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99 lines
3.6 KiB
C
99 lines
3.6 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 slave configuration structure.
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*/
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/*****************************************************************************/
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#ifndef __EC_SLAVE_CONFIG_H__
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#define __EC_SLAVE_CONFIG_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 "slave.h"
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#include "fmmu_config.h"
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#include "pdo_list.h"
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/*****************************************************************************/
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/** EtherCAT slave configuration.
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*/
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struct ec_slave_config {
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struct list_head list; /**< List item. */
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ec_master_t *master; /**< Master owning the slave configuration. */
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uint16_t alias; /**< Slave alias. */
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uint16_t position; /**< Index after alias. If alias is zero, this is the
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ring position. */
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uint32_t vendor_id; /**< Slave vendor ID. */
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uint32_t product_code; /**< Slave product code. */
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ec_slave_t *slave; /**< Slave pointer. This is \a NULL, if the slave is
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offline. */
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ec_pdo_list_t pdos[2]; /**< Output and input Pdo assignment / mapping. */
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struct list_head sdo_configs; /**< List of Sdo configurations. */
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struct list_head sdo_requests; /**< List of Sdo requests. */
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ec_fmmu_config_t fmmu_configs[EC_MAX_FMMUS]; /**< FMMU configurations. */
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uint8_t used_fmmus; /**< Number of FMMUs used. */
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};
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/*****************************************************************************/
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void ec_slave_config_init(ec_slave_config_t *, ec_master_t *, uint16_t,
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uint16_t, uint32_t, uint32_t);
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void ec_slave_config_clear(ec_slave_config_t *);
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int ec_slave_config_attach(ec_slave_config_t *);
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void ec_slave_config_detach(ec_slave_config_t *);
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void ec_slave_config_load_default_assignment(ec_slave_config_t *);
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void ec_slave_config_load_default_mapping(const ec_slave_config_t *,
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ec_pdo_t *);
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unsigned int ec_slave_config_sdo_count(const ec_slave_config_t *);
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const ec_sdo_request_t *ec_slave_config_get_sdo_by_pos_const(
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const ec_slave_config_t *, unsigned int);
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/*****************************************************************************/
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#endif
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