include/ecrt.h
author Patrick Bruenn <p.bruenn@beckhoff.com>
Tue, 12 Apr 2016 11:17:36 +0200
branchstable-1.5
changeset 2654 b3f6b3e5ef29
parent 2524 6d9865c37b6f
permissions -rw-r--r--
devices/ccat: revert "limit rx processing to one frame per poll"

revert "limit rx processing to one frame per poll", which caused etherlab
frame timeouts in setups with more than one frame per cycle.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006-2012  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT master userspace library.
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 *
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 *  The IgH EtherCAT master userspace library is free software; you can
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 *  redistribute it and/or modify it under the terms of the GNU Lesser General
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 *  Public License as published by the Free Software Foundation; version 2.1
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 *  of the License.
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 *
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 *  The IgH EtherCAT master userspace library is distributed in the hope that
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 *  it will be useful, but WITHOUT ANY WARRANTY; without even the implied
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 *  warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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 *  GNU Lesser General Public License for more details.
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 *
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 *  You should have received a copy of the GNU Lesser General Public License
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 *  along with the IgH EtherCAT master userspace library. If not, see
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 *  <http://www.gnu.org/licenses/>.
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 *
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 *  ---
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 *
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 *  The license mentioned above concerns the source code only. Using the
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 *  EtherCAT technology and brand is only permitted in compliance with the
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 *  industrial property and similar rights of Beckhoff Automation GmbH.
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 *
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 *****************************************************************************/
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/** \file
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 *
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 * EtherCAT master application interface.
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 *
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 * \defgroup ApplicationInterface EtherCAT Application Interface
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 *
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 * EtherCAT interface for realtime applications. This interface is designed
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 * for realtime modules that want to use EtherCAT. There are functions to
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 * request a master, to map process data, to communicate with slaves via CoE
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 * and to configure and activate the bus.
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 *
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 * Changes in version 1.5.2:
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 *
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 * - Added redundancy_active flag to ec_domain_state_t.
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 * - Added ecrt_master_link_state() method and ec_master_link_state_t to query
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 *   the state of a redundant link.
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 * - Added the EC_HAVE_REDUNDANCY define, to check, if the interface contains
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 *   redundancy features.
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 * - Added ecrt_sdo_request_index() to change SDO index and subindex after
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 *   handler creation.
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 * - Added interface for retrieving CoE emergency messages, i. e.
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 *   ecrt_slave_config_emerg_size(), ecrt_slave_config_emerg_pop(),
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 *   ecrt_slave_config_emerg_clear(), ecrt_slave_config_emerg_overruns() and
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 *   the defines EC_HAVE_EMERGENCY and EC_COE_EMERGENCY_MSG_SIZE.
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 * - Added interface for direct EtherCAT register access: Added data type
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 *   ec_reg_request_t and methods ecrt_slave_config_create_reg_request(),
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 *   ecrt_reg_request_data(), ecrt_reg_request_state(),
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 *   ecrt_reg_request_write(), ecrt_reg_request_read() and the feature flag
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 *   EC_HAVE_REG_ACCESS.
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 * - Added method to select the reference clock,
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 *   ecrt_master_select_reference_clock() and the feature flag
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 *   EC_HAVE_SELECT_REF_CLOCK to check, if the method is available.
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 * - Added method to get the reference clock time,
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 *   ecrt_master_reference_clock_time() and the feature flag
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 *   EC_HAVE_REF_CLOCK_TIME to have the possibility to synchronize the master
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 *   clock to the reference clock.
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 * - Changed the data types of the shift times in ecrt_slave_config_dc() to
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 *   int32_t to correctly display negative shift times.
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 * - Added ecrt_slave_config_reg_pdo_entry_pos() and the feature flag
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 *   EC_HAVE_REG_BY_POS for registering PDO entries with non-unique indices
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 *   via their positions in the mapping.
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 *
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 * Changes in version 1.5:
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 *
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 * - Added the distributed clocks feature and the respective method
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 *   ecrt_slave_config_dc() to configure a slave for cyclic operation, and
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 *   ecrt_master_application_time(), ecrt_master_sync_reference_clock() and
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 *   ecrt_master_sync_slave_clocks() for offset and drift compensation. The
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 *   EC_TIMEVAL2NANO() macro can be used for epoch time conversion, while the
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 *   ecrt_master_sync_monitor_queue() and ecrt_master_sync_monitor_process()
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 *   methods can be used to monitor the synchrony.
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 * - Improved the callback mechanism. ecrt_master_callbacks() now takes two
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 *   callback functions for sending and receiving datagrams.
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 *   ecrt_master_send_ext() is used to execute the sending of non-application
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 *   datagrams.
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 * - Added watchdog configuration (method ecrt_slave_config_watchdog(),
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 *   #ec_watchdog_mode_t, \a watchdog_mode parameter in ec_sync_info_t and
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 *   ecrt_slave_config_sync_manager()).
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 * - Added ecrt_slave_config_complete_sdo() method to download an SDO during
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 *   configuration via CompleteAccess.
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 * - Added ecrt_master_deactivate() to remove the bus configuration.
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 * - Added ecrt_open_master() and ecrt_master_reserve() separation for
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 *   userspace.
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 * - Added bus information interface (methods ecrt_master(),
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 *   ecrt_master_get_slave(), ecrt_master_get_sync_manager(),
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 *   ecrt_master_get_pdo() and ecrt_master_get_pdo_entry()) to get information
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 *   about the currently connected slaves and the PDO entries provided.
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 * - Added ecrt_master_sdo_download(), ecrt_master_sdo_download_complete() and
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 *   ecrt_master_sdo_upload() methods to let an application transfer SDOs
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 *   before activating the master.
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 * - Changed the meaning of the negative return values of
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 *   ecrt_slave_config_reg_pdo_entry() and ecrt_slave_config_sdo*().
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 * - Implemented the Vendor-specific over EtherCAT mailbox protocol. See
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 *   ecrt_slave_config_create_voe_handler().
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 * - Renamed ec_sdo_request_state_t to #ec_request_state_t, because it is also
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 *   used by VoE handlers.
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 * - Removed 'const' from argument of ecrt_sdo_request_state(), because the
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 *   userspace library has to modify object internals.
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 * - Added 64-bit data access macros.
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 * - Added ecrt_slave_config_idn() method for storing SoE IDN configurations,
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 *   and ecrt_master_read_idn() and ecrt_master_write_idn() to read/write IDNs
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 *   ad-hoc via the user-space library.
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 * - Added ecrt_master_reset() to initiate retrying to configure slaves.
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 *
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 * @{
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 */
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04ecf40fc2e9 Doxygen added interface modules and file documentation.
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/*****************************************************************************/
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#ifndef __ECRT_H__
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#define __ECRT_H__
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#ifdef __KERNEL__
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#include <asm/byteorder.h>
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#include <linux/types.h>
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#include <linux/time.h>
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#else
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#include <stdlib.h> // for size_t
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#include <stdint.h>
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#include <sys/time.h> // for struct timeval
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#endif
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/******************************************************************************
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 * Global definitions
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 *****************************************************************************/
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/** EtherCAT realtime interface major version number.
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 */
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#define ECRT_VER_MAJOR 1
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/** EtherCAT realtime interface minor version number.
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 */
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#define ECRT_VER_MINOR 5
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/** EtherCAT realtime interface version word generator.
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 */
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#define ECRT_VERSION(a, b) (((a) << 8) + (b))
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/** EtherCAT realtime interface version word.
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 */
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#define ECRT_VERSION_MAGIC ECRT_VERSION(ECRT_VER_MAJOR, ECRT_VER_MINOR)
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/******************************************************************************
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 * Feature flags
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 *****************************************************************************/
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/** Defined, if the redundancy features are available.
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 *
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 * I. e. if the \a redundancy_active flag in ec_domain_state_t and the
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 * ecrt_master_link_state() method are available.
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 */
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#define EC_HAVE_REDUNDANCY
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/** Defined, if the CoE emergency ring feature is available.
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 *
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 * I. e. if the ecrt_slave_config_emerg_*() methods are available.
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 */
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#define EC_HAVE_EMERGENCY
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/** Defined, if the register access interface is available.
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 *
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 * I. e. if the methods ecrt_slave_config_create_reg_request(),
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 * ecrt_reg_request_data(), ecrt_reg_request_state(), ecrt_reg_request_write()
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 * and ecrt_reg_request_read() are available.
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 */
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#define EC_HAVE_REG_ACCESS
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/** Defined if the method ecrt_master_select_reference_clock() is available.
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 */
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#define EC_HAVE_SELECT_REF_CLOCK
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/** Defined if the method ecrt_master_reference_clock_time() is available.
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 */
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#define EC_HAVE_REF_CLOCK_TIME
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/** Defined if the method ecrt_slave_config_reg_pdo_entry_pos() is available.
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 */
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#define EC_HAVE_REG_BY_POS
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/*****************************************************************************/
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/** End of list marker.
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 *
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 * This can be used with ecrt_slave_config_pdos().
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 */
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#define EC_END ~0U
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/** Maximum number of sync managers per slave.
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 */
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#define EC_MAX_SYNC_MANAGERS 16
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/** Maximum string length.
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 *
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 * Used in ec_slave_info_t.
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 */
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#define EC_MAX_STRING_LENGTH 64
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/** Maximum number of slave ports. */
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#define EC_MAX_PORTS 4
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/** Timeval to nanoseconds conversion.
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 *
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 * This macro converts a Unix epoch time to EtherCAT DC time.
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 *
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 * \see void ecrt_master_application_time()
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 *
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 * \param TV struct timeval containing epoch time.
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 */
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#define EC_TIMEVAL2NANO(TV) \
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    (((TV).tv_sec - 946684800ULL) * 1000000000ULL + (TV).tv_usec * 1000ULL)
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/** Size of a CoE emergency message in byte.
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 *
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 * \see ecrt_slave_config_emerg_pop().
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 */
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#define EC_COE_EMERGENCY_MSG_SIZE 8
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/******************************************************************************
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 * Data types
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 *****************************************************************************/
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struct ec_master;
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typedef struct ec_master ec_master_t; /**< \see ec_master */
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struct ec_slave_config;
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typedef struct ec_slave_config ec_slave_config_t; /**< \see ec_slave_config */
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struct ec_domain;
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typedef struct ec_domain ec_domain_t; /**< \see ec_domain */
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struct ec_sdo_request;
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typedef struct ec_sdo_request ec_sdo_request_t; /**< \see ec_sdo_request. */
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struct ec_voe_handler;
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typedef struct ec_voe_handler ec_voe_handler_t; /**< \see ec_voe_handler. */
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struct ec_reg_request;
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typedef struct ec_reg_request ec_reg_request_t; /**< \see ec_sdo_request. */
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/*****************************************************************************/
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/** Master state.
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 *
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 * This is used for the output parameter of ecrt_master_state().
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 *
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 * \see ecrt_master_state().
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 */
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typedef struct {
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    unsigned int slaves_responding; /**< Sum of responding slaves on all
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                                      Ethernet devices. */
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    unsigned int al_states : 4; /**< Application-layer states of all slaves.
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                                  The states are coded in the lower 4 bits.
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                                  If a bit is set, it means that at least one
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                                  slave in the bus is in the corresponding
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                                  state:
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                                  - Bit 0: \a INIT
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                                  - Bit 1: \a PREOP
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                                  - Bit 2: \a SAFEOP
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                                  - Bit 3: \a OP */
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    unsigned int link_up : 1; /**< \a true, if at least one Ethernet link is
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                                up. */
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} ec_master_state_t;
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/*****************************************************************************/
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/** Redundant link state.
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 *
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 * This is used for the output parameter of ecrt_master_link_state().
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 *
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 * \see ecrt_master_link_state().
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 */
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typedef struct {
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    unsigned int slaves_responding; /**< Sum of responding slaves on the given
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                                      link. */
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    unsigned int al_states : 4; /**< Application-layer states of the slaves on
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                                  the given link.  The states are coded in the
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                                  lower 4 bits.  If a bit is set, it means
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                                  that at least one slave in the bus is in the
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                                  corresponding state:
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                                  - Bit 0: \a INIT
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                                  - Bit 1: \a PREOP
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                                  - Bit 2: \a SAFEOP
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                                  - Bit 3: \a OP */
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    unsigned int link_up : 1; /**< \a true, if the given Ethernet link is up.
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                               */
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} ec_master_link_state_t;
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/*****************************************************************************/
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/** Slave configuration state.
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 *
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 * This is used as an output parameter of ecrt_slave_config_state().
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 *
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 * \see ecrt_slave_config_state().
