fp@104: /******************************************************************************
fp@104:  *
fp@125:  *  $Id$
fp@104:  *
fp@197:  *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
fp@197:  *
fp@197:  *  This file is part of the IgH EtherCAT Master.
fp@197:  *
fp@197:  *  The IgH EtherCAT Master is free software; you can redistribute it
fp@197:  *  and/or modify it under the terms of the GNU General Public License
fp@246:  *  as published by the Free Software Foundation; either version 2 of the
fp@246:  *  License, or (at your option) any later version.
fp@197:  *
fp@197:  *  The IgH EtherCAT Master is distributed in the hope that it will be
fp@197:  *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@197:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
fp@197:  *  GNU General Public License for more details.
fp@197:  *
fp@197:  *  You should have received a copy of the GNU General Public License
fp@197:  *  along with the IgH EtherCAT Master; if not, write to the Free Software
fp@197:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@197:  *
fp@246:  *  The right to use EtherCAT Technology is granted and comes free of
fp@246:  *  charge under condition of compatibility of product made by
fp@246:  *  Licensee. People intending to distribute/sell products based on the
fp@246:  *  code, have to sign an agreement to guarantee that products using
fp@246:  *  software based on IgH EtherCAT master stay compatible with the actual
fp@246:  *  EtherCAT specification (which are released themselves as an open
fp@246:  *  standard) as the (only) precondition to have the right to use EtherCAT
fp@246:  *  Technology, IP and trade marks.
fp@246:  *
fp@104:  *****************************************************************************/
fp@104: 
fp@786: /** \file
fp@786:  *
fp@786:  * EtherCAT Real-Time Interface.
fp@786:  *
fp@786:  * \defgroup RealtimeInterface EtherCAT Real-Time Interface
fp@786:  *
fp@786:  * EtherCAT interface for realtime modules. This interface is designed for
fp@786:  * realtime modules that want to use EtherCAT. There are functions to request
fp@786:  * a master, to map process data, to communicate with slaves via CoE and to
fp@786:  * configure and activate the bus.
fp@792:  *
fp@792:  * Changes in Version 1.4:
fp@792:  *
fp@792:  * - Replaced ec_slave_t with ec_slave_config_t, separating the slave objects
fp@792:  *   from the requested bus configuration. Therefore, renamed
fp@792:  *   ecrt_master_get_slave() to ecrt_master_slave_config().
fp@792:  * - Replaced slave address string with alias and position values. See
fp@792:  *   ecrt_master_slave_config().
fp@792:  * - Removed ecrt_master_get_slave_by_pos(), because it is no longer
fp@792:  *   necessary (alias/position, slave configurations).
fp@792:  * - Added ec_slave_config_state_t for the new method
fp@792:  *   ecrt_slave_config_state().
fp@792:  * - Process data memory for a domain can now be allocated externally. This
fp@792:  *   offers the possibility to use a shared-memory-region. Therefore,
fp@792:  *   added the domain methods ecrt_domain_size() and ecrt_domain_memory().
fp@792:  * - Replaced the process data pointers in the Pdo entry registration
fp@792:  *   functions with a process data offset, that is now returned by
fp@792:  *   ecrt_domain_reg_pdo_entry(). This was necessary for the external
fp@792:  *   domain memory. An additional advantage is, that the returned offset value
fp@792:  *   is directly usable.
fp@792:  * - Replaced ecrt_slave_pdo_mapping/add/clear() with
fp@792:  *   ecrt_slave_config_mapping() that is now able to specify Pdo mapping and
fp@792:  *   Pdo configuration. Pdo entries mapped in this way can now immediately be
fp@792:  *   registered. The Pdo mapping and the configuration are described with the
fp@792:  *   new data types ec_pdo_info_t and ec_pdo_entry_info_t.
fp@792:  * - Renamed ec_bus_status_t, ec_master_status_t to ec_bus_state_t and
fp@792:  *   ec_master_state_t, respectively. Renamed ecrt_master_get_status() to
fp@792:  *   ecrt_master_state(), for consistency reasons.
