Queues the DC reference clock drift compensation datagram for sending.
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1417
diff changeset
   770
 *
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1417
diff changeset
   771
 * The reference clock will by synchronized to the application time provided
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1417
diff changeset
   772
 * by the last call off ecrt_master_application_time().
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1417
diff changeset
   773
 */
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1417
diff changeset
   774
void ecrt_master_sync_reference_clock(
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1417
diff changeset
   775
        ec_master_t *master /**< EtherCAT master. */
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1417
diff changeset
   776
        );
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1417
diff changeset
   777
1410
fb6719008bf5 Separated sync_reference_clock() and sync_slave_clocks().
Florian Pose <fp@igh-essen.com>
parents: 1396
diff changeset
   778
/** Queues the DC clock drift compensation datagram for sending.
fb6719008bf5 Separated sync_reference_clock() and sync_slave_clocks().
Florian Pose <fp@igh-essen.com>
parents: 1396
diff changeset
   779
 *
fb6719008bf5 Separated sync_reference_clock() and sync_slave_clocks().
Florian Pose <fp@igh-essen.com>
parents: 1396
diff changeset
   780
 * All slave clocks synchronized to the reference clock.
fb6719008bf5 Separated sync_reference_clock() and sync_slave_clocks().
Florian Pose <fp@igh-essen.com>
parents: 1396
diff changeset
   781
 */
fb6719008bf5 Separated sync_reference_clock() and sync_slave_clocks().
Florian Pose <fp@igh-essen.com>
parents: 1396
diff changeset
   782
void ecrt_master_sync_slave_clocks(
fb6719008bf5 Separated sync_reference_clock() and sync_slave_clocks().
Florian Pose <fp@igh-essen.com>
parents: 1396
diff changeset
   783
        ec_master_t *master /**< EtherCAT master. */
fb6719008bf5 Separated sync_reference_clock() and sync_slave_clocks().
Florian Pose <fp@igh-essen.com>
parents: 1396
diff changeset
   784
        );
fb6719008bf5 Separated sync_reference_clock() and sync_slave_clocks().
Florian Pose <fp@igh-essen.com>
parents: 1396
diff changeset
   785
1535
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   786
/** Queues the DC synchonity monitoring datagram for sending.
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   787
 *
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   788
 * The datagram broadcast-reads all "System time difference" registers (\a
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   789
 * 0x092c) to get an upper estiomation of the DC synchony. The result can be
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   790
 * checked with the ecrt_master_sync_monitor_process() method.
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   791
 */
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   792
void ecrt_master_sync_monitor_queue(
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   793
        ec_master_t *master /**< EtherCAT master. */
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   794
        );
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   795
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   796
/** Processes the DC synchonity monitoring datagram.
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   797
 *
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   798
 * If the sync monitoring datagram was sent before with
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   799
 * ecrt_master_sync_monitor_queue(), the result can be queried with this
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   800
 * method.
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   801
 *
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   802
 * \return Upper estination of the maximum time difference in ns.
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   803
 */
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   804
uint32_t ecrt_master_sync_monitor_process(
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   805
        ec_master_t *master /**< EtherCAT master. */
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   806
        );
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   807
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   808
/******************************************************************************
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   809
 * Slave configuration methods
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   810
 *****************************************************************************/
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   811
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   812
/** 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
   813
 *
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   814
 * 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
   815
 * 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
   816
 *
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   817
 * \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
   818
 */
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   819
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
   820
        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
   821
        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
   822
                              than #EC_MAX_SYNC_MANAGERS. */
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
   823
        ec_direction_t direction, /**< Input/Output. */
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
   824
        ec_watchdog_mode_t watchdog_mode /** Watchdog mode. */
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
   825
        );
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
   826
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
   827
/** Configure a slave's watchdog times.
1536
171ddba165d2 Added watchdog documentation.
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   828
 */
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
   829
void ecrt_slave_config_watchdog(
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
   830
        ec_slave_config_t *sc, /**< Slave configuration. */
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
   831
        uint16_t watchdog_divider, /**< Number of 40 ns intervals. Used as a
1536
171ddba165d2 Added watchdog documentation.
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   832
                                     base unit for all slave watchdogs. If set
171ddba165d2 Added watchdog documentation.
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   833
                                     to zero, the value is not written, so the
171ddba165d2 Added watchdog documentation.
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   834
                                     default ist used. */
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
   835
        uint16_t watchdog_intervals /**< Number of base intervals for process
1536
171ddba165d2 Added watchdog documentation.
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   836
                                      data watchdog. If set to zero, the value
171ddba165d2 Added watchdog documentation.
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   837
                                      is not written, so the default is used.
171ddba165d2 Added watchdog documentation.
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   838
                                     */
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   839
        );
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   840
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   841
/** Add a PDO to a sync manager's PDO assignment.
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   842
 *
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   843
 * \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
   844
 * \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
   845
 */
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   846
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
   847
        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
   848
        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
   849
                              than #EC_MAX_SYNC_MANAGERS. */
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   850
        uint16_t index /**< Index of the PDO to assign. */
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   851
        );
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   852
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   853
/** Clear a sync manager's PDO assignment.
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   854
 *
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   855
 * 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
   856
 * 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
   857
 * 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
   858
 * 
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   859
 * \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
   860
 */
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   861
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
   862
        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
   863
        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
   864
                              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
   865
        );
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   866
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   867
/** Add a PDO entry to the given PDO's mapping.
