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Prepared RT interface 1.4.

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This commit is contained in:
Florian Pose
2008-02-01 20:26:26 +00:00
parent 22ef721821
commit c8555e7860
1 changed files with 52 additions and 83 deletions
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include/ecrt.h
+52 -83
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@@ -31,17 +31,14 @@
* *
*****************************************************************************/ *****************************************************************************/
/** /** \file EtherCAT realtime interface.
\file
EtherCAT realtime interface.
*/
/** \defgroup RealtimeInterface EtherCAT realtime interface
\defgroup RealtimeInterface EtherCAT realtime interface
EtherCAT interface for realtime modules. EtherCAT interface for realtime modules. This interface is designed for
This interface is designed for realtime modules that want to use EtherCAT. realtime modules that want to use EtherCAT. There are functions to request a
There are functions to request a master, to map process data, to communicate master, to map process data, to communicate with slaves via CoE and to
with slaves via CoE and to configure and activate the bus. configure and activate the bus.
*/ */
/*****************************************************************************/ /*****************************************************************************/
@@ -57,29 +54,29 @@
#include <stdint.h> #include <stdint.h>
#endif #endif
/*****************************************************************************/ /******************************************************************************
* Global definitions
*****************************************************************************/
/** /** EtherCAT real-time interface major version number.
* EtherCAT real-time interface major version number.
*/ */
#define ECRT_VER_MAJOR 1 #define ECRT_VER_MAJOR 1
/** /** EtherCAT real-time interface minor version number.
* EtherCAT real-time interface minor version number.
*/ */
#define ECRT_VER_MINOR 3 #define ECRT_VER_MINOR 4
/** /** EtherCAT real-time interface version word generator.
* EtherCAT real-time interface version word generator.
*/ */
#define ECRT_VERSION(a,b) (((a) << 8) + (b)) #define ECRT_VERSION(a, b) (((a) << 8) + (b))
/** /** EtherCAT real-time interface version word.
* EtherCAT real-time interface version word.
*/ */
#define ECRT_VERSION_MAGIC ECRT_VERSION(ECRT_VER_MAJOR, ECRT_VER_MINOR) #define ECRT_VERSION_MAGIC ECRT_VERSION(ECRT_VER_MAJOR, ECRT_VER_MINOR)
/*****************************************************************************/ /******************************************************************************
* Data types
*****************************************************************************/
struct ec_master; struct ec_master;
typedef struct ec_master ec_master_t; /**< \see ec_master */ typedef struct ec_master ec_master_t; /**< \see ec_master */
@@ -90,10 +87,10 @@ typedef struct ec_domain ec_domain_t; /**< \see ec_domain */
struct ec_slave; struct ec_slave;
typedef struct ec_slave ec_slave_t; /**< \see ec_slave */ typedef struct ec_slave ec_slave_t; /**< \see ec_slave */
/** /*****************************************************************************/
* Bus status.
*/
/** Bus status.
*/
typedef enum { typedef enum {
EC_BUS_FAILURE = -1, /**< At least one slave with process data exchange EC_BUS_FAILURE = -1, /**< At least one slave with process data exchange
is offline. */ is offline. */
@@ -102,11 +99,11 @@ typedef enum {
} }
ec_bus_status_t; ec_bus_status_t;
/** /*****************************************************************************/
* Master status.
/** Master status.
* This is used for the output parameter of ecrt_master_get_status(). * This is used for the output parameter of ecrt_master_get_status().
*/ */
typedef struct { typedef struct {
ec_bus_status_t bus_status; /**< \see ec_bus_status_t */ 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 bus_tainted; /**< non-zero, if the bus topology is invalid */
@@ -114,12 +111,12 @@ typedef struct {
} }
ec_master_status_t; 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() * This type is used as a parameter for the ecrt_domain_register_pdo_list()
* convenience function. * convenience function.
*/ */
typedef struct { typedef struct {
const char *slave_address; /**< slave address string const char *slave_address; /**< slave address string
\see ec_master_parse_slave_address() */ \see ec_master_parse_slave_address() */
@@ -131,10 +128,10 @@ typedef struct {
} }
ec_pdo_reg_t; ec_pdo_reg_t;
/** /*****************************************************************************/
* Direction type for PDO mapping and range registration functions.
*/
/** Direction type for PDO mapping and range registration functions.