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 */
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typedef struct  {
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    unsigned int online : 1; /**< The slave is online. */
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    unsigned int operational : 1; /**< The slave was brought into \a OP state
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                                    using the specified configuration. */
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    unsigned int al_state : 4; /**< The application-layer state of the slave.
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                                 - 1: \a INIT
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                                 - 2: \a PREOP
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                                 - 4: \a SAFEOP
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                                 - 8: \a OP
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                                 Note that each state is coded in a different
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                                 bit! */
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} ec_slave_config_state_t;
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/*****************************************************************************/
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/** Master information.
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 *
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 * This is used as an output parameter of ecrt_master().
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 *
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 * \see ecrt_master().
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 */
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typedef struct {
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   unsigned int slave_count; /**< Number of slaves in the bus. */
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   unsigned int link_up : 1; /**< \a true, if the network link is up. */
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   uint8_t scan_busy; /**< \a true, while the master is scanning the bus */
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   uint64_t app_time; /**< Application time. */
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} ec_master_info_t;
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/*****************************************************************************/
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/** EtherCAT slave port descriptor.
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 */
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typedef enum {
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    EC_PORT_NOT_IMPLEMENTED, /**< Port is not implemented. */
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    EC_PORT_NOT_CONFIGURED, /**< Port is not configured. */
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    EC_PORT_EBUS, /**< Port is an E-Bus. */
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    EC_PORT_MII /**< Port is a MII. */
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} ec_slave_port_desc_t;
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/*****************************************************************************/
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/** EtherCAT slave port information.
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 */
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typedef struct {
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    uint8_t link_up; /**< Link detected. */
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    uint8_t loop_closed; /**< Loop closed. */
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    uint8_t signal_detected; /**< Detected signal on RX port. */
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} ec_slave_port_link_t;
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/*****************************************************************************/
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/** Slave information.
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 *
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 * This is used as an output parameter of ecrt_master_get_slave().
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 *
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 * \see ecrt_master_get_slave().
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 */
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typedef struct {
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    uint16_t position; /**< Offset of the slave in the ring. */
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    uint32_t vendor_id; /**< Vendor-ID stored on the slave. */
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    uint32_t product_code; /**< Product-Code stored on the slave. */
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    uint32_t revision_number; /**< Revision-Number stored on the slave. */
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    uint32_t serial_number; /**< Serial-Number stored on the slave. */
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    uint16_t alias; /**< The slaves alias if not equal to 0. */
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    int16_t current_on_ebus; /**< Used current in mA. */
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    struct {
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        ec_slave_port_desc_t desc; /**< Physical port type. */
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        ec_slave_port_link_t link; /**< Port link state. */
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        uint32_t receive_time; /**< Receive time on DC transmission delay
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                                 measurement. */
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        uint16_t next_slave; /**< Ring position of next DC slave on that
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                               port.  */
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        uint32_t delay_to_next_dc; /**< Delay [ns] to next DC slave. */
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diff changeset
   380
    } ports[EC_MAX_PORTS]; /**< Port information. */
1341
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
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diff changeset
   381
    uint8_t al_state; /**< Current state of the slave. */
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   382
    uint8_t error_flag; /**< Error flag for that slave. */
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   383
    uint8_t sync_count; /**< Number of sync managers. */
1512
388901f44a5e Fixed typos.
Florian Pose <fp@igh-essen.com>
parents: 1510
diff changeset
   384
    uint16_t sdo_count; /**< Number of SDOs. */
1341
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   385
    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
   386
} ec_slave_info_t;
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   387
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   388
/*****************************************************************************/
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   389
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
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diff changeset
   390
/** 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
   391
 *
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   392
 * 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
   393
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   394
typedef enum {
925
939f3e9bba1e Some improvements concerning bit_position.
Florian Pose <fp@igh-essen.com>
parents: 923
diff changeset
   395
    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
   396
    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
   397
                        exchanged. */
939f3e9bba1e Some improvements concerning bit_position.
Florian Pose <fp@igh-essen.com>
parents: 923
diff changeset
   398
    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
   399
} 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
   400
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   401
/*****************************************************************************/
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   402
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   403
/** Domain state.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   404
 *
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   405
 * 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
   406
 */
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   407
typedef struct {
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   408
    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
   409
    ec_wc_state_t wc_state; /**< Working counter interpretation. */
2368
dd84ef164869 Loop through datagrams, then FMMUs; redundancy flag in domain state.
Florian Pose <fp@igh-essen.com>
parents: 2243
diff changeset
   410
    unsigned int redundancy_active; /**< Redundant link is in use. */
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   411
} 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
   412
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
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   415
/** Direction type for PDO assignment functions.
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   416
 */
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
   417
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
   418
    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
   419
    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
   420
    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
   421
    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
   422
} ec_direction_t;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   423
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   424
/*****************************************************************************/
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   425
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
   426
/** 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
   427
 *
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
   428
 * 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
   429
 */
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
   430
typedef enum {
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
   431
    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
   432
    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
   433
    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
   434
} 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
   435
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
   436
/*****************************************************************************/
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
   437
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   438
/** 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
   439
 *
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   440
 * 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
   441
 *
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   442
 * \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
   443
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   444
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
   445
    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
   446
    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
   447
    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
   448
} 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
   449
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   450
/*****************************************************************************/
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   451
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   452
/** PDO configuration information.
2241
0ba77ef52922 Insert port information into slave info.
Stefan Weiser <ch1010858@ch10pc584>
parents: 2124
diff changeset
   453
 *
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   454
 * This is the data type of the \a pdos field in ec_sync_info_t.
2241
0ba77ef52922 Insert port information into slave info.
Stefan Weiser <ch1010858@ch10pc584>
parents: 2124
diff changeset
   455
 *
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   456
 * \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
   457
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   458
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
   459
    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
   460
    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
   461
                              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
   462
                              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
   463
                              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
   464
    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
   465
                                    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
   466
                                    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
   467
} 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
   468
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   469
/*****************************************************************************/
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   470
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   471
/** 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
   472
 *
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   473
 * 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
   474
 * 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
   475
 * 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
   476
 */
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   477
typedef struct {
1083
1322dc34cb37 Updated header docs, features and news file.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
   478
    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
   479
                     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
   480
                     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
   481
    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
   482
    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
   483
    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
   484
                            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
   485
    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
   486
} 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
   487
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   488
/*****************************************************************************/
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
   489
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   490
/** 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
   491
 *
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   492
 * 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
   493
 * 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
   494
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   495
typedef struct {
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   496
    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
   497
    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
   498
    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
   499
    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
   500
    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
   501
    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
   502
    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
   503
                       (byte-)offset in the process data. */
2241
0ba77ef52922 Insert port information into slave info.
Stefan Weiser <ch1010858@ch10pc584>
parents: 2124
diff changeset
   504
    unsigned int *bit_position; /**< Pointer to a variable to store a bit
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   505
                                  position (0-7) within the \a offset. Can be
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   506
                                  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
   507
                                  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
   508
} ec_pdo_entry_reg_t;
416
4f007cd2a79d ecrt_domain_register_pdo_range() implemented.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   509
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   510
/*****************************************************************************/
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   511
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   512
/** Request state.
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   513
 *
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   514
 * 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
   515
 * ecrt_voe_handler_state().
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   516
 */
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   517
typedef enum {
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   518
    EC_REQUEST_UNUSED, /**< Not requested. */
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   519
    EC_REQUEST_BUSY, /**< Request is being processed. */
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   520
    EC_REQUEST_SUCCESS, /**< Request was processed successfully. */
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   521
    EC_REQUEST_ERROR, /**< Request processing failed. */
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
   522
} ec_request_state_t;
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
   523
1944
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1913
diff changeset
   524
/*****************************************************************************/
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1913
diff changeset
   525
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1913
diff changeset
   526
/** Application-layer state.
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1913
diff changeset
   527
 */
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1913
diff changeset
   528
typedef enum {
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1913
diff changeset
   529
    EC_AL_STATE_INIT = 1, /**< Init. */
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1913
diff changeset
   530
    EC_AL_STATE_PREOP = 2, /**< Pre-operational. */
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1913
diff changeset
   531
    EC_AL_STATE_SAFEOP = 4, /**< Safe-operational. */
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1913
diff changeset
   532
    EC_AL_STATE_OP = 8, /**< Operational. */
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1913
diff changeset
   533
} ec_al_state_t;
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1913
diff changeset
   534
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   535
/******************************************************************************
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   536
 * Global functions
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   537
 *****************************************************************************/
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   538
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
   539
#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
   540
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
   541
#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
   542
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   543
/** 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
   544
 *
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   545
 * \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
   546
 */
541
5a2b1658b67f Introduced ECRT version magic.
Florian Pose <fp@igh-essen.com>
parents: 495
diff changeset
   547
unsigned int ecrt_version_magic(void);
5a2b1658b67f Introduced ECRT version magic.
Florian Pose <fp@igh-essen.com>
parents: 495
diff changeset
   548
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   549
/** Requests an EtherCAT master for realtime operation.
2241
0ba77ef52922 Insert port information into slave info.
Stefan Weiser <ch1010858@ch10pc584>
parents: 2124
diff changeset
   550
 *
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   551
 * 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
   552
 * for exclusive use.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   553
 *
1497
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   554
 * 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
   555
 * ecrt_master_reserve().
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   556
 *
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   557
 * 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
   558
 * 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
   559
 * 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
   560
 * 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
   561
 *
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1288
diff changeset
   562
 * \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
   563
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   564
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
   565
        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
   566
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   567
1497
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   568
#ifndef __KERNEL__
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   569
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   570
/** 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
   571
 *
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   572
 * 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
   573
 * 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
   574
 * 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
   575
 * 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
   576
 *
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   577
 * 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
   578
 *
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   579
 * \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
   580
 */
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   581
ec_master_t *ecrt_open_master(
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   582
        unsigned int master_index /**< Index of the master to request. */
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   583
        );
1497
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   584
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   585
#endif // #ifndef __KERNEL__
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   586
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   587
/** Releases a requested EtherCAT master.
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   588
 *
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   589
 * 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
   590
 * applications.
2523
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
   591
 *
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
   592
 * This method frees all created data structures. It should not be called in
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
   593
 * realtime context.
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
   594
 *
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
   595
 * If the master was activated, ecrt_master_deactivate() is called internally.
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   596
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   597
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
   598
        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
   599
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   600
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   601
/******************************************************************************
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   602
 * Master methods
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
   603
 *****************************************************************************/
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   604
1497
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   605
#ifndef __KERNEL__
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   606
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   607
/** 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
   608
 *
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   609
 * 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
   610
 * 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
   611
 *
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   612
 * \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
   613
 */
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   614
int ecrt_master_reserve(
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   615
        ec_master_t *master /**< EtherCAT master */
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   616
        );
1497
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   617
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   618
#endif // #ifndef __KERNEL__
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   619
1244
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1239
diff changeset
   620
#ifdef __KERNEL__
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1239
diff changeset
   621
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   622
/** 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
   623
 *
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1497
diff changeset
   624
 * 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
   625
 * 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
   626
 * 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
   627
 * 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
   628
 * possible if the callbacks have been set.
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1497
diff changeset
   629
 *
1512
388901f44a5e Fixed typos.
Florian Pose <fp@igh-essen.com>
parents: 1510
diff changeset
   630
 * 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
   631
 * 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
   632
 * method.
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1497
diff changeset
   633
 *
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1497
diff changeset
   634
 * 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
   635
 * ecrt_master_receive() is allowed and to execute it respectively.
2523
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
   636
 *
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
   637
 * \attention This method has to be called before ecrt_master_activate().
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   638
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   639
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
   640
        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
   641
        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
   642
        void (*receive_cb)(void *), /**< Receive callback. */
2444
4b43c90142c8 Fixed typos in doc.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
   643
        void *cb_data /**< Arbitrary pointer passed to the callback functions.
1513
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents: 1512
diff changeset
   644
                       */
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   645
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   646
1244
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1239
diff changeset
   647
#endif /* __KERNEL__ */
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1239
diff changeset
   648
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   649
/** Creates a new process data domain.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   650
 *
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   651
 * 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
   652
 * 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
   653
 * 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
   654
 * 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
   655
 *
2523
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
   656
 * This method allocates memory and should be called in non-realtime context
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
   657
 * before ecrt_master_activate().
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
   658
 *
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   659
 * \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
   660
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   661
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
   662
        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
   663
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   664
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   665
/** 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
   666
 *
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   667
 * 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
   668
 * 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
   669
 * 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
   670
 * 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
   671
 * 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
   672
 *
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   673
 * 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
   674
 * - 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
   675
 *   ring position.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   676
 * - 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
   677
 *   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
   678
 *   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
   679
 *   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
   680
 *
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   681
 * 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
   682
 * 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
   683
 * 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
   684
 *
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   685
 * 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
   686
 * 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
   687
 * applied.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   688
 *
2523
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
   689
 * This method allocates memory and should be called in non-realtime context
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
   690
 * before ecrt_master_activate().
