etherlabmaster: comparison include/ecrt.h

equal deleted inserted replaced

-:026e35646ab4
+:8be462afb7f4
 */
 #define ECRT_VER_MAJOR 1
 /** EtherCAT realtime interface minor version number.
 */
-#define ECRT_VER_MINOR 4
+#define ECRT_VER_MINOR 5
 /** EtherCAT realtime interface version word generator.
 */
 #define ECRT_VERSION(a, b) (((a) << 8) + (b))
 struct ec_domain;
 typedef struct ec_domain ec_domain_t; /**< \see ec_domain */
 struct ec_sdo_request;
 typedef struct ec_sdo_request ec_sdo_request_t; /**< \see ec_sdo_request. */
+struct ec_voe_handler;
+typedef struct ec_voe_handler ec_voe_handler_t; /**< \see ec_voe_handler. */
 /*****************************************************************************/
 /** Master state.
 *
 Pdo entry does not byte-align. */
 } ec_pdo_entry_reg_t;
 /*****************************************************************************/
-/** Sdo request state.
+/** Request state.
 *
-* This is used as return type of ecrt_sdo_request_state().
+* This is used as return type for ecrt_sdo_request_state() and
+* ecrt_voe_handler_state().
 */
 typedef enum {
-EC_SDO_REQUEST_UNUSED, /**< Not requested. */
+EC_REQUEST_UNUSED, /**< Not requested. */
-EC_SDO_REQUEST_BUSY, /**< Request is being processed. */
+EC_REQUEST_BUSY, /**< Request is being processed. */
-EC_SDO_REQUEST_SUCCESS, /**< Request was processed successfully. */
+EC_REQUEST_SUCCESS, /**< Request was processed successfully. */
-EC_SDO_REQUEST_ERROR, /**< Request processing failed. */
+EC_REQUEST_ERROR, /**< Request processing failed. */
-} ec_sdo_request_state_t;
+} ec_request_state_t;
 /******************************************************************************
 * Global functions
 *****************************************************************************/
 uint16_t index, /**< Sdo index. */
 uint8_t subindex, /**< Sdo subindex. */
 size_t size /**< Data size to reserve. */
 );
+/** Create an VoE handler to exchange vendor-specific data during realtime
+* operation.
+*
+* The created VoE handler object is freed automatically when the master is
+* released.
+*/
+ec_voe_handler_t *ecrt_slave_config_create_voe_handler(
+ec_slave_config_t *sc, /**< Slave configuration. */
+size_t size /**< Data size to reserve. */
+);
 /** Outputs the state of the slave configuration.
 *
 * Stores the state information in the given \a state structure.
 */
 void ecrt_slave_config_state(
 /** Get the current state of the Sdo request.
 *
 * \return Request state.
 */
-ec_sdo_request_state_t ecrt_sdo_request_state(
+ec_request_state_t ecrt_sdo_request_state(
 const ec_sdo_request_t *req /**< Sdo request. */
 );
 /** Schedule an Sdo write operation.
 *
 * ecrt_sdo_request_state() returns EC_SDO_REQUEST_BUSY.
 */
 void ecrt_sdo_request_read(
 ec_sdo_request_t *req /**< Sdo request. */
 );
+/*****************************************************************************
+* VoE handler methods.
+****************************************************************************/
+/** Access to the VoE handler's data.
+*
+* This function returns a pointer to the handler's internal memory.
+*
+* - After a read operation was successful, the memory contains the received
+*   data. The size of the received data can be determined via
+*   ecrt_voe_handler_data_size().
+* - Before a write operation is triggered, the data have to be written to
+*   the internal memory. Be sure, that the data fit into the memory. The
+*   memory size is a parameter of ecrt_slave_config_create_voe_handler().
+*
+* \return Pointer to the internal memory.
+*/
+uint8_t *ecrt_voe_handler_data(
+ec_voe_handler_t *voe /**< VoE handler. */
+);
+/** Returns the current data size.
+*
+* When the VoE handler is created, the data size is set to the size of the
+* reserved memory. At a write operation, the data size is set to the number
+* of bytes to write. After a read operation the size is set to the size of
+* the read data. The size is not modified in any other situation.
+*
+* \return Data size in bytes.
+*/
+size_t ecrt_voe_handler_data_size(
+const ec_voe_handler_t *voe /**< VoE handler. */
+);
+/** Start a VoE write operation.
+*
+* After this function has been called, the ecrt_voe_handler_execute() method
+* must be called in every bus cycle as long as it returns EC_REQUEST_BUSY.
+*/
+void ecrt_voe_handler_write(
+ec_voe_handler_t *voe, /**< VoE handler. */
+size_t size /**< Number of bytes to write. */
+);
+/** Start a VoE read operation.
+*
+* After this function has been called, the ecrt_voe_handler_execute() method
+* must be called in every bus cycle as long as it returns EC_REQUEST_BUSY.
+*
+* On success, the size of the read data can be determined via
+* ecrt_voe_handler_data_size().
+*/
+void ecrt_voe_handler_read(
+ec_voe_handler_t *voe /**< VoE handler. */
+);
+/** Execute the handler.
+*
+* This method executes the VoE handler. It has to be called in every bus cycle
+* as long as it returns EC_REQUEST_BUSY.
+*
+* \return Handler state.
+*/
+ec_request_state_t ecrt_voe_handler_execute(
+ec_voe_handler_t *voe /**< VoE handler. */
+);
 /******************************************************************************
 * Bitwise read/write macros
 *****************************************************************************/

changeset 1209	8be462afb7f4
parent 1182	f5e725aa5483
child 1218	6f3a973fc29e