etherlabmaster: include/ecrt.h@d304ef4af542 (annotated)

104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	1	/******************************************************************************
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	2	*
125 b01bd5b830d7 Sch?nheitskorrekturen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	3	* $Id$
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	4	*
197 b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	5	* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	6	*
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	7	* This file is part of the IgH EtherCAT Master.
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	8	*
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	9	* The IgH EtherCAT Master is free software; you can redistribute it
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	10	* and/or modify it under the terms of the GNU General Public License
246 0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 206 diff changeset	11	* as published by the Free Software Foundation; either version 2 of the
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 206 diff changeset	12	* License, or (at your option) any later version.
197 b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	13	*
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	14	* The IgH EtherCAT Master is distributed in the hope that it will be
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	15	* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	16	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	17	* GNU General Public License for more details.
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	18	*
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	19	* You should have received a copy of the GNU General Public License
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	20	* along with the IgH EtherCAT Master; if not, write to the Free Software
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	21	* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	22	*
246 0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 206 diff changeset	23	* The right to use EtherCAT Technology is granted and comes free of
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 206 diff changeset	24	* charge under condition of compatibility of product made by
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 206 diff changeset	25	* Licensee. People intending to distribute/sell products based on the
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 206 diff changeset	26	* code, have to sign an agreement to guarantee that products using
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 206 diff changeset	27	* software based on IgH EtherCAT master stay compatible with the actual
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 206 diff changeset	28	* EtherCAT specification (which are released themselves as an open
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 206 diff changeset	29	* standard) as the (only) precondition to have the right to use EtherCAT
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 206 diff changeset	30	* Technology, IP and trade marks.
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 206 diff changeset	31	*
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	32	*****************************************************************************/
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	33
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	34	/**
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	35	\file
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	36	EtherCAT realtime interface.
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	37	*/
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	38
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	39	/**
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	40	\defgroup RealtimeInterface EtherCAT realtime interface
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	41	EtherCAT interface for realtime modules.
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	42	This interface is designed for realtime modules that want to use EtherCAT.
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	43	There are functions to request a master, to map process data, to communicate
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	44	with slaves via CoE and to configure and activate the bus.
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	45	*/
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	46
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	47	/*****************************************************************************/
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	48
125 b01bd5b830d7 Sch?nheitskorrekturen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	49	#ifndef __ECRT_H__
b01bd5b830d7 Sch?nheitskorrekturen. Florian Pose <fp@igh-essen.com> parents: 114 diff changeset	50	#define __ECRT_H__
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	51
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	52	#include <asm/byteorder.h>
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	53
110 2346e2963087 Integer-Typen in ecrt.h. Florian Pose <fp@igh-essen.com> parents: 106 diff changeset	54	#ifdef __KERNEL__
2346e2963087 Integer-Typen in ecrt.h. Florian Pose <fp@igh-essen.com> parents: 106 diff changeset	55	#include <linux/types.h>