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
   691
 *
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   692
 * \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
   693
 * \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
   694
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   695
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
   696
        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
   697
        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
   698
        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
   699
        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
   700
        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
   701
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   702
2447
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2445
diff changeset
   703
/** Selects the reference clock for distributed clocks.
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2445
diff changeset
   704
 *
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2445
diff changeset
   705
 * If this method is not called for a certain master, or if the slave
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2445
diff changeset
   706
 * configuration pointer is NULL, then the first slave with DC functionality
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2445
diff changeset
   707
 * will provide the reference clock.
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2445
diff changeset
   708
 *
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2445
diff changeset
   709
 * \return 0 on success, otherwise negative error code.
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2445
diff changeset
   710
 */
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2445
diff changeset
   711
int ecrt_master_select_reference_clock(
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2445
diff changeset
   712
        ec_master_t *master, /**< EtherCAT master. */
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2445
diff changeset
   713
        ec_slave_config_t *sc /**< Slave config of the slave to use as the
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2445
diff changeset
   714
                               * reference slave (or NULL). */
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2445
diff changeset
   715
        );
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2445
diff changeset
   716
1497
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   717
/** Obtains master information.
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   718
 *
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   719
 * 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
   720
 * this function.
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   721
 *
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   722
 * \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
   723
 *
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   724
 * \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
   725
 */
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   726
int ecrt_master(
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   727
        ec_master_t *master, /**< EtherCAT master */
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   728
        ec_master_info_t *master_info /**< Structure that will output the
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   729
                                        information */
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   730
        );
1497
c9308eb34c0e Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
   731
1341
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   732
/** Obtains slave information.
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   733
 *
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   734
 * 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
   735
 * 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
   736
 * this function.
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   737
 *
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   738
 * \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
   739
 *
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   740
 * \return 0 in case of success, else < 0
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   741
 */
1510
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   742
int ecrt_master_get_slave(
1341
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   743
        ec_master_t *master, /**< EtherCAT master */
1510
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   744
        uint16_t slave_position, /**< Slave position. */
1341
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   745
        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
   746
                                      information */
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   747
        );
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   748
1594
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1585
diff changeset
   749
#ifndef __KERNEL__
2019bec460ad Implemented ecrt_master() and ecrt_master_get_slave() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1585
diff changeset
   750
1510
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   751
/** 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
   752
 *
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   753
 * 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
   754
 * 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
   755
 * ecrt_master_get_pdo() to get the PDO information.
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   756
 *
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   757
 * \return zero on success, else non-zero
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   758
 */
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   759
int ecrt_master_get_sync_manager(
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   760
        ec_master_t *master, /**< EtherCAT master. */
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   761
        uint16_t slave_position, /**< Slave position. */
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   762
        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
   763
                                than #EC_MAX_SYNC_MANAGERS. */
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   764
        ec_sync_info_t *sync /**< Pointer to output structure. */
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   765
        );
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   766
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   767
/** Returns information about a currently assigned PDO.
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   768
 *
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   769
 * 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
   770
 * 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
   771
 * 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
   772
 * entry information.
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   773
 *
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   774
 * \retval zero on success, else non-zero
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   775
 */
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   776
int ecrt_master_get_pdo(
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   777
        ec_master_t *master, /**< EtherCAT master. */
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   778
        uint16_t slave_position, /**< Slave position. */
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   779
        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
   780
                                 than #EC_MAX_SYNC_MANAGERS. */
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   781
        uint16_t pos, /**< Zero-based PDO position. */
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   782
        ec_pdo_info_t *pdo /**< Pointer to output structure. */
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   783
        );
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   784
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   785
/** Returns information about a currently mapped PDO entry.
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   786
 *
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   787
 * 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
   788
 * currently mapped PDO entry of the given PDO.
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   789
 *
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   790
 * \retval zero on success, else non-zero
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   791
 */
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   792
int ecrt_master_get_pdo_entry(
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   793
        ec_master_t *master, /**< EtherCAT master. */
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   794
        uint16_t slave_position, /**< Slave position. */
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   795
        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
   796
                                 than #EC_MAX_SYNC_MANAGERS. */
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   797
        uint16_t pdo_pos, /**< Zero-based PDO position. */
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   798
        uint16_t entry_pos, /**< Zero-based PDO entry position. */
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   799
        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
   800
        );
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   801
2109
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2009
diff changeset
   802
#endif /* #ifndef __KERNEL__ */
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2009
diff changeset
   803
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2009
diff changeset
   804
/** Executes an SDO download request to write data to a slave.
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2009
diff changeset
   805
 *
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2009
diff changeset
   806
 * This request is processed by the master state machine. This method blocks,
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2009
diff changeset
   807
 * until the request has been processed and may not be called in realtime
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2009
diff changeset
   808
 * context.
1510
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   809
 *
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   810
 * \retval  0 Success.
2109
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2009
diff changeset
   811
 * \retval <0 Error code.
1510
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   812
 */
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   813
int ecrt_master_sdo_download(
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   814
        ec_master_t *master, /**< EtherCAT master. */
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   815
        uint16_t slave_position, /**< Slave position. */
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   816
        uint16_t index, /**< Index of the SDO. */
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   817
        uint8_t subindex, /**< Subindex of the SDO. */
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   818
        uint8_t *data, /**< Data buffer to download. */
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   819
        size_t data_size, /**< Size of the data buffer. */
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   820
        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
   821
        );
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   822
2124
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2109
diff changeset
   823
/** Executes an SDO download request to write data to a slave via complete
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2109
diff changeset
   824
 * access.
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2109
diff changeset
   825
 *
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2109
diff changeset
   826
 * This request is processed by the master state machine. This method blocks,
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2109
diff changeset
   827
 * until the request has been processed and may not be called in realtime
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2109
diff changeset
   828
 * context.
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2109
diff changeset
   829
 *
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2109
diff changeset
   830
 * \retval  0 Success.
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2109
diff changeset
   831
 * \retval <0 Error code.
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2109
diff changeset
   832
 */
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2109
diff changeset
   833
int ecrt_master_sdo_download_complete(
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2109
diff changeset
   834
        ec_master_t *master, /**< EtherCAT master. */
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2109
diff changeset
   835
        uint16_t slave_position, /**< Slave position. */
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2109
diff changeset
   836
        uint16_t index, /**< Index of the SDO. */
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2109
diff changeset
   837
        uint8_t *data, /**< Data buffer to download. */
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2109
diff changeset
   838
        size_t data_size, /**< Size of the data buffer. */
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2109
diff changeset
   839
        uint32_t *abort_code /**< Abort code of the SDO download. */
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2109
diff changeset
   840
        );
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2109
diff changeset
   841
2109
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2009
diff changeset
   842
/** Executes an SDO upload request to read data from a slave.
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2009
diff changeset
   843
 *
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2009
diff changeset
   844
 * This request is processed by the master state machine. This method blocks,
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2009
diff changeset
   845
 * until the request has been processed and may not be called in realtime
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2009
diff changeset
   846
 * context.
1510
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   847
 *
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   848
 * \retval  0 Success.
2109
755e6ce823f0 Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() also for
Florian Pose <fp@igh-essen.com>
parents: 2009
diff changeset
   849
 * \retval <0 Error code.
1510
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   850
 */
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   851
int ecrt_master_sdo_upload(
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   852
        ec_master_t *master, /**< EtherCAT master. */
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   853
        uint16_t slave_position, /**< Slave position. */
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   854
        uint16_t index, /**< Index of the SDO. */
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   855
        uint8_t subindex, /**< Subindex of the SDO. */
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   856
        uint8_t *target, /**< Target buffer for the upload. */
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   857
        size_t target_size, /**< Size of the target buffer. */
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   858
        size_t *result_size, /**< Uploaded data size. */
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   859
        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
   860
        );
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   861
1913
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE
Florian Pose <fp@igh-essen.com>
parents: 1891
diff changeset
   862
/** Executes an SoE write request.
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE
Florian Pose <fp@igh-essen.com>
parents: 1891
diff changeset
   863
 *
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE
Florian Pose <fp@igh-essen.com>
parents: 1891
diff changeset
   864
 * Starts writing an IDN and blocks until the request was processed, or an
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE
Florian Pose <fp@igh-essen.com>
parents: 1891
diff changeset
   865
 * error occurred.
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE
Florian Pose <fp@igh-essen.com>
parents: 1891
diff changeset
   866
 *
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE
Florian Pose <fp@igh-essen.com>
parents: 1891
diff changeset
   867
 * \retval  0 Success.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2424
diff changeset
   868
 * \retval <0 Error code.
1913
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE
Florian Pose <fp@igh-essen.com>
parents: 1891
diff changeset
   869
 */
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE
Florian Pose <fp@igh-essen.com>
parents: 1891
diff changeset
   870
int ecrt_master_write_idn(
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE
Florian Pose <fp@igh-essen.com>
parents: 1891
diff changeset
   871
        ec_master_t *master, /**< EtherCAT master. */
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE
Florian Pose <fp@igh-essen.com>
parents: 1891
diff changeset
   872
        uint16_t slave_position, /**< Slave position. */
1952
7d9fb723fc4b Added drive_no parameter to SoE layer.
Florian Pose <fp@igh-essen.com>
parents: 1947
diff changeset
   873
        uint8_t drive_no, /**< Drive number. */
1913
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE
Florian Pose <fp@igh-essen.com>
parents: 1891
diff changeset
   874
        uint16_t idn, /**< SoE IDN (see ecrt_slave_config_idn()). */
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE
Florian Pose <fp@igh-essen.com>
parents: 1891
diff changeset
   875
        uint8_t *data, /**< Pointer to data to write. */
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE
Florian Pose <fp@igh-essen.com>
parents: 1891
diff changeset
   876
        size_t data_size, /**< Size of data to write. */
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1944
diff changeset
   877
        uint16_t *error_code /**< Pointer to variable, where an SoE error code
1913
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE
Florian Pose <fp@igh-essen.com>
parents: 1891
diff changeset
   878
                               can be stored. */
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE
Florian Pose <fp@igh-essen.com>
parents: 1891
diff changeset
   879
        );
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE
Florian Pose <fp@igh-essen.com>
parents: 1891
diff changeset
   880
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE
Florian Pose <fp@igh-essen.com>
parents: 1891
diff changeset
   881
/** Executes an SoE read request.
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE
Florian Pose <fp@igh-essen.com>
parents: 1891
diff changeset
   882
 *
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE
Florian Pose <fp@igh-essen.com>
parents: 1891
diff changeset
   883
 * Starts reading an IDN and blocks until the request was processed, or an
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE
Florian Pose <fp@igh-essen.com>
parents: 1891
diff changeset
   884
 * error occurred.
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE
Florian Pose <fp@igh-essen.com>
parents: 1891
diff changeset
   885
 *
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE
Florian Pose <fp@igh-essen.com>
parents: 1891
diff changeset
   886
 * \retval  0 Success.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2424
diff changeset
   887
 * \retval <0 Error code.
1913
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE
Florian Pose <fp@igh-essen.com>
parents: 1891
diff changeset
   888
 */
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE
Florian Pose <fp@igh-essen.com>
parents: 1891
diff changeset
   889
int ecrt_master_read_idn(
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE
Florian Pose <fp@igh-essen.com>
parents: 1891
diff changeset
   890
        ec_master_t *master, /**< EtherCAT master. */
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE
Florian Pose <fp@igh-essen.com>
parents: 1891
diff changeset
   891
        uint16_t slave_position, /**< Slave position. */
1952
7d9fb723fc4b Added drive_no parameter to SoE layer.
Florian Pose <fp@igh-essen.com>
parents: 1947
diff changeset
   892
        uint8_t drive_no, /**< Drive number. */
1913
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE
Florian Pose <fp@igh-essen.com>
parents: 1891
diff changeset
   893
        uint16_t idn, /**< SoE IDN (see ecrt_slave_config_idn()). */
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE
Florian Pose <fp@igh-essen.com>
parents: 1891
diff changeset
   894
        uint8_t *target, /**< Pointer to memory where the read data can be
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE
Florian Pose <fp@igh-essen.com>
parents: 1891
diff changeset
   895
                           stored. */
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE
Florian Pose <fp@igh-essen.com>
parents: 1891
diff changeset
   896
        size_t target_size, /**< Size of the memory \a target points to. */
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE
Florian Pose <fp@igh-essen.com>
parents: 1891
diff changeset
   897
        size_t *result_size, /**< Actual size of the received data. */
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1944
diff changeset
   898
        uint16_t *error_code /**< Pointer to variable, where an SoE error code
1913
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE
Florian Pose <fp@igh-essen.com>
parents: 1891
diff changeset
   899
                               can be stored. */
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE
Florian Pose <fp@igh-essen.com>
parents: 1891
diff changeset
   900
        );
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE
Florian Pose <fp@igh-essen.com>
parents: 1891
diff changeset
   901
1096
a32a102a30db Minor change.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
   902
/** 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
   903
 *
925
939f3e9bba1e Some improvements concerning bit_position.