fp@792:  * - Added ec_domain_state_t and ec_wc_state_t for a new output parameter
fp@792:  *   of ecrt_domain_state().
fp@792:  * - Former "Pdo registration" meant Pdo entry registration in fact, therefore
fp@792:  *   renamed ec_pdo_reg_t to ec_pdo_entry_reg_t and ecrt_domain_register_pdo()
fp@792:  *   to ecrt_domain_reg_pdo_entry().
fp@792:  * - Removed ecrt_domain_register_pdo_range(), because it's functionality can
fp@792:  *   be reached by specifying an explicit Pdo mapping and registering those
fp@792:  *   Pdo entries.
fp@792:  *
fp@792:  * @{
fp@786:  */
fp@199: 
fp@199: /*****************************************************************************/
fp@199: 
fp@125: #ifndef __ECRT_H__
fp@125: #define __ECRT_H__
fp@104: 
fp@104: #include <asm/byteorder.h>
fp@104: 
fp@110: #ifdef __KERNEL__
fp@110: #include <linux/types.h>
fp@110: #else
fp@110: #include <stdint.h>
fp@110: #endif
fp@110: 
fp@779: /******************************************************************************
fp@779:  * Global definitions
fp@779:  *****************************************************************************/
fp@779: 
fp@779: /** EtherCAT real-time interface major version number.
fp@758:  */
fp@637: #define ECRT_VER_MAJOR 1
fp@758: 
fp@779: /** EtherCAT real-time interface minor version number.
fp@779:  */
fp@779: #define ECRT_VER_MINOR 4
fp@779: 
fp@779: /** EtherCAT real-time interface version word generator.
fp@779:  */
fp@779: #define ECRT_VERSION(a, b) (((a) << 8) + (b))
fp@779: 
fp@779: /** EtherCAT real-time interface version word.
fp@758:  */
fp@541: #define ECRT_VERSION_MAGIC ECRT_VERSION(ECRT_VER_MAJOR, ECRT_VER_MINOR)
fp@541: 
fp@779: /******************************************************************************
fp@779:  * Data types 
fp@779:  *****************************************************************************/
fp@541: 
fp@104: struct ec_master;
fp@286: typedef struct ec_master ec_master_t; /**< \see ec_master */
fp@104: 
fp@792: struct ec_slave_config;
fp@792: typedef struct ec_slave_config ec_slave_config_t; /**< \see ec_slave_config */
fp@792: 
fp@104: struct ec_domain;
fp@286: typedef struct ec_domain ec_domain_t; /**< \see ec_domain */
fp@104: 
fp@792: /*****************************************************************************/
fp@792: 
fp@792: /** Bus state.
fp@792:  *
fp@792:  * This is used in ec_master_state_t.
fp@779:  */
fp@612: typedef enum {
fp@792:     EC_BUS_FAILURE = -1, /**< At least one configured slave is offline. */
fp@792:     EC_BUS_OK            /**< All configured slaves are online. */
fp@792: } ec_bus_state_t;
fp@792: 
fp@792: /*****************************************************************************/
fp@792: 
fp@792: /** Master state.
fp@792:  *
fp@792:  * This is used for the output parameter of ecrt_master_state().
fp@612:  */
fp@612: typedef struct {
fp@792:     ec_bus_state_t bus_state; /**< \see ec_bus_state_t */
fp@792:     unsigned int bus_tainted; /**< Non-zero, if the bus topology differs from
fp@792:                                 the requested configuration. */
fp@792:     unsigned int slaves_responding; /**< Number of slaves in the bus. */
fp@792: } ec_master_state_t;
fp@792: 
fp@792: /*****************************************************************************/
fp@792: 
fp@792: /** Slave configuration state.
fp@792:  *
fp@792:  * \see ecrt_slave_config_state().
