etherlabmaster: comparison include/ecrt.h

equal deleted inserted replaced

-:7fc85507f49a
+:b39a6a4d3671
 *  standard) as the (only) precondition to have the right to use EtherCAT
 *  Technology, IP and trade marks.
 *
 *****************************************************************************/
-/**
+/** \file EtherCAT realtime interface.
-\file
-EtherCAT realtime interface.
+\defgroup RealtimeInterface EtherCAT realtime interface
-*/
+EtherCAT interface for realtime modules. This interface is designed for
-/**
+realtime modules that want to use EtherCAT. There are functions to request a
-\defgroup RealtimeInterface EtherCAT realtime interface
+master, to map process data, to communicate with slaves via CoE and to
-EtherCAT interface for realtime modules.
+configure and activate the bus.
-This interface is designed for realtime modules that want to use EtherCAT.
-There are functions to request a master, to map process data, to communicate
-with slaves via CoE and to configure and activate the bus.
 */
 /*****************************************************************************/
 #ifndef __ECRT_H__
 #include <linux/types.h>
 #else
 #include <stdint.h>
 #endif
-/*****************************************************************************/
+/******************************************************************************
+* Global definitions
-/**
+*****************************************************************************/
-* EtherCAT real-time interface major version number.
+/** EtherCAT real-time interface major version number.
 */
 #define ECRT_VER_MAJOR 1
-/**
+/** EtherCAT real-time interface minor version number.
-* EtherCAT real-time interface minor version number.
+*/
-*/
+#define ECRT_VER_MINOR 4
-#define ECRT_VER_MINOR 3
+/** EtherCAT real-time interface version word generator.
-/**
+*/
-* EtherCAT real-time interface version word generator.
+#define ECRT_VERSION(a, b) (((a) << 8) + (b))
-*/
-#define ECRT_VERSION(a,b) (((a) << 8) + (b))
+/** EtherCAT real-time interface version word.
-/**
-* EtherCAT real-time interface version word.
 */
 #define ECRT_VERSION_MAGIC ECRT_VERSION(ECRT_VER_MAJOR, ECRT_VER_MINOR)
-/*****************************************************************************/
+/******************************************************************************
+* Data types
+*****************************************************************************/
 struct ec_master;
 typedef struct ec_master ec_master_t; /**< \see ec_master */
 struct ec_domain;
 typedef struct ec_domain ec_domain_t; /**< \see ec_domain */
 struct ec_slave;
 typedef struct ec_slave ec_slave_t; /**< \see ec_slave */
-/**
+/*****************************************************************************/
-* Bus status.
-*/
+/** Bus status.
+*/
 typedef enum {
 EC_BUS_FAILURE = -1, /**< At least one slave with process data exchange
 is offline. */
 EC_BUS_OK            /**< All slaves with process data exchange are
 online. */
 }
 ec_bus_status_t;
-/**
+/*****************************************************************************/
-* Master status.
+/** Master status.
 * This is used for the output parameter of ecrt_master_get_status().
 */
 typedef struct {
 ec_bus_status_t bus_status; /**< \see ec_bus_status_t */
 unsigned int bus_tainted; /**< non-zero, if the bus topology is invalid */
 unsigned int slaves_responding; /**< number of responging slaves */
 }
 ec_master_status_t;
-/**
+/*****************************************************************************/
-* List entry for domain PDO registrations.
+/** List entry for domain PDO registrations.
 * This type is used as a parameter for the ecrt_domain_register_pdo_list()
 * convenience function.
 */
 typedef struct {
 const char *slave_address; /**< slave address string
 \see ec_master_parse_slave_address() */
 uint32_t vendor_id; /**< vendor ID */
 uint32_t product_code; /**< product code */
 uint8_t pdo_entry_subindex; /**< PDO entry subindex */
 void **data_ptr; /**< address of the process data pointer */
 }
 ec_pdo_reg_t;
-/**
+/*****************************************************************************/
-* Direction type for PDO mapping and range registration functions.
-*/
+/** Direction type for PDO mapping and range registration functions.