2346e2963087 Integer-Typen in ecrt.h. Florian Pose <fp@igh-essen.com> parents: 106 diff changeset	56	#else
2346e2963087 Integer-Typen in ecrt.h. Florian Pose <fp@igh-essen.com> parents: 106 diff changeset	57	#include <stdint.h>
2346e2963087 Integer-Typen in ecrt.h. Florian Pose <fp@igh-essen.com> parents: 106 diff changeset	58	#endif
2346e2963087 Integer-Typen in ecrt.h. Florian Pose <fp@igh-essen.com> parents: 106 diff changeset	59
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	60	/*****************************************************************************/
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	61
541 5a2b1658b67f Introduced ECRT version magic. Florian Pose <fp@igh-essen.com> parents: 495 diff changeset	62	#define ECRT_VER_MAJOR 1U
5a2b1658b67f Introduced ECRT version magic. Florian Pose <fp@igh-essen.com> parents: 495 diff changeset	63	#define ECRT_VER_MINOR 2U
5a2b1658b67f Introduced ECRT version magic. Florian Pose <fp@igh-essen.com> parents: 495 diff changeset	64
5a2b1658b67f Introduced ECRT version magic. Florian Pose <fp@igh-essen.com> parents: 495 diff changeset	65	#define ECRT_VERSION(a,b) (((a) << 8) + (b))
5a2b1658b67f Introduced ECRT version magic. Florian Pose <fp@igh-essen.com> parents: 495 diff changeset	66	#define ECRT_VERSION_MAGIC ECRT_VERSION(ECRT_VER_MAJOR, ECRT_VER_MINOR)
5a2b1658b67f Introduced ECRT version magic. Florian Pose <fp@igh-essen.com> parents: 495 diff changeset	67
5a2b1658b67f Introduced ECRT version magic. Florian Pose <fp@igh-essen.com> parents: 495 diff changeset	68	/*****************************************************************************/
5a2b1658b67f Introduced ECRT version magic. Florian Pose <fp@igh-essen.com> parents: 495 diff changeset	69
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	70	struct ec_master;
286 f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 276 diff changeset	71	typedef struct ec_master ec_master_t; /*< \see ec_master /
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	72
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	73	struct ec_domain;
286 f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 276 diff changeset	74	typedef struct ec_domain ec_domain_t; /*< \see ec_domain /
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	75
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	76	struct ec_slave;
286 f3352378b4d4 Added missing documentation. Florian Pose <fp@igh-essen.com> parents: 276 diff changeset	77	typedef struct ec_slave ec_slave_t; /*< \see ec_slave /
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	78
200 72c969ea6558 Documentation update + Doxygen generate LaTeX reference manual. Florian Pose <fp@igh-essen.com> parents: 199 diff changeset	79	/**
612 aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 541 diff changeset	80	* Bus status.
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 541 diff changeset	81	*/
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 541 diff changeset	82
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 541 diff changeset	83	typedef enum {
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 541 diff changeset	84	EC_BUS_FAILURE, // some slaves offline
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 541 diff changeset	85	EC_BUS_OK, // all slaves online
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 541 diff changeset	86	EC_BUS_REDUNDANCY // bus interrupted, but redundancy active
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 541 diff changeset	87	}
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 541 diff changeset	88	ec_bus_status_t;
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 541 diff changeset	89
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 541 diff changeset	90	/**
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 541 diff changeset	91	* Master status.
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 541 diff changeset	92	* This is used for the output parameter of ecrt_master_get_status().
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 541 diff changeset	93	*/
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 541 diff changeset	94
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 541 diff changeset	95	typedef struct {
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 541 diff changeset	96	ec_bus_status_t bus_status;
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 541 diff changeset	97	unsigned int bus_tainted;
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 541 diff changeset	98	unsigned int slaves_responding;
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 541 diff changeset	99	}
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 541 diff changeset	100	ec_master_status_t;
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 541 diff changeset	101
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 541 diff changeset	102	/**
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 288 diff changeset	103	Initialization type for PDO registrations.
612 aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 541 diff changeset	104	This type is used as a parameter for the ecrt_domain_register_pdo_list()
200 72c969ea6558 Documentation update + Doxygen generate LaTeX reference manual. Florian Pose <fp@igh-essen.com> parents: 199 diff changeset	105	function.