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   868
 *
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   869
 * \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
   870
 * \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
   871
 */
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   872
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
   873
        ec_slave_config_t *sc, /**< Slave configuration. */
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   874
        uint16_t pdo_index, /**< Index of the PDO. */
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   875
        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
   876
                                mapping. */
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   877
        uint8_t entry_subindex, /**< Subindex of the PDO entry to add to the
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   878
                                  PDO's mapping. */
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   879
        uint8_t entry_bit_length /**< Size of the PDO entry in bit. */
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   880
        );
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   881
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   882
/** Clear the mapping of a given PDO.
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   883
 *
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   884
 * This can be called before mapping PDO entries via
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   885
 * 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
   886
 *
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   887
 * \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
   888
 */
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   889
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
   890
        ec_slave_config_t *sc, /**< Slave configuration. */
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   891
        uint16_t pdo_index /**< Index of the PDO. */
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   892
        );
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   893
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   894
/** 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
   895
 *
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   896
 * 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
   897
 * 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
   898
 * 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
   899
 * 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
   900
 * 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
   901
 *
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   902
 * The following example shows, how to specify a complete configuration,
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   903
 * including the PDO mappings. With this information, the master is able to
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   904
 * 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
   905
 * configuration time:
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   906
 *
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   907
 * \code
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   908
 * 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
   909
 *     {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
   910
 *     {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
   911
 * };
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   912
 * 
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   913
 * 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
   914
 *     {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
   915
 *     {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
   916
 * };
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 832
diff changeset
   917
 * 
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   918
 * 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
   919
 *     {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
   920
 *     {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
   921
 * };
40e27e5a8dce Added ecrt_slave_config_pdo() and ecrt_slave_config_pdo_entry().
Florian Pose <fp@igh-essen.com>
parents: 832
diff changeset
   922
 * 
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   923
 * 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
   924
 *     {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
   925
 *     {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
   926
 *     {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
   927
 * };
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   928
 * 
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   929
 * 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
   930
 *     // handle error
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   931
 * }
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   932
 * \endcode
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   933
 * 
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   934
 * The next example shows, how to configure the PDO assignment only. The
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   935
 * entries for each assigned PDO are taken from the PDO's default mapping.
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   936
 * Please note, that PDO entry registration will fail, if the PDO
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   937
 * 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
   938
 *
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   939
 * \code
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   940
 * 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
   941
 *     {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
   942
 *     {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
   943
 * };
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   944
 * 
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   945
 * 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
   946
 *     {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
   947
 * };
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   948
 * 
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   949
 * 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
   950
 *     // handle error
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   951
 * }
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   952
 * \endcode
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   953
 *
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   954
 * 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
   955
 * - 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
   956
 * - 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
   957
 *   \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
   958
 *   using EC_END is recommended.
878
40c379697ebf Introduced EC_MAP_END.
Florian Pose <fp@igh-essen.com>
parents: 869
diff changeset
   959
 *
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   960
 * \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
   961
 */
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   962
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
   963
        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
   964
        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
   965
                                \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
   966
        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
   967
                                       configurations. */
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   968
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   969
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   970
/** Registers a PDO entry for process data exchange in a domain.
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   971
 *
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   972
 * Searches the assigned PDOs for the given PDO entry. An error is raised, if
925
939f3e9bba1e Some improvements concerning bit_position.
Florian Pose <fp@igh-essen.com>
parents: 923
diff changeset
   973
 * 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
   974
 * and FMMU configurations are provided for slave configuration and the
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   975
 * respective sync manager's assigned PDOs are appended to the given domain,
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   976
 * if not already done. The offset of the requested PDO entry's data inside
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   977
 * the domain's process data is returned. Optionally, the PDO entry bit
925
939f3e9bba1e Some improvements concerning bit_position.
Florian Pose <fp@igh-essen.com>
parents: 923
diff changeset
   978
 * position (0-7) can be retrieved via the \a bit_position output parameter.
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   979
 * This pointer may be \a NULL, in this case an error is raised if the PDO
925
939f3e9bba1e Some improvements concerning bit_position.
Florian Pose <fp@igh-essen.com>
parents: 923
diff changeset
   980
 * 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
   981
 *
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   982
 * \retval >=0 Success: Offset of the PDO entry's process data.
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   983
 * \retval  <0 Error code.
807
f8bca95ab75d Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents: 793
diff changeset
   984
 */
f8bca95ab75d Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents: 793
diff changeset
   985
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
   986
        ec_slave_config_t *sc, /**< Slave configuration. */
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   987
        uint16_t entry_index, /**< Index of the PDO entry to register. */
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   988
        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
   989
        ec_domain_t *domain, /**< Domain. */
925
939f3e9bba1e Some improvements concerning bit_position.
Florian Pose <fp@igh-essen.com>
parents: 923
diff changeset
   990
        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
   991
                                 is desired */
916
db73994fbdac Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents: 900
diff changeset
   992
        );
db73994fbdac Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents: 900
diff changeset
   993
1448
d7ba0c408a07 Merged ecrt_slave_config_dc_assign_activate() and
Florian Pose <fp@igh-essen.com>
parents: 1441
diff changeset
   994
/** Configure distributed clocks.
d7ba0c408a07 Merged ecrt_slave_config_dc_assign_activate() and
Florian Pose <fp@igh-essen.com>
parents: 1441
diff changeset
   995
 *
d7ba0c408a07 Merged ecrt_slave_config_dc_assign_activate() and
Florian Pose <fp@igh-essen.com>
parents: 1441
diff changeset
   996
 * Sets the AssignActivate word and the cycle and shift times for the sync
d7ba0c408a07 Merged ecrt_slave_config_dc_assign_activate() and
Florian Pose <fp@igh-essen.com>
parents: 1441
diff changeset
   997
 * signals.
