/****************************************************************************** * * $Id$ * * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH * * This file is part of the IgH EtherCAT Master. * * The IgH EtherCAT Master is free software; you can redistribute it * and/or modify it under the terms of the GNU General Public License * as published by the Free Software Foundation; either version 2 of the * License, or (at your option) any later version. * * The IgH EtherCAT Master is distributed in the hope that it will be * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with the IgH EtherCAT Master; if not, write to the Free Software * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA * * The right to use EtherCAT Technology is granted and comes free of * charge under condition of compatibility of product made by * Licensee. People intending to distribute/sell products based on the * code, have to sign an agreement to guarantee that products using * software based on IgH EtherCAT master stay compatible with the actual * EtherCAT specification (which are released themselves as an open * standard) as the (only) precondition to have the right to use EtherCAT * Technology, IP and trade marks. * *****************************************************************************/ /** \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. */ /*****************************************************************************/ #ifndef __ECRT_H__ #define __ECRT_H__ #include #ifdef __KERNEL__ #include #else #include #endif /*****************************************************************************/ struct ec_master; typedef struct ec_master ec_master_t; /**< \see ec_master */ struct ec_domain; typedef struct ec_domain ec_domain_t; /**< \see ec_domain */ struct ec_slave; typedef struct ec_slave ec_slave_t; /**< \see ec_slave */ /** Initialization type for PDO registrations. This type is used as a parameter for the ec_domain_register_pdo_list() function. */ typedef struct { const char *slave_address; /**< slave address string (see ecrt_master_get_slave()) */ uint32_t vendor_id; /**< vendor ID */ uint32_t product_code; /**< product code */ uint16_t pdo_index; /**< PDO index */ uint8_t pdo_subindex; /**< PDO subindex */ void **data_ptr; /**< address of the process data pointer */ } ec_pdo_reg_t; /** Direction type for ec_domain_register_pdo_range() */ typedef enum {EC_DIR_INPUT, EC_DIR_OUTPUT} ec_direction_t; /****************************************************************************** * Master request functions *****************************************************************************/ ec_master_t *ecrt_request_master(unsigned int master_index); void ecrt_release_master(ec_master_t *master); /****************************************************************************** * Master methods *****************************************************************************/ void ecrt_master_callbacks(ec_master_t *master, int (*request_cb)(void *), void (*release_cb)(void *), void *cb_data); ec_domain_t *ecrt_master_create_domain(ec_master_t *master); int ecrt_master_activate(ec_master_t *master); void ecrt_master_deactivate(ec_master_t *master); // deprecated! void ecrt_master_prepare(ec_master_t *master); void ecrt_master_send(ec_master_t *master); void ecrt_master_receive(ec_master_t *master); void ecrt_master_run(ec_master_t *master); ec_slave_t *ecrt_master_get_slave(const ec_master_t *, const char *); int ecrt_master_state(const ec_master_t *master); /****************************************************************************** * Domain Methods *****************************************************************************/ ec_slave_t *ecrt_domain_register_pdo(ec_domain_t *domain, const char *address, uint32_t vendor_id, uint32_t product_code, uint16_t pdo_index, uint8_t pdo_subindex, void **data_ptr); int ecrt_domain_register_pdo_list(ec_domain_t *domain, const ec_pdo_reg_t *pdos); ec_slave_t *ecrt_domain_register_pdo_range(ec_domain_t *domain, const char *address, uint32_t vendor_id, uint32_t product_code, ec_direction_t direction, uint16_t offset, uint16_t length, void **data_ptr); void ecrt_domain_process(ec_domain_t *domain); int ecrt_domain_state(const ec_domain_t *domain); /****************************************************************************** * Slave Methods *****************************************************************************/ int ecrt_slave_conf_sdo8(ec_slave_t *slave, uint16_t sdo_index, uint8_t sdo_subindex, uint8_t value); int ecrt_slave_conf_sdo16(ec_slave_t *slave, uint16_t sdo_index, uint8_t sdo_subindex, uint16_t value); int ecrt_slave_conf_sdo32(ec_slave_t *slave, uint16_t sdo_index, uint8_t sdo_subindex, uint32_t value); int ecrt_slave_pdo_size(ec_slave_t *slave, uint16_t pdo_index, uint8_t pdo_subindex, size_t size); // deprecated /****************************************************************************** * 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. \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)); \ else *((uint8_t *) (DATA)) &= ~(1 << (POS)); \ } while (0) /****************************************************************************** * 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 */ #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 */ #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 */ #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 */ #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 */ #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 */ #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 */ #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 */ #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 */ #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 */ #define EC_WRITE_U32(DATA, VAL) \ do { \ *((uint32_t *) (DATA)) = (uint32_t) (VAL); \ cpu_to_le16s(DATA); \ } while (0) /** 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) /*****************************************************************************/ #endif