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Added parameters for vendor ID and product code to ecrt_get_slave(); PDO

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registration functions now take a slave pointer as argument; changed
values for ec_bus_status_t.
This commit is contained in:
Florian Pose
2007-03-09 10:24:50 +00:00
parent 8ac6516b4e
commit 70482be0ac
6 changed files with 364 additions and 350 deletions
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include/ecrt.h
+86 -95
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@@ -81,9 +81,10 @@ typedef struct ec_slave ec_slave_t; /**< \see ec_slave */
*/
typedef enum {
EC_BUS_FAILURE, // some slaves offline
EC_BUS_OK, // all slaves online
EC_BUS_REDUNDANCY // bus interrupted, but redundancy active
EC_BUS_FAILURE = -1, /**< At least one slave with process data exchange
is offline. */
EC_BUS_OK /**< All slaves with process data exchange are
online. */
}
ec_bus_status_t;
@@ -93,22 +94,21 @@ ec_bus_status_t;
*/
typedef struct {
ec_bus_status_t bus_status;
unsigned int bus_tainted;
unsigned int slaves_responding;
ec_bus_status_t bus_status; /**< \see ec_bus_status_t */
unsigned int bus_tainted; /**< non-zero, if the bus topology is invalid */
unsigned int slaves_responding; /**< number of responging slaves */
}
ec_master_status_t;
/**
Initialization type for PDO registrations.
This type is used as a parameter for the ecrt_domain_register_pdo_list()
function.
*/
* 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
ecrt_master_get_slave()) */
typedef struct {
const char *slave_address; /**< slave address string
\see ec_master_parse_slave_address() */
uint32_t vendor_id; /**< vendor ID */
uint32_t product_code; /**< product code */
uint16_t pdo_entry_index; /**< PDO entry index */
@@ -118,17 +118,17 @@ typedef struct
ec_pdo_reg_t;
/**
Direction type for ecrt_domain_register_pdo_range()
*/
* Direction type for PDO mapping and range registration functions.
*/
typedef enum {
EC_DIR_OUTPUT,
EC_DIR_INPUT
EC_DIR_OUTPUT, /**< values written by master */
EC_DIR_INPUT /**< values read by master */
}
ec_direction_t;
/******************************************************************************
* Master request functions
* Global functions
*****************************************************************************/
ec_master_t *ecrt_request_master(unsigned int master_index);
@@ -145,41 +145,33 @@ void ecrt_master_callbacks(ec_master_t *master, int (*request_cb)(void *),
ec_domain_t *ecrt_master_create_domain(ec_master_t *master);
ec_slave_t *ecrt_master_get_slave(const ec_master_t *, const char *,
uint32_t vendor_id, uint32_t product_code);
int ecrt_master_activate(ec_master_t *master);
void ecrt_master_send(ec_master_t *master);
void ecrt_master_receive(ec_master_t *master);
ec_slave_t *ecrt_master_get_slave(const ec_master_t *, const char *);
void ecrt_master_get_status(const ec_master_t *master, ec_master_status_t *);
/******************************************************************************
* 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(ec_domain_t *domain, ec_slave_t *slave,
uint16_t pdo_index, uint8_t pdo_subindex, void **data_ptr);
int ecrt_domain_register_pdo_range(ec_domain_t *domain, ec_slave_t *slave,
ec_direction_t direction, uint16_t offset, uint16_t length,
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);
const ec_pdo_reg_t *pdos);
void ecrt_domain_process(ec_domain_t *domain);
void ecrt_domain_queue(ec_domain_t *domain);
int ecrt_domain_state(const ec_domain_t *domain);
/******************************************************************************
@@ -202,19 +194,19 @@ int ecrt_slave_pdo_mapping(ec_slave_t *, ec_direction_t, unsigned int, ...);
*****************************************************************************/
/**
Read a certain bit of an EtherCAT data byte.
\param DATA EtherCAT data pointer
\param POS bit position
*/
* 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
*/
* 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 { \
@@ -227,68 +219,67 @@ int ecrt_slave_pdo_mapping(ec_slave_t *, ec_direction_t, unsigned int, ...);
*****************************************************************************/
/**
Read an 8-bit unsigned value from EtherCAT data.
\return EtherCAT data value
*/
* 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 an 8-bit unsigned value to EtherCAT data.
* \param DATA EtherCAT data pointer
* \param VAL new value
*/
#define EC_WRITE_U8(DATA, VAL) \
do { \
@@ -296,18 +287,18 @@ int ecrt_slave_pdo_mapping(ec_slave_t *, ec_direction_t, unsigned int, ...);
} 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 { \
@@ -316,18 +307,18 @@ int ecrt_slave_pdo_mapping(ec_slave_t *, ec_direction_t, unsigned int, ...);
} 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 { \
@@ -336,10 +327,10 @@ int ecrt_slave_pdo_mapping(ec_slave_t *, ec_direction_t, unsigned int, ...);
} 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)