/******************************************************************************
*
* $Id$
*
* Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT master userspace library.
*
* The IgH EtherCAT master userspace library is free software; you can
* redistribute it and/or modify it under the terms of the GNU Lesser General
* Public License as published by the Free Software Foundation; version 2.1
* of the License.
*
* The IgH EtherCAT master userspace library 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 Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with the IgH EtherCAT master userspace library. If not, see
* <http://www.gnu.org/licenses/>.
*
* ---
*
* The license mentioned above concerns the source code only. Using the
* EtherCAT technology and brand is only permitted in compliance with the
* industrial property and similar rights of Beckhoff Automation GmbH.
*
*****************************************************************************/
/** \file
*
* EtherCAT master application interface.
*
* \defgroup ApplicationInterface EtherCAT Application Interface
*
* EtherCAT interface for realtime applications. 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.
*
* Changes in version 1.5:
*
* - Added the distributed clocks feature and the respective method
* ecrt_slave_config_dc() to configure a slave for cyclic
* operation, and ecrt_master_application_time(),
* ecrt_master_sync_reference_clock() and ecrt_master_sync_slave_clocks()
* for offset and drift compensation. The EC_TIMEVAL2NANO() macro can be
* used for epoch time conversion.
* - Changed the meaning of the negative return values of
* ecrt_slave_config_reg_pdo_entry() and ecrt_slave_config_sdo*().
* - Imlemented the Vendor-specific over EtherCAT mailbox protocol. See
* ecrt_slave_config_create_voe_handler().
* - Renamed ec_sdo_request_state_t to ec_request_state_t, because it is also
* used by VoE handlers.
* - Added ecrt_master_slave() to get information about a certain slave.
* - Added ecrt_slave_sdo_upload() and ecrt_slave_sdo_download() methods to
* let an application transfer SDOs before activating the master.
* - Removed 'const' from argument of ecrt_sdo_request_state(), because the
* userspace library has to modify object internals.
* - Added 64-bit data access macros.
*
* @{
*/
/*****************************************************************************/
#ifndef __ECRT_H__
#define __ECRT_H__
#ifdef __KERNEL__
#include <asm/byteorder.h>
#include <linux/types.h>
#include <linux/time.h>
#else
#include <stdlib.h> // for size_t
#include <stdint.h>
#include <sys/time.h> // for struct timeval
#endif
/******************************************************************************
* Global definitions
*****************************************************************************/
/** EtherCAT realtime interface major version number.
*/
#define ECRT_VER_MAJOR 1
/** EtherCAT realtime interface minor version number.
*/
#define ECRT_VER_MINOR 5
/** EtherCAT realtime interface version word generator.
*/
#define ECRT_VERSION(a, b) (((a) << 8) + (b))
/** EtherCAT realtime interface version word.
*/
#define ECRT_VERSION_MAGIC ECRT_VERSION(ECRT_VER_MAJOR, ECRT_VER_MINOR)
/*****************************************************************************/
/** End of list marker.
*
* This can be used with ecrt_slave_config_pdos().
*/
#define EC_END ~0U
/** Maximum number of sync managers per slave.
*/
#define EC_MAX_SYNC_MANAGERS 16
/** Maximum string length.
*
* Used in ec_slave_info_t.
*/
#define EC_MAX_STRING_LENGTH 64
/** Timeval to nanoseconds conversion.
*
* This macro converts a unix epoch time to EtherCAT DC time.
*
* \see void ecrt_master_application_time()
*
* \param TV struct timeval containing epoch time.
*/
#define EC_TIMEVAL2NANO(TV) \
(((TV).tv_sec - 946684800ULL) * 1000000000ULL + (TV).tv_usec * 1000ULL)
/******************************************************************************
* Data types
*****************************************************************************/
struct ec_master;
typedef struct ec_master ec_master_t; /**< \see ec_master */
struct ec_slave_config;
typedef struct ec_slave_config ec_slave_config_t; /**< \see ec_slave_config */
struct ec_domain;
typedef struct ec_domain ec_domain_t; /**< \see ec_domain */
struct ec_sdo_request;
typedef struct ec_sdo_request ec_sdo_request_t; /**< \see ec_sdo_request. */
struct ec_voe_handler;
typedef struct ec_voe_handler ec_voe_handler_t; /**< \see ec_voe_handler. */
/*****************************************************************************/
/** Master state.
*
* This is used for the output parameter of ecrt_master_state().
*
* \see ecrt_master_state().
*/
typedef struct {
unsigned int slaves_responding; /**< Number of slaves in the bus. */
unsigned int al_states : 4; /**< Application-layer states of all slaves.
The states are coded in the lower 4 bits.
If a bit is set, it means that at least one
slave in the bus is in the corresponding
state:
- Bit 0: \a INIT
- Bit 1: \a PREOP
- Bit 2: \a SAFEOP
- Bit 3: \a OP */
unsigned int link_up : 1; /**< \a true, if the network link is up. */
} ec_master_state_t;
/*****************************************************************************/
/** Slave configuration state.
*
* This is used as an output parameter of ecrt_slave_config_state().
*
* \see ecrt_slave_config_state().
*/
typedef struct {
unsigned int online : 1; /**< The slave is online. */
unsigned int operational : 1; /**< The slave was brought into \a OP state
using the specified configuration. */
unsigned int al_state : 4; /**< The application-layer state of the slave.
- 1: \a INIT
- 2: \a PREOP
- 4: \a SAFEOP
- 8: \a OP
Note that each state is coded in a different
bit! */
} ec_slave_config_state_t;
/*****************************************************************************/
/** Slave information.