fp@792:  */
fp@792: typedef struct  {
fp@792:     unsigned int online : 1; /**< The slave is online. */
fp@792:     unsigned int configured : 1; /**< The slave was configured according to
fp@792:                                    the specified configuration. */
fp@792: } ec_slave_config_state_t;
fp@792: 
fp@792: /*****************************************************************************/
fp@792: 
fp@792: /** Domain working counter interpretation.
fp@792:  *
fp@792:  * This is used in ec_domain_state_t.
fp@792:  */
fp@792: typedef enum {
fp@792:     EC_WC_ZERO = 0,   /**< No Pdos were exchanged. */
fp@792:     EC_WC_INCOMPLETE, /**< Some of the registered Pdos were exchanged. */
fp@792:     EC_WC_COMPLETE    /**< All registered Pdos were exchanged. */
fp@792: } ec_wc_state_t;
fp@792: 
fp@792: /*****************************************************************************/
fp@792: 
fp@792: /** Domain state.
fp@792:  *
fp@792:  * This is used for the output parameter of ecrt_domain_state().
fp@640:  */
fp@640: typedef struct {
fp@792:     unsigned int working_counter; /**< Value of the last working counter. */
fp@792:     ec_wc_state_t wc_state; /**< Working counter interpretation. */
fp@792: } ec_domain_state_t;
fp@792: 
fp@792: /*****************************************************************************/
fp@792: 
fp@792: /** Direction type for Pdo mapping functions.
fp@779:  */
fp@635: typedef enum {
fp@792:     EC_DIR_OUTPUT, /**< Values written by the master. */
fp@792:     EC_DIR_INPUT   /**< Values read by the master. */
fp@792: } ec_direction_t;
fp@792: 
fp@792: /*****************************************************************************/
fp@792: 
fp@792: /** Pdo entry mapping.
fp@792:  *
fp@792:  * \see ecrt_slave_config_mapping().
fp@792:  */
fp@792: typedef struct {
fp@792:     uint16_t index; /**< Index of the Pdo entry to add to the Pdo
fp@792:                             configuration. */
fp@792:     uint8_t subindex; /**< Subindex of the Pdo entry to add to the
fp@792:                               Pdo configuration. */
fp@792:     uint8_t bit_length; /**< Size of the Pdo entry in bit. */
fp@792: } ec_pdo_entry_info_t;
fp@792: 
fp@792: /*****************************************************************************/
fp@792: 
fp@792: /** Pdo information.
fp@792:  *
fp@792:  * \see ecrt_slave_config_mapping().
fp@792:  */
fp@792: typedef struct {
fp@792:     ec_direction_t dir; /**< Pdo direction (input/output). */
fp@792:     uint16_t index; /**< Index of the Pdo to map. */
fp@792:     unsigned int n_entries; /**< Number of Pdo entries for the Pdo
fp@792:                               configuration. Zero means, that the default Pdo
fp@792:                               configuration shall be used. */
fp@793:     const ec_pdo_entry_info_t *entries; /**< Pdo configuration array. This
fp@793:                                           array must contain at least \a
fp@793:                                           n_entries values. */
fp@792: } ec_pdo_info_t;
fp@792: 
fp@792: /*****************************************************************************/
fp@792: 
fp@792: /** List record type for Pdo entry mass-registration.
fp@792:  *
fp@792:  * This type is used for the array parameter of the
fp@792:  * ecrt_domain_reg_pdo_entry_list() convenience function.
fp@792:  */
fp@792: typedef struct {
fp@792:     uint16_t alias; /**< Slave alias address. */
fp@792:     uint16_t position; /**< Slave position. */
fp@792:     uint32_t vendor_id; /**< Slave vendor ID. */
fp@792:     uint32_t product_code; /**< Slave product code. */
fp@792:     uint16_t index; /**< Pdo entry index. */
fp@792:     uint8_t subindex; /**< Pdo entry subindex. */
fp@792:     uint8_t *offset; /**< Pointer to a variable to store the Pdo's
fp@792:                        offset in the process data. */
fp@792: } ec_pdo_entry_reg_t;
fp@416: 
fp@199: /******************************************************************************
fp@779:  * Global functions
fp@199:  *****************************************************************************/
fp@104: 
fp@792: /** Returns the version magic of the realtime interface.
