--- a/include/ecrt.h Fri Aug 10 15:08:44 2007 +0000
+++ b/include/ecrt.h Fri Aug 10 15:27:08 2007 +0000
@@ -59,8 +59,8 @@
/*****************************************************************************/
-#define ECRT_VER_MAJOR 1U
-#define ECRT_VER_MINOR 2U
+#define ECRT_VER_MAJOR 1
+#define ECRT_VER_MINOR 3
#define ECRT_VERSION(a,b) (((a) << 8) + (b))
#define ECRT_VERSION_MAGIC ECRT_VERSION(ECRT_VER_MAJOR, ECRT_VER_MINOR)
@@ -77,31 +77,58 @@
typedef struct ec_slave ec_slave_t; /**< \see ec_slave */
/**
- Initialization type for PDO registrations.
- This type is used as a parameter for the ec_domain_register_pdo_list()
- function.
-*/
-
-typedef struct
-{
- const char *slave_address; /**< slave address string (see
- ecrt_master_get_slave()) */
+ * 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.
+ * 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.
+ * 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 */
- uint16_t pdo_index; /**< PDO index */
- uint8_t pdo_subindex; /**< PDO subindex */
+ uint16_t pdo_entry_index; /**< PDO entry index */
+ uint8_t pdo_entry_subindex; /**< PDO entry subindex */
void **data_ptr; /**< address of the process data pointer */
}
ec_pdo_reg_t;
/**
- Direction type for ec_domain_register_pdo_range()
-*/
-
-typedef enum {EC_DIR_INPUT, EC_DIR_OUTPUT} ec_direction_t;
-
-/******************************************************************************
- * Master request 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
*****************************************************************************/
ec_master_t *ecrt_request_master(unsigned int master_index);
@@ -118,45 +145,35 @@
ec_domain_t *ecrt_master_create_domain(ec_master_t *master);
+ec_slave_t *ecrt_master_get_slave(const ec_master_t *, const char *,
+ uint32_t vendor_id, uint32_t product_code);
+ec_slave_t *ecrt_master_get_slave_by_pos(const ec_master_t *, uint16_t,
+ uint32_t vendor_id, uint32_t product_code);
+
int ecrt_master_activate(ec_master_t *master);
void ecrt_master_send(ec_master_t *master);
void ecrt_master_receive(ec_master_t *master);
-void ecrt_master_run(ec_master_t *master);
-
-ec_slave_t *ecrt_master_get_slave(const ec_master_t *, const char *);
-
-/** \cond */
-int ecrt_master_state(const ec_master_t *master);
-/** \endcond */
+void ecrt_master_get_status(const ec_master_t *master, ec_master_status_t *);
/******************************************************************************
* Domain Methods
*****************************************************************************/
-ec_slave_t *ecrt_domain_register_pdo(ec_domain_t *domain,
- const char *address,
- uint32_t vendor_id,
- uint32_t product_code,
- uint16_t pdo_index,
- uint8_t pdo_subindex,
- void **data_ptr);
+int ecrt_domain_register_pdo(ec_domain_t *domain, ec_slave_t *slave,
+ uint16_t pdo_index, uint8_t pdo_subindex, void **data_ptr);
+
+int ecrt_domain_register_pdo_range(ec_domain_t *domain, ec_slave_t *slave,
+ ec_direction_t direction, uint16_t offset, uint16_t length,
+ void **data_ptr);
int ecrt_domain_register_pdo_list(ec_domain_t *domain,
- const ec_pdo_reg_t *pdos);
-
-ec_slave_t *ecrt_domain_register_pdo_range(ec_domain_t *domain,
- const char *address,
- uint32_t vendor_id,
- uint32_t product_code,
- ec_direction_t direction,
- uint16_t offset,
- uint16_t length,
- void **data_ptr);
+ const ec_pdo_reg_t *pdos);
void ecrt_domain_process(ec_domain_t *domain);
void ecrt_domain_queue(ec_domain_t *domain);
+
int ecrt_domain_state(const ec_domain_t *domain);
/******************************************************************************
@@ -170,24 +187,28 @@
int ecrt_slave_conf_sdo32(ec_slave_t *slave, uint16_t sdo_index,
uint8_t sdo_subindex, uint32_t value);
+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
*****************************************************************************/
/**
- Read a certain bit of an EtherCAT data byte.
- \param DATA EtherCAT data pointer
- \param POS bit position
-*/
+ * 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
-*/
+ * 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 { \
@@ -200,68 +221,67 @@
*****************************************************************************/
/**
- Read an 8-bit unsigned value from EtherCAT data.
- \return EtherCAT data value
-*/
+ * 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
-*/
+ * 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
-*/
+ * 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
-*/
+ * 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
-*/
+ * 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
-*/
+ * 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
-*/
+ * 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 { \
@@ -269,18 +289,18 @@
} while (0)
/**
- Write an 8-bit signed value to EtherCAT data.
- \param DATA EtherCAT data pointer
- \param VAL new value
-*/
+ * 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
-*/
+ * 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 { \
@@ -289,18 +309,18 @@
} while (0)
/**
- Write a 16-bit signed value to EtherCAT data.
- \param DATA EtherCAT data pointer
- \param VAL new value
-*/
+ * 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
-*/
+ * 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 { \
@@ -309,10 +329,10 @@
} while (0)
/**
- Write a 32-bit signed value to EtherCAT data.
- \param DATA EtherCAT data pointer
- \param VAL new value
-*/
+ * 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)