Prepared RT interface 1.4.
This commit is contained in:
Florian Pose
parent
22ef721821
commit
c8555e7860
135
include/ecrt.h
135
include/ecrt.h
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@ -31,17 +31,14 @@
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*
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*****************************************************************************/
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/**
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\file
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EtherCAT realtime interface.
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*/
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/** \file EtherCAT realtime interface.
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/**
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\defgroup RealtimeInterface EtherCAT realtime interface
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EtherCAT interface for realtime modules.
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This interface is designed for realtime modules that want to use EtherCAT.
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There are functions to request a master, to map process data, to communicate
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with slaves via CoE and to configure and activate the bus.
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\defgroup RealtimeInterface EtherCAT realtime interface
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EtherCAT interface for realtime modules. This interface is designed for
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realtime modules that want to use EtherCAT. There are functions to request a
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master, to map process data, to communicate with slaves via CoE and to
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configure and activate the bus.
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*/
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/*****************************************************************************/
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@ -57,29 +54,29 @@
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#include <stdint.h>
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#endif
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/*****************************************************************************/
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/******************************************************************************
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* Global definitions
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*****************************************************************************/
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/**
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* EtherCAT real-time interface major version number.
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/** EtherCAT real-time interface major version number.
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*/
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#define ECRT_VER_MAJOR 1
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/**
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* EtherCAT real-time interface minor version number.
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/** EtherCAT real-time interface minor version number.
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*/
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#define ECRT_VER_MINOR 3
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#define ECRT_VER_MINOR 4
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/**
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* EtherCAT real-time interface version word generator.
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/** EtherCAT real-time interface version word generator.
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*/
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#define ECRT_VERSION(a,b) (((a) << 8) + (b))
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#define ECRT_VERSION(a, b) (((a) << 8) + (b))
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/**
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* EtherCAT real-time interface version word.
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/** EtherCAT real-time interface version word.
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*/
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#define ECRT_VERSION_MAGIC ECRT_VERSION(ECRT_VER_MAJOR, ECRT_VER_MINOR)
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/*****************************************************************************/
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/******************************************************************************
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* Data types
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*****************************************************************************/
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struct ec_master;
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typedef struct ec_master ec_master_t; /**< \see ec_master */
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@ -90,10 +87,10 @@ typedef struct ec_domain ec_domain_t; /**< \see ec_domain */
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struct ec_slave;
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typedef struct ec_slave ec_slave_t; /**< \see ec_slave */
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/**
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* Bus status.
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*/
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/*****************************************************************************/
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/** Bus status.
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*/
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typedef enum {
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EC_BUS_FAILURE = -1, /**< At least one slave with process data exchange
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is offline. */
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@ -102,11 +99,11 @@ typedef enum {
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}
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ec_bus_status_t;
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/**
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* Master status.
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/*****************************************************************************/
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/** Master status.
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* This is used for the output parameter of ecrt_master_get_status().
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*/
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typedef struct {
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ec_bus_status_t bus_status; /**< \see ec_bus_status_t */
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unsigned int bus_tainted; /**< non-zero, if the bus topology is invalid */
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@ -114,12 +111,12 @@ typedef struct {
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}
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ec_master_status_t;
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/**
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* List entry for domain PDO registrations.
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/*****************************************************************************/
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/** List entry for domain PDO registrations.
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* This type is used as a parameter for the ecrt_domain_register_pdo_list()
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* convenience function.
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*/
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typedef struct {
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const char *slave_address; /**< slave address string
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\see ec_master_parse_slave_address() */
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@ -131,10 +128,10 @@ typedef struct {
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}
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ec_pdo_reg_t;
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/**
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* Direction type for PDO mapping and range registration functions.
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*/
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/*****************************************************************************/
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/** Direction type for PDO mapping and range registration functions.
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*/
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typedef enum {
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EC_DIR_OUTPUT, /**< values written by master */
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EC_DIR_INPUT /**< values read by master */
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@ -142,7 +139,7 @@ typedef enum {
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ec_direction_t;
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/******************************************************************************
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* Global functions
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* Global functions
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*****************************************************************************/
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ec_master_t *ecrt_request_master(unsigned int master_index);
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@ -151,7 +148,7 @@ void ecrt_release_master(ec_master_t *master);
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unsigned int ecrt_version_magic(void);
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/******************************************************************************
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* Master methods
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* Master methods
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*****************************************************************************/
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void ecrt_master_callbacks(ec_master_t *master, int (*request_cb)(void *),
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@ -172,7 +169,7 @@ void ecrt_master_receive(ec_master_t *master);
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void ecrt_master_get_status(const ec_master_t *master, ec_master_status_t *);
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/******************************************************************************
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* Domain Methods
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* Domain methods
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*****************************************************************************/
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int ecrt_domain_register_pdo(ec_domain_t *domain, ec_slave_t *slave,
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@ -191,7 +188,7 @@ void ecrt_domain_queue(ec_domain_t *domain);
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int ecrt_domain_state(const ec_domain_t *domain);
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/******************************************************************************
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* Slave Methods
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* Slave methods
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*****************************************************************************/
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int ecrt_slave_conf_sdo8(ec_slave_t *slave, uint16_t sdo_index,
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@ -206,24 +203,20 @@ int ecrt_slave_pdo_mapping_add(ec_slave_t *, ec_direction_t, uint16_t);
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int ecrt_slave_pdo_mapping(ec_slave_t *, ec_direction_t, unsigned int, ...);
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/******************************************************************************
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* Bitwise read/write macros
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* Bitwise read/write macros
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*****************************************************************************/
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/**
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* Read a certain bit of an EtherCAT data byte.
