91 lines
3.3 KiB
C
91 lines
3.3 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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/** \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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#include "pdo_mapping.h"
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/*****************************************************************************/
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/** EtherCAT sync manager Pdo mapping information source.
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*/
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typedef enum {
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EC_SYNC_MAPPING_NONE, /**< No Pdo mapping information. */
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EC_SYNC_MAPPING_SII, /**< Pdo mapping information from SII. */
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EC_SYNC_MAPPING_COE, /**< Pdo mapping information from CoE dictionary. */
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EC_SYNC_MAPPING_CUSTOM, /**< Pdo mapping configured externally. */
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} ec_sync_mapping_source_t;
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/*****************************************************************************/
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/** Sync manager.
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*/
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typedef struct {
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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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ec_pdo_mapping_t mapping; /**< Current Pdo mapping. */
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ec_sync_mapping_source_t mapping_source; /**< Pdo mapping source. */
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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_init_copy(ec_sync_t *, const ec_sync_t *);
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void ec_sync_clear(ec_sync_t *);
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void ec_sync_config(const ec_sync_t *, uint16_t, uint8_t *);
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int ec_sync_add_pdo(ec_sync_t *, const ec_pdo_t *);
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ec_direction_t ec_sync_direction(const ec_sync_t *);
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/*****************************************************************************/
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#endif
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