fp@792:  *
fp@792:  * \return Value of ECRT_VERSION_MAGIC() at EtherCAT master compile time.
fp@792:  */
fp@541: unsigned int ecrt_version_magic(void);
fp@541: 
fp@792: /** Requests an EtherCAT master for realtime operation.
fp@792:  * 
fp@792:  * \return pointer to reserved master, or NULL on error
fp@792:  */
fp@792: ec_master_t *ecrt_request_master(
fp@792:         unsigned int master_index /**< Index of the master to request. */
fp@792:         );
fp@792: 
fp@792: /** Releases a requested EtherCAT master.
fp@792:  */
fp@792: void ecrt_release_master(
fp@792:         ec_master_t *master /**< EtherCAT master */
fp@792:         );
fp@792: 
fp@199: /******************************************************************************
fp@779:  * Master methods
fp@199:  *****************************************************************************/
fp@104: 
fp@792: /** Sets the locking callbacks.
fp@792:  *
fp@792:  * The request_cb function must return zero, to allow another instance
fp@792:  * (the EoE process for example) to access the master. Non-zero means,
fp@792:  * that access is forbidden at this time.
fp@792:  */
fp@792: void ecrt_master_callbacks(
fp@792:         ec_master_t *master, /**< EtherCAT master */
fp@792:         int (*request_cb)(void *), /**< Lock request function. */
fp@792:         void (*release_cb)(void *), /**< Lock release function. */
fp@792:         void *cb_data /**< Arbitrary user data. */
fp@792:         );
fp@792: 
fp@792: /** Creates a new domain.
fp@792:  *
fp@792:  * \return Pointer to the new domain on success, else NULL.
fp@792:  */
fp@792: ec_domain_t *ecrt_master_create_domain(
fp@792:         ec_master_t *master /**< EtherCAT master. */
fp@792:         );
fp@792: 
fp@792: /** Obtains a slave configuration.
fp@792:  *
fp@792:  * Creates a slave configuration object for the given \a alias and \a position
fp@792:  * tuple and returns it. If a configuration with the same \a alias and \a
fp@792:  * position already exists, it will be re-used. In the latter case, the given
fp@792:  * vendor ID and product code are compared to the stored ones. On mismatch, an
fp@792:  * error message is raised and the function returns \a NULL.
fp@792:  *
fp@792:  * Slaves are addressed with the \a alias and \a position parameters.
fp@792:  * - If \a alias is zero, \a position is interpreted as the desired slave's
fp@792:  *   ring position.
fp@792:  * - If \a alias is non-zero, it matches a slave with the given alias. In this
fp@792:  *   case, \a position is interpreted as ring offset, starting from the
fp@792:  *   aliased slave, so a position of zero means the aliased slave itself and a
fp@792:  *   positive value matches the n-th slave behind the aliased one.
fp@792:  *
fp@792:  * If the slave with the given address is found during the bus configuration,
fp@792:  * its vendor ID and product code are matched against the given value. On
fp@792:  * mismatch, the slave is not configured and an error message is raised.
fp@792:  *
fp@792:  * If different slave configurations are pointing to the same slave during bus
fp@792:  * configuration, a warning is raised and only the first configuration is
fp@792:  * applied.
fp@792:  *
fp@792:  * \retval >0 Pointer to the slave configuration structure.
fp@792:  * \retval NULL in the error case.