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/** Read a certain bit of an EtherCAT data byte.
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* \param DATA EtherCAT data pointer
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* \param POS bit position
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*/
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#define EC_READ_BIT(DATA, POS) ((*((uint8_t *) (DATA)) >> (POS)) & 0x01)
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/**
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* Write a certain bit of an EtherCAT data byte.
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/** Write a certain bit of an EtherCAT data byte.
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* \param DATA EtherCAT data pointer
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* \param POS bit position
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* \param VAL new bit value
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*/
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#define EC_WRITE_BIT(DATA, POS, VAL) \
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do { \
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if (VAL) *((uint8_t *) (DATA)) |= (1 << (POS)); \
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@ -231,123 +224,99 @@ int ecrt_slave_pdo_mapping(ec_slave_t *, ec_direction_t, unsigned int, ...);
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} while (0)
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/******************************************************************************
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* Read macros
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* Read macros
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*****************************************************************************/
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/**
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* Read an 8-bit unsigned value from EtherCAT data.
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/** Read an 8-bit unsigned value from EtherCAT data.
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* \return EtherCAT data value
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*/
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#define EC_READ_U8(DATA) \
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((uint8_t) *((uint8_t *) (DATA)))
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/**
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* Read an 8-bit signed value from EtherCAT data.
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/** Read an 8-bit signed value from EtherCAT data.
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* \param DATA EtherCAT data pointer
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* \return EtherCAT data value
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*/
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#define EC_READ_S8(DATA) \
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((int8_t) *((uint8_t *) (DATA)))
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/**
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* Read a 16-bit unsigned value from EtherCAT data.
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/** Read a 16-bit unsigned value from EtherCAT data.
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* \param DATA EtherCAT data pointer
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* \return EtherCAT data value
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*/
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#define EC_READ_U16(DATA) \
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((uint16_t) le16_to_cpup((void *) (DATA)))
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/**
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* Read a 16-bit signed value from EtherCAT data.
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/** Read a 16-bit signed value from EtherCAT data.
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* \param DATA EtherCAT data pointer
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* \return EtherCAT data value
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*/
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#define EC_READ_S16(DATA) \
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((int16_t) le16_to_cpup((void *) (DATA)))
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/**
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* Read a 32-bit unsigned value from EtherCAT data.
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/** Read a 32-bit unsigned value from EtherCAT data.
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* \param DATA EtherCAT data pointer
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* \return EtherCAT data value
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*/
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#define EC_READ_U32(DATA) \
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((uint32_t) le32_to_cpup((void *) (DATA)))
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/**
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* Read a 32-bit signed value from EtherCAT data.
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/** Read a 32-bit signed value from EtherCAT data.
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* \param DATA EtherCAT data pointer
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* \return EtherCAT data value
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*/
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#define EC_READ_S32(DATA) \
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((int32_t) le32_to_cpup((void *) (DATA)))
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/******************************************************************************
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* Write macros
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* Write macros
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*****************************************************************************/
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/**
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* Write an 8-bit unsigned value to EtherCAT data.
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/** Write an 8-bit unsigned value to EtherCAT data.
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* \param DATA EtherCAT data pointer
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* \param VAL new value
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*/
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#define EC_WRITE_U8(DATA, VAL) \
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do { \
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*((uint8_t *)(DATA)) = ((uint8_t) (VAL)); \
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} while (0)
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/**
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* Write an 8-bit signed value to EtherCAT data.
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/** Write an 8-bit signed value to EtherCAT data.
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* \param DATA EtherCAT data pointer
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* \param VAL new value
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*/
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#define EC_WRITE_S8(DATA, VAL) EC_WRITE_U8(DATA, VAL)
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/**
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* Write a 16-bit unsigned value to EtherCAT data.
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/** Write a 16-bit unsigned value to EtherCAT data.
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* \param DATA EtherCAT data pointer
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* \param VAL new value
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*/
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#define EC_WRITE_U16(DATA, VAL) \
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do { \
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*((uint16_t *) (DATA)) = (uint16_t) (VAL); \
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cpu_to_le16s(DATA); \
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} while (0)
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/**
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* Write a 16-bit signed value to EtherCAT data.
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/** Write a 16-bit signed value to EtherCAT data.
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* \param DATA EtherCAT data pointer
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* \param VAL new value
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*/
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#define EC_WRITE_S16(DATA, VAL) EC_WRITE_U16(DATA, VAL)
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/**
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* Write a 32-bit unsigned value to EtherCAT data.
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/** Write a 32-bit unsigned value to EtherCAT data.
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* \param DATA EtherCAT data pointer
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* \param VAL new value
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*/
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#define EC_WRITE_U32(DATA, VAL) \
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do { \
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*((uint32_t *) (DATA)) = (uint32_t) (VAL); \
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cpu_to_le32s(DATA); \
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} while (0)
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/**
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* Write a 32-bit signed value to EtherCAT data.
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/** Write a 32-bit signed value to EtherCAT data.
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* \param DATA EtherCAT data pointer
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* \param VAL new value
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*/
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#define EC_WRITE_S32(DATA, VAL) EC_WRITE_U32(DATA, VAL)
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/*****************************************************************************/
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