fp@54: /******************************************************************************
fp@54:  *
fp@54:  * Oeffentliche EtherCAT-Schnittstellen fuer Echtzeitprozesse.
fp@54:  *
fp@54:  * $Id$
fp@54:  *
fp@54:  *****************************************************************************/
fp@54: 
fp@54: #ifndef _ETHERCAT_RT_H_
fp@54: #define _ETHERCAT_RT_H_
fp@54: 
fp@54: /*****************************************************************************/
fp@54: 
fp@54: struct ec_master;
fp@54: typedef struct ec_master ec_master_t;
fp@54: 
fp@73: struct ec_domain;
fp@73: typedef struct ec_domain ec_domain_t;
fp@55: 
fp@55: struct ec_slave;
fp@55: typedef struct ec_slave ec_slave_t;
fp@55: 
fp@73: typedef enum
fp@73: {
fp@73:     ec_sync,
fp@73:     ec_async
fp@73: }
fp@73: ec_domain_mode_t;
fp@73: 
fp@73: typedef enum
fp@73: {
fp@73:     ec_status,
fp@73:     ec_control,
fp@73:     ec_ipvalue,
fp@73:     ec_opvalue
fp@73: }
fp@73: ec_field_type_t;
fp@73: 
fp@73: typedef struct
fp@73: {
fp@73:     void **data;
fp@73:     const char *address;
fp@73:     const char *vendor;
fp@73:     const char *product;
fp@73:     ec_field_type_t field_type;
fp@73:     unsigned int field_index;
fp@73:     unsigned int field_count;
fp@73: }
fp@73: ec_field_init_t;
fp@61: 
fp@54: /*****************************************************************************/
fp@73: // Master request functions
fp@54: 
fp@54: ec_master_t *EtherCAT_rt_request_master(unsigned int master_index);
fp@54: 
fp@54: void EtherCAT_rt_release_master(ec_master_t *master);
fp@54: 
fp@73: /*****************************************************************************/
fp@73: // Master methods
fp@54: 
fp@73: ec_domain_t *EtherCAT_rt_master_register_domain(ec_master_t *master,
fp@73:                                                 ec_domain_mode_t mode,
fp@73:                                                 unsigned int timeout_us);
fp@61: 
fp@73: int EtherCAT_rt_master_activate(ec_master_t *master);
fp@54: 
fp@73: int EtherCAT_rt_master_deactivate(ec_master_t *master);
fp@54: 
fp@73: void EtherCAT_rt_master_debug(ec_master_t *master, int level);
fp@73: void EtherCAT_rt_master_print(const ec_master_t *master);
fp@56: 
fp@73: /*****************************************************************************/
fp@73: // Domain Methods
fp@55: 
fp@73: ec_slave_t *EtherCAT_rt_register_slave_field(ec_domain_t *domain,
fp@73:                                              const char *address,
fp@73:                                              const char *vendor_name,
fp@73:                                              const char *product_name,
fp@73:                                              void **data_ptr,
fp@73:                                              ec_field_type_t field_type,
fp@73:                                              unsigned int field_index,
fp@73:                                              unsigned int field_count);
fp@73: 
fp@73: int EtherCAT_rt_domain_xio(ec_domain_t *domain);
fp@73: 
fp@73: /*****************************************************************************/
fp@73: // Slave Methods
fp@73: 
fp@73: int EtherCAT_rt_canopen_sdo_write(ec_slave_t *slave,
fp@77:                                   uint16_t sdo_index,
fp@77:                                   uint8_t sdo_subindex,
fp@77:                                   uint32_t value,
fp@77:                                   size_t size);
fp@61: 
fp@61: /*****************************************************************************/
fp@61: 
fp@54: #endif