--- a/include/ecrt.h Fri Apr 21 13:05:01 2006 +0000
+++ b/include/ecrt.h Mon Apr 24 10:10:02 2006 +0000
@@ -1,7 +1,5 @@
/******************************************************************************
*
- * EtherCAT realtime interface.
- *
* $Id$
*
* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
@@ -23,6 +21,21 @@
*
*****************************************************************************/
+/**
+ \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 master, to map process data, to communicate
+ with slaves via CoE and to configure and activate the bus.
+*/
+
+/*****************************************************************************/
+
#ifndef __ECRT_H__
#define __ECRT_H__
@@ -57,14 +70,16 @@
}
ec_field_init_t;
-/*****************************************************************************/
-// Master request functions
+/******************************************************************************
+ * Master request functions
+ *****************************************************************************/
ec_master_t *ecrt_request_master(unsigned int master_index);
void ecrt_release_master(ec_master_t *master);
-/*****************************************************************************/
-// Master methods
+/******************************************************************************
+ * Master methods
+ *****************************************************************************/
ec_domain_t *ecrt_master_create_domain(ec_master_t *master);
@@ -85,8 +100,9 @@
ec_slave_t *ecrt_master_get_slave(const ec_master_t *, const char *);
-/*****************************************************************************/
-// Domain Methods
+/******************************************************************************
+ * Domain Methods
+ *****************************************************************************/
ec_slave_t *ecrt_domain_register_field(ec_domain_t *domain,
const char *address,
@@ -103,8 +119,9 @@
int ecrt_domain_state(ec_domain_t *domain);
-/*****************************************************************************/
-// Slave Methods
+/******************************************************************************
+ * Slave Methods
+ *****************************************************************************/
int ecrt_slave_sdo_read_exp8(ec_slave_t *slave, uint16_t sdo_index,
uint8_t sdo_subindex, uint8_t *value);
@@ -123,55 +140,152 @@
int ecrt_slave_write_alias(ec_slave_t *slave, uint16_t alias);
+/******************************************************************************
+ * Bitwise read/write macros
+ *****************************************************************************/
+
+/**
+ 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.
+ \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 an 8-bit unsigned value from EtherCAT data.
+ \return EtherCAT data value
+*/
+
+#define EC_READ_U8(DATA) \
+ ((uint8_t) *((uint8_t *) (DATA)))
+
+/**
+ Read an 8-bit signed value from EtherCAT data.
+ \param DATA EtherCAT data pointer
+ \return EtherCAT data value
+*/
+
+#define EC_READ_S8(DATA) \
+ ((int8_t) *((uint8_t *) (DATA)))
+
+/**
+ Read a 16-bit unsigned value from EtherCAT data.
+ \param DATA EtherCAT data pointer
+ \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.
+ \param DATA EtherCAT data pointer
+ \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.
+ \param DATA EtherCAT data pointer
+ \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.
+ \param DATA EtherCAT data pointer
+ \return EtherCAT data value
+*/
+
+#define EC_READ_S32(DATA) \
+ ((int32_t) le32_to_cpup((void *) (DATA)))
+
+
+/******************************************************************************
+ * Write macros
+ *****************************************************************************/
+
+/**
+ Write an 8-bit unsigned value to EtherCAT data.
+ \param DATA EtherCAT data pointer
+ \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.
+ \param DATA EtherCAT data pointer
+ \param VAL new value
+*/
+
+#define EC_WRITE_S8(DATA, VAL) EC_WRITE_U8(DATA, VAL)
+
+/**
+ Write a 16-bit unsigned value to EtherCAT data.
+ \param DATA EtherCAT data pointer
+ \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.
+ \param DATA EtherCAT data pointer
+ \param VAL new value
+*/
+
+#define EC_WRITE_S16(DATA, VAL) EC_WRITE_U16(DATA, VAL)
+
+/**
+ Write a 32-bit unsigned value to EtherCAT data.
+ \param DATA EtherCAT data pointer
+ \param VAL new value
+*/
+
+#define EC_WRITE_U32(DATA, VAL) \
+ do { \
+ *((uint32_t *) (DATA)) = (uint32_t) (VAL); \
+ cpu_to_le16s(DATA); \
+ } while (0)
+
+/**
+ Write a 32-bit signed value to EtherCAT data.
+ \param DATA EtherCAT data pointer
+ \param VAL new value
+*/
+
+#define EC_WRITE_S32(DATA, VAL) EC_WRITE_U32(DATA, VAL)
+
/*****************************************************************************/
-// Bitwise read/write macros
-
-#define EC_READ_BIT(PD, CH) ((*((uint8_t *) (PD)) >> (CH)) & 0x01)
-
-#define EC_WRITE_BIT(PD, CH, VAL) \
- do { \
- if (VAL) *((uint8_t *) (PD)) |= (1 << (CH)); \
- else *((uint8_t *) (PD)) &= ~(1 << (CH)); \
- } while (0)
-
-/*****************************************************************************/
-// Read macros
-
-#define EC_READ_U8(PD) ((uint8_t) *((uint8_t *) (PD)))
-#define EC_READ_S8(PD) ((int8_t) *((uint8_t *) (PD)))
-
-#define EC_READ_U16(PD) ((uint16_t) le16_to_cpup((void *) (PD)))
-#define EC_READ_S16(PD) ((int16_t) le16_to_cpup((void *) (PD)))
-
-#define EC_READ_U32(PD) ((uint32_t) le32_to_cpup((void *) (PD)))
-#define EC_READ_S32(PD) ((int32_t) le32_to_cpup((void *) (PD)))
-
-/*****************************************************************************/
-// Write macros
-
-#define EC_WRITE_U8(PD, VAL) \
- do { \
- *((uint8_t *)(PD)) = ((uint8_t) (VAL)); \
- } while (0)
-
-#define EC_WRITE_S8(PD, VAL) EC_WRITE_U8(PD, VAL)
-
-#define EC_WRITE_U16(PD, VAL) \
- do { \
- *((uint16_t *) (PD)) = (uint16_t) (VAL); \
- cpu_to_le16s(PD); \
- } while (0)
-
-#define EC_WRITE_S16(PD, VAL) EC_WRITE_U16(PD, VAL)
-
-#define EC_WRITE_U32(PD, VAL) \
- do { \
- *((uint32_t *) (PD)) = (uint32_t) (VAL); \
- cpu_to_le16s(PD); \
- } while (0)
-
-#define EC_WRITE_S32(PD, VAL) EC_WRITE_U32(PD, VAL)
-
-/*****************************************************************************/
#endif