Florian Pose <fp@igh-essen.com>
parents: 923
diff changeset
   904
 * 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
   905
 * 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
   906
 * 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
   907
 * 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
   908
 * 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
   909
 *
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
   910
 * \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
   911
 * 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
   912
 * 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
   913
 * function, the master thread is responsible for that, so these functions may
2523
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
   914
 * not be called! The method itself allocates memory and should not be called
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
   915
 * in realtime context.
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   916
 *
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   917
 * \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
   918
 */
1007
b6c3527697c3 Minor change.
Florian Pose <fp@igh-essen.com>
parents: 925
diff changeset
   919
int ecrt_master_activate(
b6c3527697c3 Minor change.
Florian Pose <fp@igh-essen.com>
parents: 925
diff changeset
   920
        ec_master_t *master /**< EtherCAT master. */
b6c3527697c3 Minor change.
Florian Pose <fp@igh-essen.com>
parents: 925
diff changeset
   921
        );
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   922
1530
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   923
/** Deactivates the master.
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   924
 *
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   925
 * 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
   926
 * 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
   927
 * 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
   928
 * 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
   929
 * become invalid.
2523
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
   930
 *
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
   931
 * This method should not be called in realtime context.
1530
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   932
 */
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   933
void ecrt_master_deactivate(
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   934
        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
   935
        );
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   936
2423
f2d1bb2ea424 Minor change.
Florian Pose <fp@igh-essen.com>
parents: 2419
diff changeset
   937
/** Set interval between calls to ecrt_master_send().
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2424
diff changeset
   938
 *
2523
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
   939
 * This information helps the master to decide, how much data can be appended
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
   940
 * to a frame by the master state machine. When the master is configured with
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
   941
 * --enable-hrtimers, this is used to calculate the scheduling of the master
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
   942
 * thread.
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
   943
 *
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2424
diff changeset
   944
 * \retval 0 on success.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2424
diff changeset
   945
 * \retval <0 Error code.
1600
e36c92cf58a9 use given send interval to limit SDO/FOE traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1585
diff changeset
   946
 */
e36c92cf58a9 use given send interval to limit SDO/FOE traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1585
diff changeset
   947
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
   948
        ec_master_t *master, /**< EtherCAT master. */
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   949
        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
   950
        );
1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
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
/** 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
   953
 *
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   954
 * 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
   955
 * 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
   956
 *
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   957
 * 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
   958
 * has returned.
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   959
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   960
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
   961
        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
   962
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   963
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   964
/** 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
   965
 *
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   966
 * 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
   967
 * 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
   968
 * 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
   969
 * timed out, will be marked, and dequeued.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   970
 *
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
   971
 * 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
   972
 * 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
   973
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   974
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
   975
        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
   976
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   977
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1497
diff changeset
   978
/** Sends non-application datagrams.
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1497
diff changeset
   979
 *
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1497
diff changeset
   980
 * 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
   981
 * 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
   982
 */
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1497
diff changeset
   983
void ecrt_master_send_ext(
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1497
diff changeset
   984
        ec_master_t *master /**< EtherCAT master. */
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1497
diff changeset
   985
        );
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1497
diff changeset
   986
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   987
/** 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
   988
 *
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   989
 * Stores the master state information in the given \a state structure.
2380
cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link.
Florian Pose <fp@igh-essen.com>
parents: 2373
diff changeset
   990
 *
cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link.
Florian Pose <fp@igh-essen.com>
parents: 2373
diff changeset
   991
 * This method returns a global state. For the link-specific states in a
cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link.
Florian Pose <fp@igh-essen.com>
parents: 2373
diff changeset
   992
 * redundant bus topology, use the ecrt_master_link_state() method.
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   993
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   994
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
   995
        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
   996
        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
   997
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   998
2380
cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link.
Florian Pose <fp@igh-essen.com>
parents: 2373
diff changeset
   999
/** Reads the current state of a redundant link.
cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link.
Florian Pose <fp@igh-essen.com>
parents: 2373
diff changeset
  1000
 *
cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link.
Florian Pose <fp@igh-essen.com>
parents: 2373
diff changeset
  1001
 * Stores the link state information in the given \a state structure.
cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link.
Florian Pose <fp@igh-essen.com>
parents: 2373
diff changeset
  1002
 *
cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link.
Florian Pose <fp@igh-essen.com>
parents: 2373
diff changeset
  1003
 * \return Zero on success, otherwise negative error code.
cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link.
Florian Pose <fp@igh-essen.com>
parents: 2373
diff changeset
  1004
 */
cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link.
Florian Pose <fp@igh-essen.com>
parents: 2373
diff changeset
  1005
int ecrt_master_link_state(
cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link.
Florian Pose <fp@igh-essen.com>
parents: 2373
diff changeset
  1006
        const ec_master_t *master, /**< EtherCAT master. */
cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link.
Florian Pose <fp@igh-essen.com>
parents: 2373
diff changeset
  1007
        unsigned int dev_idx, /**< Index of the device (0 = main device, 1 =
cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link.
Florian Pose <fp@igh-essen.com>
parents: 2373
diff changeset
  1008
                                first backup device, ...). */
cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link.
Florian Pose <fp@igh-essen.com>
parents: 2373
diff changeset
  1009
        ec_master_link_state_t *state /**< Structure to store the information.
cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link.
Florian Pose <fp@igh-essen.com>
parents: 2373
diff changeset
  1010
                                       */
cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link.
Florian Pose <fp@igh-essen.com>
parents: 2373
diff changeset
  1011
        );
cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link.
Florian Pose <fp@igh-essen.com>
parents: 2373
diff changeset
  1012
1434
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1417
diff changeset
  1013
/** Sets the application time.
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1417
diff changeset
  1014
 *
1466
362147819ca1 EC_TIMEVAL2NANO() takes no pointer argument any more.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  1015
 * 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
  1016
 * 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
  1017
 * this method has to be called cyclically.
2241
0ba77ef52922 Insert port information into slave info.
Stefan Weiser <ch1010858@ch10pc584>
parents: 2124
diff changeset
  1018
 *
2523
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1019
 * \attention The first call of this method is used to calculate the phase
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1020
 * delay for the slaves' SYNC0/1 interrupts. Either the method has to be
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1021
 * called during the realtime cycle *only*, or the first time submitted must
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1022
 * be in-phase with the realtime cycle. Otherwise synchronisation problems can
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1023
 * occur.
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1024
 *
1466
362147819ca1 EC_TIMEVAL2NANO() takes no pointer argument any more.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  1025
 * 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
  1026
 * <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
  1027
 * 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
  1028
 * ecrt_master_sync_reference_clock().
2241
0ba77ef52922 Insert port information into slave info.
Stefan Weiser <ch1010858@ch10pc584>
parents: 2124
diff changeset
  1029
 *
1434
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1417
diff changeset
  1030
 * 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
  1031
 * 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
  1032
 */
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1417
diff changeset
  1033
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
  1034
        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
  1035
        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
  1036
        );
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1392
diff changeset
  1037
1434
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1417
diff changeset
  1038
/** 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
  1039
 *
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1417
diff changeset
  1040
 * 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
  1041
 * 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
  1042
 */
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1417
diff changeset
  1043
void ecrt_master_sync_reference_clock(
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1417
diff changeset
  1044
        ec_master_t *master /**< EtherCAT master. */
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1417
diff changeset
  1045
        );
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1417
diff changeset
  1046
1410
fb6719008bf5 Separated sync_reference_clock() and sync_slave_clocks().
Florian Pose <fp@igh-essen.com>
parents: 1396
diff changeset
  1047
/** 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
  1048
 *
fb6719008bf5 Separated sync_reference_clock() and sync_slave_clocks().
Florian Pose <fp@igh-essen.com>
parents: 1396
diff changeset
  1049
 * 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
  1050
 */
fb6719008bf5 Separated sync_reference_clock() and sync_slave_clocks().
Florian Pose <fp@igh-essen.com>
parents: 1396
diff changeset
  1051
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
  1052
        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
  1053
        );
fb6719008bf5 Separated sync_reference_clock() and sync_slave_clocks().
Florian Pose <fp@igh-essen.com>
parents: 1396
diff changeset
  1054
2447
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2445
diff changeset
  1055
/** Get the lower 32 bit of the reference clock system time.
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2445
diff changeset
  1056
 *
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2445
diff changeset
  1057
 * This method can be used to synchronize the master to the reference clock.
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2445
diff changeset
  1058
 *
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2445
diff changeset
  1059
 * The reference clock system time is queried via the
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2445
diff changeset
  1060
 * ecrt_master_sync_slave_clocks() method, that reads the system time of the
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2445
diff changeset
  1061
 * reference clock and writes it to the slave clocks (so be sure to call it
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2445
diff changeset
  1062
 * cyclically to get valid data).
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2445
diff changeset
  1063
 *
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2445
diff changeset
  1064
 * \attention The returned time is the system time of the reference clock
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2445
diff changeset
  1065
 * minus the transmission delay of the reference clock.
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2445
diff changeset
  1066
 *
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2445
diff changeset
  1067
 * \retval 0 success, system time was written into \a time.
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2445
diff changeset
  1068
 * \retval -ENXIO No reference clock found.
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2445
diff changeset
  1069
 * \retval -EIO Slave synchronization datagram was not received.
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2445
diff changeset
  1070
 */
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2445
diff changeset
  1071
int ecrt_master_reference_clock_time(
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2445
diff changeset
  1072
        ec_master_t *master, /**< EtherCAT master. */
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2445
diff changeset
  1073
        uint32_t *time /**< Pointer to store the queried system time. */
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2445
diff changeset
  1074
        );
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2445
diff changeset
  1075
2444
4b43c90142c8 Fixed typos in doc.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1076
/** Queues the DC synchrony monitoring datagram for sending.
1535
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  1077
 *
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  1078
 * The datagram broadcast-reads all "System time difference" registers (\a
2444
4b43c90142c8 Fixed typos in doc.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1079
 * 0x092c) to get an upper estimation of the DC synchrony. The result can be
1535
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  1080
 * checked with the ecrt_master_sync_monitor_process() method.
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  1081
 */
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  1082
void ecrt_master_sync_monitor_queue(
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  1083
        ec_master_t *master /**< EtherCAT master. */
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  1084
        );
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  1085
2444
4b43c90142c8 Fixed typos in doc.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1086
/** Processes the DC synchrony monitoring datagram.
1535
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  1087
 *
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  1088
 * If the sync monitoring datagram was sent before with
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  1089
 * 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
  1090
 * method.
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  1091
 *
2444
4b43c90142c8 Fixed typos in doc.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1092
 * \return Upper estimation of the maximum time difference in ns.
1535
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  1093
 */
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  1094
uint32_t ecrt_master_sync_monitor_process(
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  1095
        ec_master_t *master /**< EtherCAT master. */
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  1096
        );
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  1097
2009
b5391b329b5d Added ecrt_master_reset() method.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
  1098
/** Retry configuring slaves.
b5391b329b5d Added ecrt_master_reset() method.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
  1099
 *
b5391b329b5d Added ecrt_master_reset() method.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
  1100
 * Via this method, the application can tell the master to bring all slaves to
b5391b329b5d Added ecrt_master_reset() method.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
  1101
 * OP state. In general, this is not necessary, because it is automatically
b5391b329b5d Added ecrt_master_reset() method.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
  1102
 * done by the master. But with special slaves, that can be reconfigured by
b5391b329b5d Added ecrt_master_reset() method.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
  1103
 * the vendor during runtime, it can be useful.
b5391b329b5d Added ecrt_master_reset() method.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
  1104
 */
b5391b329b5d Added ecrt_master_reset() method.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
  1105
void ecrt_master_reset(
b5391b329b5d Added ecrt_master_reset() method.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
  1106
        ec_master_t *master /**< EtherCAT master. */
b5391b329b5d Added ecrt_master_reset() method.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
  1107
        );
b5391b329b5d Added ecrt_master_reset() method.