*
* This is used as an output parameter of ecrt_master_slave().
*
* \see ecrt_master_slave().
*/
typedef struct {
uint16_t position; /**< Offset of the slave in the ring. */
uint32_t vendor_id; /**< Vendor-ID stored on the slave. */
uint32_t product_code; /**< Product-Code stored on the slave. */
uint32_t revision_number; /**< Revision-Number stored on the slave. */
uint32_t serial_number; /**< Serial-Number stored on the slave. */
uint16_t alias; /**< The slaves alias if not equal to 0. */
int16_t current_on_ebus; /**< Used current in mA. */
uint8_t al_state; /**< Current state of the slave. */
uint8_t error_flag; /**< Error flag for that slave. */
uint8_t sync_count; /**< Number of sync managers. */
uint16_t sdo_count; /**< Number of SDO's. */
char name[EC_MAX_STRING_LENGTH]; /**< Name of the slave. */
} ec_slave_info_t;
/*****************************************************************************/
/** Domain working counter interpretation.
*
* This is used in ec_domain_state_t.
*/
typedef enum {
EC_WC_ZERO = 0, /**< No registered process data were exchanged. */
EC_WC_INCOMPLETE, /**< Some of the registered process data were
exchanged. */
EC_WC_COMPLETE /**< All registered process data were exchanged. */
} ec_wc_state_t;
/*****************************************************************************/
/** Domain state.
*
* This is used for the output parameter of ecrt_domain_state().
*/
typedef struct {
unsigned int working_counter; /**< Value of the last working counter. */
ec_wc_state_t wc_state; /**< Working counter interpretation. */
} ec_domain_state_t;
/*****************************************************************************/
/** Direction type for PDO assignment functions.
*/
typedef enum {
EC_DIR_INVALID, /**< Invalid direction. Do not use this value. */
EC_DIR_OUTPUT, /**< Values written by the master. */
EC_DIR_INPUT, /**< Values read by the master. */
EC_DIR_COUNT /**< Number of directions. For internal use only. */
} ec_direction_t;
/*****************************************************************************/
/** PDO entry configuration information.
*
* This is the data type of the \a entries field in ec_pdo_info_t.
*
* \see ecrt_slave_config_pdos().
*/
typedef struct {
uint16_t index; /**< PDO entry index. */
uint8_t subindex; /**< PDO entry subindex. */
uint8_t bit_length; /**< Size of the PDO entry in bit. */
} ec_pdo_entry_info_t;
/*****************************************************************************/
/** PDO configuration information.
*
* This is the data type of the \a pdos field in ec_sync_info_t.
*
* \see ecrt_slave_config_pdos().
*/
typedef struct {
uint16_t index; /**< PDO index. */
unsigned int n_entries; /**< Number of PDO entries in \a entries to map.
Zero means, that the default mapping shall be
used (this can only be done if the slave is
present at bus configuration time). */
ec_pdo_entry_info_t *entries; /**< Array of PDO entries to map. Can either
be \a NULL, or must contain at
least \a n_entries values. */
} ec_pdo_info_t;
/*****************************************************************************/
/** Sync manager configuration information.
*
* This can be use to configure multiple sync managers including the PDO
* assignment and PDO mapping. It is used as an input parameter type in
* ecrt_slave_config_pdos().
*/
typedef struct {
uint8_t index; /**< Sync manager index. Must be less
than #EC_MAX_SYNC_MANAGERS for a valid sync manager,
but can also be \a 0xff to mark the end of the list. */
ec_direction_t dir; /**< Sync manager direction. */
unsigned int n_pdos; /**< Number of PDOs in \a pdos. */
ec_pdo_info_t *pdos; /**< Array with PDOs to assign. This must contain
at least \a n_pdos PDOs. */
} ec_sync_info_t;
/*****************************************************************************/
/** List record type for PDO entry mass-registration.
*
* This type is used for the array parameter of the
* ecrt_domain_reg_pdo_entry_list()
*/
typedef struct {
uint16_t alias; /**< Slave alias address. */
uint16_t position; /**< Slave position. */
uint32_t vendor_id; /**< Slave vendor ID. */
uint32_t product_code; /**< Slave product code. */
uint16_t index; /**< PDO entry index. */
uint8_t subindex; /**< PDO entry subindex. */
unsigned int *offset; /**< Pointer to a variable to store the PDO entry's
(byte-)offset in the process data. */
unsigned int *bit_position; /**< Pointer to a variable to store a bit
position (0-7) within the \a offset. Can be
NULL, in which case an error is raised if the
PDO entry does not byte-align. */
} ec_pdo_entry_reg_t;
/*****************************************************************************/
/** Request state.
*
* This is used as return type for ecrt_sdo_request_state() and
* ecrt_voe_handler_state().
*/
typedef enum {
EC_REQUEST_UNUSED, /**< Not requested. */
EC_REQUEST_BUSY, /**< Request is being processed. */
EC_REQUEST_SUCCESS, /**< Request was processed successfully. */
EC_REQUEST_ERROR, /**< Request processing failed. */
} ec_request_state_t;
/******************************************************************************
* Global functions
*****************************************************************************/
#ifdef __cplusplus
extern "C" {
#endif
/** Returns the version magic of the realtime interface.
*
* \return Value of ECRT_VERSION_MAGIC() at EtherCAT master compile time.
*/
unsigned int ecrt_version_magic(void);
/** Requests an EtherCAT master for realtime operation.