fp@792:  */
fp@792: ec_slave_config_t *ecrt_master_slave_config(
fp@792:         ec_master_t *master, /**< EtherCAT master */
fp@792:         uint16_t alias, /**< Slave alias. */
fp@792:         uint16_t position, /**< Slave position. */
fp@792:         uint32_t vendor_id, /**< Expected vendor ID. */
fp@792:         uint32_t product_code /**< Expected product code. */
fp@792:         );
fp@792: 
fp@792: /** Applies the bus configuration and switches to realtime mode.
fp@792:  *
fp@792:  * Does the complete configuration and activation for all slaves. Sets sync
fp@792:  * managers and FMMUs, and does the appropriate transitions, until the slave
fp@792:  * is operational.
fp@792:  *
fp@792:  * \return 0 in case of success, else < 0
fp@792:  */
fp@792: int ecrt_master_activate(
fp@792:         ec_master_t *master /**< EtherCAT master. */
fp@792:         );
fp@792: 
fp@792: /** Sends all datagrams in the queue.
fp@792:  *
fp@792:  * \todo doc
fp@792:  */
fp@792: void ecrt_master_send(
fp@792:         ec_master_t *master /**< EtherCAT master. */
fp@792:         );
fp@792: 
fp@792: /** Fetches received frames from the hardware and processes the datagrams.
fp@792:  */
fp@792: void ecrt_master_receive(
fp@792:         ec_master_t *master /**< EtherCAT master. */
fp@792:         );
fp@792: 
fp@792: /** Reads the current master state.
fp@792:  *
fp@792:  * Stores the master state information in the given \a state structure.
fp@792:  */
fp@792: void ecrt_master_state(
fp@792:         const ec_master_t *master, /**< EtherCAT master. */
fp@792:         ec_master_state_t *state /**< Structure to store the information. */
fp@792:         );
fp@792: 
fp@792: /******************************************************************************
fp@792:  * Slave configuration methods
fp@792:  *****************************************************************************/
fp@792: 
fp@792: /** Specify the Pdo mapping and (optionally) the Pdo configuration.
fp@792:  *
fp@792:  * The following example shows, how to specify a complete Pdo mapping
fp@792:  * including the Pdo configuration. With this information, the master is able
fp@792:  * to reserve the complete process data, even if the slave is not present
fp@792:  * at configuration time:
fp@792:  *
fp@792:  * \code
fp@792:  * const ec_pdo_info_t complete_mapping[] = {
fp@792:  *     {EC_DIR_INPUT, 0x1600, 2, { // channel 1
fp@792:  *         {0x7000, 0, 16}, // value
fp@792:  *         {0x7000, 1, 8},  // status
fp@792:  *     }},
fp@792:  *     {EC_DIR_INPUT, 0x1601, 2, { // channel 2 
fp@792:  *         {0x7001, 0, 16}, // value
fp@792:  *         {0x7001, 1, 8},  // status
fp@792:  *     }}
fp@792:  * };
fp@792:  * 
fp@792:  * if (ecrt_slave_config_mapping(slave_config_ana_in, 2, complete_mapping)) {
fp@792:  *     // error
fp@792:  * }
fp@792:  * \endcode
fp@792:  *
fp@792:  * The next example shows, how to configure only the Pdo mapping. The entries
fp@792:  * for each mapped Pdo are taken from the default Pdo configuration. Please
fp@792:  * note, that Pdo entry registration will fail, if no Pdo configuration is
fp@792:  * specified and the slave is offline.
fp@792:  *
fp@792:  * \code
fp@792:  * const ec_pdo_info_t pdo_mapping[] = {
fp@792:  *     {EC_DIR_INPUT, 0x1600}, // Channel 1
fp@792:  *     {EC_DIR_INPUT, 0x1601}  // Channel 2
fp@792:  * };
fp@792:  * 
fp@792:  * if (ecrt_slave_config_mapping(slave_config_ana_in, 2, pdo_mapping)) {
fp@792:  *     // error
fp@792:  * }
fp@792:  * \endcode
fp@792:  *
fp@792:  * \return zero on success, else non-zero
fp@792:  */
fp@792: int ecrt_slave_config_mapping(
fp@792:         ec_slave_config_t *sc, /**< Slave configuration. */
fp@792:         unsigned int n_entries, /**< Number of Pdos in \a pdos to map. */
fp@792:         const ec_pdo_info_t pdos[] /**< List with Pdo mapping. */
fp@792:         );
fp@792: 
fp@792: /** Add a configuration value for an 8-bit SDO.