Florian Pose <fp@igh-essen.com>
parents: 1952
diff changeset
  1108
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1109
/******************************************************************************
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1110
 * Slave configuration methods
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1111
 *****************************************************************************/
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1112
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
  1113
/** 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
  1114
 *
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1115
 * 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
  1116
 * 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
  1117
 *
2523
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1118
 * This method has to be called in non-realtime context before
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1119
 * ecrt_master_activate().
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1120
 *
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
  1121
 * \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
  1122
 */
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
  1123
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
  1124
        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
  1125
        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
  1126
                              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
  1127
        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
  1128
        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
  1129
        );
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1130
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1131
/** Configure a slave's watchdog times.
2523
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1132
 *
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1133
 * This method has to be called in non-realtime context before
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1134
 * ecrt_master_activate().
1536
171ddba165d2 Added watchdog documentation.
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
  1135
 */
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1136
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
  1137
        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
  1138
        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
  1139
                                     base unit for all slave watchdogs. If set
171ddba165d2 Added watchdog documentation.
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
  1140
                                     to zero, the value is not written, so the
2444
4b43c90142c8 Fixed typos in doc.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1141
                                     default is used. */
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1142
        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
  1143
                                      data watchdog. If set to zero, the value
171ddba165d2 Added watchdog documentation.
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
  1144
                                      is not written, so the default is used.
171ddba165d2 Added watchdog documentation.
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
  1145
                                     */
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
  1146
        );
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
  1147
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1148
/** 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
  1149
 *
2523
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1150
 * This method has to be called in non-realtime context before
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1151
 * ecrt_master_activate().
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1152
 *
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1153
 * \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
  1154
 * \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
  1155
 */
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
  1156
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
  1157
        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
  1158
        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
  1159
                              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
  1160
        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
  1161
        );
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1162
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1163
/** 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
  1164
 *
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1165
 * 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
  1166
 * 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
  1167
 * sync manager.
2241
0ba77ef52922 Insert port information into slave info.
Stefan Weiser <ch1010858@ch10pc584>
parents: 2124
diff changeset
  1168
 *
2523
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1169
 * This method has to be called in non-realtime context before
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1170
 * ecrt_master_activate().
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1171
 *
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1172
 * \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
  1173
 */
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
  1174
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
  1175
        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
  1176
        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
  1177
                              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
  1178
        );
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
  1179
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1180
/** 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
  1181
 *
2523
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1182
 * This method has to be called in non-realtime context before
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1183
 * ecrt_master_activate().
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1184
 *
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1185
 * \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
  1186
 * \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
  1187
 */
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
  1188
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
  1189
        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
  1190
        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
  1191
        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
  1192
                                mapping. */
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1193
        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
  1194
                                  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
  1195
        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
  1196
        );
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1197
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1198
/** 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
  1199
 *
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1200
 * 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
  1201
 * 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
  1202
 *
2523
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1203
 * This method has to be called in non-realtime context before
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1204
 * ecrt_master_activate().
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1205
 *
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1206
 * \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
  1207
 */
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
  1208
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
  1209
        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
  1210
        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
  1211
        );
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1212
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1213
/** 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
  1214
 *
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 878
diff changeset
  1215
 * 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
  1216
 * 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
  1217
 * 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
  1218
 * 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
  1219
 * 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
  1220
 *
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
  1221
 * 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
  1222
 * 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
  1223
 * 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
  1224
 * configuration time:
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1225
 *
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1226
 * \code
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1227
 * 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
  1228
 *     {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
  1229
 *     {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
  1230
 * };
2241
0ba77ef52922 Insert port information into slave info.
Stefan Weiser <ch1010858@ch10pc584>
parents: 2124
diff changeset
  1231
 *
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1232
 * 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
  1233
 *     {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
  1234
 *     {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
  1235
 * };
2241
0ba77ef52922 Insert port information into slave info.
Stefan Weiser <ch1010858@ch10pc584>
parents: 2124
diff changeset
  1236
 *
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1237
 * 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
  1238
 *     {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
  1239
 *     {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
  1240
 * };
2241
0ba77ef52922 Insert port information into slave info.
Stefan Weiser <ch1010858@ch10pc584>
parents: 2124
diff changeset
  1241
 *
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1242
 * 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
  1243
 *     {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
  1244
 *     {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
  1245
 *     {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
  1246
 * };
2241
0ba77ef52922 Insert port information into slave info.
Stefan Weiser <ch1010858@ch10pc584>
parents: 2124
diff changeset
  1247
 *
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1248
 * 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
  1249
 *     // handle error
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1250
 * }
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1251
 * \endcode
2241
0ba77ef52922 Insert port information into slave info.
Stefan Weiser <ch1010858@ch10pc584>
parents: 2124
diff changeset
  1252
 *
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1253
 * 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
  1254
 * 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
  1255
 * 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
  1256
 * 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
  1257
 *
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1258
 * \code
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1259
 * 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
  1260
 *     {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
  1261
 *     {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
  1262
 * };
2241
0ba77ef52922 Insert port information into slave info.
Stefan Weiser <ch1010858@ch10pc584>
parents: 2124
diff changeset
  1263
 *
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1264
 * 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
  1265
 *     {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
  1266
 * };
2241
0ba77ef52922 Insert port information into slave info.
Stefan Weiser <ch1010858@ch10pc584>
parents: 2124
diff changeset
  1267
 *
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1268
 * 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
  1269
 *     // handle error
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1270
 * }
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1271
 * \endcode
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1272
 *
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1022
diff changeset
  1273
 * 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
  1274
 * - 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
  1275
 * - 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
  1276
 *   \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
  1277
 *   using EC_END is recommended.
878
40c379697ebf Introduced EC_MAP_END.
Florian Pose <fp@igh-essen.com>
parents: 869
diff changeset
  1278
 *
2523
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1279
 * This method has to be called in non-realtime context before
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1280
 * ecrt_master_activate().
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1281
 *
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1282
 * \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
  1283
 */
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1284
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
  1285
        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
  1286
        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
  1287
                                \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
  1288
        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
  1289
                                       configurations. */
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1290
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1291
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1292
/** 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
  1293
 *
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1294
 * 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
  1295
 * 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
  1296
 * 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
  1297
 * 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
  1298
 * 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
  1299
 * 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
  1300
 * 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
  1301
 * 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
  1302
 * 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
  1303
 *
2523
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1304
 * This method has to be called in non-realtime context before
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1305
 * ecrt_master_activate().
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1306
 *
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1307
 * \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
  1308
 * \retval  <0 Error code.
807
f8bca95ab75d Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents: 793
diff changeset
  1309
 */
f8bca95ab75d Moved ecrt_domain_reg_pdo_entry() to
Florian Pose <fp@igh-essen.com>
parents: 793
diff changeset
  1310
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
  1311
        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
  1312
        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
  1313
        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
  1314
        ec_domain_t *domain, /**< Domain. */
2241
0ba77ef52922 Insert port information into slave info.
Stefan Weiser <ch1010858@ch10pc584>
parents: 2124
diff changeset
  1315
        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
  1316
                                 is desired */
916
db73994fbdac Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents: 900
diff changeset
  1317
        );
db73994fbdac Added bitwise Pdo registration.
Florian Pose <fp@igh-essen.com>
parents: 900
diff changeset
  1318
2505
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  1319
/** Registers a PDO entry using its position.
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  1320
 *
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  1321
 * Similar to ecrt_slave_config_reg_pdo_entry(), but not using PDO indices but
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  1322
 * offsets in the PDO mapping, because PDO entry indices may not be unique
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  1323
 * inside a slave's PDO mapping. An error is raised, if
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  1324
 * one of the given positions is out of range.
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  1325
 *
2523
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1326
 * This method has to be called in non-realtime context before
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1327
 * ecrt_master_activate().
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1328
 *
2505
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  1329
 * \retval >=0 Success: Offset of the PDO entry's process data.
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  1330
 * \retval  <0 Error code.
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  1331
 */
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  1332
int ecrt_slave_config_reg_pdo_entry_pos(
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  1333
        ec_slave_config_t *sc, /**< Slave configuration. */
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  1334
        uint8_t sync_index, /**< Sync manager index. */
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  1335
        unsigned int pdo_pos, /**< Position of the PDO inside the SM. */
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  1336
        unsigned int entry_pos, /**< Position of the entry inside the PDO. */
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  1337
        ec_domain_t *domain, /**< Domain. */
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  1338
        unsigned int *bit_position /**< Optional address if bit addressing
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  1339
                                 is desired */
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  1340
        );
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  1341
1448
d7ba0c408a07 Merged ecrt_slave_config_dc_assign_activate() and
Florian Pose <fp@igh-essen.com>
parents: 1441
diff changeset
  1342
/** Configure distributed clocks.
d7ba0c408a07 Merged ecrt_slave_config_dc_assign_activate() and
Florian Pose <fp@igh-essen.com>
parents: 1441
diff changeset
  1343
 *
d7ba0c408a07 Merged ecrt_slave_config_dc_assign_activate() and
Florian Pose <fp@igh-essen.com>
parents: 1441
diff changeset
  1344
 * 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
  1345
 * signals.
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1384
diff changeset
  1346
 *
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1384
diff changeset
  1347
 * 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
  1348
 * 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
  1349
 * if the slave shall be operated without distributed clocks (default).
2449
5db725cc40f9 Changed the datatypes of the shift times in ecrt_slave_config_dc()
Florian Pose <fp@igh-essen.com>
parents: 2447
diff changeset
  1350
 *
2523
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1351
 * This method has to be called in non-realtime context before
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1352
 * ecrt_master_activate().
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1353
 *
2449
5db725cc40f9 Changed the datatypes of the shift times in ecrt_slave_config_dc()
Florian Pose <fp@igh-essen.com>
parents: 2447
diff changeset
  1354
 * \attention The \a sync1_shift time is ignored.
1392
8fcc1d0987c1 DC cyclic operation and slave configuration. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1384
diff changeset
  1355
 */
1448
d7ba0c408a07 Merged ecrt_slave_config_dc_assign_activate() and
Florian Pose <fp@igh-essen.com>
parents: 1441
diff changeset
  1356
void ecrt_slave_config_dc(
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1357
        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
  1358
        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
  1359
        uint32_t sync0_cycle, /**< SYNC0 cycle time [ns]. */
2449
5db725cc40f9 Changed the datatypes of the shift times in ecrt_slave_config_dc()
Florian Pose <fp@igh-essen.com>
parents: 2447
diff changeset
  1360
        int32_t sync0_shift, /**< SYNC0 shift time [ns]. */
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
  1361
        uint32_t sync1_cycle, /**< SYNC1 cycle time [ns]. */
2449
5db725cc40f9 Changed the datatypes of the shift times in ecrt_slave_config_dc()
Florian Pose <fp@igh-essen.com>
parents: 2447
diff changeset
  1362
        int32_t sync1_shift /**< SYNC1 shift time [ns]. */
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
  1363
        );
1411
3ebef749275c Added shift times to api.
Florian Pose <fp@igh-essen.com>
parents: 1410
diff changeset
  1364
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1365
/** 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
  1366
 *
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1367
 * 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
  1368
 * 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
  1369
 * 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
  1370
 * 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
  1371
 *
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1372
 * \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
  1373
 * 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
  1374
 * 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
  1375
 * 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
  1376
 * friends instead.
9e7fe258495e Added attention to ecrt_slave_config_sdo().
Florian Pose <fp@igh-essen.com>
parents: 1096
diff changeset
  1377
 *
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1378
 * This is the generic function for adding an SDO configuration. Please note
2523
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1379
 * that the this function does not do any endianness correction. If
893
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 886
diff changeset
  1380
 * datatype-specific functions are needed (that automatically correct the
2523
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1381
 * endianness), have a look at ecrt_slave_config_sdo8(),
893
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 886
diff changeset
  1382
 * 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
  1383
 *
2523
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1384
 * This method has to be called in non-realtime context before
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1385
 * ecrt_master_activate().
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1386
 *
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1387
 * \retval  0 Success.
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1388
 * \retval <0 Error code.
893
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 886
diff changeset
  1389
 */
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 886
diff changeset
  1390
int ecrt_slave_config_sdo(
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 886
diff changeset
  1391
        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
  1392
        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
  1393
        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
  1394
        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
  1395
        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
  1396
        );
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 886
diff changeset
  1397
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1398
/** 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
  1399
 *
2523
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1400
 * This method has to be called in non-realtime context before
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1401
 * ecrt_master_activate().
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1402
 *
893
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 886
diff changeset
  1403
 * \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
  1404
 *
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1405
 * \retval  0 Success.
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1406
 * \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
  1407
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1408
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
  1409
        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
  1410
        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
  1411
        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
  1412
        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
  1413
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1414
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1415
/** 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
  1416
 *
2523
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1417
 * This method has to be called in non-realtime context before
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1418
 * ecrt_master_activate().
