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97 lines
3.3 KiB
C
97 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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/**
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\file
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EtherCAT domain structure.
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*/
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/*****************************************************************************/
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#ifndef _EC_DOMAIN_H_
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#define _EC_DOMAIN_H_
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#include <linux/list.h>
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#include <linux/kobject.h>
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#include "globals.h"
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#include "slave.h"
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#include "datagram.h"
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/*****************************************************************************/
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/**
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Data field registration type.
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*/
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typedef struct
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{
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struct list_head list; /**< list item */
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ec_slave_t *slave; /**< slave */
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const ec_sync_t *sync; /**< sync manager */
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uint32_t field_offset; /**< data field offset */
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void **data_ptr; /**< pointer to process data pointer(s) */
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}
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ec_field_reg_t;
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/*****************************************************************************/
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/**
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EtherCAT domain.
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Handles the process data and the therefore needed datagrams of a certain
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group of slaves.
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*/
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struct ec_domain
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{
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struct kobject kobj; /**< kobject */
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struct list_head list; /**< list item */
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unsigned int index; /**< domain index (just a number) */
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ec_master_t *master; /**< EtherCAT master owning the domain */
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size_t data_size; /**< size of the process data */
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struct list_head datagrams; /**< process data datagrams */
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uint32_t base_address; /**< logical offset address of the process data */
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unsigned int response_count; /**< number of responding slaves */
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struct list_head field_regs; /**< data field registrations */
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};
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/*****************************************************************************/
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int ec_domain_init(ec_domain_t *, ec_master_t *, unsigned int);
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void ec_domain_clear(struct kobject *);
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int ec_domain_alloc(ec_domain_t *, uint32_t);
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/*****************************************************************************/
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#endif
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