author | Florian Pose <fp@igh-essen.com> |
Fri, 27 Oct 2006 12:45:22 +0000 | |
changeset 456 | dea14706efc2 |
parent 449 | 3caf8ff4d8a2 |
child 461 | b9eda9235173 |
permissions | -rw-r--r-- |
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/****************************************************************************** |
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* |
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* $Id$ |
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* |
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* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH |
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* |
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* This file is part of the IgH EtherCAT Master. |
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* |
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* The IgH EtherCAT Master is free software; you can redistribute it |
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* and/or modify it under the terms of the GNU General Public License |
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* as published by the Free Software Foundation; either version 2 of the |
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* License, or (at your option) any later version. |
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* |
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* The IgH EtherCAT Master is distributed in the hope that it will be |
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* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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* GNU General Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License |
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* along with the IgH EtherCAT Master; if not, write to the Free Software |
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
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* |
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* The right to use EtherCAT Technology is granted and comes free of |
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* charge under condition of compatibility of product made by |
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* Licensee. People intending to distribute/sell products based on the |
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* code, have to sign an agreement to guarantee that products using |
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* software based on IgH EtherCAT master stay compatible with the actual |
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* EtherCAT specification (which are released themselves as an open |
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* standard) as the (only) precondition to have the right to use EtherCAT |
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* Technology, IP and trade marks. |
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* |
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*****************************************************************************/ |
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/** |
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\file |
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EtherCAT realtime interface. |
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*/ |
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/** |
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\defgroup RealtimeInterface EtherCAT realtime interface |
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EtherCAT interface for realtime modules. |
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This interface is designed for realtime modules that want to use EtherCAT. |
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There are functions to request a master, to map process data, to communicate |
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with slaves via CoE and to configure and activate the bus. |
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*/ |
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/*****************************************************************************/ |
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#ifndef __ECRT_H__ |
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#define __ECRT_H__ |
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#include <asm/byteorder.h> |
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#ifdef __KERNEL__ |
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#include <linux/types.h> |
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#else |
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#include <stdint.h> |
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#endif |
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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_domain; |
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typedef struct ec_domain ec_domain_t; /**< \see ec_domain */ |
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struct ec_slave; |
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typedef struct ec_slave ec_slave_t; /**< \see ec_slave */ |
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/** |
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Initialization type for PDO registrations. |
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This type is used as a parameter for the ec_domain_register_pdo_list() |
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function. |
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*/ |
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typedef struct |
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{ |
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const char *slave_address; /**< slave address string (see |
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ecrt_master_get_slave()) */ |
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uint32_t vendor_id; /**< vendor ID */ |
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uint32_t product_code; /**< product code */ |
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uint16_t pdo_index; /**< PDO index */ |
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uint8_t pdo_subindex; /**< PDO subindex */ |
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void **data_ptr; /**< address of the process data pointer */ |
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} |
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ec_pdo_reg_t; |
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/** |
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Direction type for ec_domain_register_pdo_range() |
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*/ |
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typedef enum {EC_DIR_INPUT, EC_DIR_OUTPUT} ec_direction_t; |
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/****************************************************************************** |
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* Master request functions |
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*****************************************************************************/ |
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ec_master_t *ecrt_request_master(unsigned int master_index); |
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void ecrt_release_master(ec_master_t *master); |
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/****************************************************************************** |
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* Master methods |
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*****************************************************************************/ |
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void ecrt_master_callbacks(ec_master_t *master, int (*request_cb)(void *), |
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void (*release_cb)(void *), void *cb_data); |
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ec_domain_t *ecrt_master_create_domain(ec_master_t *master); |
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int ecrt_master_activate(ec_master_t *master); |
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void ecrt_master_deactivate(ec_master_t *master); // deprecated! |
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void ecrt_master_prepare(ec_master_t *master); |
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void ecrt_master_send(ec_master_t *master); |
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void ecrt_master_receive(ec_master_t *master); |
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void ecrt_master_run(ec_master_t *master); |
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ec_slave_t *ecrt_master_get_slave(const ec_master_t *, const char *); |
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int ecrt_master_state(const ec_master_t *master); |
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/****************************************************************************** |
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* Domain Methods |
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*****************************************************************************/ |
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ec_slave_t *ecrt_domain_register_pdo(ec_domain_t *domain, |
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const char *address, |
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uint32_t vendor_id, |
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uint32_t product_code, |
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uint16_t pdo_index, |
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uint8_t pdo_subindex, |
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void **data_ptr); |
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int ecrt_domain_register_pdo_list(ec_domain_t *domain, |
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const ec_pdo_reg_t *pdos); |
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ec_slave_t *ecrt_domain_register_pdo_range(ec_domain_t *domain, |
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const char *address, |
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uint32_t vendor_id, |
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uint32_t product_code, |
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ec_direction_t direction, |