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1419
 *
893
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 886
diff changeset
  1420
 * \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
  1421
 *
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1422
 * \retval  0 Success.
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1423
 * \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
  1424
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1425
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
  1426
        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
  1427
        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
  1428
        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
  1429
        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
  1430
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1431
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1432
/** 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
  1433
 *
2523
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1434
 * This method has to be called in non-realtime context before
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1435
 * ecrt_master_activate().
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1436
 *
893
d921fff3d6e2 Exported ecrt_slave_config_sdo(); added documentation.
Florian Pose <fp@igh-essen.com>
parents: 886
diff changeset
  1437
 * \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
  1438
 *
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1439
 * \retval  0 Success.
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1440
 * \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
  1441
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1442
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
  1443
        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
  1444
        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
  1445
        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
  1446
        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
  1447
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1448
1526
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1513
diff changeset
  1449
/** Add configuration data for a complete SDO.
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1513
diff changeset
  1450
 *
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1513
diff changeset
  1451
 * 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
  1452
 * subindex (0) have to be included.
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1513
diff changeset
  1453
 *
2523
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1454
 * This method has to be called in non-realtime context before
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1455
 * ecrt_master_activate().
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1456
 *
1526
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1513
diff changeset
  1457
 * \see ecrt_slave_config_sdo().
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1513
diff changeset
  1458
 *
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1513
diff changeset
  1459
 * \retval  0 Success.
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1513
diff changeset
  1460
 * \retval <0 Error code.
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1513
diff changeset
  1461
 */
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1513
diff changeset
  1462
int ecrt_slave_config_complete_sdo(
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1513
diff changeset
  1463
        ec_slave_config_t *sc, /**< Slave configuration. */
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1513
diff changeset
  1464
        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
  1465
        const uint8_t *data, /**< Pointer to the data. */
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1513
diff changeset
  1466
        size_t size /**< Size of the \a data. */
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1513
diff changeset
  1467
        );
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1513
diff changeset
  1468
2438
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1469
/** Set the size of the CoE emergency ring buffer.
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1470
 *
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1471
 * The initial size is zero, so all messages will be dropped. This method can
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1472
 * be called even after master activation, but it will clear the ring buffer!
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1473
 *
2523
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1474
 * This method has to be called in non-realtime context before
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1475
 * ecrt_master_activate().
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1476
 *
2438
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1477
 * \return 0 on success, or negative error code.
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1478
 */
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1479
int ecrt_slave_config_emerg_size(
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1480
        ec_slave_config_t *sc, /**< Slave configuration. */
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1481
        size_t elements /**< Number of records of the CoE emergency ring. */
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1482
        );
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1483
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1484
/** Read and remove one record from the CoE emergency ring buffer.
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1485
 *
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1486
 * A record consists of 8 bytes:
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1487
 *
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1488
 * Byte 0-1: Error code (little endian)
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1489
 * Byte   2: Error register
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1490
 * Byte 3-7: Data
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1491
 *
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1492
 * \return 0 on success (record popped), or negative error code (i. e.
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1493
 * -ENOENT, if ring is empty).
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1494
 */
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1495
int ecrt_slave_config_emerg_pop(
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1496
        ec_slave_config_t *sc, /**< Slave configuration. */
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1497
        uint8_t *target /**< Pointer to target memory (at least
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1498
                          EC_COE_EMERGENCY_MSG_SIZE bytes). */
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1499
        );
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1500
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1501
/** Clears CoE emergency ring buffer and the overrun counter.
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1502
 *
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1503
 * \return 0 on success, or negative error code.
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1504
 */
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1505
int ecrt_slave_config_emerg_clear(
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1506
        ec_slave_config_t *sc /**< Slave configuration. */
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1507
        );
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1508
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1509
/** Read the number of CoE emergency overruns.
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1510
 *
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1511
 * The overrun counter will be incremented when a CoE emergency message could
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1512
 * not be stored in the ring buffer and had to be dropped. Call
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1513
 * ecrt_slave_config_emerg_clear() to reset the counter.
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1514
 *
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1515
 * \return Number of overruns since last clear, or negative error code.
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1516
 */
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1517
int ecrt_slave_config_emerg_overruns(
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1518
        ec_slave_config_t *sc /**< Slave configuration. */
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1519
        );
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1520
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1521
/** 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
  1522
 *
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1523
 * 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
  1524
 * released.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  1525
 *
2523
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1526
 * This method has to be called in non-realtime context before
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1527
 * ecrt_master_activate().
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1528
 *
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  1529
 * \return New SDO request, or NULL on error.
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1530
 */
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1531
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
  1532
        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
  1533
        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
  1534
        uint8_t subindex, /**< SDO subindex. */
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1535
        size_t size /**< Data size to reserve. */
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1536
        );
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1537
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1538
/** 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
  1539
 * operation.
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1540
 *
1267
75900030f0c3 Improved VoE docs.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1541
 * 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
  1542
 * 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
  1543
 * both can be done simultaneously.
75900030f0c3 Improved VoE docs.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1544
 *
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1545
 * 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
  1546
 * released.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  1547
 *
2523
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1548
 * This method has to be called in non-realtime context before
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1549
 * ecrt_master_activate().
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1550
 *
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  1551
 * \return New VoE handler, or NULL on error.
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1552
 */
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1553
ec_voe_handler_t *ecrt_slave_config_create_voe_handler(
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1554
        ec_slave_config_t *sc, /**< Slave configuration. */
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1555
        size_t size /**< Data size to reserve. */
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1556
        );
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1557
2443
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  1558
/** Create a register request to exchange EtherCAT register contents during
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  1559
 * realtime operation.
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  1560
 *
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  1561
 * This interface should not be used to take over master functionality,
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  1562
 * instead it is intended for debugging and monitoring reasons.
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  1563
 *
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  1564
 * The created register request object is freed automatically when the master
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  1565
 * is released.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  1566
 *
2523
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1567
 * This method has to be called in non-realtime context before
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1568
 * ecrt_master_activate().
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1569
 *
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  1570
 * \return New register request, or NULL on error.
2443
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  1571
 */
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  1572
ec_reg_request_t *ecrt_slave_config_create_reg_request(
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  1573
        ec_slave_config_t *sc, /**< Slave configuration. */
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  1574
        size_t size /**< Data size to reserve. */
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  1575
        );
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  1576
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1577
/** 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
  1578
 *
1891
dd7879e2e72b Added api doc.
Florian Pose <fp@igh-essen.com>
parents: 1861
diff changeset
  1579
 * Stores the state information in the given \a state structure. The state
dd7879e2e72b Added api doc.
Florian Pose <fp@igh-essen.com>
parents: 1861
diff changeset
  1580
 * information is updated by the master state machine, so it may take a few
dd7879e2e72b Added api doc.
Florian Pose <fp@igh-essen.com>
parents: 1861
diff changeset
  1581
 * cycles, until it changes.
dd7879e2e72b Added api doc.
Florian Pose <fp@igh-essen.com>
parents: 1861
diff changeset
  1582
 *
dd7879e2e72b Added api doc.
Florian Pose <fp@igh-essen.com>
parents: 1861
diff changeset
  1583
 * \attention If the state of process data exchange shall be monitored in
dd7879e2e72b Added api doc.
Florian Pose <fp@igh-essen.com>
parents: 1861
diff changeset
  1584
 * realtime, ecrt_domain_state() should be used.
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1585
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1586
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
  1587
        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
  1588
        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
  1589
        );
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 288
diff changeset
  1590
1844
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
  1591
/** Add an SoE IDN configuration.
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
  1592
 *
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
  1593
 * A configuration for a Sercos-over-EtherCAT IDN is stored in the slave
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
  1594
 * configuration object and is written to the slave whenever the slave is
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
  1595
 * being configured by the master. This usually happens once on master
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
  1596
 * activation, but can be repeated subsequently, for example after the slave's
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
  1597
 * power supply failed.
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
  1598
 *
2444
4b43c90142c8 Fixed typos in doc.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1599
 * The \a idn parameter can be separated into several sections:
1861
5b285964b4e7 Documented idn parameter.
Florian Pose <fp@igh-essen.com>
parents: 1844
diff changeset
  1600
 *  - Bit 15: Standard data (0) or Product data (1)
5b285964b4e7 Documented idn parameter.
Florian Pose <fp@igh-essen.com>
parents: 1844
diff changeset
  1601
 *  - Bit 14 - 12: Parameter set (0 - 7)
5b285964b4e7 Documented idn parameter.
Florian Pose <fp@igh-essen.com>
parents: 1844
diff changeset
  1602
 *  - Bit 11 - 0: Data block number (0 - 4095)
5b285964b4e7 Documented idn parameter.
Florian Pose <fp@igh-essen.com>
parents: 1844
diff changeset
  1603
 *
2523
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1604
 * Please note that the this function does not do any endianness correction.
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1605
 * Multi-byte data have to be passed in EtherCAT endianness (little-endian).
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1606
 *
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1607
 * This method has to be called in non-realtime context before
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1608
 * ecrt_master_activate().
1844
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
  1609
 *
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
  1610
 * \retval  0 Success.
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
  1611
 * \retval <0 Error code.
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
  1612
 */
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
  1613
int ecrt_slave_config_idn(
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
  1614
        ec_slave_config_t *sc, /**< Slave configuration. */
1952
7d9fb723fc4b Added drive_no parameter to SoE layer.
Florian Pose <fp@igh-essen.com>
parents: 1947
diff changeset
  1615
        uint8_t drive_no, /**< Drive number. */
1844
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
  1616
        uint16_t idn, /**< SoE IDN. */
1944
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1913
diff changeset
  1617
        ec_al_state_t state, /**< AL state in which to write the IDN (PREOP or
73896ef6d077 Added state parameter to ecrt_slave_config_idn().
Florian Pose <fp@igh-essen.com>
parents: 1913
diff changeset
  1618
                               SAFEOP). */
1844
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
  1619
        const uint8_t *data, /**< Pointer to the data. */
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
  1620
        size_t size /**< Size of the \a data. */
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
  1621
        );
b6bd88d4806b Added ecrt_slave_config_idn() method to store SoE IDN configurations.
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
  1622
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1623
/******************************************************************************
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1624
 * Domain methods
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  1625
 *****************************************************************************/
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1626
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1627
/** 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
  1628
 *
2523
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1629
 * This method has to be called in non-realtime context before
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1630
 * ecrt_master_activate().
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1631
 *
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1632
 * \see ecrt_slave_config_reg_pdo_entry()
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1633
 *
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1634
 * \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
  1635
 *            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
  1636
 * \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
  1637
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1638
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
  1639
        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
  1640
        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
  1641
                                                   registrations. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1642
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1643
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1644
/** 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
  1645
 *
2504
5ef9d5b14879 Exported ecrt_domain_size() for userspace.
Florian Pose <fp@igh-essen.com>
parents: 2449
diff changeset
  1646
 * \return Size of the process data image, or a negative error code.
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1647
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1648
size_t ecrt_domain_size(
1257
9844ac126275 Made ecrt_domain_size() const.
Florian Pose <fp@igh-essen.com>
parents: 1256
diff changeset
  1649
        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
  1650
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1651
2504
5ef9d5b14879 Exported ecrt_domain_size() for userspace.
Florian Pose <fp@igh-essen.com>
parents: 2449
diff changeset
  1652
#ifdef __KERNEL__
5ef9d5b14879 Exported ecrt_domain_size() for userspace.
Florian Pose <fp@igh-essen.com>
parents: 2449
diff changeset
  1653
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
  1654
/** Provide external memory to store the domain's process data.
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
  1655
 *
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1656
 * 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
  1657
 * the master.
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
  1658
 *
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
  1659
 * 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
  1660
 * all PDO entries have been registered.
2523
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1661
 *
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1662
 * This method has to be called in non-realtime context before
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1663
 * ecrt_master_activate().
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1664
 *
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
  1665
 */
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
  1666
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
  1667
        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
  1668
        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
  1669
                          data in. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1670
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1671
1248
3cc16b60a571 External memory only in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1672
#endif /* __KERNEL__ */
3cc16b60a571 External memory only in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1673
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
  1674
/** Returns the domain's process data.
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
  1675
 *
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1257
diff changeset
  1676
 * - In kernel context: If external memory was provided with
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1257
diff changeset
  1677
 * 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
  1678
 * 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
  1679
 * 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
  1680
 * ecrt_master_activate().
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1257
diff changeset
  1681
 *
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1257
diff changeset
  1682
 * - 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
  1683
 * ecrt_master_activate() to get the mapped domain process data memory.
1256
45fe0af4340b Warning.