+*/
 typedef enum {
 EC_DIR_OUTPUT, /**< values written by master */
 EC_DIR_INPUT   /**< values read by master */
 }
 ec_direction_t;
 /******************************************************************************
-*  Global functions
+* Global functions
 *****************************************************************************/
 ec_master_t *ecrt_request_master(unsigned int master_index);
 void ecrt_release_master(ec_master_t *master);
 unsigned int ecrt_version_magic(void);
 /******************************************************************************
-*  Master methods
+* Master methods
 *****************************************************************************/
 void ecrt_master_callbacks(ec_master_t *master, int (*request_cb)(void *),
 void (*release_cb)(void *), void *cb_data);
 void ecrt_master_receive(ec_master_t *master);
 void ecrt_master_get_status(const ec_master_t *master, ec_master_status_t *);
 /******************************************************************************
-*  Domain Methods
+* Domain methods
 *****************************************************************************/
 int ecrt_domain_register_pdo(ec_domain_t *domain, ec_slave_t *slave,
 uint16_t pdo_index, uint8_t pdo_subindex, void **data_ptr);
 void ecrt_domain_queue(ec_domain_t *domain);
 int ecrt_domain_state(const ec_domain_t *domain);
 /******************************************************************************
-*  Slave Methods
+* Slave methods
 *****************************************************************************/
 int ecrt_slave_conf_sdo8(ec_slave_t *slave, uint16_t sdo_index,
 uint8_t sdo_subindex, uint8_t value);
 int ecrt_slave_conf_sdo16(ec_slave_t *slave, uint16_t sdo_index,
 void ecrt_slave_pdo_mapping_clear(ec_slave_t *, ec_direction_t);
 int ecrt_slave_pdo_mapping_add(ec_slave_t *, ec_direction_t, uint16_t);
 int ecrt_slave_pdo_mapping(ec_slave_t *, ec_direction_t, unsigned int, ...);
 /******************************************************************************
-*  Bitwise read/write macros
+* Bitwise read/write macros
 *****************************************************************************/
-/**
+/** Read a certain bit of an EtherCAT data byte.
-* Read a certain bit of an EtherCAT data byte.
 * \param DATA EtherCAT data pointer
 * \param POS bit position
 */
 #define EC_READ_BIT(DATA, POS) ((*((uint8_t *) (DATA)) >> (POS)) & 0x01)
-/**
+/** Write a certain bit of an EtherCAT data byte.
-* Write a certain bit of an EtherCAT data byte.
 * \param DATA EtherCAT data pointer
 * \param POS bit position
 * \param VAL new bit value
 */
 #define EC_WRITE_BIT(DATA, POS, VAL) \
 do { \
 if (VAL) *((uint8_t *) (DATA)) |=  (1 << (POS)); \
 else     *((uint8_t *) (DATA)) &= ~(1 << (POS)); \
 } while (0)
 /******************************************************************************
-*  Read macros
+* Read macros
 *****************************************************************************/
-/**
+/** Read an 8-bit unsigned value from EtherCAT data.
-* Read an 8-bit unsigned value from EtherCAT data.
+* \return EtherCAT data value
-* \return EtherCAT data value
+*/
-*/
 #define EC_READ_U8(DATA) \
 ((uint8_t) *((uint8_t *) (DATA)))
-/**
+/** Read an 8-bit signed value from EtherCAT data.
-* Read an 8-bit signed value from EtherCAT data.
+* \param DATA EtherCAT data pointer
-* \param DATA EtherCAT data pointer
+* \return EtherCAT data value
-* \return EtherCAT data value
+*/
-*/
 #define EC_READ_S8(DATA) \
 ((int8_t) *((uint8_t *) (DATA)))
-/**
+/** Read a 16-bit unsigned value from EtherCAT data.
-* Read a 16-bit unsigned value from EtherCAT data.
+* \param DATA EtherCAT data pointer
-* \param DATA EtherCAT data pointer
+* \return EtherCAT data value
-* \return EtherCAT data value
+*/
-*/
 #define EC_READ_U16(DATA) \
 ((uint16_t) le16_to_cpup((void *) (DATA)))
-/**
+/** Read a 16-bit signed value from EtherCAT data.