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1384
diff changeset
   998
 *
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1384
diff changeset
   999
 * The AssignActivate word is vendor-specific and can be taken from the XML
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1384
diff changeset
  1000
 * device description file (Device -> Dc -> AssignActivate). Set this to zero,
1396
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1394
diff changeset
  1001
 * if the slave shall be operated without distributed clocks (default).
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1384
diff changeset
  1002
 */
1448
d7ba0c408a07 Merged ecrt_slave_config_dc_assign_activate() and
Florian Pose <fp@igh-essen.com>
parents: 1441
diff changeset
  1003
void ecrt_slave_config_dc(
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1384
diff changeset
  1004
		ec_slave_config_t *sc, /**< Slave configuration. */
1448
d7ba0c408a07 Merged ecrt_slave_config_dc_assign_activate() and
Florian Pose <fp@igh-essen.com>
parents: 1441
diff changeset
  1005
        uint16_t assign_activate, /**< AssignActivate word. */
1438
1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals().
Florian Pose <fp@igh-essen.com>
parents: 1434
diff changeset
  1006
        uint32_t sync0_cycle, /**< SYNC0 cycle time [ns]. */
1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals().
Florian Pose <fp@igh-essen.com>
parents: 1434
diff changeset
  1007
		uint32_t sync0_shift, /**< SYNC0 shift time [ns]. */
1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals().
Florian Pose <fp@igh-essen.com>
parents: 1434
diff changeset
  1008
        uint32_t sync1_cycle, /**< SYNC1 cycle time [ns]. */
1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals().
Florian Pose <fp@igh-essen.com>
parents: 1434
diff changeset
  1009
		uint32_t sync1_shift /**< SYNC1 shift time [ns]. */
1411
3ebef749275c Added shift times to api.
Florian Pose <fp@igh-essen.com>
parents: 1410
diff changeset
  1010
		);
3ebef749275c Added shift times to api.
Florian Pose <fp@igh-essen.com>
parents: 1410
diff changeset
  1011
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1012
/** Add an SDO configuration.
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1013
 *
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1014
 * An SDO configuration is stored in the slave configuration object and is
893
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 886
diff changeset
  1015
 * 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
  1016
 * 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
  1017
 * 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
  1018
 *
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1019
 * \attention The SDOs for PDO assignment (\p 0x1C10 - \p 0x1C2F) and PDO
1104
9e7fe258495e Added attention to ecrt_slave_config_sdo().
Florian Pose <fp@igh-essen.com>
parents: 1096
diff changeset
  1020
 * 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
  1021
 * 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
  1022
 * 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
  1023
 * friends instead.
9e7fe258495e Added attention to ecrt_slave_config_sdo().
Florian Pose <fp@igh-essen.com>
parents: 1096
diff changeset
  1024
 *
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1025
 * This is the generic function for adding an SDO configuration. Please note
893
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 886
diff changeset
  1026
 * 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
  1027
 * 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
  1028
 * 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
  1029
 * 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
  1030
 *
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1031
 * \retval  0 Success.
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1032
 * \retval <0 Error code.
893
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 886
diff changeset
  1033
 */
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 886
diff changeset
  1034
int ecrt_slave_config_sdo(
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 886
diff changeset
  1035
        ec_slave_config_t *sc, /**< Slave configuration. */
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1036
        uint16_t index, /**< Index of the SDO to configure. */
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1037
        uint8_t subindex, /**< Subindex of the SDO to configure. */
893
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 886
diff changeset
  1038
        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
  1039
        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
  1040
        );
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 886
diff changeset
  1041
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1042
/** 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
  1043
 *
893
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 886
diff changeset
  1044
 * \see ecrt_slave_config_sdo().
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1045
 *
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1046
 * \retval  0 Success.
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1047
 * \retval <0 Error code.
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1048
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1049
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
  1050
        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
  1051
        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
  1052
        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
  1053
        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
  1054
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1055
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1056
/** 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
  1057
 *
893
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 886
diff changeset
  1058
 * \see ecrt_slave_config_sdo().
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1059
 *
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1060
 * \retval  0 Success.
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1061
 * \retval <0 Error code.
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1062
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1063
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
  1064
        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
  1065
        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
  1066
        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
  1067
        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
  1068
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1069
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1070
/** 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
  1071
 *
893
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 886
diff changeset
  1072
 * \see ecrt_slave_config_sdo().
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1073
 *
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1074
 * \retval  0 Success.
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1075
 * \retval <0 Error code.
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1076
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1077
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
  1078
        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
  1079
        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
  1080
        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
  1081
        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
  1082
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1083
1526
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1513
diff changeset
  1084
/** Add configuration data for a complete SDO.
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1513
diff changeset
  1085
 *
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1513
diff changeset
  1086
 * The SDO data are transferred via CompleteAccess. Data for the first
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1513
diff changeset
  1087
 * subindex (0) have to be included.
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1513
diff changeset
  1088
 *
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1513
diff changeset
  1089
 * \see ecrt_slave_config_sdo().
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1513
diff changeset
  1090
 *
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1513
diff changeset
  1091
 * \retval  0 Success.
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1513
diff changeset
  1092
 * \retval <0 Error code.
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1513
diff changeset
  1093
 */
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1513
diff changeset
  1094
int ecrt_slave_config_complete_sdo(
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1513
diff changeset
  1095
        ec_slave_config_t *sc, /**< Slave configuration. */
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1513
diff changeset
  1096
        uint16_t index, /**< Index of the SDO to configure. */
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1513
diff changeset
  1097
        const uint8_t *data, /**< Pointer to the data. */
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1513
diff changeset
  1098
        size_t size /**< Size of the \a data. */
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1513
diff changeset
  1099
        );
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1513
diff changeset
  1100
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1101
/** Create an SDO request to exchange SDOs during realtime operation.