Florian Pose <fp@igh-essen.com>
parents: 1254
diff changeset
  1684
 *
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
  1685
 * \return Pointer to the process data memory.
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
  1686
 */
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
  1687
uint8_t *ecrt_domain_data(
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
  1688
        ec_domain_t *domain /**< Domain. */
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
  1689
        );
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 807
diff changeset
  1690
886
ee1b25db1fbf Added a few docs.
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
  1691
/** Determines the states of the domain's datagrams.
ee1b25db1fbf Added a few docs.
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
  1692
 *
ee1b25db1fbf Added a few docs.
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
  1693
 * 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
  1694
 * 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
  1695
 * 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
  1696
 * 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
  1697
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1698
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
  1699
        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
  1700
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1701
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1702
/** (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
  1703
 *
886
ee1b25db1fbf Added a few docs.
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
  1704
 * 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
  1705
 * 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
  1706
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1707
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
  1708
        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
  1709
        );
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1710
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1711
/** 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
  1712
 *
886
ee1b25db1fbf Added a few docs.
Florian Pose <fp@igh-essen.com>
parents: 880
diff changeset
  1713
 * Stores the domain state in the given \a state structure.
1891
dd7879e2e72b Added api doc.
Florian Pose <fp@igh-essen.com>
parents: 1861
diff changeset
  1714
 *
dd7879e2e72b Added api doc.
Florian Pose <fp@igh-essen.com>
parents: 1861
diff changeset
  1715
 * Using this method, the process data exchange can be monitored in realtime.
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1716
 */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1717
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
  1718
        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
  1719
        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
  1720
                                   information. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  1721
        );
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
  1722
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1723
/*****************************************************************************
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1724
 * SDO request methods.
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1725
 ****************************************************************************/
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1726
2434
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
  1727
/** Set the SDO index and subindex.
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
  1728
 *
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
  1729
 * \attention If the SDO index and/or subindex is changed while
2439
0f1622cdb670 Fixed documentation of EC_REQUEST_BUSY.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1730
 * ecrt_sdo_request_state() returns EC_REQUEST_BUSY, this may lead to
2434
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
  1731
 * unexpected results.
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
  1732
 */
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
  1733
void ecrt_sdo_request_index(
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
  1734
        ec_sdo_request_t *req, /**< SDO request. */
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
  1735
        uint16_t index, /**< SDO index. */
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
  1736
        uint8_t subindex /**< SDO subindex. */
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
  1737
        );
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
  1738
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1739
/** 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
  1740
 *
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1741
 * 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
  1742
 * as failed.
1113
4d720feb915d Updated doc.
Florian Pose <fp@igh-essen.com>
parents: 1104
diff changeset
  1743
 *
4d720feb915d Updated doc.
Florian Pose <fp@igh-essen.com>
parents: 1104
diff changeset
  1744
 * 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
  1745
 * the next call of this method.
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1746
 */
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1747
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
  1748
        ec_sdo_request_t *req, /**< SDO request. */
880
f6212c54a5e3 Implemented Sdo timeout.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1749
        uint32_t timeout /**< Timeout in milliseconds. Zero means no
f6212c54a5e3 Implemented Sdo timeout.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
  1750
                           timeout. */
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1751
        );
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1752
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1753
/** 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
  1754
 *
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1755
 * 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
  1756
 *
aaf175ef0171 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 864
diff changeset
  1757
 * - 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
  1758
 *   the EC_READ_*() macros as usual. Example:
aaf175ef0171 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 864
diff changeset
  1759
 *   \code
aaf175ef0171 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 864
diff changeset
  1760
 *   uint16_t value = EC_READ_U16(ecrt_sdo_request_data(sdo)));
aaf175ef0171 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 864
diff changeset
  1761
 *   \endcode
aaf175ef0171 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 864
diff changeset
  1762
 * - 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
  1763
 *   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
  1764
 *   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
  1765
 *   is a parameter of ecrt_slave_config_create_sdo_request().
aaf175ef0171 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 864
diff changeset
  1766
 *   \code
aaf175ef0171 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 864
diff changeset
  1767
 *   EC_WRITE_U16(ecrt_sdo_request_data(sdo), 0xFFFF);
aaf175ef0171 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 864
diff changeset
  1768
 *   \endcode
aaf175ef0171 Added documentation.
Florian Pose <fp@igh-essen.com>
parents: 864
diff changeset
  1769
 *
864
5b6992df2931 Updated docs.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
  1770
 * \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
  1771
 * 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
  1772
 * not fit inside.
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1773
 *
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1774
 * \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
  1775
 */
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1776
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
  1777
        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
  1778
        );
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1779
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1780
/** 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
  1781
 *
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1782
 * 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
  1783
 * 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
  1784
 * 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
  1785
 *
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1786
 * \return SDO data size in bytes.
869
6c2f4130ed46 Added ecrt_sdo_request_data_size().
Florian Pose <fp@igh-essen.com>
parents: 868
diff changeset
  1787
 */
6c2f4130ed46 Added ecrt_sdo_request_data_size().
Florian Pose <fp@igh-essen.com>
parents: 868
diff changeset
  1788
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
  1789
        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
  1790
        );
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1791
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1792
/** 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
  1793
 *
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1794
 * \return Request state.
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1795
 */
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1341
diff changeset
  1796
#ifdef __KERNEL__
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1797
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
  1798
        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
  1799
    );
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1341
diff changeset
  1800
#else
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1341
diff changeset
  1801
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
  1802
        ec_sdo_request_t *req /**< SDO request. */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1341
diff changeset
  1803
    );
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1341
diff changeset
  1804
#endif
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1805
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1806
/** Schedule an SDO write operation.
864
5b6992df2931 Updated docs.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
  1807
 *
5b6992df2931 Updated docs.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
  1808
 * \attention This method may not be called while ecrt_sdo_request_state()
2439
0f1622cdb670 Fixed documentation of EC_REQUEST_BUSY.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1809
 * returns EC_REQUEST_BUSY.
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1810
 */
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1811
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
  1812
        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
  1813
        );
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1814
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1815
/** Schedule an SDO read operation.
864
5b6992df2931 Updated docs.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
  1816
 *
5b6992df2931 Updated docs.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
  1817
 * \attention This method may not be called while ecrt_sdo_request_state()
2439
0f1622cdb670 Fixed documentation of EC_REQUEST_BUSY.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1818
 * returns EC_REQUEST_BUSY.
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1819
 *
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1820
 * \attention After calling this function, the return value of
864
5b6992df2931 Updated docs.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
  1821
 * ecrt_sdo_request_data() must be considered as invalid while
2439
0f1622cdb670 Fixed documentation of EC_REQUEST_BUSY.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1822
 * ecrt_sdo_request_state() returns EC_REQUEST_BUSY.
858
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1823
 */
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1824
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
  1825
        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
  1826
        );
69122084d066 Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents: 851
diff changeset
  1827
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1828
/*****************************************************************************
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1829
 * VoE handler methods.
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1830
 ****************************************************************************/
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1831
1226
afb189516fcf Introduced ecrt_voe_handler_received_header(); renamed
Florian Pose <fp@igh-essen.com>
parents: 1218
diff changeset
  1832
/** Sets the VoE header for future send operations.
1218
6f3a973fc29e Introduced VoE header.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
  1833
 *
6f3a973fc29e Introduced VoE header.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
  1834
 * 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
  1835
 * 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
  1836
 * 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
  1837
 * of this method.
1218
6f3a973fc29e Introduced VoE header.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
  1838
 */
1226
afb189516fcf Introduced ecrt_voe_handler_received_header(); renamed
Florian Pose <fp@igh-essen.com>
parents: 1218
diff changeset
  1839
void ecrt_voe_handler_send_header(
1218
6f3a973fc29e Introduced VoE header.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
  1840
        ec_voe_handler_t *voe, /**< VoE handler. */
6f3a973fc29e Introduced VoE header.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
  1841
        uint32_t vendor_id, /**< Vendor ID. */
6f3a973fc29e Introduced VoE header.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
  1842
        uint16_t vendor_type /**< Vendor-specific type. */
6f3a973fc29e Introduced VoE header.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
  1843
        );
6f3a973fc29e Introduced VoE header.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
  1844
1226
afb189516fcf Introduced ecrt_voe_handler_received_header(); renamed
Florian Pose <fp@igh-essen.com>
parents: 1218
diff changeset
  1845
/** 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
  1846
 *
1267
75900030f0c3 Improved VoE docs.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1847
 * 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
  1848
 * read operation has succeeded.
1226
afb189516fcf Introduced ecrt_voe_handler_received_header(); renamed
Florian Pose <fp@igh-essen.com>
parents: 1218
diff changeset
  1849
 *
afb189516fcf Introduced ecrt_voe_handler_received_header(); renamed
Florian Pose <fp@igh-essen.com>
parents: 1218
diff changeset
  1850
 * 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
  1851
 * parameters.
afb189516fcf Introduced ecrt_voe_handler_received_header(); renamed
Florian Pose <fp@igh-essen.com>
parents: 1218
diff changeset
  1852
 */
afb189516fcf Introduced ecrt_voe_handler_received_header(); renamed
Florian Pose <fp@igh-essen.com>
parents: 1218
diff changeset
  1853
void ecrt_voe_handler_received_header(
afb189516fcf Introduced ecrt_voe_handler_received_header(); renamed
Florian Pose <fp@igh-essen.com>
parents: 1218
diff changeset
  1854
        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
  1855
        uint32_t *vendor_id, /**< Vendor ID. */
afb189516fcf Introduced ecrt_voe_handler_received_header(); renamed
Florian Pose <fp@igh-essen.com>
parents: 1218
diff changeset
  1856
        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
  1857
        );
afb189516fcf Introduced ecrt_voe_handler_received_header(); renamed
Florian Pose <fp@igh-essen.com>
parents: 1218
diff changeset
  1858
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1859
/** Access to the VoE handler's data.
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1860
 *
1267
75900030f0c3 Improved VoE docs.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1861
 * 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
  1862
 * 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
  1863
 * ecrt_voe_handler_send_header()).
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1864
 *
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1865
 * - 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
  1866
 *   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
  1867
 *   ecrt_voe_handler_data_size().
1267
75900030f0c3 Improved VoE docs.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1868
 * - 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
  1869
 *   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
  1870
 *   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
  1871
 *
1267
75900030f0c3 Improved VoE docs.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1872
 * \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
  1873
 * 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
  1874
 * 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
  1875
 * ecrt_slave_config_create_voe_handler().
75900030f0c3 Improved VoE docs.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1876
 *
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1877
 * \return Pointer to the internal memory.
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1878
 */
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1879
uint8_t *ecrt_voe_handler_data(
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1880
        ec_voe_handler_t *voe /**< VoE handler. */
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1881
        );
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1882
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1883
/** Returns the current data size.
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1884
 *
1218
6f3a973fc29e Introduced VoE header.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
  1885
 * 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
  1886
 * ecrt_voe_handler_send_header()).
1218
6f3a973fc29e Introduced VoE header.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
  1887
 *
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1888
 * 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
  1889
 * 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
  1890
 * 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
  1891
 * 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
  1892
 *
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1893
 * \return Data size in bytes.
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1894
 */
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1895
size_t ecrt_voe_handler_data_size(
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1896
        const ec_voe_handler_t *voe /**< VoE handler. */
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1897
        );
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1898
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1899
/** Start a VoE write operation.
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1900
 *
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1901
 * 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
  1902
 * 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
  1903
 * 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
  1904
 */
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1905
void ecrt_voe_handler_write(
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1906
        ec_voe_handler_t *voe, /**< VoE handler. */
1218
6f3a973fc29e Introduced VoE header.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
  1907
        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
  1908
        );
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1909
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1910
/** Start a VoE read operation.
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1911
 *
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1912
 * 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
  1913
 * 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
  1914
 * 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
  1915
 *
1267
75900030f0c3 Improved VoE docs.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1916
 * 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
  1917
 * 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
  1918
 * (defined in master/voe_handler.c), the operation fails.
75900030f0c3 Improved VoE docs.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1919
 *
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1920
 * 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
  1921
 * 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
  1922
 * can be retrieved with ecrt_voe_handler_received_header().
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1923
 */
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1924
void ecrt_voe_handler_read(
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1925
        ec_voe_handler_t *voe /**< VoE handler. */
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1926
        );
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1927
1314
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  1928
/** 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
  1929
 *
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  1930
 * 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
  1931
 * 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
  1932
 * 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
  1933
 *
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  1934
 * 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
  1935
 * 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
  1936
 * 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
  1937
 * fails.
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  1938
 *
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  1939
 * 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
  1940
 * 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
  1941
 * 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
  1942
 */
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  1943
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
  1944
        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
  1945
        );
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  1946
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1947
/** Execute the handler.