*
* Before an application can access an EtherCAT master, it has to reserve one
* for exclusive use.
*
* This function has to be the first function an application has to call to
* use EtherCAT. The function takes the index of the master as its argument.
* The first master has index 0, the n-th master has index n - 1. The number
* of masters has to be specified when loading the master module.
*
* \return Pointer to the reserved master, otherwise \a NULL.
*/
ec_master_t *ecrt_request_master(
unsigned int master_index /**< Index of the master to request. */
);
/** Releases a requested EtherCAT master.
*
* After use, a master it has to be released to make it available for other
* applications.
*/
void ecrt_release_master(
ec_master_t *master /**< EtherCAT master */
);
/******************************************************************************
* Master methods
*****************************************************************************/
#ifdef __KERNEL__
/** Sets the locking callbacks.
*
* For concurrent master access, the application has to provide a locking
* mechanism (see section FIXME in the docs). The method takes two function
* pointers and a data value as its parameters. The arbitrary \a cb_data value
* will be passed as argument on every callback. Asynchronous master access
* (like EoE processing) is only possible if the callbacks have been set.
*
* The request_cb function must return zero, to allow another instance
* (an EoE process for example) to access the master. Non-zero means,
* that access is currently forbidden.
*/
void ecrt_master_callbacks(
ec_master_t *master, /**< EtherCAT master */
int (*request_cb)(void *), /**< Lock request function. */
void (*release_cb)(void *), /**< Lock release function. */
void *cb_data /**< Arbitrary user data. */
);
#endif /* __KERNEL__ */
/** Creates a new process data domain.
*
* For process data exchange, at least one process data domain is needed.
* This method creates a new process data domain and returns a pointer to the
* new domain object. This object can be used for registering PDOs and
* exchanging them in cyclic operation.
*
* \return Pointer to the new domain on success, else NULL.
*/
ec_domain_t *ecrt_master_create_domain(
ec_master_t *master /**< EtherCAT master. */
);
/** Obtains a slave configuration.
*
* Creates a slave configuration object for the given \a alias and \a position
* tuple and returns it. If a configuration with the same \a alias and \a
* position already exists, it will be re-used. In the latter case, the given
* vendor ID and product code are compared to the stored ones. On mismatch, an
* error message is raised and the function returns \a NULL.
*
* Slaves are addressed with the \a alias and \a position parameters.
* - If \a alias is zero, \a position is interpreted as the desired slave's
* ring position.
* - If \a alias is non-zero, it matches a slave with the given alias. In this
* case, \a position is interpreted as ring offset, starting from the
* aliased slave, so a position of zero means the aliased slave itself and a
* positive value matches the n-th slave behind the aliased one.
*
* If the slave with the given address is found during the bus configuration,
* its vendor ID and product code are matched against the given value. On
* mismatch, the slave is not configured and an error message is raised.
*
* If different slave configurations are pointing to the same slave during bus
* configuration, a warning is raised and only the first configuration is
* applied.
*
* \retval >0 Pointer to the slave configuration structure.
* \retval NULL in the error case.
*/
ec_slave_config_t *ecrt_master_slave_config(
ec_master_t *master, /**< EtherCAT master */
uint16_t alias, /**< Slave alias. */
uint16_t position, /**< Slave position. */
uint32_t vendor_id, /**< Expected vendor ID. */
uint32_t product_code /**< Expected product code. */
);
#ifndef __KERNEL__
/** Obtains slave information.
*
* Tries to find the slave with the given ring position. The obtained
* information is stored in a structure. No memory is allocated on the heap in
* this function.
*
* \attention The pointer to this structure must point to a valid variable.
*
* \return 0 in case of success, else < 0
*/
int ecrt_master_slave(
ec_master_t *master, /**< EtherCAT master */
uint16_t position, /**< Slave position. */
ec_slave_info_t *slave_info /**< Structure that will output the
information */
);
#endif /* ifndef __KERNEL__ */
/** Finishes the configuration phase and prepares for cyclic operation.
*
* This function tells the master that the configuration phase is finished and
* the realtime operation will begin. The function allocates internal memory
* for the domains and calculates the logical FMMU addresses for domain
* members. It tells the master state machine that the bus configuration is
* now to be applied.
*
* \attention After this function has been called, the realtime application is
* in charge of cyclically calling ecrt_master_send() and
* ecrt_master_receive() to ensure bus communication. Before calling this
* function, the master thread is responsible for that, so these functions may
* not be called!
*
* \return 0 in case of success, else < 0
*/
int ecrt_master_activate(
ec_master_t *master /**< EtherCAT master. */
);
/** Sends all datagrams in the queue.
*
* This method takes all datagrams, that have been queued for transmission,
* puts them into frames, and passes them to the Ethernet device for sending.
*
* Has to be called cyclically by the application after ecrt_master_activate()
* has returned.
*/
void ecrt_master_send(
ec_master_t *master /**< EtherCAT master. */
);
/** Fetches received frames from the hardware and processes the datagrams.
*
* Queries the network device for received frames by calling the interrupt
* service routine. Extracts received datagrams and dispatches the results to
* the datagram objects in the queue. Received datagrams, and the ones that
* timed out, will be marked, and dequeued.
*
* Has to be called cyclically by the realtime application after
* ecrt_master_activate() has returned.
*/
void ecrt_master_receive(
ec_master_t *master /**< EtherCAT master. */
);
/** Reads the current master state.
*
* Stores the master state information in the given \a state structure.
