--- 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 <stdint.h>
#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)
/*****************************************************************************/