--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/include/ecrt.h	Fri Mar 17 14:21:35 2006 +0000
@@ -0,0 +1,146 @@
+/******************************************************************************
+ *
+ * Oeffentliche EtherCAT-Schnittstellen fuer Echtzeitprozesse.
+ *
+ * $Id$
+ *
+ *****************************************************************************/
+
+#ifndef _ETHERCAT_RT_H_
+#define _ETHERCAT_RT_H_
+
+#include <asm/byteorder.h>
+
+/*****************************************************************************/
+
+struct ec_master;
+typedef struct ec_master ec_master_t;
+
+struct ec_domain;
+typedef struct ec_domain ec_domain_t;
+
+struct ec_slave;
+typedef struct ec_slave ec_slave_t;
+
+typedef struct
+{
+    void **data_ptr;
+    const char *slave_address;
+    const char *vendor_name;
+    const char *product_name;
+    const char *field_name;
+    unsigned int field_index;
+    unsigned int field_count;
+}
+ec_field_init_t;
+
+/*****************************************************************************/
+// Master request functions
+
+ec_master_t *ecrt_request_master(unsigned int master_index);
+void ecrt_release_master(ec_master_t *master);
+
+/*****************************************************************************/
+// Master methods
+
+ec_domain_t *ecrt_master_create_domain(ec_master_t *master);
+int ecrt_master_activate(ec_master_t *master);
+void ecrt_master_deactivate(ec_master_t *master);
+void ecrt_master_sync_io(ec_master_t *master);
+void ecrt_master_async_send(ec_master_t *master);
+void ecrt_master_async_receive(ec_master_t *master);
+void ecrt_master_debug(ec_master_t *master, int level);
+void ecrt_master_print(const ec_master_t *master);
+int ecrt_master_sdo_write(ec_master_t *master,
+                          const char *slave_addr,
+                          uint16_t sdo_index,
+                          uint8_t sdo_subindex,
+                          uint32_t value,
+                          size_t size);
+int ecrt_master_sdo_read(ec_master_t *master,
+                         const char *slave_addr,
+                         uint16_t sdo_index,
+                         uint8_t sdo_subindex,
+                         uint32_t *value);
+
+/*****************************************************************************/
+// Domain Methods
+
+ec_slave_t *ecrt_domain_register_field(ec_domain_t *domain,
+                                       const char *address,
+                                       const char *vendor_name,
+                                       const char *product_name,
+                                       void **data_ptr,
+                                       const char *field_name,
+                                       unsigned int field_index,
+                                       unsigned int field_count);
+int ecrt_domain_register_field_list(ec_domain_t *domain,
+                                    ec_field_init_t *fields);
+void ecrt_domain_queue(ec_domain_t *domain);
+void ecrt_domain_process(ec_domain_t *domain);
+
+/*****************************************************************************/
+// Slave Methods
+
+int ecrt_slave_sdo_write(ec_slave_t *slave,
+                         uint16_t sdo_index,
+                         uint8_t sdo_subindex,
+                         uint32_t value,
+                         size_t size);
+int ecrt_slave_sdo_read(ec_slave_t *slave,
+                        uint16_t sdo_index,
+                        uint8_t sdo_subindex,
+                        uint32_t *value);
+
+/*****************************************************************************/
+// 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