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1948
 *
2523
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1949
 * This method executes the VoE handler. It has to be called in every bus
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1950
 * cycle as long as it returns EC_REQUEST_BUSY.
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1951
 *
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1952
 * \return Handler state.
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1953
 */
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1954
ec_request_state_t ecrt_voe_handler_execute(
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1955
    ec_voe_handler_t *voe /**< VoE handler. */
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1956
    );
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1182
diff changeset
  1957
2443
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  1958
/*****************************************************************************
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  1959
 * Register request methods.
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  1960
 ****************************************************************************/
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  1961
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  1962
/** Access to the register request's data.
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  1963
 *
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  1964
 * This function returns a pointer to the request's internal memory.
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  1965
 *
2523
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1966
 * - After a read operation was successful, integer data can be evaluated
c5c81a52fc30 Improved API documentation.
Florian Pose <fp@igh-essen.com>
parents: 2522
diff changeset
  1967
 *   using the EC_READ_*() macros as usual. Example:
2443
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  1968
 *   \code
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  1969
 *   uint16_t value = EC_READ_U16(ecrt_reg_request_data(reg_request)));
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  1970
 *   \endcode
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  1971
 * - If a write operation shall be triggered, the data have to be written to
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  1972
 *   the internal memory. Use the EC_WRITE_*() macros, if you are writing
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  1973
 *   integer data. Be sure, that the data fit into the memory. The memory size
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  1974
 *   is a parameter of ecrt_slave_config_create_reg_request().
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  1975
 *   \code
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  1976
 *   EC_WRITE_U16(ecrt_reg_request_data(reg_request), 0xFFFF);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  1977
 *   \endcode
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  1978
 *
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  1979
 * \return Pointer to the internal memory.
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  1980
 */
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  1981
uint8_t *ecrt_reg_request_data(
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  1982
        ec_reg_request_t *req /**< Register request. */
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  1983
        );
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  1984
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  1985
/** Get the current state of the register request.
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  1986
 *
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  1987
 * \return Request state.
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  1988
 */
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  1989
#ifdef __KERNEL__
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  1990
ec_request_state_t ecrt_reg_request_state(
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  1991
        const ec_reg_request_t *req /**< Register request. */
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  1992
    );
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  1993
#else
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  1994
ec_request_state_t ecrt_reg_request_state(
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  1995
        ec_reg_request_t *req /**< Register request. */
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  1996
    );
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  1997
#endif
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  1998
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  1999
/** Schedule an register write operation.
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  2000
 *
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  2001
 * \attention This method may not be called while ecrt_reg_request_state()
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  2002
 * returns EC_REQUEST_BUSY.
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  2003
 *
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  2004
 * \attention The \a size parameter is truncated to the size given at request
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  2005
 * creation.
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  2006
 */
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  2007
void ecrt_reg_request_write(
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  2008
        ec_reg_request_t *req, /**< Register request. */
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  2009
        uint16_t address, /**< Register address. */
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  2010
        size_t size /**< Size to write. */
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  2011
        );
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  2012
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  2013
/** Schedule a register read operation.
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  2014
 *
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  2015
 * \attention This method may not be called while ecrt_reg_request_state()
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  2016
 * returns EC_REQUEST_BUSY.
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  2017
 *
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  2018
 * \attention The \a size parameter is truncated to the size given at request
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  2019
 * creation.
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  2020
 */
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  2021
void ecrt_reg_request_read(
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  2022
        ec_reg_request_t *req, /**< Register request. */
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  2023
        uint16_t address, /**< Register address. */
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  2024
        size_t size /**< Size to write. */
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  2025
        );
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2439
diff changeset
  2026
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
  2027
/*****************************************************************************/
bf0d42ca5aec Wrapped c function in 'extern "C"' to make the library usable in C++
Florian Pose <fp@igh-essen.com>
parents: 1287
diff changeset
  2028
bf0d42ca5aec Wrapped c function in 'extern "C"' to make the library usable in C++
Florian Pose <fp@igh-essen.com>
parents: 1287
diff changeset
  2029
#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
  2030
}
bf0d42ca5aec Wrapped c function in 'extern "C"' to make the library usable in C++
Florian Pose <fp@igh-essen.com>
parents: 1287
diff changeset
  2031
#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
  2032
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  2033
/******************************************************************************
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2034
 * Bitwise read/write macros
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2035
 *****************************************************************************/
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2036
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2037
/** 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
  2038
 *
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
  2039
 * \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
  2040
 * \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
  2041
 */
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  2042
#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
  2043
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2044
/** 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
  2045
 *
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
  2046
 * \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
  2047
 * \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
  2048
 * \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
  2049
 */
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  2050
#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
  2051
    do { \
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  2052
        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
  2053
        else     *((uint8_t *) (DATA)) &= ~(1 << (POS)); \
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  2054
    } while (0)
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  2055
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  2056
/******************************************************************************
1254
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  2057
 * Byte-swapping functions for user space
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  2058
 *****************************************************************************/
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  2059
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  2060
#ifndef __KERNEL__
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  2061
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  2062
#if __BYTE_ORDER == __LITTLE_ENDIAN
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  2063
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  2064
#define le16_to_cpu(x) x
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  2065
#define le32_to_cpu(x) x
1384
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  2066
#define le64_to_cpu(x) x
1254
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  2067
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  2068
#define cpu_to_le16(x) x
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  2069
#define cpu_to_le32(x) x
1384
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  2070
#define cpu_to_le64(x) x
1254
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  2071
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  2072
#elif __BYTE_ORDER == __BIG_ENDIAN
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  2073
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  2074
#define swap16(x) \
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  2075
        ((uint16_t)( \
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  2076
        (((uint16_t)(x) & 0x00ffU) << 8) | \
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  2077
        (((uint16_t)(x) & 0xff00U) >> 8) ))
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  2078
#define swap32(x) \
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  2079
        ((uint32_t)( \
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  2080
        (((uint32_t)(x) & 0x000000ffUL) << 24) | \
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  2081
        (((uint32_t)(x) & 0x0000ff00UL) <<  8) | \
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  2082
        (((uint32_t)(x) & 0x00ff0000UL) >>  8) | \
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  2083
        (((uint32_t)(x) & 0xff000000UL) >> 24) ))
1384
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  2084
#define swap64(x) \
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  2085
        ((uint64_t)( \
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  2086
        (((uint64_t)(x) & 0x00000000000000ffULL) << 56) | \
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  2087
        (((uint64_t)(x) & 0x000000000000ff00ULL) << 40) | \
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  2088
        (((uint64_t)(x) & 0x0000000000ff0000ULL) << 24) | \
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  2089
        (((uint64_t)(x) & 0x00000000ff000000ULL) <<  8) | \
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  2090
        (((uint64_t)(x) & 0x000000ff00000000ULL) >>  8) | \
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  2091
        (((uint64_t)(x) & 0x0000ff0000000000ULL) >> 24) | \
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  2092
        (((uint64_t)(x) & 0x00ff000000000000ULL) >> 40) | \
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  2093
        (((uint64_t)(x) & 0xff00000000000000ULL) >> 56) ))
1254
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  2094
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  2095
#define le16_to_cpu(x) swap16(x)
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  2096
#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
  2097
#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
  2098
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  2099
#define cpu_to_le16(x) swap16(x)
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  2100
#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
  2101
#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
  2102
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  2103
#endif
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  2104
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  2105
#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
  2106
#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
  2107
#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
  2108
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  2109
#endif /* ifndef __KERNEL__ */
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  2110
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1248
diff changeset
  2111
/******************************************************************************
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2112
 * Read macros
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2113
 *****************************************************************************/
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2114
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2115
/** 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
  2116
 *
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2117
 * \return EtherCAT data value
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2118
 */
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  2119
#define EC_READ_U8(DATA) \
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  2120
    ((uint8_t) *((uint8_t *) (DATA)))
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  2121
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2122
/** 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
  2123
 *
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2124
 * \param DATA EtherCAT data pointer
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2125
 * \return EtherCAT data value
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2126
 */
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  2127
#define EC_READ_S8(DATA) \
288
89d3c61ef3e6 Minor changes to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 286
diff changeset
  2128
     ((int8_t) *((uint8_t *) (DATA)))
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  2129
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2130
/** 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
  2131
 *
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2132
 * \param DATA EtherCAT data pointer
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2133
 * \return EtherCAT data value
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2134
 */
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  2135
#define EC_READ_U16(DATA) \
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  2136
     ((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
  2137
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2138
/** 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
  2139
 *
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2140
 * \param DATA EtherCAT data pointer
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2141
 * \return EtherCAT data value
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2142
 */
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  2143
#define EC_READ_S16(DATA) \
288
89d3c61ef3e6 Minor changes to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 286
diff changeset
  2144
     ((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
  2145
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2146
/** 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
  2147
 *
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2148
 * \param DATA EtherCAT data pointer
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2149
 * \return EtherCAT data value
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2150
 */
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  2151
#define EC_READ_U32(DATA) \
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  2152
     ((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
  2153
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2154
/** 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
  2155
 *
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2156
 * \param DATA EtherCAT data pointer
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2157
 * \return EtherCAT data value
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2158
 */
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  2159
#define EC_READ_S32(DATA) \
288
89d3c61ef3e6 Minor changes to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 286
diff changeset
  2160
     ((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
  2161
1384
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  2162
/** 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
  2163
 *
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  2164
 * \param DATA EtherCAT data pointer
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  2165
 * \return EtherCAT data value
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  2166
 */
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  2167
#define EC_READ_U64(DATA) \
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  2168
     ((uint64_t) le64_to_cpup((void *) (DATA)))
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  2169
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  2170
/** 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
  2171
 *
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  2172
 * \param DATA EtherCAT data pointer
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  2173
 * \return EtherCAT data value
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  2174
 */
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  2175
#define EC_READ_S64(DATA) \
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  2176
     ((int64_t) le64_to_cpup((void *) (DATA)))
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  2177
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  2178
/******************************************************************************
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2179
 * Write macros
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2180
 *****************************************************************************/
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2181
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2182
/** 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
  2183
 *
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2184
 * \param DATA EtherCAT data pointer
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2185
 * \param VAL new value
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2186
 */
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  2187
#define EC_WRITE_U8(DATA, VAL) \
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  2188
    do { \
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  2189
        *((uint8_t *)(DATA)) = ((uint8_t) (VAL)); \
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  2190
    } while (0)
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  2191
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2192
/** 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
  2193
 *
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2194
 * \param DATA EtherCAT data pointer
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2195
 * \param VAL new value
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2196
 */
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  2197
#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
  2198
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2199
/** 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
  2200
 *
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2201
 * \param DATA EtherCAT data pointer
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2202
 * \param VAL new value
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2203
 */
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  2204
#define EC_WRITE_U16(DATA, VAL) \
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  2205
    do { \
894
440c43d56b33 Improved EC_WRITE macros by replacing in-situ conversions
Florian Pose <fp@igh-essen.com>
parents: 893
diff changeset
  2206
        *((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
  2207
    } while (0)
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  2208
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2209
/** 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
  2210
 *
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2211
 * \param DATA EtherCAT data pointer
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2212
 * \param VAL new value
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2213
 */
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  2214
#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
  2215
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2216
/** 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
  2217
 *
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2218
 * \param DATA EtherCAT data pointer
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2219
 * \param VAL new value
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2220
 */
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  2221
#define EC_WRITE_U32(DATA, VAL) \
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  2222
    do { \
894
440c43d56b33 Improved EC_WRITE macros by replacing in-situ conversions
Florian Pose <fp@igh-essen.com>
parents: 893
diff changeset
  2223
        *((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
  2224
    } while (0)
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  2225
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2226
/** 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
  2227
 *
779
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2228
 * \param DATA EtherCAT data pointer
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2229
 * \param VAL new value
b39a6a4d3671 Prepared RT interface 1.4.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2230
 */
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  2231
#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
  2232
1384
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  2233
/** 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
  2234
 *
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  2235
 * \param DATA EtherCAT data pointer
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  2236
 * \param VAL new value
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  2237
 */
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  2238
#define EC_WRITE_U64(DATA, VAL) \
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  2239
    do { \
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  2240
        *((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
  2241
    } while (0)
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  2242
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  2243
/** 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
  2244
 *
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  2245
 * \param DATA EtherCAT data pointer
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  2246
 * \param VAL new value
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  2247
 */
21b5343910c2 Added 64-bit data access macros.
Florian Pose <fp@igh-essen.com>
parents: 1377
diff changeset
  2248
#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
  2249
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2250
/*****************************************************************************/
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2251
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  2252
/** @} */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
  2253
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2254
#endif