72c969ea6558 Documentation update + Doxygen generate LaTeX reference manual. Florian Pose <fp@igh-essen.com> parents: 199 diff changeset	106	*/
72c969ea6558 Documentation update + Doxygen generate LaTeX reference manual. Florian Pose <fp@igh-essen.com> parents: 199 diff changeset	107
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	108	typedef struct
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	109	{
200 72c969ea6558 Documentation update + Doxygen generate LaTeX reference manual. Florian Pose <fp@igh-essen.com> parents: 199 diff changeset	110	const char slave_address; /*< slave address string (see
72c969ea6558 Documentation update + Doxygen generate LaTeX reference manual. Florian Pose <fp@igh-essen.com> parents: 199 diff changeset	111	ecrt_master_get_slave()) */
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 288 diff changeset	112	uint32_t vendor_id; /*< vendor ID /
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 288 diff changeset	113	uint32_t product_code; /*< product code /
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	114	uint16_t pdo_entry_index; /*< PDO entry index /
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	115	uint8_t pdo_entry_subindex; /*< PDO entry subindex /
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 288 diff changeset	116	void data_ptr; /< address of the process data pointer */
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	117	}
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 288 diff changeset	118	ec_pdo_reg_t;
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	119
416 4f007cd2a79d ecrt_domain_register_pdo_range() implemented. Florian Pose <fp@igh-essen.com> parents: 325 diff changeset	120	/**
612 aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 541 diff changeset	121	Direction type for ecrt_domain_register_pdo_range()
416 4f007cd2a79d ecrt_domain_register_pdo_range() implemented. Florian Pose <fp@igh-essen.com> parents: 325 diff changeset	122	*/
4f007cd2a79d ecrt_domain_register_pdo_range() implemented. Florian Pose <fp@igh-essen.com> parents: 325 diff changeset	123
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	124	typedef enum {
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	125	EC_DIR_OUTPUT,
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	126	EC_DIR_INPUT
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	127	}
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	128	ec_direction_t;
416 4f007cd2a79d ecrt_domain_register_pdo_range() implemented. Florian Pose <fp@igh-essen.com> parents: 325 diff changeset	129
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	130	/******************************************************************************
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	131	* Master request functions
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	132	*****************************************************************************/
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	133
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	134	ec_master_t *ecrt_request_master(unsigned int master_index);
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	135	void ecrt_release_master(ec_master_t *master);
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	136
541 5a2b1658b67f Introduced ECRT version magic. Florian Pose <fp@igh-essen.com> parents: 495 diff changeset	137	unsigned int ecrt_version_magic(void);
5a2b1658b67f Introduced ECRT version magic. Florian Pose <fp@igh-essen.com> parents: 495 diff changeset	138
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	139	/******************************************************************************
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	140	* Master methods
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	141	*****************************************************************************/
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	142
204 5ab50514d9b2 Locking callback interface. Florian Pose <fp@igh-essen.com> parents: 200 diff changeset	143	void ecrt_master_callbacks(ec_master_t master, int (request_cb)(void *),
5ab50514d9b2 Locking callback interface. Florian Pose <fp@igh-essen.com> parents: 200 diff changeset	144	void (release_cb)(void ), void *cb_data);
5ab50514d9b2 Locking callback interface. Florian Pose <fp@igh-essen.com> parents: 200 diff changeset	145
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	146	ec_domain_t ecrt_master_create_domain(ec_master_t master);
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	147
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	148	int ecrt_master_activate(ec_master_t *master);
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	149
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 288 diff changeset	150	void ecrt_master_send(ec_master_t *master);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 288 diff changeset	151	void ecrt_master_receive(ec_master_t *master);
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	152
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 141 diff changeset	153	void ecrt_master_run(ec_master_t *master);
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 141 diff changeset	154
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	155	ec_slave_t ecrt_master_get_slave(const ec_master_t , const char *);
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	156
612 aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag, Florian Pose <fp@igh-essen.com> parents: 541 diff changeset	157	void ecrt_master_get_status(const ec_master_t master, ec_master_status_t );
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 288 diff changeset	158
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	159	/******************************************************************************
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	160	* Domain Methods
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	161	*****************************************************************************/
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	162
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 288 diff changeset	163	ec_slave_t ecrt_domain_register_pdo(ec_domain_t domain,
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 288 diff changeset	164	const char *address,
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 288 diff changeset	165	uint32_t vendor_id,
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 288 diff changeset	166	uint32_t product_code,
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 288 diff changeset	167	uint16_t pdo_index,
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 288 diff changeset	168	uint8_t pdo_subindex,
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 288 diff changeset	169	void **data_ptr);
416 4f007cd2a79d ecrt_domain_register_pdo_range() implemented. Florian Pose <fp@igh-essen.com> parents: 325 diff changeset	170
