97 lines
3.5 KiB
C
97 lines
3.5 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 Process data object structure.
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*/
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/*****************************************************************************/
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#ifndef __EC_PDO_H__
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#define __EC_PDO_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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/** Pdo description.
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*/
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typedef struct {
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struct list_head list; /**< List item. */
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ec_direction_t dir; /**< Pdo direction. */
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uint16_t index; /**< Pdo index. */
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int8_t sync_index; /**< Assigned sync manager. */
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char *name; /**< Pdo name. */
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struct list_head entries; /**< List of Pdo entries. */
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unsigned int default_config; /**< The entries contain the default Pdo
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configuration. */
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} ec_pdo_t;
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/*****************************************************************************/
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/** Pdo entry description.
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*/
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typedef struct {
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struct list_head list; /**< list item */
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uint16_t index; /**< Pdo entry index */
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uint8_t subindex; /**< Pdo entry subindex */
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char *name; /**< entry name */
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uint8_t bit_length; /**< entry length in bit */
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} ec_pdo_entry_t;
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/*****************************************************************************/
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void ec_pdo_init(ec_pdo_t *);
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int ec_pdo_init_copy(ec_pdo_t *, const ec_pdo_t *);
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void ec_pdo_clear(ec_pdo_t *);
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void ec_pdo_clear_entries(ec_pdo_t *);
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int ec_pdo_set_name(ec_pdo_t *, const char *);
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ec_pdo_entry_t *ec_pdo_add_entry(ec_pdo_t *, uint16_t, uint8_t, uint8_t);
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int ec_pdo_copy_entries(ec_pdo_t *, const ec_pdo_t *);
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int ec_pdo_equal_entries(const ec_pdo_t *, const ec_pdo_t *);
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void ec_pdo_entry_init(ec_pdo_entry_t *);
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int ec_pdo_entry_init_copy(ec_pdo_entry_t *, const ec_pdo_entry_t *);
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void ec_pdo_entry_clear(ec_pdo_entry_t *);
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int ec_pdo_entry_set_name(ec_pdo_entry_t *, const char *);
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int ec_pdo_entry_equal(const ec_pdo_entry_t *, const ec_pdo_entry_t *);
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/*****************************************************************************/
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#endif
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