-* Read a 16-bit signed value from EtherCAT data.
+* \param DATA EtherCAT data pointer
-* \param DATA EtherCAT data pointer
+* \return EtherCAT data value
-* \return EtherCAT data value
+*/
-*/
 #define EC_READ_S16(DATA) \
 ((int16_t) le16_to_cpup((void *) (DATA)))
-/**
+/** Read a 32-bit unsigned value from EtherCAT data.
-* Read a 32-bit unsigned value from EtherCAT data.
+* \param DATA EtherCAT data pointer
-* \param DATA EtherCAT data pointer
+* \return EtherCAT data value
-* \return EtherCAT data value
+*/
-*/
 #define EC_READ_U32(DATA) \
 ((uint32_t) le32_to_cpup((void *) (DATA)))
-/**
+/** Read a 32-bit signed value from EtherCAT data.
-* Read a 32-bit signed value from EtherCAT data.
+* \param DATA EtherCAT data pointer
-* \param DATA EtherCAT data pointer
+* \return EtherCAT data value
-* \return EtherCAT data value
+*/
-*/
 #define EC_READ_S32(DATA) \
 ((int32_t) le32_to_cpup((void *) (DATA)))
 /******************************************************************************
-*  Write macros
+* Write macros
 *****************************************************************************/
-/**
+/** Write an 8-bit unsigned value to EtherCAT data.
-* Write an 8-bit unsigned value to EtherCAT data.
+* \param DATA EtherCAT data pointer
-* \param DATA EtherCAT data pointer
+* \param VAL new value
-* \param VAL new value
+*/
-*/
 #define EC_WRITE_U8(DATA, VAL) \
 do { \
 *((uint8_t *)(DATA)) = ((uint8_t) (VAL)); \
 } while (0)
-/**
+/** Write an 8-bit signed value to EtherCAT data.
-* Write an 8-bit signed value to EtherCAT data.
+* \param DATA EtherCAT data pointer
-* \param DATA EtherCAT data pointer
+* \param VAL new value
-* \param VAL new value
+*/
-*/
 #define EC_WRITE_S8(DATA, VAL) EC_WRITE_U8(DATA, VAL)
-/**
+/** Write a 16-bit unsigned value to EtherCAT data.
-* Write a 16-bit unsigned value to EtherCAT data.
+* \param DATA EtherCAT data pointer
-* \param DATA EtherCAT data pointer
+* \param VAL new value
-* \param VAL new value
+*/
-*/
 #define EC_WRITE_U16(DATA, VAL) \
 do { \
 *((uint16_t *) (DATA)) = (uint16_t) (VAL); \
 cpu_to_le16s(DATA); \
 } while (0)
-/**
+/** Write a 16-bit signed value to EtherCAT data.
-* Write a 16-bit signed value to EtherCAT data.
+* \param DATA EtherCAT data pointer
-* \param DATA EtherCAT data pointer
+* \param VAL new value
-* \param VAL new value
+*/
-*/
 #define EC_WRITE_S16(DATA, VAL) EC_WRITE_U16(DATA, VAL)
-/**
+/** Write a 32-bit unsigned value to EtherCAT data.
-* Write a 32-bit unsigned value to EtherCAT data.
+* \param DATA EtherCAT data pointer
-* \param DATA EtherCAT data pointer
+* \param VAL new value
-* \param VAL new value
+*/
-*/
 #define EC_WRITE_U32(DATA, VAL) \
 do { \
 *((uint32_t *) (DATA)) = (uint32_t) (VAL); \
 cpu_to_le32s(DATA); \
 } while (0)
-/**
+/** Write a 32-bit signed value to EtherCAT data.
-* Write a 32-bit signed value to EtherCAT data.
+* \param DATA EtherCAT data pointer
-* \param DATA EtherCAT data pointer
+* \param VAL new value
-* \param VAL new value
+*/
-*/
 #define EC_WRITE_S32(DATA, VAL) EC_WRITE_U32(DATA, VAL)
 /*****************************************************************************/
 #endif

changeset 779	b39a6a4d3671
parent 758	8fa6f825eb7d
child 780	53b9a0a92154