1

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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH

     6

 *

     7

 *  This file is part of the IgH EtherCAT Master.

     8

 *

     9

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

    10

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

    11

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

    12

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

    13

 *

    14

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

    15

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

    16

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    17

 *  GNU General Public License for more details.

    18

 *

    19

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

    20

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

    21

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

    22

 *

    23

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

    24

 *  charge under condition of compatibility of product made by

    25

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

    26

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

    27

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

    28

 *  EtherCAT specification (which are released themselves as an open

    29

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

    30

 *  Technology, IP and trade marks.

    31

 *

    32

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

    33

    34

/**

    35

   \file

    36

   EtherCAT realtime interface.

    37

*/

    38

    39

/**

    40

   \defgroup RealtimeInterface EtherCAT realtime interface

    41

   EtherCAT interface for realtime modules.

    42

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

    43

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

    44

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

    45

*/

    46

    47

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

    48

    49

#ifndef __ECRT_H__

    50

#define __ECRT_H__

    51

    52

#include <asm/byteorder.h>

    53

    54

#ifdef __KERNEL__

    55

#include <linux/types.h>

    56

#else

    57

#include <stdint.h>

    58

#endif

    59

    60

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

    61

    62

struct ec_master;

    63

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

    64

    65

struct ec_domain;

    66

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

    67

    68

struct ec_slave;

    69

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

    70

    71

/**

    72

   Initialization type for field registrations.

    73

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

    74

   function.

    75

*/

    76

    77

typedef struct

    78

{

    79

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

    80

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

    81

                                  ecrt_master_get_slave()) */

    82

    const char *vendor_name; /**< vendor name */

    83

    const char *product_name; /**< product name */

    84

    const char *field_name; /**< data field name */

    85

    unsigned int field_index; /**< index in data fields with same name */

    86

    unsigned int field_count; /**< number of data fields with same name */

    87

}

    88

ec_field_init_t;

    89

    90

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

    91

 *  Master request functions

    92

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

    93

    94

ec_master_t *ecrt_request_master(unsigned int master_index);

    95

void ecrt_release_master(ec_master_t *master);

    96

    97

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

    98

 *  Master methods

    99

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

   100

   101

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

   102

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

   103

   104

ec_domain_t *ecrt_master_create_domain(ec_master_t *master);

   105

   106

int ecrt_master_activate(ec_master_t *master);

   107

void ecrt_master_deactivate(ec_master_t *master);

   108

   109

int ecrt_master_fetch_sdo_lists(ec_master_t *master);

   110

   111

void ecrt_master_sync_io(ec_master_t *master);

   112

void ecrt_master_async_send(ec_master_t *master);

   113

void ecrt_master_async_receive(ec_master_t *master);

   114

void ecrt_master_prepare_async_io(ec_master_t *master);

   115

   116

void ecrt_master_run(ec_master_t *master);

   117

   118

int ecrt_master_start_eoe(ec_master_t *master);

   119

   120

void ecrt_master_debug(ec_master_t *master, int level);

   121

void ecrt_master_print(const ec_master_t *master, unsigned int verbosity);

   122

   123

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

   124

   125

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

   126

 *  Domain Methods

   127

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

   128

   129

ec_slave_t *ecrt_domain_register_field(ec_domain_t *domain,

   130

                                       const char *address,

   131

                                       const char *vendor_name,

   132

                                       const char *product_name,

   133

                                       void **data_ptr, const char *field_name,

   134

                                       unsigned int field_index,

   135

                                       unsigned int field_count);

   136

int ecrt_domain_register_field_list(ec_domain_t *domain,

   137

                                    const ec_field_init_t *fields);

   138

   139

void ecrt_domain_queue(ec_domain_t *domain);

   140

void ecrt_domain_process(ec_domain_t *domain);

   141

   142

int ecrt_domain_state(ec_domain_t *domain);

   143

   144

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

   145

 *  Slave Methods

   146

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

   147

   148

/* there SDO functions are deprecated! */

   149

   150

int ecrt_slave_sdo_read_exp8(ec_slave_t *slave, uint16_t sdo_index,

   151

                              uint8_t sdo_subindex, uint8_t *value);

   152

int ecrt_slave_sdo_read_exp16(ec_slave_t *slave, uint16_t sdo_index,

   153

                              uint8_t sdo_subindex, uint16_t *value);

   154

int ecrt_slave_sdo_read_exp32(ec_slave_t *slave, uint16_t sdo_index,

   155

                              uint8_t sdo_subindex, uint32_t *value);

   156

int ecrt_slave_sdo_write_exp8(ec_slave_t *slave, uint16_t sdo_index,

   157

                              uint8_t sdo_subindex, uint8_t value);

   158

int ecrt_slave_sdo_write_exp16(ec_slave_t *slave, uint16_t sdo_index,

   159

                               uint8_t sdo_subindex, uint16_t value);

   160

int ecrt_slave_sdo_write_exp32(ec_slave_t *slave, uint16_t sdo_index,

   161

                               uint8_t sdo_subindex, uint32_t value);

   162

int ecrt_slave_sdo_read(ec_slave_t *slave, uint16_t sdo_index,

   163

                        uint8_t sdo_subindex, uint8_t *data, size_t *size);

   164

   165

int ecrt_slave_write_alias(ec_slave_t *slave, uint16_t alias); // deprecated!

