ethercat/include/ecrt.h

/******************************************************************************
 *
 *  EtherCAT realtime interface.
 *
 *  $Id$
 *
 *****************************************************************************/

#ifndef __ECRT_H__
#define __ECRT_H__

#include <asm/byteorder.h>

#ifdef __KERNEL__
#include <linux/types.h>
#else
#include <stdint.h>
#endif

/*****************************************************************************/

struct ec_master;
typedef struct ec_master ec_master_t;

struct ec_domain;
typedef struct ec_domain ec_domain_t;

struct ec_slave;
typedef struct ec_slave ec_slave_t;

typedef struct
{
    void **data_ptr;
    const char *slave_address;
    const char *vendor_name;
    const char *product_name;
    const char *field_name;
    unsigned int field_index;
    unsigned int field_count;
}
ec_field_init_t;

/*****************************************************************************/
// Master request functions

ec_master_t *ecrt_request_master(unsigned int master_index);
void ecrt_release_master(ec_master_t *master);

/*****************************************************************************/
// Master methods

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);

int ecrt_master_fetch_sdo_lists(ec_master_t *master);

void ecrt_master_sync_io(ec_master_t *master);
void ecrt_master_async_send(ec_master_t *master);
void ecrt_master_async_receive(ec_master_t *master);
void ecrt_master_prepare_async_io(ec_master_t *master);

void ecrt_master_run(ec_master_t *master);

void ecrt_master_debug(ec_master_t *master, int level);
void ecrt_master_print(const ec_master_t *master, unsigned int verbosity);

ec_slave_t *ecrt_master_get_slave(const ec_master_t *, const char *);

/*****************************************************************************/
// Domain Methods

ec_slave_t *ecrt_domain_register_field(ec_domain_t *domain,
                                       const char *address,
                                       const char *vendor_name,
                                       const char *product_name,
                                       void **data_ptr, const char *field_name,
                                       unsigned int field_index,
                                       unsigned int field_count);
int ecrt_domain_register_field_list(ec_domain_t *domain,
                                    const ec_field_init_t *fields);

void ecrt_domain_queue(ec_domain_t *domain);
void ecrt_domain_process(ec_domain_t *domain);

int ecrt_domain_state(ec_domain_t *domain);

/*****************************************************************************/
// Slave Methods

int ecrt_slave_sdo_read_exp8(ec_slave_t *slave, uint16_t sdo_index,
                              uint8_t sdo_subindex, uint8_t *value);
int ecrt_slave_sdo_read_exp16(ec_slave_t *slave, uint16_t sdo_index,
                              uint8_t sdo_subindex, uint16_t *value);
int ecrt_slave_sdo_read_exp32(ec_slave_t *slave, uint16_t sdo_index,
                              uint8_t sdo_subindex, uint32_t *value);
int ecrt_slave_sdo_write_exp8(ec_slave_t *slave, uint16_t sdo_index,
                              uint8_t sdo_subindex, uint8_t value);
int ecrt_slave_sdo_write_exp16(ec_slave_t *slave, uint16_t sdo_index,
                               uint8_t sdo_subindex, uint16_t value);
int ecrt_slave_sdo_write_exp32(ec_slave_t *slave, uint16_t sdo_index,
                               uint8_t sdo_subindex, uint32_t value);
int ecrt_slave_sdo_read(ec_slave_t *slave, uint16_t sdo_index,
                        uint8_t sdo_subindex, uint8_t *data, size_t *size);

int ecrt_slave_write_alias(ec_slave_t *slave, uint16_t alias);

/*****************************************************************************/
// Bitwise read/write macros

#define EC_READ_BIT(PD, CH) ((*((uint8_t *) (PD)) >> (CH)) & 0x01)

#define EC_WRITE_BIT(PD, CH, VAL) \
    do { \
        if (VAL) *((uint8_t *) (PD)) |=  (1 << (CH)); \
        else     *((uint8_t *) (PD)) &= ~(1 << (CH)); \
    } while (0)

/*****************************************************************************/
// Read macros

#define EC_READ_U8(PD) ((uint8_t) *((uint8_t *) (PD)))
#define EC_READ_S8(PD) ((int8_t)  *((uint8_t *) (PD)))

#define EC_READ_U16(PD) ((uint16_t) le16_to_cpup((void *) (PD)))
#define EC_READ_S16(PD) ((int16_t)  le16_to_cpup((void *) (PD)))

#define EC_READ_U32(PD) ((uint32_t) le32_to_cpup((void *) (PD)))
#define EC_READ_S32(PD) ((int32_t)  le32_to_cpup((void *) (PD)))

/*****************************************************************************/
// Write macros

#define EC_WRITE_U8(PD, VAL) \
    do { \
        *((uint8_t *)(PD)) = ((uint8_t) (VAL)); \
    } while (0)

#define EC_WRITE_S8(PD, VAL) EC_WRITE_U8(PD, VAL)

#define EC_WRITE_U16(PD, VAL) \
    do { \
        *((uint16_t *) (PD)) = (uint16_t) (VAL); \
        cpu_to_le16s(PD); \
    } while (0)

#define EC_WRITE_S16(PD, VAL) EC_WRITE_U16(PD, VAL)

#define EC_WRITE_U32(PD, VAL) \
    do { \
        *((uint32_t *) (PD)) = (uint32_t) (VAL); \
        cpu_to_le16s(PD); \
    } while (0)

#define EC_WRITE_S32(PD, VAL) EC_WRITE_U32(PD, VAL)

/*****************************************************************************/

#endif