91 lines
3.1 KiB
C
91 lines
3.1 KiB
C
/******************************************************************************
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*
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* $Id$
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*
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* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
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*
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* This file is part of the IgH EtherCAT Master.
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*
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* The IgH EtherCAT Master is free software; you can redistribute it
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* and/or modify it under the terms of the GNU General Public License
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* as published by the Free Software Foundation; either version 2 of the
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* License, or (at your option) any later version.
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*
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* The IgH EtherCAT Master is distributed in the hope that it will be
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* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with the IgH EtherCAT Master; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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*
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* The right to use EtherCAT Technology is granted and comes free of
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* charge under condition of compatibility of product made by
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* Licensee. People intending to distribute/sell products based on the
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* code, have to sign an agreement to guarantee that products using
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* software based on IgH EtherCAT master stay compatible with the actual
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* EtherCAT specification (which are released themselves as an open
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* standard) as the (only) precondition to have the right to use EtherCAT
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* Technology, IP and trade marks.
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*
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*****************************************************************************/
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/**
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\file
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EtherCAT sync manager.
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*/
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/*****************************************************************************/
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#ifndef _EC_SYNC_H_
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#define _EC_SYNC_H_
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#include <linux/list.h>
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#include "../include/ecrt.h"
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#include "globals.h"
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/*****************************************************************************/
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/** size of a sync manager configuration page */
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#define EC_SYNC_SIZE 8
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/*****************************************************************************/
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/**
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* Sync manager.
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*/
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typedef struct
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{
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ec_slave_t *slave; /**< slave, the sync manager belongs to */
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unsigned int index; /**< sync manager index */
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uint16_t physical_start_address; /**< physical start address */
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uint16_t length; /**< data length in bytes */
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uint8_t control_register; /**< control register value */
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uint8_t enable; /**< enable bit */
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uint16_t est_length; /**< used to calculate the length via PDO ranges */
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struct list_head pdos; /**< list of mapped PDOs */
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unsigned int alt_mapping; /**< alternative mapping configured */
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}
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ec_sync_t;
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/*****************************************************************************/
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void ec_sync_init(ec_sync_t *, ec_slave_t *, unsigned int);
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void ec_sync_clear(ec_sync_t *);
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uint16_t ec_sync_size(const ec_sync_t *);
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void ec_sync_config(const ec_sync_t *, uint8_t *);
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int ec_sync_add_pdo(ec_sync_t *, const ec_pdo_t *);
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void ec_sync_clear_pdos(ec_sync_t *);
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ec_pdo_type_t ec_sync_get_pdo_type(const ec_sync_t *);
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/*****************************************************************************/
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#endif
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