*/
typedef enum { typedef enum {
EC_DIR_OUTPUT, /**< values written by master */ EC_DIR_OUTPUT, /**< values written by master */
EC_DIR_INPUT /**< values read by master */ EC_DIR_INPUT /**< values read by master */
@@ -142,7 +139,7 @@ typedef enum {
ec_direction_t; ec_direction_t;
/****************************************************************************** /******************************************************************************
* Global functions * Global functions
*****************************************************************************/ *****************************************************************************/
ec_master_t *ecrt_request_master(unsigned int master_index); ec_master_t *ecrt_request_master(unsigned int master_index);
@@ -151,7 +148,7 @@ void ecrt_release_master(ec_master_t *master);
unsigned int ecrt_version_magic(void); unsigned int ecrt_version_magic(void);
/****************************************************************************** /******************************************************************************
* Master methods * Master methods
*****************************************************************************/ *****************************************************************************/
void ecrt_master_callbacks(ec_master_t *master, int (*request_cb)(void *), void ecrt_master_callbacks(ec_master_t *master, int (*request_cb)(void *),
@@ -172,7 +169,7 @@ void ecrt_master_receive(ec_master_t *master);
void ecrt_master_get_status(const ec_master_t *master, ec_master_status_t *); 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, int ecrt_domain_register_pdo(ec_domain_t *domain, ec_slave_t *slave,
@@ -191,7 +188,7 @@ void ecrt_domain_queue(ec_domain_t *domain);
int ecrt_domain_state(const ec_domain_t *domain); 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, int ecrt_slave_conf_sdo8(ec_slave_t *slave, uint16_t sdo_index,
@@ -206,24 +203,20 @@ int ecrt_slave_pdo_mapping_add(ec_slave_t *, ec_direction_t, uint16_t);
int ecrt_slave_pdo_mapping(ec_slave_t *, ec_direction_t, unsigned int, ...); int ecrt_slave_pdo_mapping(ec_slave_t *, ec_direction_t, unsigned int, ...);
/****************************************************************************** /******************************************************************************
* Bitwise read/write macros * Bitwise read/write macros
*****************************************************************************/ *****************************************************************************/
/** /** Read a certain bit of an EtherCAT data byte.
* Read a certain bit of an EtherCAT data byte.
* \param DATA EtherCAT data pointer * \param DATA EtherCAT data pointer
* \param POS bit position * \param POS bit position
*/ */
#define EC_READ_BIT(DATA, POS) ((*((uint8_t *) (DATA)) >> (POS)) & 0x01) #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 DATA EtherCAT data pointer
* \param POS bit position * \param POS bit position
* \param VAL new bit value * \param VAL new bit value
*/ */
#define EC_WRITE_BIT(DATA, POS, VAL) \ #define EC_WRITE_BIT(DATA, POS, VAL) \
do { \ do { \
if (VAL) *((uint8_t *) (DATA)) |= (1 << (POS)); \ if (VAL) *((uint8_t *) (DATA)) |= (1 << (POS)); \
@@ -231,123 +224,99 @@ int ecrt_slave_pdo_mapping(ec_slave_t *, ec_direction_t, unsigned int, ...);
} while (0) } while (0)
/****************************************************************************** /******************************************************************************
* Read macros * Read macros
*****************************************************************************/ *****************************************************************************/
/** /** Read an 8-bit unsigned value from EtherCAT data.
* Read an 8-bit unsigned value from EtherCAT data.
* \return EtherCAT data value * \return EtherCAT data value
*/ */
#define EC_READ_U8(DATA) \ #define EC_READ_U8(DATA) \
((uint8_t) *((uint8_t *) (DATA))) ((uint8_t) *((uint8_t *) (DATA)))
/** /** Read an 8-bit signed value from EtherCAT data.
* Read an 8-bit signed value from EtherCAT data.
* \param DATA EtherCAT data pointer * \param DATA EtherCAT data pointer
* \return EtherCAT data value * \return EtherCAT data value
*/ */
#define EC_READ_S8(DATA) \ #define EC_READ_S8(DATA) \
((int8_t) *((uint8_t *) (DATA))) ((int8_t) *((uint8_t *) (DATA)))
/** /** Read a 16-bit unsigned value from EtherCAT data.
* Read a 16-bit unsigned value from EtherCAT data.
* \param DATA EtherCAT data pointer * \param DATA EtherCAT data pointer
* \return EtherCAT data value * \return EtherCAT data value
*/ */
#define EC_READ_U16(DATA) \ #define EC_READ_U16(DATA) \
((uint16_t) le16_to_cpup((void *) (DATA))) ((uint16_t) le16_to_cpup((void *) (DATA)))
/** /** Read a 16-bit signed value from EtherCAT data.
* Read a 16-bit signed value from EtherCAT data.