*/
void ecrt_master_state(
const ec_master_t *master, /**< EtherCAT master. */
ec_master_state_t *state /**< Structure to store the information. */
);
/** Sets the application time.
*
* The master has to know the application's time when operating slaves with
* distributed clocks. The time is not incremented by the master itself, so
* this method has to be called cyclically.
*
* The time is used when setting the slaves' <tt>System Time Offset</tt> and
* <tt>Cyclic Operation Start Time</tt> registers and when synchronizing the
* DC reference clock to the application time via
* ecrt_master_sync_reference_clock().
*
* The time is defined as nanoseconds from 2000-01-01 00:00. Converting an
* epoch time can be done with the EC_TIMEVAL2NANO() macro.
*/
void ecrt_master_application_time(
ec_master_t *master, /**< EtherCAT master. */
uint64_t app_time /**< Application time. */
);
/** Queues the DC reference clock drift compensation datagram for sending.
*
* The reference clock will by synchronized to the application time provided
* by the last call off ecrt_master_application_time().
*/
void ecrt_master_sync_reference_clock(
ec_master_t *master /**< EtherCAT master. */
);
/** Queues the DC clock drift compensation datagram for sending.
*
* All slave clocks synchronized to the reference clock.
*/
void ecrt_master_sync_slave_clocks(
ec_master_t *master /**< EtherCAT master. */
);
#ifndef __KERNEL__
/** Executes an SDO write request to download data.
*
* This function operates aside of the normal way to request SDOs. Before the
* activation of the master, these requests are processed by the master state
* machine itself. After activation the user has to ensure cyclic processing.
*
* \retval 0 Success.
* \retval -1 An error occured.
*/
int ecrt_slave_sdo_download(
ec_master_t* master, /**< EtherCAT master. */
uint16_t slave_position, /**< Slave position. */
uint16_t index, /**< Index of the SDO. */
uint8_t subindex, /**< Subindex of the SDO. */
uint8_t *data, /**< Data buffer to download. */
size_t data_size, /**< Size of the data buffer. */
uint32_t *abort_code /**< Abort code of the SDO download. */
);
/** Executes a SDO read request to upload data.
*
* This function operates aside of the normal way to request SDOs. Before the
* activation of the master, these requests are processed by the master state
* machine itself. After activation the user have to ensure cyclic
* processing.
*
* \retval 0 Success.
* \retval -1 Error occured.
*/
int ecrt_slave_sdo_upload(
ec_master_t* master, /**< EtherCAT master. */
uint16_t slave_position, /**< Slave position. */
uint16_t index, /**< Index of the SDO. */
uint8_t subindex, /**< Subindex of the SDO. */
uint8_t *target, /**< Target buffer for the upload. */
size_t target_size, /**< Size of the target buffer. */
size_t *result_size, /**< Uploaded data size. */
uint32_t *abort_code /**< Abort code of the SDO upload. */
);
#endif /* ifndef __KERNEL__ */
/******************************************************************************
* Slave configuration methods
*****************************************************************************/
/** Configure a sync manager.
*
* Sets the direction of a sync manager. This overrides the direction bits
* from the default control register from SII.
*
* \return zero on success, else non-zero
*/
int ecrt_slave_config_sync_manager(
ec_slave_config_t *sc, /**< Slave configuration. */
uint8_t sync_index, /**< Sync manager index. Must be less
than #EC_MAX_SYNC_MANAGERS. */
ec_direction_t dir /**< Input/Output. */
);
/** Add a PDO to a sync manager's PDO assignment.
*
* \see ecrt_slave_config_pdos()
* \return zero on success, else non-zero
*/
int ecrt_slave_config_pdo_assign_add(
ec_slave_config_t *sc, /**< Slave configuration. */
uint8_t sync_index, /**< Sync manager index. Must be less
than #EC_MAX_SYNC_MANAGERS. */
uint16_t index /**< Index of the PDO to assign. */
);
/** Clear a sync manager's PDO assignment.
*
* This can be called before assigning PDOs via
* ecrt_slave_config_pdo_assign_add(), to clear the default assignment of a
* sync manager.
*
* \see ecrt_slave_config_pdos()
*/
void ecrt_slave_config_pdo_assign_clear(
ec_slave_config_t *sc, /**< Slave configuration. */
uint8_t sync_index /**< Sync manager index. Must be less
than #EC_MAX_SYNC_MANAGERS. */
);
/** Add a PDO entry to the given PDO's mapping.
*
* \see ecrt_slave_config_pdos()
* \return zero on success, else non-zero
*/
int ecrt_slave_config_pdo_mapping_add(
ec_slave_config_t *sc, /**< Slave configuration. */
uint16_t pdo_index, /**< Index of the PDO. */
uint16_t entry_index, /**< Index of the PDO entry to add to the PDO's
mapping. */
uint8_t entry_subindex, /**< Subindex of the PDO entry to add to the
PDO's mapping. */
uint8_t entry_bit_length /**< Size of the PDO entry in bit. */
);
/** Clear the mapping of a given PDO.
*
* This can be called before mapping PDO entries via
* ecrt_slave_config_pdo_mapping_add(), to clear the default mapping.
*
* \see ecrt_slave_config_pdos()
*/
void ecrt_slave_config_pdo_mapping_clear(
ec_slave_config_t *sc, /**< Slave configuration. */
uint16_t pdo_index /**< Index of the PDO. */
);
/** Specify a complete PDO configuration.
