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

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 *

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 *  EtherCAT realtime interface.

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 *

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 *  $Id$

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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;

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struct ec_domain;

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typedef struct ec_domain ec_domain_t;

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struct ec_slave;

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typedef struct ec_slave ec_slave_t;

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typedef struct

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{

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    void **data_ptr;

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    const char *slave_address;

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    const char *vendor_name;

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    const char *product_name;

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    const char *field_name;

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    unsigned int field_index;

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    unsigned int field_count;

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}

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ec_field_init_t;

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

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// Master request functions

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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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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);

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int ecrt_master_fetch_sdo_lists(ec_master_t *master);

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void ecrt_master_sync_io(ec_master_t *master);

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void ecrt_master_async_send(ec_master_t *master);

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void ecrt_master_async_receive(ec_master_t *master);

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void ecrt_master_prepare_async_io(ec_master_t *master);

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void ecrt_master_run(ec_master_t *master);

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void ecrt_master_debug(ec_master_t *master, int level);

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

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

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

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// Domain Methods

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ec_slave_t *ecrt_domain_register_field(ec_domain_t *domain,

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                                       const char *address,

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                                       const char *vendor_name,

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                                       const char *product_name,

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                                       void **data_ptr, const char *field_name,

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                                       unsigned int field_index,

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                                       unsigned int field_count);

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int ecrt_domain_register_field_list(ec_domain_t *domain,

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                                    const ec_field_init_t *fields);

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void ecrt_domain_queue(ec_domain_t *domain);

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void ecrt_domain_process(ec_domain_t *domain);

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int ecrt_domain_state(ec_domain_t *domain);

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

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// Slave Methods

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int ecrt_slave_sdo_read_exp8(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_sdo_read_exp16(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_sdo_read_exp32(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_sdo_write_exp8(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_sdo_write_exp16(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_sdo_write_exp32(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_sdo_read(ec_slave_t *slave, uint16_t sdo_index,

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

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int ecrt_slave_write_alias(ec_slave_t *slave, uint16_t alias);

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

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// Bitwise read/write macros

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#define EC_READ_BIT(PD, CH) ((*((uint8_t *) (PD)) >> (CH)) & 0x01)

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#define EC_WRITE_BIT(PD, CH, VAL) \

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    do { \

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        if (VAL) *((uint8_t *) (PD)) |=  (1 << (CH)); \

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        else     *((uint8_t *) (PD)) &= ~(1 << (CH)); \

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    } while (0)

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

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// Read macros

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#define EC_READ_U8(PD) ((uint8_t) *((uint8_t *) (PD)))

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#define EC_READ_S8(PD) ((int8_t)  *((uint8_t *) (PD)))

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#define EC_READ_U16(PD) ((uint16_t) le16_to_cpup((void *) (PD)))

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#define EC_READ_S16(PD) ((int16_t)  le16_to_cpup((void *) (PD)))

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#define EC_READ_U32(PD) ((uint32_t) le32_to_cpup((void *) (PD)))

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#define EC_READ_S32(PD) ((int32_t)  le32_to_cpup((void *) (PD)))

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

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// Write macros

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#define EC_WRITE_U8(PD, VAL) \

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    do { \

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

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    } while (0)

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

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#define EC_WRITE_U16(PD, VAL) \

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    do { \

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

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        cpu_to_le16s(PD); \

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    } while (0)

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

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#define EC_WRITE_U32(PD, VAL) \

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    do { \

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

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        cpu_to_le16s(PD); \

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    } while (0)

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

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

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#endif