--- a/include/ecrt.h Thu Apr 20 14:38:41 2006 +0000
+++ b/include/ecrt.h Mon Apr 24 10:47:03 2006 +0000
@@ -1,10 +1,40 @@
/******************************************************************************
*
- * EtherCAT realtime interface.
- *
* $Id$
*
- *****************************************************************************/
+ * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ * This file is part of the IgH EtherCAT Master.
+ *
+ * The IgH EtherCAT Master is free software; you can redistribute it
+ * and/or modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; version 2 of the License.
+ *
+ * The IgH EtherCAT Master is distributed in the hope that it will be
+ * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the IgH EtherCAT Master; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ *****************************************************************************/
+
+/**
+ \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__
@@ -28,26 +58,35 @@
struct ec_slave;
typedef struct ec_slave ec_slave_t;
+/**
+ Initialization type for field registrations.
+ This type is used as a parameter for the ec_domain_register_field_list()
+ function.
+*/
+
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;
+ void **data_ptr; /**< address of the process data pointer */
+ const char *slave_address; /**< slave address string (see
+ ecrt_master_get_slave()) */
+ const char *vendor_name; /**< vendor name */
+ const char *product_name; /**< product name */
+ const char *field_name; /**< data field name */
+ unsigned int field_index; /**< index in data fields with same name */
+ unsigned int field_count; /**< number of data fields with same name */
}
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);
@@ -68,8 +107,9 @@
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,
@@ -86,8 +126,9 @@
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);
@@ -106,55 +147,152 @@
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