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1102
 *
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1103
 * The created SDO request object is freed automatically when the master is
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1104
 * released.
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1105
 */
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1106
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
  1107
        ec_slave_config_t *sc, /**< Slave configuration. */
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1108
        uint16_t index, /**< SDO index. */
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1109
        uint8_t subindex, /**< SDO subindex. */
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1110
        size_t size /**< Data size to reserve. */
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1111
        );
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1112
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1113
/** 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
  1114
 * operation.
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1115
 *
1267
75900030f0c3 Improved VoE docs.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1116
 * The number of VoE handlers per slave configuration is not limited, but
75900030f0c3 Improved VoE docs.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1117
 * usually it is enough to create one for sending and one for receiving, if
75900030f0c3 Improved VoE docs.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1118
 * both can be done simultaneously.
75900030f0c3 Improved VoE docs.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1119
 *
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1120
 * 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
  1121
 * released.
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1122
 */
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1123
ec_voe_handler_t *ecrt_slave_config_create_voe_handler(
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1124
        ec_slave_config_t *sc, /**< Slave configuration. */
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1125
        size_t size /**< Data size to reserve. */
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1126
        );
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1127
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1128
/** 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
  1129
 *
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1130
 * 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
  1131
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1132
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
  1133
        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
  1134
        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
  1135
        );
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 288
diff changeset
  1136
199
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
 * Domain methods
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1139
 *****************************************************************************/
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1140
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1141
/** Registers a bunch of PDO entries for a domain.
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1142
 *
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1143
 * \todo doc
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1144
 * \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
  1145
 *            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
  1146
 * \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
  1147
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1148
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
  1149
        ec_domain_t *domain, /**< Domain. */
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1150
        const ec_pdo_entry_reg_t *pdo_entry_regs /**< Array of PDO
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1151
                                                   registrations. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1152
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1153
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1257
diff changeset
  1154
#ifdef __KERNEL__
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1257
diff changeset
  1155
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1156
/** 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
  1157
 *
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1158
 * \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
  1159
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1160
size_t ecrt_domain_size(
1257
9844ac126275 Made ecrt_domain_size() const.
Florian Pose <fp@igh-essen.com>
parents: 1256
diff changeset
  1161
        const ec_domain_t *domain /**< Domain. */
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1162
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1163
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
  1164
/** Provide external memory to store the domain's process data.
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
  1165
 *
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1166
 * Call this after all PDO entries have been registered and before activating
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
  1167
 * the master.
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
  1168
 *
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
  1169
 * The size of the allocated memory must be at least ecrt_domain_size(), after
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1170
 * all PDO entries have been registered.
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
  1171
 */
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
  1172
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
  1173
        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
  1174
        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
  1175
                          data in. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1176
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1177
1248
3cc16b60a571 External memory only in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1178
#endif /* __KERNEL__ */
3cc16b60a571 External memory only in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1179
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
  1180
/** Returns the domain's process data.
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
  1181
 *
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1257
diff changeset
  1182
 * - In kernel context: If external memory was provided with
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1257
diff changeset
  1183
 * ecrt_domain_external_memory(), the returned pointer will contain the
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1257
diff changeset
  1184
 * address of that memory. Otherwise it will point to the internally allocated
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1257
diff changeset
  1185
 * memory. In the latter case, this method may not be called before
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1257
diff changeset
  1186
 * ecrt_master_activate().
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1257
diff changeset
  1187
 *
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1257
diff changeset
  1188
 * - In userspace context: This method has to be called after
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1257
diff changeset
  1189
 * ecrt_master_activate() to get the mapped domain process data memory.
1256
45fe0af4340b Warning.
Florian Pose <fp@igh-essen.com>
parents: 1254
diff changeset
  1190
 *
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
  1191
 * \return Pointer to the process data memory.
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
  1192
 */
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
  1193
uint8_t *ecrt_domain_data(
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
  1194
        ec_domain_t *domain /**< Domain. */
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
  1195
        );
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
  1196
886
ee1b25db1fbf Added a few docs.
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
  1197
/** Determines the states of the domain's datagrams.
ee1b25db1fbf Added a few docs.
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
  1198
 *
ee1b25db1fbf Added a few docs.
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
  1199
 * 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
  1200
 * 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
  1201
 * 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
  1202
 * 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
  1203
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1204
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
  1205
        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
  1206
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1207
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1208
/** (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
  1209
 *
886
ee1b25db1fbf Added a few docs.
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
  1210
 * 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
  1211
 * 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
  1212
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1213
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
  1214
        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
  1215
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1216
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1217
/** 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
  1218
 *
886
ee1b25db1fbf Added a few docs.
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
  1219
 * 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
  1220
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1221
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
  1222
        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
  1223
        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
  1224
                                   information. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1225
        );
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
  1226
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1227
/*****************************************************************************
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1228
 * SDO request methods.
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1229
 ****************************************************************************/
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1230
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1231
/** Set the timeout for an SDO request.
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1232
 *
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1233
 * 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
  1234
 * as failed.
1113
4d720feb915d Updated doc.
Florian Pose <fp@igh-essen.com>
parents: 1104
diff changeset
  1235
 *
4d720feb915d Updated doc.
Florian Pose <fp@igh-essen.com>
parents: 1104
diff changeset
  1236
 * 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
  1237
 * the next call of this method.
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1238
 */
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1239
void ecrt_sdo_request_timeout(
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1240
        ec_sdo_request_t *req, /**< SDO request. */
880
f6212c54a5e3 Implemented Sdo timeout.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1241
        uint32_t timeout /**< Timeout in milliseconds. Zero means no
f6212c54a5e3 Implemented Sdo timeout.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1242
                           timeout. */
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1243
        );
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1244
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1245
/** Access to the SDO request's data.
