# HG changeset patch # User Florian Pose # Date 1201897586 0 # Node ID b39a6a4d3671f17174d9717d8842f28faababd2e # Parent 7fc85507f49aeef323d0234ab005a957c9d99ddc Prepared RT interface 1.4. diff -r 7fc85507f49a -r b39a6a4d3671 include/ecrt.h --- a/include/ecrt.h Fri Feb 01 20:26:13 2008 +0000 +++ b/include/ecrt.h Fri Feb 01 20:26:26 2008 +0000 @@ -31,17 +31,14 @@ * *****************************************************************************/ -/** - \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. +/** \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. */ /*****************************************************************************/ @@ -57,29 +54,29 @@ #include #endif -/*****************************************************************************/ - -/** - * EtherCAT real-time interface major version number. +/****************************************************************************** + * Global definitions + *****************************************************************************/ + +/** EtherCAT real-time interface major version number. */ #define ECRT_VER_MAJOR 1 -/** - * EtherCAT real-time interface minor version number. - */ -#define ECRT_VER_MINOR 3 - -/** - * EtherCAT real-time interface version word generator. - */ -#define ECRT_VERSION(a,b) (((a) << 8) + (b)) - -/** - * EtherCAT real-time interface version word. +/** EtherCAT real-time interface minor version number. + */ +#define ECRT_VER_MINOR 4 + +/** EtherCAT real-time interface version word generator. + */ +#define ECRT_VERSION(a, b) (((a) << 8) + (b)) + +/** EtherCAT real-time interface version word. */ #define ECRT_VERSION_MAGIC ECRT_VERSION(ECRT_VER_MAJOR, ECRT_VER_MINOR) -/*****************************************************************************/ +/****************************************************************************** + * Data types + *****************************************************************************/ struct ec_master; typedef struct ec_master ec_master_t; /**< \see ec_master */ @@ -90,10 +87,10 @@ struct ec_slave; typedef struct ec_slave ec_slave_t; /**< \see ec_slave */ -/** - * Bus status. - */ - +/*****************************************************************************/ + +/** Bus status. + */ typedef enum { EC_BUS_FAILURE = -1, /**< At least one slave with process data exchange is offline. */ @@ -102,11 +99,11 @@ } ec_bus_status_t; -/** - * Master status. +/*****************************************************************************/ + +/** 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 */ @@ -114,12 +111,12 @@ } ec_master_status_t; -/** - * List entry for domain PDO registrations. +/*****************************************************************************/ + +/** 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() */ @@ -131,10 +128,10 @@ } ec_pdo_reg_t; -/** - * Direction type for PDO mapping and range registration 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 */ @@ -142,7 +139,7 @@ ec_direction_t; /****************************************************************************** - * Global functions + * Global functions *****************************************************************************/ ec_master_t *ecrt_request_master(unsigned int master_index); @@ -151,7 +148,7 @@ unsigned int ecrt_version_magic(void); /****************************************************************************** - * Master methods + * Master methods *****************************************************************************/ void ecrt_master_callbacks(ec_master_t *master, int (*request_cb)(void *), @@ -172,7 +169,7 @@ void ecrt_master_get_status(const ec_master_t *master, ec_master_status_t *); /****************************************************************************** - * Domain Methods + * Domain methods *****************************************************************************/ int ecrt_domain_register_pdo(ec_domain_t *domain, ec_slave_t *slave, @@ -191,7 +188,7 @@ int ecrt_domain_state(const ec_domain_t *domain); /****************************************************************************** - * Slave Methods + * Slave methods *****************************************************************************/ int ecrt_slave_conf_sdo8(ec_slave_t *slave, uint16_t sdo_index, @@ -206,24 +203,20 @@ 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. + * 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. +/** 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)); \ @@ -231,123 +224,99 @@ } while (0) /****************************************************************************** - * Read macros - *****************************************************************************/ - -/** - * Read an 8-bit unsigned value from EtherCAT data. - * \return EtherCAT data value - */ - + * 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 - */ - +/** 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 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 - */ - +/** 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 { \ *((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 - */ - +/** 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 { \ *((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 - */ - +/** 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) /*****************************************************************************/