fp@792:  *
fp@792:  * \todo doc
fp@792:  * \return 0 in case of success, else < 0
fp@792:  */
fp@792: int ecrt_slave_config_sdo8(
fp@792:         ec_slave_config_t *sc, /**< Slave configuration */
fp@792:         uint16_t sdo_index, /**< Index of the SDO to configure. */
fp@792:         uint8_t sdo_subindex, /**< Subindex of the SDO to configure. */
fp@792:         uint8_t value /**< Value to set. */
fp@792:         );
fp@792: 
fp@792: /** Add a configuration value for a 16-bit SDO.
fp@792:  *
fp@792:  * \todo doc
fp@792:  * \return 0 in case of success, else < 0
fp@792:  */
fp@792: int ecrt_slave_config_sdo16(
fp@792:         ec_slave_config_t *sc, /**< Slave configuration */
fp@792:         uint16_t sdo_index, /**< Index of the SDO to configure. */
fp@792:         uint8_t sdo_subindex, /**< Subindex of the SDO to configure. */
fp@792:         uint16_t value /**< Value to set. */
fp@792:         );
fp@792: 
fp@792: /** Add a configuration value for a 32-bit SDO.
fp@792:  *
fp@792:  * \todo doc
fp@792:  * \return 0 in case of success, else < 0
fp@792:  */
fp@792: int ecrt_slave_config_sdo32(
fp@792:         ec_slave_config_t *sc, /**< Slave configuration */
fp@792:         uint16_t sdo_index, /**< Index of the SDO to configure. */
fp@792:         uint8_t sdo_subindex, /**< Subindex of the SDO to configure. */
fp@792:         uint32_t value /**< Value to set. */
fp@792:         );
fp@792: 
fp@792: /** Outputs the state of the slave configuration.
fp@792:  *
fp@792:  * Stores the state information in the given \a state structure.
fp@792:  */
fp@792: void ecrt_slave_config_state(
fp@792:         const ec_slave_config_t *sc, /**< Slave configuration */
fp@792:         ec_slave_config_state_t *state /**< State object to write to. */
fp@792:         );
fp@325: 
fp@199: /******************************************************************************
fp@779:  * Domain methods
fp@199:  *****************************************************************************/
fp@104: 
fp@792: /** Registers a single Pdo entry for a domain.
fp@792:  *
fp@792:  * \return On success, the function returns the offset in the domain's process
fp@792:  *         data, which can be zero or greater. On failure, it returns a value
fp@792:  *         less than zero.
fp@792:  */
fp@792: 
fp@792: int ecrt_domain_reg_pdo_entry(
fp@792:         ec_domain_t *domain, /**< Domain. */
fp@792:         ec_slave_config_t *sc, /**< Slave configuration. */
fp@792:         uint16_t entry_index, /**< Index of the Pdo entry to register. */
fp@792:         uint8_t entry_subindex /**< Subindex of the Pdo entry to register. */
fp@792:         );
fp@792: 
fp@792: /** Registers a bunch of Pdo entries for a domain.
fp@792:  *
fp@792:  * \todo doc
fp@792:  * \attention The registration array has to be terminated with an empty
fp@792:  *            structure, or one with the \a index field set to zero!
fp@792:  * \return 0 on success, else non-zero.
fp@792:  */
fp@792: int ecrt_domain_reg_pdo_entry_list(
fp@792:         ec_domain_t *domain, /**< Domain. */
fp@792:         const ec_pdo_entry_reg_t *pdo_entry_regs /**< Array of Pdo
fp@792:                                                    registrations. */
fp@792:         );
fp@792: 
fp@792: /** Returns the current size of the domain's process data.