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1246
 *
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1247
 * This function returns a pointer to the request's internal SDO data memory.
868
aaf175ef0171 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 864
diff changeset
  1248
 *
aaf175ef0171 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 864
diff changeset
  1249
 * - 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
  1250
 *   the EC_READ_*() macros as usual. Example:
aaf175ef0171 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 864
diff changeset
  1251
 *   \code
aaf175ef0171 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 864
diff changeset
  1252
 *   uint16_t value = EC_READ_U16(ecrt_sdo_request_data(sdo)));
aaf175ef0171 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 864
diff changeset
  1253
 *   \endcode
aaf175ef0171 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 864
diff changeset
  1254
 * - 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
  1255
 *   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
  1256
 *   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
  1257
 *   is a parameter of ecrt_slave_config_create_sdo_request().
aaf175ef0171 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 864
diff changeset
  1258
 *   \code
aaf175ef0171 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 864
diff changeset
  1259
 *   EC_WRITE_U16(ecrt_sdo_request_data(sdo), 0xFFFF);
aaf175ef0171 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 864
diff changeset
  1260
 *   \endcode
aaf175ef0171 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 864
diff changeset
  1261
 *
864
5b6992df2931 Updated docs.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
  1262
 * \attention The return value can be invalid during a read operation, because
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1263
 * the internal SDO data memory could be re-allocated if the read SDO data do
864
5b6992df2931 Updated docs.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
  1264
 * not fit inside.
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1265
 *
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1266
 * \return Pointer to the internal SDO data memory.
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1267
 */
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1268
uint8_t *ecrt_sdo_request_data(
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1269
        ec_sdo_request_t *req /**< SDO request. */
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1270
        );
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1271
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1272
/** Returns the current SDO data size.
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1273
 *
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1274
 * When the SDO request is created, the data size is set to the size of the
869
6c2f4130ed46 Added ecrt_sdo_request_data_size().
Florian Pose <fp@igh-essen.com>
parents: 868
diff changeset
  1275
 * 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
  1276
 * 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
  1277
 *
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1278
 * \return SDO data size in bytes.
869
6c2f4130ed46 Added ecrt_sdo_request_data_size().
Florian Pose <fp@igh-essen.com>
parents: 868
diff changeset
  1279
 */
6c2f4130ed46 Added ecrt_sdo_request_data_size().
Florian Pose <fp@igh-essen.com>
parents: 868
diff changeset
  1280
size_t ecrt_sdo_request_data_size(
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1281
        const ec_sdo_request_t *req /**< SDO request. */
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1282
        );
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1283
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1284
/** Get the current state of the SDO request.
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1285
 *
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1286
 * \return Request state.
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1287
 */
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1341
diff changeset
  1288
#ifdef __KERNEL__
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1289
ec_request_state_t ecrt_sdo_request_state(
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1341
diff changeset
  1290
        const ec_sdo_request_t *req /**< SDO request. */
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1291
    );
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1341
diff changeset
  1292
#else
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1341
diff changeset
  1293
ec_request_state_t ecrt_sdo_request_state(
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1341
diff changeset
  1294
        ec_sdo_request_t *req /**< SDO request. */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1341
diff changeset
  1295
    );
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1341
diff changeset
  1296
#endif
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1297
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1298
/** Schedule an SDO write operation.
864
5b6992df2931 Updated docs.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
  1299
 *
5b6992df2931 Updated docs.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
  1300
 * \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
  1301
 * returns EC_SDO_REQUEST_BUSY.
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1302
 */
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1303
void ecrt_sdo_request_write(
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1304
        ec_sdo_request_t *req /**< SDO request. */
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1305
        );
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1306
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1307
/** Schedule an SDO read operation.
864
5b6992df2931 Updated docs.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
  1308
 *
5b6992df2931 Updated docs.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
  1309
 * \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
  1310
 * returns EC_SDO_REQUEST_BUSY.
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1311
 *
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1312
 * \attention After calling this function, the return value of
864
5b6992df2931 Updated docs.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
  1313
 * ecrt_sdo_request_data() must be considered as invalid while
5b6992df2931 Updated docs.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
  1314
 * 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
  1315
 */
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1316
void ecrt_sdo_request_read(
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1317
        ec_sdo_request_t *req /**< SDO request. */
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1318
        );
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1319
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1320
/*****************************************************************************
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1321
 * VoE handler methods.
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1322
 ****************************************************************************/
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1323
1226
afb189516fcf Introduced ecrt_voe_handler_received_header(); renamed
Florian Pose <fp@igh-essen.com>
parents: 1218
diff changeset
  1324
/** Sets the VoE header for future send operations.
1218
6f3a973fc29e Introduced VoE header.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
  1325
 *
6f3a973fc29e Introduced VoE header.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
  1326
 * A VoE message shall contain a 4-byte vendor ID, followed by a 2-byte vendor
1267
75900030f0c3 Improved VoE docs.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1327
 * type at as header. These numbers can be set with this function. The values
75900030f0c3 Improved VoE docs.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1328
 * are valid and will be used for future send operations until the next call
75900030f0c3 Improved VoE docs.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1329
 * of this method.