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 288 diff changeset	171	int ecrt_domain_register_pdo_list(ec_domain_t *domain,
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 288 diff changeset	172	const ec_pdo_reg_t *pdos);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 288 diff changeset	173
416 4f007cd2a79d ecrt_domain_register_pdo_range() implemented. Florian Pose <fp@igh-essen.com> parents: 325 diff changeset	174	ec_slave_t ecrt_domain_register_pdo_range(ec_domain_t domain,
4f007cd2a79d ecrt_domain_register_pdo_range() implemented. Florian Pose <fp@igh-essen.com> parents: 325 diff changeset	175	const char *address,
4f007cd2a79d ecrt_domain_register_pdo_range() implemented. Florian Pose <fp@igh-essen.com> parents: 325 diff changeset	176	uint32_t vendor_id,
4f007cd2a79d ecrt_domain_register_pdo_range() implemented. Florian Pose <fp@igh-essen.com> parents: 325 diff changeset	177	uint32_t product_code,
4f007cd2a79d ecrt_domain_register_pdo_range() implemented. Florian Pose <fp@igh-essen.com> parents: 325 diff changeset	178	ec_direction_t direction,
4f007cd2a79d ecrt_domain_register_pdo_range() implemented. Florian Pose <fp@igh-essen.com> parents: 325 diff changeset	179	uint16_t offset,
4f007cd2a79d ecrt_domain_register_pdo_range() implemented. Florian Pose <fp@igh-essen.com> parents: 325 diff changeset	180	uint16_t length,
4f007cd2a79d ecrt_domain_register_pdo_range() implemented. Florian Pose <fp@igh-essen.com> parents: 325 diff changeset	181	void **data_ptr);
4f007cd2a79d ecrt_domain_register_pdo_range() implemented. Florian Pose <fp@igh-essen.com> parents: 325 diff changeset	182
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	183	void ecrt_domain_process(ec_domain_t *domain);
494 178b1b43a88c Version 1.2.0-rc1, re-introduced ecrt_domain_queue(). Florian Pose <fp@igh-essen.com> parents: 489 diff changeset	184	void ecrt_domain_queue(ec_domain_t *domain);
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 288 diff changeset	185	int ecrt_domain_state(const ec_domain_t *domain);
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	186
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	187	/******************************************************************************
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	188	* Slave Methods
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	189	*****************************************************************************/
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	190
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 288 diff changeset	191	int ecrt_slave_conf_sdo8(ec_slave_t *slave, uint16_t sdo_index,
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 288 diff changeset	192	uint8_t sdo_subindex, uint8_t value);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 288 diff changeset	193	int ecrt_slave_conf_sdo16(ec_slave_t *slave, uint16_t sdo_index,
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 288 diff changeset	194	uint8_t sdo_subindex, uint16_t value);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 288 diff changeset	195	int ecrt_slave_conf_sdo32(ec_slave_t *slave, uint16_t sdo_index,
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 288 diff changeset	196	uint8_t sdo_subindex, uint32_t value);
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 288 diff changeset	197
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	198	void ecrt_slave_pdo_mapping_clear(ec_slave_t *, ec_direction_t);
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	199	int ecrt_slave_pdo_mapping_add(ec_slave_t *, ec_direction_t, uint16_t);
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	200	int ecrt_slave_pdo_mapping(ec_slave_t *, ec_direction_t, unsigned int, ...);
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 612 diff changeset	201
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	202	/******************************************************************************
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	203	* Bitwise read/write macros
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	204	*****************************************************************************/
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	205
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	206	/**
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	207	Read a certain bit of an EtherCAT data byte.
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	208	\param DATA EtherCAT data pointer
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	209	\param POS bit position
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	210	*/
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	211
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	212	#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	213
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	214	/**
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	215	Write a certain bit of an EtherCAT data byte.
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	216	\param DATA EtherCAT data pointer
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	217	\param POS bit position
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	218	\param VAL new bit value
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	219	*/
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	220
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	221	#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	222	do { \
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	223	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	224	else ((uint8_t ) (DATA)) &= ~(1 << (POS)); \
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	225	} while (0)
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	226
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	227	/******************************************************************************
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	228	* Read macros
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	229	*****************************************************************************/
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	230
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	231	/**
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	232	Read an 8-bit unsigned value from EtherCAT data.
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	233	\return EtherCAT data value
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	234	*/
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	235
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	236	#define EC_READ_U8(DATA) \
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	237	((uint8_t) ((uint8_t ) (DATA)))
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	238
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	239	/**
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	240	Read an 8-bit signed value from EtherCAT data.