*
* This function is a convenience wrapper for the functions
* ecrt_slave_config_sync_manager(), ecrt_slave_config_pdo_assign_clear(),
* ecrt_slave_config_pdo_assign_add(), ecrt_slave_config_pdo_mapping_clear()
* and ecrt_slave_config_pdo_mapping_add(), that are better suitable for
* automatic code generation.
*
* The following example shows, how to specify a complete configuration,
* including the PDO mappings. With this information, the master is able to
* reserve the complete process data, even if the slave is not present at
* configuration time:
*
* \code
* ec_pdo_entry_info_t el3162_channel1[] = {
* {0x3101, 1, 8}, // status
* {0x3101, 2, 16} // value
* };
*
* ec_pdo_entry_info_t el3162_channel2[] = {
* {0x3102, 1, 8}, // status
* {0x3102, 2, 16} // value
* };
*
* ec_pdo_info_t el3162_pdos[] = {
* {0x1A00, 2, el3162_channel1},
* {0x1A01, 2, el3162_channel2}
* };
*
* ec_sync_info_t el3162_syncs[] = {
* {2, EC_DIR_OUTPUT},
* {3, EC_DIR_INPUT, 2, el3162_pdos},
* {0xff}
* };
*
* if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3162_syncs)) {
* // handle error
* }
* \endcode
*
* The next example shows, how to configure the PDO assignment only. The
* entries for each assigned PDO are taken from the PDO's default mapping.
* Please note, that PDO entry registration will fail, if the PDO
* configuration is left empty and the slave is offline.
*
* \code
* ec_pdo_info_t pdos[] = {
* {0x1600}, // Channel 1
* {0x1601} // Channel 2
* };
*
* ec_sync_info_t syncs[] = {
* {3, EC_DIR_INPUT, 2, pdos},
* };
*
* if (ecrt_slave_config_pdos(slave_config_ana_in, 1, syncs)) {
* // handle error
* }
* \endcode
*
* Processing of \a syncs will stop, if
* - the number of processed items reaches \a n_syncs, or
* - the \a index member of an ec_sync_info_t item is 0xff. In this case,
* \a n_syncs should set to a number greater than the number of list items;
* using EC_END is recommended.
*
* \return zero on success, else non-zero
*/
int ecrt_slave_config_pdos(
ec_slave_config_t *sc, /**< Slave configuration. */
unsigned int n_syncs, /**< Number of sync manager configurations in
\a syncs. */
const ec_sync_info_t syncs[] /**< Array of sync manager
configurations. */
);
/** Registers a PDO entry for process data exchange in a domain.
*
* Searches the assigned PDOs for the given PDO entry. An error is raised, if
* the given entry is not mapped. Otherwise, the corresponding sync manager
* and FMMU configurations are provided for slave configuration and the
* respective sync manager's assigned PDOs are appended to the given domain,
* if not already done. The offset of the requested PDO entry's data inside
* the domain's process data is returned. Optionally, the PDO entry bit
* position (0-7) can be retrieved via the \a bit_position output parameter.
* This pointer may be \a NULL, in this case an error is raised if the PDO
* entry does not byte-align.
*
* \retval >=0 Success: Offset of the PDO entry's process data.
* \retval <0 Error code.
*/
int ecrt_slave_config_reg_pdo_entry(
ec_slave_config_t *sc, /**< Slave configuration. */
uint16_t entry_index, /**< Index of the PDO entry to register. */
uint8_t entry_subindex, /**< Subindex of the PDO entry to register. */
ec_domain_t *domain, /**< Domain. */
unsigned int *bit_position /**< Optional address if bit addressing
is desired */
);
/** Configure distributed clocks.
*
* Sets the AssignActivate word and the cycle and shift times for the sync
* signals.
*
* The AssignActivate word is vendor-specific and can be taken from the XML
* device description file (Device -> Dc -> AssignActivate). Set this to zero,
* if the slave shall be operated without distributed clocks (default).
*/
void ecrt_slave_config_dc(
ec_slave_config_t *sc, /**< Slave configuration. */
uint16_t assign_activate, /**< AssignActivate word. */
uint32_t sync0_cycle, /**< SYNC0 cycle time [ns]. */
uint32_t sync0_shift, /**< SYNC0 shift time [ns]. */
uint32_t sync1_cycle, /**< SYNC1 cycle time [ns]. */
uint32_t sync1_shift /**< SYNC1 shift time [ns]. */
);
/** Add an SDO configuration.
*
* An SDO configuration is stored in the slave configuration object and is
* downloaded to the slave whenever the slave is being configured by the
* master. This usually happens once on master activation, but can be repeated
* subsequently, for example after the slave's power supply failed.
*
* \attention The SDOs for PDO assignment (\p 0x1C10 - \p 0x1C2F) and PDO
* mapping (\p 0x1600 - \p 0x17FF and \p 0x1A00 - \p 0x1BFF) should not be
* configured with this function, because they are part of the slave
* configuration done by the master. Please use ecrt_slave_config_pdos() and
* friends instead.
*
* This is the generic function for adding an SDO configuration. Please note
* that the this function does not do any endianess correction. If
* datatype-specific functions are needed (that automatically correct the
* endianess), have a look at ecrt_slave_config_sdo8(),
* ecrt_slave_config_sdo16() and ecrt_slave_config_sdo32().
*
* \retval 0 Success.
* \retval <0 Error code.
