1

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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH

     6

 *

     7

 *  This file is part of the IgH EtherCAT Master.

     8

 *

     9

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

    10

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

    11

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

    12

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

    13

 *

    14

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

    15

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

    16

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    17

 *  GNU General Public License for more details.

    18

 *

    19

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

    20

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

    21

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

    22

 *

    23

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

    24

 *  charge under condition of compatibility of product made by

    25

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

    26

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

    27

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

    28

 *  EtherCAT specification (which are released themselves as an open

    29

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

    30

 *  Technology, IP and trade marks.

    31

 *

    32

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

    33

    34

/**

    35

   \file

    36

   EtherCAT realtime interface.

    37

*/

    38

    39

/**

    40

   \defgroup RealtimeInterface EtherCAT realtime interface

    41

   EtherCAT interface for realtime modules.

    42

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

    43

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

    44

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

    45

*/

    46

    47

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

    48

    49

#ifndef __ECRT_H__

    50

#define __ECRT_H__

    51

    52

#include <asm/byteorder.h>

    53

    54

#ifdef __KERNEL__

    55

#include <linux/types.h>

    56

#else

    57

#include <stdint.h>

    58

#endif

    59

    60

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

    61

    62

struct ec_master;

    63

typedef struct ec_master ec_master_t; /**< \see ec_master */

    64

    65

struct ec_domain;

    66

typedef struct ec_domain ec_domain_t; /**< \see ec_domain */

    67

    68

struct ec_slave;

    69

typedef struct ec_slave ec_slave_t; /**< \see ec_slave */

    70

    71

/**

    72

   Initialization type for PDO registrations.

    73

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

    74

   function.

    75

*/

    76

    77

typedef struct

    78

{

    79

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

    80

                                  ecrt_master_get_slave()) */

    81

    uint32_t vendor_id; /**< vendor ID */

    82

    uint32_t product_code; /**< product code */

    83

    uint16_t pdo_index; /**< PDO index */

    84

    uint8_t pdo_subindex; /**< PDO subindex */

    85

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

    86

}

    87

ec_pdo_reg_t;

    88

    89

/**

    90

   Direction type for ec_domain_register_pdo_range()

    91

*/

    92

    93

typedef enum {EC_DIR_INPUT, EC_DIR_OUTPUT} ec_direction_t;

    94

    95

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

    96

 *  Master request functions

    97

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

    98

    99

ec_master_t *ecrt_request_master(unsigned int master_index);

   100

void ecrt_release_master(ec_master_t *master);

   101

   102

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

   103

 *  Master methods

   104

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

   105

   106

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

   107

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

   108

   109

ec_domain_t *ecrt_master_create_domain(ec_master_t *master);

   110

   111

int ecrt_master_activate(ec_master_t *master);

   112

void ecrt_master_deactivate(ec_master_t *master); // deprecated!

   113

   114

void ecrt_master_prepare(ec_master_t *master);

   115

   116

void ecrt_master_send(ec_master_t *master);

   117

void ecrt_master_receive(ec_master_t *master);

   118

   119

void ecrt_master_run(ec_master_t *master);

   120

   121

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

   122

   123

/** \cond */

   124

int ecrt_master_state(const ec_master_t *master);

   125

/** \endcond */

   126

   127

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

   128

 *  Domain Methods

   129

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

   130

   131

ec_slave_t *ecrt_domain_register_pdo(ec_domain_t *domain,

   132

                                     const char *address,

   133

                                     uint32_t vendor_id,

   134

                                     uint32_t product_code,

   135

                                     uint16_t pdo_index,

   136

                                     uint8_t pdo_subindex,

   137

                                     void **data_ptr);

   138

   139

int ecrt_domain_register_pdo_list(ec_domain_t *domain,

   140

                                  const ec_pdo_reg_t *pdos);

   141

   142

ec_slave_t *ecrt_domain_register_pdo_range(ec_domain_t *domain,

   143

                                           const char *address,

   144

                                           uint32_t vendor_id,

   145

                                           uint32_t product_code,

   146

                                           ec_direction_t direction,

   147

                                           uint16_t offset,

   148

                                           uint16_t length,

   149

                                           void **data_ptr);

   150

   151

void ecrt_domain_process(ec_domain_t *domain);

   152

int ecrt_domain_state(const ec_domain_t *domain);

   153

   154

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

   155

 *  Slave Methods

   156

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

   157

   158

int ecrt_slave_conf_sdo8(ec_slave_t *slave, uint16_t sdo_index,

   159

                         uint8_t sdo_subindex, uint8_t value);

