1 /******************************************************************************

     2  *

     3  * Oeffentliche EtherCAT-Schnittstellen fuer Echtzeitprozesse.

     4  *

     5  * $Id$

     6  *

     7  *****************************************************************************/

     8 

     9 #ifndef _ETHERCAT_RT_H_

    10 #define _ETHERCAT_RT_H_

    11 

    12 /*****************************************************************************/

    13 

    14 struct ec_master;

    15 typedef struct ec_master ec_master_t;

    16 

    17 struct ec_domain;

    18 typedef struct ec_domain ec_domain_t;

    19 

    20 struct ec_slave;

    21 typedef struct ec_slave ec_slave_t;

    22 

    23 typedef enum

    24 {

    25     ec_sync,

    26     ec_async

    27 }

    28 ec_domain_mode_t;

    29 

    30 typedef enum

    31 {

    32     ec_status,

    33     ec_control,

    34     ec_ipvalue,

    35     ec_opvalue

    36 }

    37 ec_field_type_t;

    38 

    39 typedef struct

    40 {

    41     void **data;

    42     const char *address;

    43     const char *vendor;

    44     const char *product;

    45     ec_field_type_t field_type;

    46     unsigned int field_index;

    47     unsigned int field_count;

    48 }

    49 ec_field_init_t;

    50 

    51 /*****************************************************************************/

    52 // Master request functions

    53 

    54 ec_master_t *EtherCAT_rt_request_master(unsigned int master_index);

    55 

    56 void EtherCAT_rt_release_master(ec_master_t *master);

    57 

    58 /*****************************************************************************/

    59 // Master methods

    60 

    61 ec_domain_t *EtherCAT_rt_master_register_domain(ec_master_t *master,

    62                                                 ec_domain_mode_t mode,

    63                                                 unsigned int timeout_us);

    64 

    65 int EtherCAT_rt_master_activate(ec_master_t *master);

    66 int EtherCAT_rt_master_deactivate(ec_master_t *master);

    67 

    68 void EtherCAT_rt_master_xio(ec_master_t *master);

    69 

    70 void EtherCAT_rt_master_debug(ec_master_t *master, int level);

    71 void EtherCAT_rt_master_print(const ec_master_t *master);

    72 

    73 /*****************************************************************************/

    74 // Domain Methods

    75 

    76 ec_slave_t *EtherCAT_rt_register_slave_field(ec_domain_t *domain,

    77                                              const char *address,

    78                                              const char *vendor_name,

    79                                              const char *product_name,

    80                                              void **data_ptr,

    81                                              ec_field_type_t field_type,

    82                                              unsigned int field_index,

    83                                              unsigned int field_count);

    84 

    85 int EtherCAT_rt_register_domain_fields(ec_domain_t *domain,

    86                                        ec_field_init_t *fields);

    87 

    88 void EtherCAT_rt_domain_queue(ec_domain_t *domain);

    89 void EtherCAT_rt_domain_process(ec_domain_t *domain);

    90 

    91 /*****************************************************************************/

    92 // Slave Methods

    93 

    94 int EtherCAT_rt_canopen_sdo_write(ec_slave_t *slave,

    95                                   uint16_t sdo_index,

    96                                   uint8_t sdo_subindex,

    97                                   uint32_t value,

    98                                   size_t size);

    99 

   100 int EtherCAT_rt_canopen_sdo_read(ec_slave_t *slave,

   101                                  uint16_t sdo_index,

   102                                  uint8_t sdo_subindex,

   103                                  uint32_t *value);

   104 

   105 int EtherCAT_rt_canopen_sdo_addr_write(ec_master_t *master,

   106                                        const char *addr,

   107                                        uint16_t sdo_index,

   108                                        uint8_t sdo_subindex,

   109                                        uint32_t value,

   110                                        size_t size);

   111 

   112 int EtherCAT_rt_canopen_sdo_addr_read(ec_master_t *master,

   113                                       const char *addr,

   114                                       uint16_t sdo_index,

   115                                       uint8_t sdo_subindex,

   116                                       uint32_t *value);

   117 

   118 /*****************************************************************************/

   119 

   120 #endif