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	241	\param DATA EtherCAT data pointer
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	242	\return EtherCAT data value
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	243	*/
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	244
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	245	#define EC_READ_S8(DATA) \
288 89d3c61ef3e6 Minor changes to ecrt.h. Florian Pose <fp@igh-essen.com> parents: 286 diff changeset	246	((int8_t) ((uint8_t ) (DATA)))
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	247
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	248	/**
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	249	Read a 16-bit unsigned value from EtherCAT data.
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	250	\param DATA EtherCAT data pointer
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	251	\return EtherCAT data value
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	252	*/
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	253
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	254	#define EC_READ_U16(DATA) \
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	255	((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	256
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	257	/**
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	258	Read a 16-bit signed value from EtherCAT data.
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	259	\param DATA EtherCAT data pointer
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	260	\return EtherCAT data value
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	261	*/
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	262
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	263	#define EC_READ_S16(DATA) \
288 89d3c61ef3e6 Minor changes to ecrt.h. Florian Pose <fp@igh-essen.com> parents: 286 diff changeset	264	((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	265
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	266	/**
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	267	Read a 32-bit unsigned value from EtherCAT data.
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	268	\param DATA EtherCAT data pointer
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	269	\return EtherCAT data value
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	270	*/
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	271
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	272	#define EC_READ_U32(DATA) \
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	273	((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	274
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	275	/**
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	276	Read a 32-bit signed value from EtherCAT data.
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	277	\param DATA EtherCAT data pointer
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	278	\return EtherCAT data value
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	279	*/
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	280
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	281	#define EC_READ_S32(DATA) \
288 89d3c61ef3e6 Minor changes to ecrt.h. Florian Pose <fp@igh-essen.com> parents: 286 diff changeset	282	((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	283
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	284
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	285	/******************************************************************************
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	286	* Write macros
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	287	*****************************************************************************/
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	288
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	289	/**
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	290	Write an 8-bit unsigned value to EtherCAT data.
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	291	\param DATA EtherCAT data pointer
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	292	\param VAL new value
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	293	*/
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	294
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	295	#define EC_WRITE_U8(DATA, VAL) \
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	296	do { \
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	297	((uint8_t )(DATA)) = ((uint8_t) (VAL)); \
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	298	} while (0)
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	299
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	300	/**
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	301	Write an 8-bit signed value to EtherCAT data.
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	302	\param DATA EtherCAT data pointer
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	303	\param VAL new value
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	304	*/
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	305
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	306	#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	307
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	308	/**
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	309	Write a 16-bit unsigned value to EtherCAT data.
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	310	\param DATA EtherCAT data pointer
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	311	\param VAL new value
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	312	*/
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	313
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	314	#define EC_WRITE_U16(DATA, VAL) \
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	315	do { \
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	316	((uint16_t ) (DATA)) = (uint16_t) (VAL); \
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	317	cpu_to_le16s(DATA); \
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	318	} while (0)
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	319
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	320	/**
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	321	Write a 16-bit signed value to EtherCAT data.
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	322	\param DATA EtherCAT data pointer
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	323	\param VAL new value
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	324	*/
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	325
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	326	#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	327
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	328	/**
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	329	Write a 32-bit unsigned value to EtherCAT data.
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	330	\param DATA EtherCAT data pointer
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	331	\param VAL new value
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	332	*/
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	333
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	334	#define EC_WRITE_U32(DATA, VAL) \
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	335	do { \
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	336	((uint32_t ) (DATA)) = (uint32_t) (VAL); \
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	337	cpu_to_le16s(DATA); \
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	338	} while (0)
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	339
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	340	/**
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	341	Write a 32-bit signed value to EtherCAT data.
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	342	\param DATA EtherCAT data pointer
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	343	\param VAL new value
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	344	*/
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	345
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	346	#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	347
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	348	/*****************************************************************************/
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	349
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: diff changeset	350	#endif

author	Florian Pose <fp@igh-essen.com>
	Wed, 07 Mar 2007 17:37:21 +0000
changeset 635	d304ef4af542
parent 612	aede068f9a74
child 637	d5d04c868e0e
permissions	-rw-r--r--