   160

int ecrt_slave_conf_sdo16(ec_slave_t *slave, uint16_t sdo_index,

   161

                          uint8_t sdo_subindex, uint16_t value);

   162

int ecrt_slave_conf_sdo32(ec_slave_t *slave, uint16_t sdo_index,

   163

                          uint8_t sdo_subindex, uint32_t value);

   164

   165

int ecrt_slave_pdo_size(ec_slave_t *slave, uint16_t pdo_index,

   166

                        uint8_t pdo_subindex, size_t size); // deprecated

   167

   168

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

   169

 *  Bitwise read/write macros

   170

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

   171

   172

/**

   173

   Read a certain bit of an EtherCAT data byte.

   174

   \param DATA EtherCAT data pointer

   175

   \param POS bit position

   176

*/

   177

   178

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

   179

   180

/**

   181

   Write a certain bit of an EtherCAT data byte.

   182

   \param DATA EtherCAT data pointer

   183

   \param POS bit position

   184

   \param VAL new bit value

   185

*/

   186

   187

#define EC_WRITE_BIT(DATA, POS, VAL) \

   188

    do { \

   189

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

   190

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

   191

    } while (0)

   192

   193

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

   194

 *  Read macros

   195

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

   196

   197

/**

   198

   Read an 8-bit unsigned value from EtherCAT data.

   199

   \return EtherCAT data value

   200

*/

   201

   202

#define EC_READ_U8(DATA) \

   203

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

   204

   205

/**

   206

   Read an 8-bit signed value from EtherCAT data.

   207

   \param DATA EtherCAT data pointer

   208

   \return EtherCAT data value

   209

*/

   210

   211

#define EC_READ_S8(DATA) \

   212

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

   213

   214

/**

   215

   Read a 16-bit unsigned value from EtherCAT data.

   216

   \param DATA EtherCAT data pointer

   217

   \return EtherCAT data value

   218

*/

   219

   220

#define EC_READ_U16(DATA) \

   221

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

   222

   223

/**

   224

   Read a 16-bit signed value from EtherCAT data.

   225

   \param DATA EtherCAT data pointer

   226

   \return EtherCAT data value

   227

*/

   228

   229

#define EC_READ_S16(DATA) \

   230

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

   231

   232

/**

   233

   Read a 32-bit unsigned value from EtherCAT data.

   234

   \param DATA EtherCAT data pointer

   235

   \return EtherCAT data value

   236

*/

   237

   238

#define EC_READ_U32(DATA) \

   239

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

   240

   241

/**

   242

   Read a 32-bit signed value from EtherCAT data.

   243

   \param DATA EtherCAT data pointer

   244

   \return EtherCAT data value

   245

*/

   246

   247

#define EC_READ_S32(DATA) \

   248

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

   249

   250

   251

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

   252

 *  Write macros

   253

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

   254

   255

/**

   256

   Write an 8-bit unsigned value to EtherCAT data.

   257

   \param DATA EtherCAT data pointer

   258

   \param VAL new value

   259

*/

   260

   261

#define EC_WRITE_U8(DATA, VAL) \

   262

    do { \

   263

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

   264

    } while (0)

   265

   266

/**

   267

   Write an 8-bit signed value to EtherCAT data.

   268

   \param DATA EtherCAT data pointer

   269

   \param VAL new value

   270

*/

   271

   272

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

   273

   274

/**

   275

   Write a 16-bit unsigned value to EtherCAT data.

   276

   \param DATA EtherCAT data pointer

   277

   \param VAL new value

   278

*/

   279

   280

#define EC_WRITE_U16(DATA, VAL) \

   281

    do { \

   282

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

   283

        cpu_to_le16s(DATA); \

   284

    } while (0)

   285

   286

/**

   287

   Write a 16-bit signed value to EtherCAT data.

   288

   \param DATA EtherCAT data pointer

   289

   \param VAL new value

   290

*/

   291

   292

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

   293

   294

/**

   295

   Write a 32-bit unsigned value to EtherCAT data.

   296

   \param DATA EtherCAT data pointer

   297

   \param VAL new value

   298

*/

   299

   300

#define EC_WRITE_U32(DATA, VAL) \

   301

    do { \

   302

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

   303

        cpu_to_le16s(DATA); \

   304

    } while (0)

   305

   306

/**

   307

   Write a 32-bit signed value to EtherCAT data.

   308

   \param DATA EtherCAT data pointer

   309

   \param VAL new value

   310

*/

   311

   312

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

   313

   314

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

   315

   316

#endif