Added ec_sync_get_pdo_type().
/******************************************************************************
*
* $Id$
*
* 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; either version 2 of the
* License, or (at your option) any later version.
*
* 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
*
* The right to use EtherCAT Technology is granted and comes free of
* charge under condition of compatibility of product made by
* Licensee. People intending to distribute/sell products based on the
* code, have to sign an agreement to guarantee that products using
* software based on IgH EtherCAT master stay compatible with the actual
* EtherCAT specification (which are released themselves as an open
* standard) as the (only) precondition to have the right to use EtherCAT
* Technology, IP and trade marks.
*
*****************************************************************************/
/**
\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__
#include <asm/byteorder.h>
#ifdef __KERNEL__
#include <linux/types.h>
#else
#include <stdint.h>
#endif
/*****************************************************************************/
#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)
/*****************************************************************************/
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.
*/
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_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 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);
void ecrt_release_master(ec_master_t *master);
unsigned int ecrt_version_magic(void);
/******************************************************************************
* Master methods
*****************************************************************************/
void ecrt_master_callbacks(ec_master_t *master, int (*request_cb)(void *),
void (*release_cb)(void *), void *cb_data);
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_get_status(const ec_master_t *master, ec_master_status_t *);
/******************************************************************************
* 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);
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);
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);
/******************************************************************************
* 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,
uint8_t sdo_subindex, uint16_t value);
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
*/
#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_le32s(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)
/*****************************************************************************/
#endif