1218
6f3a973fc29e Introduced VoE header.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
  1330
 */
1226
afb189516fcf Introduced ecrt_voe_handler_received_header(); renamed
Florian Pose <fp@igh-essen.com>
parents: 1218
diff changeset
  1331
void ecrt_voe_handler_send_header(
1218
6f3a973fc29e Introduced VoE header.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
  1332
        ec_voe_handler_t *voe, /**< VoE handler. */
6f3a973fc29e Introduced VoE header.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
  1333
        uint32_t vendor_id, /**< Vendor ID. */
6f3a973fc29e Introduced VoE header.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
  1334
        uint16_t vendor_type /**< Vendor-specific type. */
6f3a973fc29e Introduced VoE header.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
  1335
        );
6f3a973fc29e Introduced VoE header.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
  1336
1226
afb189516fcf Introduced ecrt_voe_handler_received_header(); renamed
Florian Pose <fp@igh-essen.com>
parents: 1218
diff changeset
  1337
/** 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
  1338
 *
1267
75900030f0c3 Improved VoE docs.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1339
 * This method can be used to get the received VoE header information after a
75900030f0c3 Improved VoE docs.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1340
 * read operation has succeeded.
1226
afb189516fcf Introduced ecrt_voe_handler_received_header(); renamed
Florian Pose <fp@igh-essen.com>
parents: 1218
diff changeset
  1341
 *
afb189516fcf Introduced ecrt_voe_handler_received_header(); renamed
Florian Pose <fp@igh-essen.com>
parents: 1218
diff changeset
  1342
 * 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
  1343
 * parameters.
afb189516fcf Introduced ecrt_voe_handler_received_header(); renamed
Florian Pose <fp@igh-essen.com>
parents: 1218
diff changeset
  1344
 */
afb189516fcf Introduced ecrt_voe_handler_received_header(); renamed
Florian Pose <fp@igh-essen.com>
parents: 1218
diff changeset
  1345
void ecrt_voe_handler_received_header(
afb189516fcf Introduced ecrt_voe_handler_received_header(); renamed
Florian Pose <fp@igh-essen.com>
parents: 1218
diff changeset
  1346
        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
  1347
        uint32_t *vendor_id, /**< Vendor ID. */
afb189516fcf Introduced ecrt_voe_handler_received_header(); renamed
Florian Pose <fp@igh-essen.com>
parents: 1218
diff changeset
  1348
        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
  1349
        );
afb189516fcf Introduced ecrt_voe_handler_received_header(); renamed
Florian Pose <fp@igh-essen.com>
parents: 1218
diff changeset
  1350
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1351
/** Access to the VoE handler's data.
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1352
 *
1267
75900030f0c3 Improved VoE docs.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1353
 * This function returns a pointer to the VoE handler's internal memory, that
75900030f0c3 Improved VoE docs.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1354
 * points to the actual VoE data right after the VoE header (see
75900030f0c3 Improved VoE docs.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1355
 * ecrt_voe_handler_send_header()).
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1356
 *
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1357
 * - 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
  1358
 *   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
  1359
 *   ecrt_voe_handler_data_size().
1267
75900030f0c3 Improved VoE docs.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1360
 * - Before a write operation is triggered, the data have to be written to the
75900030f0c3 Improved VoE docs.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1361
 *   internal memory. Be sure, that the data fit into the memory. The reserved
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1362
 *   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
  1363
 *
1267
75900030f0c3 Improved VoE docs.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1364
 * \attention The returned pointer is not necessarily persistent: After a read
75900030f0c3 Improved VoE docs.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1365
 * operation, the internal memory may have been reallocated. This can be
75900030f0c3 Improved VoE docs.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1366
 * avoided by reserving enough memory via the \a size parameter of
75900030f0c3 Improved VoE docs.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1367
 * ecrt_slave_config_create_voe_handler().
75900030f0c3 Improved VoE docs.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1368
 *
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1369
 * \return Pointer to the internal memory.
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1370
 */
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1371
uint8_t *ecrt_voe_handler_data(
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1372
        ec_voe_handler_t *voe /**< VoE handler. */
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1373
        );
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1374
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1375
/** Returns the current data size.
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1376
 *
1218
6f3a973fc29e Introduced VoE header.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
  1377
 * 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
  1378
 * ecrt_voe_handler_send_header()).
1218
6f3a973fc29e Introduced VoE header.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
  1379
 *
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1380
 * 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
  1381
 * 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
  1382
 * 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
  1383
 * 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
  1384
 *
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1385
 * \return Data size in bytes.
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1386
 */
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1387
size_t ecrt_voe_handler_data_size(
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1388
        const ec_voe_handler_t *voe /**< VoE handler. */
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1389
        );
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1390
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1391
/** Start a VoE write operation.
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1392
 *
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1393
 * 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
  1394
 * 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
  1395
 * 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
  1396
 */
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1397
void ecrt_voe_handler_write(
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1398
        ec_voe_handler_t *voe, /**< VoE handler. */
1218
6f3a973fc29e Introduced VoE header.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
  1399
        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
  1400
        );
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1401
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1402
/** Start a VoE read operation.
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1403
 *
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1404
 * 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
  1405
 * 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
  1406
 * 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
  1407
 *
1267
75900030f0c3 Improved VoE docs.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1408
 * The state machine queries the slave's send mailbox for new data to be send
75900030f0c3 Improved VoE docs.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1409
 * to the master. If no data appear within the EC_VOE_RESPONSE_TIMEOUT
75900030f0c3 Improved VoE docs.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1410
 * (defined in master/voe_handler.c), the operation fails.
75900030f0c3 Improved VoE docs.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1411
 *
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1412
 * 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
  1413
 * 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
  1414
 * can be retrieved with ecrt_voe_handler_received_header().
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1415
 */
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1416
void ecrt_voe_handler_read(
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1417
        ec_voe_handler_t *voe /**< VoE handler. */
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1418
        );
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1419
1314
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  1420
/** Start a VoE read operation without querying the sync manager status.
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  1421
 *
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  1422
 * After this function has been called, the ecrt_voe_handler_execute() method
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  1423
 * must be called in every bus cycle as long as it returns EC_REQUEST_BUSY. No
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  1424
 * other operation may be started while the handler is busy.