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uint16_t offset, |
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uint16_t length, |
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void **data_ptr); |
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void ecrt_domain_process(ec_domain_t *domain); |
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int ecrt_domain_state(const ec_domain_t *domain); |
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/****************************************************************************** |
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* Slave Methods |
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*****************************************************************************/ |
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int ecrt_slave_conf_sdo8(ec_slave_t *slave, uint16_t sdo_index, |
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uint8_t sdo_subindex, uint8_t value); |
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int ecrt_slave_conf_sdo16(ec_slave_t *slave, uint16_t sdo_index, |
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uint8_t sdo_subindex, uint16_t value); |
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int ecrt_slave_conf_sdo32(ec_slave_t *slave, uint16_t sdo_index, |
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uint8_t sdo_subindex, uint32_t value); |
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int ecrt_slave_pdo_size(ec_slave_t *slave, uint16_t pdo_index, |
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uint8_t pdo_subindex, size_t size); |
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/****************************************************************************** |
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* Bitwise read/write macros |
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*****************************************************************************/ |
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/** |
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Read a certain bit of an EtherCAT data byte. |
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\param DATA EtherCAT data pointer |
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\param POS bit position |
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*/ |
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#define EC_READ_BIT(DATA, POS) ((*((uint8_t *) (DATA)) >> (POS)) & 0x01) |
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/** |
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\param DATA EtherCAT data pointer |
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\param POS bit position |
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\param VAL new bit value |
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*/ |
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#define EC_WRITE_BIT(DATA, POS, VAL) \ |
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do { \ |
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if (VAL) *((uint8_t *) (DATA)) |= (1 << (POS)); \ |
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else *((uint8_t *) (DATA)) &= ~(1 << (POS)); \ |
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} while (0) |
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/****************************************************************************** |
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* Read macros |
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*****************************************************************************/ |
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/** |
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\return EtherCAT data value |
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*/ |
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#define EC_READ_U8(DATA) \ |
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((uint8_t) *((uint8_t *) (DATA))) |
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/** |
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Read an 8-bit signed value from EtherCAT data. |
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\param DATA EtherCAT data pointer |
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\return EtherCAT data value |
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*/ |
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#define EC_READ_S8(DATA) \ |
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/** |
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Read a 16-bit unsigned value from EtherCAT data. |
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\param DATA EtherCAT data pointer |
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\return EtherCAT data value |
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*/ |
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#define EC_READ_U16(DATA) \ |
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((uint16_t) le16_to_cpup((void *) (DATA))) |
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/** |
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\param DATA EtherCAT data pointer |
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\return EtherCAT data value |
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*/ |
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#define EC_READ_S16(DATA) \ |
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/** |
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Read a 32-bit unsigned value from EtherCAT data. |
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\param DATA EtherCAT data pointer |
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\return EtherCAT data value |
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*/ |
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#define EC_READ_U32(DATA) \ |
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((uint32_t) le32_to_cpup((void *) (DATA))) |
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Read a 32-bit signed value from EtherCAT data. |
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\param DATA EtherCAT data pointer |
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\return EtherCAT data value |
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*/ |
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#define EC_READ_S32(DATA) \ |
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((int32_t) le32_to_cpup((void *) (DATA))) |
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/****************************************************************************** |
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* Write macros |
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*****************************************************************************/ |
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/** |
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Write an 8-bit unsigned value to EtherCAT data. |
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\param DATA EtherCAT data pointer |
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\param VAL new value |
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*/ |
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#define EC_WRITE_U8(DATA, VAL) \ |
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do { \ |
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*((uint8_t *)(DATA)) = ((uint8_t) (VAL)); \ |
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} while (0) |
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/** |
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\param DATA EtherCAT data pointer |
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\param VAL new value |
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*/ |
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#define EC_WRITE_S8(DATA, VAL) EC_WRITE_U8(DATA, VAL) |
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/** |
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Write a 16-bit unsigned value to EtherCAT data. |
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\param DATA EtherCAT data pointer |
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\param VAL new value |
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*/ |
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#define EC_WRITE_U16(DATA, VAL) \ |
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do { \ |
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*((uint16_t *) (DATA)) = (uint16_t) (VAL); \ |
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cpu_to_le16s(DATA); \ |
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} while (0) |
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/** |
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\param DATA EtherCAT data pointer |
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\param VAL new value |
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*/ |
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#define EC_WRITE_S16(DATA, VAL) EC_WRITE_U16(DATA, VAL) |
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/** |
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Write a 32-bit unsigned value to EtherCAT data. |
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\param DATA EtherCAT data pointer |
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\param VAL new value |
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*/ |
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#define EC_WRITE_U32(DATA, VAL) \ |
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do { \ |
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*((uint32_t *) (DATA)) = (uint32_t) (VAL); \ |
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cpu_to_le16s(DATA); \ |
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} while (0) |
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/** |
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\param DATA EtherCAT data pointer |
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\param VAL new value |
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*/ |
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#define EC_WRITE_S32(DATA, VAL) EC_WRITE_U32(DATA, VAL) |
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/*****************************************************************************/ |
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#endif |