*/
int ecrt_slave_config_sdo(
ec_slave_config_t *sc, /**< Slave configuration. */
uint16_t index, /**< Index of the SDO to configure. */
uint8_t subindex, /**< Subindex of the SDO to configure. */
const uint8_t *data, /**< Pointer to the data. */
size_t size /**< Size of the \a data. */
);
/** Add a configuration value for an 8-bit SDO.
*
* \see ecrt_slave_config_sdo().
*
* \retval 0 Success.
* \retval <0 Error code.
*/
int ecrt_slave_config_sdo8(
ec_slave_config_t *sc, /**< Slave configuration */
uint16_t sdo_index, /**< Index of the SDO to configure. */
uint8_t sdo_subindex, /**< Subindex of the SDO to configure. */
uint8_t value /**< Value to set. */
);
/** Add a configuration value for a 16-bit SDO.
*
* \see ecrt_slave_config_sdo().
*
* \retval 0 Success.
* \retval <0 Error code.
*/
int ecrt_slave_config_sdo16(
ec_slave_config_t *sc, /**< Slave configuration */
uint16_t sdo_index, /**< Index of the SDO to configure. */
uint8_t sdo_subindex, /**< Subindex of the SDO to configure. */
uint16_t value /**< Value to set. */
);
/** Add a configuration value for a 32-bit SDO.
*
* \see ecrt_slave_config_sdo().
*
* \retval 0 Success.
* \retval <0 Error code.
*/
int ecrt_slave_config_sdo32(
ec_slave_config_t *sc, /**< Slave configuration */
uint16_t sdo_index, /**< Index of the SDO to configure. */
uint8_t sdo_subindex, /**< Subindex of the SDO to configure. */
uint32_t value /**< Value to set. */
);
/** Create an SDO request to exchange SDOs during realtime operation.
*
* The created SDO request object is freed automatically when the master is
* released.
*/
ec_sdo_request_t *ecrt_slave_config_create_sdo_request(
ec_slave_config_t *sc, /**< Slave configuration. */
uint16_t index, /**< SDO index. */
uint8_t subindex, /**< SDO subindex. */
size_t size /**< Data size to reserve. */
);
/** Create an VoE handler to exchange vendor-specific data during realtime
* operation.
*
* The number of VoE handlers per slave configuration is not limited, but
* usually it is enough to create one for sending and one for receiving, if
* both can be done simultaneously.
*
* The created VoE handler object is freed automatically when the master is
* released.
*/
ec_voe_handler_t *ecrt_slave_config_create_voe_handler(
ec_slave_config_t *sc, /**< Slave configuration. */
size_t size /**< Data size to reserve. */
);
/** Outputs the state of the slave configuration.
*
* Stores the state information in the given \a state structure.
*/
void ecrt_slave_config_state(
const ec_slave_config_t *sc, /**< Slave configuration */
ec_slave_config_state_t *state /**< State object to write to. */
);
/******************************************************************************
* Domain methods
*****************************************************************************/
/** Registers a bunch of PDO entries for a domain.
*
* \todo doc
* \attention The registration array has to be terminated with an empty
* structure, or one with the \a index field set to zero!
* \return 0 on success, else non-zero.
*/
int ecrt_domain_reg_pdo_entry_list(
ec_domain_t *domain, /**< Domain. */
const ec_pdo_entry_reg_t *pdo_entry_regs /**< Array of PDO
registrations. */
);
#ifdef __KERNEL__
/** Returns the current size of the domain's process data.
*
* \return Size of the process data image.
*/
size_t ecrt_domain_size(
const ec_domain_t *domain /**< Domain. */
);
/** Provide external memory to store the domain's process data.
*
* Call this after all PDO entries have been registered and before activating
* the master.
*
* The size of the allocated memory must be at least ecrt_domain_size(), after
* all PDO entries have been registered.
*/
void ecrt_domain_external_memory(
ec_domain_t *domain, /**< Domain. */
uint8_t *memory /**< Address of the memory to store the process
data in. */
);
#endif /* __KERNEL__ */
/** Returns the domain's process data.
*
* - In kernel context: If external memory was provided with
* ecrt_domain_external_memory(), the returned pointer will contain the
* address of that memory. Otherwise it will point to the internally allocated
* memory. In the latter case, this method may not be called before
* ecrt_master_activate().
*
* - In userspace context: This method has to be called after
* ecrt_master_activate() to get the mapped domain process data memory.
*
* \return Pointer to the process data memory.
*/
uint8_t *ecrt_domain_data(
ec_domain_t *domain /**< Domain. */
);
/** Determines the states of the domain's datagrams.
*
* Evaluates the working counters of the received datagrams and outputs
* statistics, if necessary. This must be called after ecrt_master_receive()
* is expected to receive the domain datagrams in order to make
* ecrt_domain_state() return the result of the last process data exchange.
*/
void ecrt_domain_process(
ec_domain_t *domain /**< Domain. */
);
/** (Re-)queues all domain datagrams in the master's datagram queue.
*
* Call this function to mark the domain's datagrams for exchanging at the
* next call of ecrt_master_send().
*/
void ecrt_domain_queue(
ec_domain_t *domain /**< Domain. */
);
/** Reads the state of a domain.
*
* Stores the domain state in the given \a state structure.
*/
void ecrt_domain_state(
const ec_domain_t *domain, /**< Domain. */
ec_domain_state_t *state /**< Pointer to a state object to store the
information. */
);
/*****************************************************************************
* SDO request methods.
****************************************************************************/
/** Set the timeout for an SDO request.
*
* If the request cannot be processed in the specified time, if will be marked
* as failed.
*
* The timeout is permanently stored in the request object and is valid until
* the next call of this method.