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  1425
 *
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  1426
 * The state machine queries the slave by sending an empty mailbox. The slave
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  1427
 * fills its data to the master in this mailbox. If no data appear within the
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  1428
 * EC_VOE_RESPONSE_TIMEOUT (defined in master/voe_handler.c), the operation
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  1429
 * fails.
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  1430
 *
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  1431
 * On success, the size of the read data can be determined via
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  1432
 * ecrt_voe_handler_data_size(), while the VoE header of the received data
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  1433
 * can be retrieved with ecrt_voe_handler_received_header().
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  1434
 */
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  1435
void ecrt_voe_handler_read_nosync(
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  1436
        ec_voe_handler_t *voe /**< VoE handler. */
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  1437
        );
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  1438
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1439
/** Execute the handler.
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1440
 *
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1441
 * 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
  1442
 * as long as it returns EC_REQUEST_BUSY.
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1443
 *
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1444
 * \return Handler state.
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1445
 */
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1446
ec_request_state_t ecrt_voe_handler_execute(
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1447
    ec_voe_handler_t *voe /**< VoE handler. */
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1448
    );
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1449
1288
bf0d42ca5aec Wrapped c function in 'extern "C"' to make the library usable in C++
Florian Pose <fp@igh-essen.com>
parents: 1287
diff changeset
  1450
/*****************************************************************************/
bf0d42ca5aec Wrapped c function in 'extern "C"' to make the library usable in C++
Florian Pose <fp@igh-essen.com>
parents: 1287
diff changeset
  1451
bf0d42ca5aec Wrapped c function in 'extern "C"' to make the library usable in C++
Florian Pose <fp@igh-essen.com>
parents: 1287
diff changeset
  1452
#ifdef __cplusplus
bf0d42ca5aec Wrapped c function in 'extern "C"' to make the library usable in C++
Florian Pose <fp@igh-essen.com>
parents: 1287
diff changeset
  1453
}
bf0d42ca5aec Wrapped c function in 'extern "C"' to make the library usable in C++
Florian Pose <fp@igh-essen.com>
parents: 1287
diff changeset
  1454
#endif
bf0d42ca5aec Wrapped c function in 'extern "C"' to make the library usable in C++
Florian Pose <fp@igh-essen.com>
parents: 1287
diff changeset
  1455
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1456
/******************************************************************************
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1457
 * Bitwise read/write macros
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1458
 *****************************************************************************/
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1459
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1460
/** 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
  1461
 *
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
  1462
 * \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
  1463
 * \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
  1464
 */
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1465
#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
  1466
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1467
/** 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
  1468
 *
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
  1469
 * \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
  1470
 * \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
  1471
 * \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
  1472
 */
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1473
#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
  1474
    do { \
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1475
        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
  1476
        else     *((uint8_t *) (DATA)) &= ~(1 << (POS)); \
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1477
    } while (0)
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1478
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1479
/******************************************************************************
1254
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1480
 * Byte-swapping functions for user space
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1481
 *****************************************************************************/
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1482
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1483
#ifndef __KERNEL__
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1484
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1485
#if __BYTE_ORDER == __LITTLE_ENDIAN
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1486
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1487
#define le16_to_cpu(x) x
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1488
#define le32_to_cpu(x) x
1384
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1489
#define le64_to_cpu(x) x
1254
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1490
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1491
#define cpu_to_le16(x) x
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1492
#define cpu_to_le32(x) x
1384
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1493
#define cpu_to_le64(x) x
1254
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1494
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1495
#elif __BYTE_ORDER == __BIG_ENDIAN
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1496
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1497
#define swap16(x) \
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1498
        ((uint16_t)( \
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1499
        (((uint16_t)(x) & 0x00ffU) << 8) | \
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1500
        (((uint16_t)(x) & 0xff00U) >> 8) ))
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1501
#define swap32(x) \
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1502
        ((uint32_t)( \
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1503
        (((uint32_t)(x) & 0x000000ffUL) << 24) | \
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1504
        (((uint32_t)(x) & 0x0000ff00UL) <<  8) | \
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1505
        (((uint32_t)(x) & 0x00ff0000UL) >>  8) | \
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1506
        (((uint32_t)(x) & 0xff000000UL) >> 24) ))
1384
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1507
#define swap64(x) \
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1508
        ((uint64_t)( \
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1509
        (((uint64_t)(x) & 0x00000000000000ffULL) << 56) | \
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1510
        (((uint64_t)(x) & 0x000000000000ff00ULL) << 40) | \
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1511
        (((uint64_t)(x) & 0x0000000000ff0000ULL) << 24) | \
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1512
        (((uint64_t)(x) & 0x00000000ff000000ULL) <<  8) | \
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1513
        (((uint64_t)(x) & 0x000000ff00000000ULL) >>  8) | \
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1514
        (((uint64_t)(x) & 0x0000ff0000000000ULL) >> 24) | \
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1515
        (((uint64_t)(x) & 0x00ff000000000000ULL) >> 40) | \
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1516
        (((uint64_t)(x) & 0xff00000000000000ULL) >> 56) ))
1254
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1517
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1518
#define le16_to_cpu(x) swap16(x)
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1519
#define le32_to_cpu(x) swap32(x)
1384
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1520
#define le64_to_cpu(x) swap64(x)
1254
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1521
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1522
#define cpu_to_le16(x) swap16(x)
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1523
#define cpu_to_le32(x) swap32(x)
1384
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1524
#define cpu_to_le64(x) swap64(x)
1254
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1525
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1526
#endif
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1527
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1528
#define le16_to_cpup(x) le16_to_cpu(*((uint16_t *)(x)))
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1529
#define le32_to_cpup(x) le32_to_cpu(*((uint32_t *)(x)))
1384
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1530
#define le64_to_cpup(x) le64_to_cpu(*((uint64_t *)(x)))
1254
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1531
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1532
#endif /* ifndef __KERNEL__ */
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1533
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  1534
/******************************************************************************
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1535
 * Read macros
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1536
 *****************************************************************************/
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1537
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1538
/** 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
  1539
 *
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1540
 * \return EtherCAT data value
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1541
 */
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1542
#define EC_READ_U8(DATA) \