fp@792:  *
fp@792:  * \return Size of the process data image.
fp@792:  */
fp@792: size_t ecrt_domain_size(
fp@792:         ec_domain_t *domain /**< Domain. */
fp@792:         );
fp@792: 
fp@792: /** Provide memory to store the domain's process data.
fp@792:  *
fp@792:  * Call this after all Pdo entries have been registered. Since interface
fp@792:  * version 1.4, you'll have to provide an external memory for the domain
fp@792:  * process data.
fp@792:  *
fp@792:  * The size of the allocated memory must be at least the return value of
fp@792:  * ecrt_domain_size(), after all Pdo entries have been registered.
fp@792:  */
fp@792: void ecrt_domain_memory(
fp@792:         ec_domain_t *domain, /**< Domain. */
fp@792:         uint8_t *memory /**< Address of the memory to store the process
fp@792:                           data in. */
fp@792:         );
fp@792: 
fp@792: /** Processes received datagrams.
fp@792:  *
fp@792:  * \todo doc
fp@792:  */
fp@792: void ecrt_domain_process(
fp@792:         ec_domain_t *domain /**< Domain. */
fp@792:         );
fp@792: 
fp@792: /** (Re-)queues all domain datagrams in the master's datagram queue.
fp@792:  *
fp@792:  * \todo doc
fp@792:  */
fp@792: void ecrt_domain_queue(
fp@792:         ec_domain_t *domain /**< Domain. */
fp@792:         );
fp@792: 
fp@792: /** Reads the state of a domain.
fp@792:  *
fp@792:  * Stores the domain state in the giveb \a state structure.
fp@792:  */
fp@792: void ecrt_domain_state(
fp@792:         const ec_domain_t *domain, /**< Domain. */
fp@792:         ec_domain_state_t *state /**< Pointer to a state object to store the
fp@792:                                    information. */
fp@792:         );
fp@635: 
fp@199: /******************************************************************************
fp@779:  * Bitwise read/write macros
fp@779:  *****************************************************************************/
fp@779: 
fp@779: /** Read a certain bit of an EtherCAT data byte.
fp@640:  * \param DATA EtherCAT data pointer
fp@640:  * \param POS bit position
fp@640:  */
fp@199: #define EC_READ_BIT(DATA, POS) ((*((uint8_t *) (DATA)) >> (POS)) & 0x01)
fp@199: 
fp@779: /** Write a certain bit of an EtherCAT data byte.
fp@640:  * \param DATA EtherCAT data pointer
fp@640:  * \param POS bit position
fp@640:  * \param VAL new bit value
fp@640:  */
fp@199: #define EC_WRITE_BIT(DATA, POS, VAL) \
fp@199:     do { \
fp@199:         if (VAL) *((uint8_t *) (DATA)) |=  (1 << (POS)); \
fp@199:         else     *((uint8_t *) (DATA)) &= ~(1 << (POS)); \
fp@199:     } while (0)
fp@199: 
fp@199: /******************************************************************************
fp@779:  * Read macros
fp@779:  *****************************************************************************/
fp@779: 
fp@779: /** Read an 8-bit unsigned value from EtherCAT data.
fp@779:  * \return EtherCAT data value
fp@779:  */
fp@199: #define EC_READ_U8(DATA) \
fp@199:     ((uint8_t) *((uint8_t *) (DATA)))
fp@199: 
fp@779: /** Read an 8-bit signed value from EtherCAT data.
fp@779:  * \param DATA EtherCAT data pointer
fp@779:  * \return EtherCAT data value
fp@779:  */
fp@199: #define EC_READ_S8(DATA) \
fp@288:      ((int8_t) *((uint8_t *) (DATA)))
fp@199: 
fp@779: /** Read a 16-bit unsigned value from EtherCAT data.