   166

   167

int ecrt_slave_field_size(ec_slave_t *slave, const char *field_name,

   168

                          unsigned int field_index, size_t size);

   169

   170

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

   171

 *  Bitwise read/write macros

   172

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

   173

   174

/**

   175

   Read a certain bit of an EtherCAT data byte.

   176

   \param DATA EtherCAT data pointer

   177

   \param POS bit position

   178

*/

   179

   180

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

   181

   182

/**

   183

   Write a certain bit of an EtherCAT data byte.

   184

   \param DATA EtherCAT data pointer

   185

   \param POS bit position

   186

   \param VAL new bit value

   187

*/

   188

   189

#define EC_WRITE_BIT(DATA, POS, VAL) \

   190

    do { \

   191

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

   192

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

   193

    } while (0)

   194

   195

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

   196

 *  Read macros

   197

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

   198

   199

/**

   200

   Read an 8-bit unsigned value from EtherCAT data.

   201

   \return EtherCAT data value

   202

*/

   203

   204

#define EC_READ_U8(DATA) \

   205

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

   206

   207

/**

   208

   Read an 8-bit signed value from EtherCAT data.

   209

   \param DATA EtherCAT data pointer

   210

   \return EtherCAT data value

   211

*/

   212

   213

#define EC_READ_S8(DATA) \

   214

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

   215

   216

/**

   217

   Read a 16-bit unsigned value from EtherCAT data.

   218

   \param DATA EtherCAT data pointer

   219

   \return EtherCAT data value

   220

*/

   221

   222

#define EC_READ_U16(DATA) \

   223

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

   224

   225

/**

   226

   Read a 16-bit signed value from EtherCAT data.

   227

   \param DATA EtherCAT data pointer

   228

   \return EtherCAT data value

   229

*/

   230

   231

#define EC_READ_S16(DATA) \

   232

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

   233

   234

/**

   235

   Read a 32-bit unsigned value from EtherCAT data.

   236

   \param DATA EtherCAT data pointer

   237

   \return EtherCAT data value

   238

*/

   239

   240

#define EC_READ_U32(DATA) \

   241

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

   242

   243

/**

   244

   Read a 32-bit signed value from EtherCAT data.

   245

   \param DATA EtherCAT data pointer

   246

   \return EtherCAT data value

   247

*/

   248

   249

#define EC_READ_S32(DATA) \

   250

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

   251

   252

   253

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

   254

 *  Write macros

   255

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

   256

   257

/**

   258

   Write an 8-bit unsigned value to EtherCAT data.

   259

   \param DATA EtherCAT data pointer

   260

   \param VAL new value

   261

*/

   262

   263

#define EC_WRITE_U8(DATA, VAL) \

   264

    do { \

   265

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

   266

    } while (0)

   267

   268

/**

   269

   Write an 8-bit signed value to EtherCAT data.

   270

   \param DATA EtherCAT data pointer

   271

   \param VAL new value

   272

*/

   273

   274

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

   275

   276

/**

   277

   Write a 16-bit unsigned value to EtherCAT data.

   278

   \param DATA EtherCAT data pointer

   279

   \param VAL new value

   280

*/

   281

   282

#define EC_WRITE_U16(DATA, VAL) \

   283

    do { \

   284

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

   285

        cpu_to_le16s(DATA); \

   286

    } while (0)

   287

   288

/**

   289

   Write a 16-bit signed value to EtherCAT data.

   290

   \param DATA EtherCAT data pointer

   291

   \param VAL new value

   292

*/

   293

   294

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

   295

   296

/**

   297

   Write a 32-bit unsigned value to EtherCAT data.

   298

   \param DATA EtherCAT data pointer

   299

   \param VAL new value

   300

*/

   301

   302

#define EC_WRITE_U32(DATA, VAL) \

   303

    do { \

   304

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

   305

        cpu_to_le16s(DATA); \

   306

    } while (0)

   307

   308

/**

   309

   Write a 32-bit signed value to EtherCAT data.

   310

   \param DATA EtherCAT data pointer

   311

   \param VAL new value

   312

*/

   313

   314

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

   315

   316

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

   317

   318

#endif