*/
void ecrt_sdo_request_timeout(
ec_sdo_request_t *req, /**< SDO request. */
uint32_t timeout /**< Timeout in milliseconds. Zero means no
timeout. */
);
/** Access to the SDO request's data.
*
* This function returns a pointer to the request's internal SDO data memory.
*
* - After a read operation was successful, integer data can be evaluated using
* the EC_READ_*() macros as usual. Example:
* \code
* uint16_t value = EC_READ_U16(ecrt_sdo_request_data(sdo)));
* \endcode
* - If a write operation shall be triggered, the data have to be written to
* the internal memory. Use the EC_WRITE_*() macros, if you are writing
* integer data. Be sure, that the data fit into the memory. The memory size
* is a parameter of ecrt_slave_config_create_sdo_request().
* \code
* EC_WRITE_U16(ecrt_sdo_request_data(sdo), 0xFFFF);
* \endcode
*
* \attention The return value can be invalid during a read operation, because
* the internal SDO data memory could be re-allocated if the read SDO data do
* not fit inside.
*
* \return Pointer to the internal SDO data memory.
*/
uint8_t *ecrt_sdo_request_data(
ec_sdo_request_t *req /**< SDO request. */
);
/** Returns the current SDO data size.
*
* When the SDO request is created, the data size is set to the size of the
* reserved memory. After a read operation the size is set to the size of the
* read data. The size is not modified in any other situation.
*
* \return SDO data size in bytes.
*/
size_t ecrt_sdo_request_data_size(
const ec_sdo_request_t *req /**< SDO request. */
);
/** Get the current state of the SDO request.
*
* \return Request state.
*/
#ifdef __KERNEL__
ec_request_state_t ecrt_sdo_request_state(
const ec_sdo_request_t *req /**< SDO request. */
);
#else
ec_request_state_t ecrt_sdo_request_state(
ec_sdo_request_t *req /**< SDO request. */
);
#endif
/** Schedule an SDO write operation.
*
* \attention This method may not be called while ecrt_sdo_request_state()
* returns EC_SDO_REQUEST_BUSY.
*/
void ecrt_sdo_request_write(
ec_sdo_request_t *req /**< SDO request. */
);
/** Schedule an SDO read operation.
*
* \attention This method may not be called while ecrt_sdo_request_state()
* returns EC_SDO_REQUEST_BUSY.
*
* \attention After calling this function, the return value of
* ecrt_sdo_request_data() must be considered as invalid while
* ecrt_sdo_request_state() returns EC_SDO_REQUEST_BUSY.
*/
void ecrt_sdo_request_read(
ec_sdo_request_t *req /**< SDO request. */
);
/*****************************************************************************
* VoE handler methods.
****************************************************************************/
/** Sets the VoE header for future send operations.
*
* A VoE message shall contain a 4-byte vendor ID, followed by a 2-byte vendor
* type at as header. These numbers can be set with this function. The values
* are valid and will be used for future send operations until the next call
* of this method.
*/
void ecrt_voe_handler_send_header(
ec_voe_handler_t *voe, /**< VoE handler. */
uint32_t vendor_id, /**< Vendor ID. */
uint16_t vendor_type /**< Vendor-specific type. */
);
/** Reads the header data of a received VoE message.
*
* This method can be used to get the received VoE header information after a
* read operation has succeeded.
*
* The header information is stored at the memory given by the pointer
* parameters.
*/
void ecrt_voe_handler_received_header(
const ec_voe_handler_t *voe, /**< VoE handler. */
uint32_t *vendor_id, /**< Vendor ID. */
uint16_t *vendor_type /**< Vendor-specific type. */
);
/** Access to the VoE handler's data.
*
* This function returns a pointer to the VoE handler's internal memory, that
* points to the actual VoE data right after the VoE header (see
* ecrt_voe_handler_send_header()).
*
* - After a read operation was successful, the memory contains the received
* data. The size of the received data can be determined via
* ecrt_voe_handler_data_size().
* - Before a write operation is triggered, the data have to be written to the
* internal memory. Be sure, that the data fit into the memory. The reserved
* memory size is a parameter of ecrt_slave_config_create_voe_handler().
*
* \attention The returned pointer is not necessarily persistent: After a read
* operation, the internal memory may have been reallocated. This can be
* avoided by reserving enough memory via the \a size parameter of
* ecrt_slave_config_create_voe_handler().
*
* \return Pointer to the internal memory.
*/
uint8_t *ecrt_voe_handler_data(
ec_voe_handler_t *voe /**< VoE handler. */
);
/** Returns the current data size.
*
* The data size is the size of the VoE data without the header (see
* ecrt_voe_handler_send_header()).
*
* When the VoE handler is created, the data size is set to the size of the
* reserved memory. At a write operation, the data size is set to the number
* of bytes to write. After a read operation the size is set to the size of
* the read data. The size is not modified in any other situation.
*
* \return Data size in bytes.
*/
size_t ecrt_voe_handler_data_size(
const ec_voe_handler_t *voe /**< VoE handler. */
);
/** Start a VoE write operation.
*
* After this function has been called, the ecrt_voe_handler_execute() method
* must be called in every bus cycle as long as it returns EC_REQUEST_BUSY. No
* other operation may be started while the handler is busy.
*/
void ecrt_voe_handler_write(
ec_voe_handler_t *voe, /**< VoE handler. */
size_t size /**< Number of bytes to write (without the VoE header). */
);
/** Start a VoE read operation.