fp@779:  * \param DATA EtherCAT data pointer
fp@779:  * \return EtherCAT data value
fp@779:  */
fp@199: #define EC_READ_U16(DATA) \
fp@199:      ((uint16_t) le16_to_cpup((void *) (DATA)))
fp@199: 
fp@779: /** Read a 16-bit signed value from EtherCAT data.
fp@779:  * \param DATA EtherCAT data pointer
fp@779:  * \return EtherCAT data value
fp@779:  */
fp@199: #define EC_READ_S16(DATA) \
fp@288:      ((int16_t) le16_to_cpup((void *) (DATA)))
fp@199: 
fp@779: /** Read a 32-bit unsigned value from EtherCAT data.
fp@779:  * \param DATA EtherCAT data pointer
fp@779:  * \return EtherCAT data value
fp@779:  */
fp@199: #define EC_READ_U32(DATA) \
fp@199:      ((uint32_t) le32_to_cpup((void *) (DATA)))
fp@199: 
fp@779: /** Read a 32-bit signed value from EtherCAT data.
fp@779:  * \param DATA EtherCAT data pointer
fp@779:  * \return EtherCAT data value
fp@779:  */
fp@199: #define EC_READ_S32(DATA) \
fp@288:      ((int32_t) le32_to_cpup((void *) (DATA)))
fp@199: 
fp@199: /******************************************************************************
fp@779:  * Write macros
fp@779:  *****************************************************************************/
fp@779: 
fp@779: /** Write an 8-bit unsigned value to EtherCAT data.
fp@779:  * \param DATA EtherCAT data pointer
fp@779:  * \param VAL new value
fp@779:  */
fp@199: #define EC_WRITE_U8(DATA, VAL) \
fp@199:     do { \
fp@199:         *((uint8_t *)(DATA)) = ((uint8_t) (VAL)); \
fp@199:     } while (0)
fp@199: 
fp@779: /** Write an 8-bit signed value to EtherCAT data.
fp@779:  * \param DATA EtherCAT data pointer
fp@779:  * \param VAL new value
fp@779:  */
fp@199: #define EC_WRITE_S8(DATA, VAL) EC_WRITE_U8(DATA, VAL)
fp@199: 
fp@779: /** Write a 16-bit unsigned value to EtherCAT data.
fp@779:  * \param DATA EtherCAT data pointer
fp@779:  * \param VAL new value
fp@779:  */
fp@199: #define EC_WRITE_U16(DATA, VAL) \
fp@199:     do { \
fp@199:         *((uint16_t *) (DATA)) = (uint16_t) (VAL); \
fp@199:         cpu_to_le16s(DATA); \
fp@199:     } while (0)
fp@199: 
fp@779: /** Write a 16-bit signed value to EtherCAT data.
fp@779:  * \param DATA EtherCAT data pointer
fp@779:  * \param VAL new value
fp@779:  */
fp@199: #define EC_WRITE_S16(DATA, VAL) EC_WRITE_U16(DATA, VAL)
fp@199: 
fp@779: /** Write a 32-bit unsigned value to EtherCAT data.
fp@779:  * \param DATA EtherCAT data pointer
fp@779:  * \param VAL new value
fp@779:  */
fp@199: #define EC_WRITE_U32(DATA, VAL) \
fp@199:     do { \
fp@199:         *((uint32_t *) (DATA)) = (uint32_t) (VAL); \
fp@707:         cpu_to_le32s(DATA); \
fp@199:     } while (0)
fp@199: 
fp@779: /** Write a 32-bit signed value to EtherCAT data.
fp@779:  * \param DATA EtherCAT data pointer
fp@779:  * \param VAL new value
fp@779:  */
fp@199: #define EC_WRITE_S32(DATA, VAL) EC_WRITE_U32(DATA, VAL)
fp@199: 
fp@104: /*****************************************************************************/
fp@104: 
fp@792: /** @} */
fp@792: 
fp@104: #endif