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1543
    ((uint8_t) *((uint8_t *) (DATA)))
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1544
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1545
/** 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
  1546
 *
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1547
 * \param DATA EtherCAT data pointer
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1548
 * \return EtherCAT data value
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1549
 */
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1550
#define EC_READ_S8(DATA) \
288
89d3c61ef3e6 Minor changes to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 286
diff changeset
  1551
     ((int8_t) *((uint8_t *) (DATA)))
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1552
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1553
/** 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
  1554
 *
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1555
 * \param DATA EtherCAT data pointer
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1556
 * \return EtherCAT data value
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1557
 */
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1558
#define EC_READ_U16(DATA) \
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1559
     ((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
  1560
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1561
/** 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
  1562
 *
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1563
 * \param DATA EtherCAT data pointer
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1564
 * \return EtherCAT data value
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1565
 */
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1566
#define EC_READ_S16(DATA) \
288
89d3c61ef3e6 Minor changes to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 286
diff changeset
  1567
     ((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
  1568
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1569
/** 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
  1570
 *
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1571
 * \param DATA EtherCAT data pointer
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1572
 * \return EtherCAT data value
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1573
 */
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1574
#define EC_READ_U32(DATA) \
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1575
     ((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
  1576
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1577
/** 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
  1578
 *
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1579
 * \param DATA EtherCAT data pointer
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1580
 * \return EtherCAT data value
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1581
 */
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1582
#define EC_READ_S32(DATA) \
288
89d3c61ef3e6 Minor changes to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 286
diff changeset
  1583
     ((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
  1584
1384
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1585
/** Read a 64-bit unsigned value from EtherCAT data.
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1586
 *
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1587
 * \param DATA EtherCAT data pointer
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1588
 * \return EtherCAT data value
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1589
 */
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1590
#define EC_READ_U64(DATA) \
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1591
     ((uint64_t) le64_to_cpup((void *) (DATA)))
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1592
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1593
/** Read a 64-bit signed value from EtherCAT data.
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1594
 *
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1595
 * \param DATA EtherCAT data pointer
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1596
 * \return EtherCAT data value
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1597
 */
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1598
#define EC_READ_S64(DATA) \
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1599
     ((int64_t) le64_to_cpup((void *) (DATA)))
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1600
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1601
/******************************************************************************
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1602
 * Write macros
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1603
 *****************************************************************************/
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1604
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1605
/** 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
  1606
 *
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1607
 * \param DATA EtherCAT data pointer
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1608
 * \param VAL new value
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1609
 */
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1610
#define EC_WRITE_U8(DATA, VAL) \
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1611
    do { \
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1612
        *((uint8_t *)(DATA)) = ((uint8_t) (VAL)); \
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1613
    } while (0)
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1614
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1615
/** 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
  1616
 *
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1617
 * \param DATA EtherCAT data pointer
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1618
 * \param VAL new value
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1619
 */
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1620
#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
  1621
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1622
/** 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
  1623
 *
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1624
 * \param DATA EtherCAT data pointer
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1625
 * \param VAL new value
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1626
 */
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1627
#define EC_WRITE_U16(DATA, VAL) \
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1628
    do { \
894
440c43d56b33 Improved EC_WRITE macros by replacing in-situ conversions
Florian Pose <fp@igh-essen.com>
parents: 893
diff changeset
  1629
        *((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
  1630
    } while (0)
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1631
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1632
/** 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
  1633
 *
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1634
 * \param DATA EtherCAT data pointer
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1635
 * \param VAL new value
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1636
 */
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1637
#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
  1638
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1639
/** 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
  1640
 *
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1641
 * \param DATA EtherCAT data pointer
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1642
 * \param VAL new value
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1643
 */
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1644
#define EC_WRITE_U32(DATA, VAL) \
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1645
    do { \
894
440c43d56b33 Improved EC_WRITE macros by replacing in-situ conversions
Florian Pose <fp@igh-essen.com>
parents: 893
diff changeset
  1646
        *((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
  1647
    } while (0)
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1648
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1649
/** 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
  1650
 *
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1651
 * \param DATA EtherCAT data pointer
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1652
 * \param VAL new value
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1653
 */
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1654
#define EC_WRITE_S32(DATA, VAL) EC_WRITE_U32(DATA, VAL)
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1655
1384
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1656
/** Write a 64-bit unsigned value to EtherCAT data.
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1657
 *
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1658
 * \param DATA EtherCAT data pointer
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1659
 * \param VAL new value
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1660
 */
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1661
#define EC_WRITE_U64(DATA, VAL) \
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1662
    do { \
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1663
        *((uint64_t *) (DATA)) = cpu_to_le64((uint64_t) (VAL)); \
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1664
    } while (0)
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1665
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1666
/** Write a 64-bit signed value to EtherCAT data.
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1667
 *
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1668
 * \param DATA EtherCAT data pointer
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1669
 * \param VAL new value
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1670
 */
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1671
#define EC_WRITE_S64(DATA, VAL) EC_WRITE_U64(DATA, VAL)
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  1672
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1673
/*****************************************************************************/
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1674
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1675
/** @} */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1676
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1677
#endif