* \param DATA EtherCAT data pointer * \param DATA EtherCAT data pointer
* \return EtherCAT data value * \return EtherCAT data value
*/ */
#define EC_READ_S16(DATA) \ #define EC_READ_S16(DATA) \
((int16_t) le16_to_cpup((void *) (DATA))) ((int16_t) le16_to_cpup((void *) (DATA)))
/** /** Read a 32-bit unsigned value from EtherCAT data.
* Read a 32-bit unsigned value from EtherCAT data.
* \param DATA EtherCAT data pointer * \param DATA EtherCAT data pointer
* \return EtherCAT data value * \return EtherCAT data value
*/ */
#define EC_READ_U32(DATA) \ #define EC_READ_U32(DATA) \
((uint32_t) le32_to_cpup((void *) (DATA))) ((uint32_t) le32_to_cpup((void *) (DATA)))
/** /** Read a 32-bit signed value from EtherCAT data.
* Read a 32-bit signed value from EtherCAT data.
* \param DATA EtherCAT data pointer * \param DATA EtherCAT data pointer
* \return EtherCAT data value * \return EtherCAT data value
*/ */
#define EC_READ_S32(DATA) \ #define EC_READ_S32(DATA) \
((int32_t) le32_to_cpup((void *) (DATA))) ((int32_t) le32_to_cpup((void *) (DATA)))
/****************************************************************************** /******************************************************************************
* Write macros * Write macros
*****************************************************************************/ *****************************************************************************/
/** /** Write an 8-bit unsigned value to EtherCAT data.
* Write an 8-bit unsigned value to EtherCAT data.
* \param DATA EtherCAT data pointer * \param DATA EtherCAT data pointer
* \param VAL new value * \param VAL new value
*/ */
#define EC_WRITE_U8(DATA, VAL) \ #define EC_WRITE_U8(DATA, VAL) \
do { \ do { \
*((uint8_t *)(DATA)) = ((uint8_t) (VAL)); \ *((uint8_t *)(DATA)) = ((uint8_t) (VAL)); \
} while (0) } while (0)
/** /** Write an 8-bit signed value to EtherCAT data.
* Write an 8-bit signed value to EtherCAT data.
* \param DATA EtherCAT data pointer * \param DATA EtherCAT data pointer
* \param VAL new value * \param VAL new value
*/ */
#define EC_WRITE_S8(DATA, VAL) EC_WRITE_U8(DATA, VAL) #define EC_WRITE_S8(DATA, VAL) EC_WRITE_U8(DATA, VAL)
/** /** Write a 16-bit unsigned value to EtherCAT data.
* Write a 16-bit unsigned value to EtherCAT data.
* \param DATA EtherCAT data pointer * \param DATA EtherCAT data pointer
* \param VAL new value * \param VAL new value
*/ */
#define EC_WRITE_U16(DATA, VAL) \ #define EC_WRITE_U16(DATA, VAL) \
do { \ do { \
*((uint16_t *) (DATA)) = (uint16_t) (VAL); \ *((uint16_t *) (DATA)) = (uint16_t) (VAL); \
cpu_to_le16s(DATA); \ cpu_to_le16s(DATA); \
} while (0) } while (0)
/** /** Write a 16-bit signed value to EtherCAT data.
* Write a 16-bit signed value to EtherCAT data.
* \param DATA EtherCAT data pointer * \param DATA EtherCAT data pointer
* \param VAL new value * \param VAL new value
*/ */
#define EC_WRITE_S16(DATA, VAL) EC_WRITE_U16(DATA, VAL) #define EC_WRITE_S16(DATA, VAL) EC_WRITE_U16(DATA, VAL)
/** /** Write a 32-bit unsigned value to EtherCAT data.
* Write a 32-bit unsigned value to EtherCAT data.
* \param DATA EtherCAT data pointer * \param DATA EtherCAT data pointer
* \param VAL new value * \param VAL new value
*/ */
#define EC_WRITE_U32(DATA, VAL) \ #define EC_WRITE_U32(DATA, VAL) \
do { \ do { \
*((uint32_t *) (DATA)) = (uint32_t) (VAL); \ *((uint32_t *) (DATA)) = (uint32_t) (VAL); \
cpu_to_le32s(DATA); \ cpu_to_le32s(DATA); \
} while (0) } while (0)
/** /** Write a 32-bit signed value to EtherCAT data.
* Write a 32-bit signed value to EtherCAT data.
* \param DATA EtherCAT data pointer * \param DATA EtherCAT data pointer
* \param VAL new value * \param VAL new value
*/ */
#define EC_WRITE_S32(DATA, VAL) EC_WRITE_U32(DATA, VAL) #define EC_WRITE_S32(DATA, VAL) EC_WRITE_U32(DATA, VAL)
/*****************************************************************************/ /*****************************************************************************/