*
* After this function has been called, the ecrt_voe_handler_execute() method
* must be called in every bus cycle as long as it returns EC_REQUEST_BUSY. No
* other operation may be started while the handler is busy.
*
* The state machine queries the slave's send mailbox for new data to be send
* to the master. If no data appear within the EC_VOE_RESPONSE_TIMEOUT
* (defined in master/voe_handler.c), the operation fails.
*
* On success, the size of the read data can be determined via
* ecrt_voe_handler_data_size(), while the VoE header of the received data
* can be retrieved with ecrt_voe_handler_received_header().
*/
void ecrt_voe_handler_read(
ec_voe_handler_t *voe /**< VoE handler. */
);
/** Start a VoE read operation without querying the sync manager status.
*
* After this function has been called, the ecrt_voe_handler_execute() method
* must be called in every bus cycle as long as it returns EC_REQUEST_BUSY. No
* other operation may be started while the handler is busy.
*
* The state machine queries the slave by sending an empty mailbox. The slave
* fills its data to the master in this mailbox. If no data appear within the
* EC_VOE_RESPONSE_TIMEOUT (defined in master/voe_handler.c), the operation
* fails.
*
* On success, the size of the read data can be determined via
* ecrt_voe_handler_data_size(), while the VoE header of the received data
* can be retrieved with ecrt_voe_handler_received_header().
*/
void ecrt_voe_handler_read_nosync(
ec_voe_handler_t *voe /**< VoE handler. */
);
/** Execute the handler.
*
* This method executes the VoE handler. It has to be called in every bus cycle
* as long as it returns EC_REQUEST_BUSY.
*
* \return Handler state.
*/
ec_request_state_t ecrt_voe_handler_execute(
ec_voe_handler_t *voe /**< VoE handler. */
);
/*****************************************************************************/
#ifdef __cplusplus
}
#endif
/******************************************************************************
* 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)
/******************************************************************************
* Byte-swapping functions for user space
*****************************************************************************/
#ifndef __KERNEL__
#if __BYTE_ORDER == __LITTLE_ENDIAN
#define le16_to_cpu(x) x
#define le32_to_cpu(x) x
#define le64_to_cpu(x) x
#define cpu_to_le16(x) x
#define cpu_to_le32(x) x
#define cpu_to_le64(x) x
#elif __BYTE_ORDER == __BIG_ENDIAN
#define swap16(x) \
((uint16_t)( \
(((uint16_t)(x) & 0x00ffU) << 8) | \
(((uint16_t)(x) & 0xff00U) >> 8) ))
#define swap32(x) \
((uint32_t)( \
(((uint32_t)(x) & 0x000000ffUL) << 24) | \
(((uint32_t)(x) & 0x0000ff00UL) << 8) | \
(((uint32_t)(x) & 0x00ff0000UL) >> 8) | \
(((uint32_t)(x) & 0xff000000UL) >> 24) ))
#define swap64(x) \
((uint64_t)( \
(((uint64_t)(x) & 0x00000000000000ffULL) << 56) | \
(((uint64_t)(x) & 0x000000000000ff00ULL) << 40) | \
(((uint64_t)(x) & 0x0000000000ff0000ULL) << 24) | \
(((uint64_t)(x) & 0x00000000ff000000ULL) << 8) | \
(((uint64_t)(x) & 0x000000ff00000000ULL) >> 8) | \
(((uint64_t)(x) & 0x0000ff0000000000ULL) >> 24) | \
(((uint64_t)(x) & 0x00ff000000000000ULL) >> 40) | \
(((uint64_t)(x) & 0xff00000000000000ULL) >> 56) ))
#define le16_to_cpu(x) swap16(x)
#define le32_to_cpu(x) swap32(x)
#define le64_to_cpu(x) swap64(x)
#define cpu_to_le16(x) swap16(x)
#define cpu_to_le32(x) swap32(x)
#define cpu_to_le64(x) swap64(x)
#endif
#define le16_to_cpup(x) le16_to_cpu(*((uint16_t *)(x)))
#define le32_to_cpup(x) le32_to_cpu(*((uint32_t *)(x)))
#define le64_to_cpup(x) le64_to_cpu(*((uint64_t *)(x)))
#endif /* ifndef __KERNEL__ */
/******************************************************************************
* 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)))
/** Read a 64-bit unsigned value from EtherCAT data.
*
* \param DATA EtherCAT data pointer
* \return EtherCAT data value
*/
#define EC_READ_U64(DATA) \
((uint64_t) le64_to_cpup((void *) (DATA)))
/** Read a 64-bit signed value from EtherCAT data.
*
* \param DATA EtherCAT data pointer
* \return EtherCAT data value
*/
#define EC_READ_S64(DATA) \
((int64_t) le64_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)) = cpu_to_le16((uint16_t) (VAL)); \
} 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)) = cpu_to_le32((uint32_t) (VAL)); \
} 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)
/** Write a 64-bit unsigned value to EtherCAT data.
*
* \param DATA EtherCAT data pointer
* \param VAL new value
*/
#define EC_WRITE_U64(DATA, VAL) \
do { \
*((uint64_t *) (DATA)) = cpu_to_le64((uint64_t) (VAL)); \
} while (0)
/** Write a 64-bit signed value to EtherCAT data.
*
* \param DATA EtherCAT data pointer
* \param VAL new value
*/
#define EC_WRITE_S64(DATA, VAL) EC_WRITE_U64(DATA, VAL)
/*****************************************************************************/
/** @} */
#endif