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267 lines
10 KiB
C
267 lines
10 KiB
C
/*****************************************************************************
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*
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* Copyright (C) 2006-2012 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 and/or
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* modify it under the terms of the GNU General Public License version 2, as
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* published by the Free Software Foundation.
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*
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* The IgH EtherCAT Master is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
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* 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 along
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* 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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****************************************************************************/
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/**
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\file
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EtherCAT slave structure.
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*/
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/****************************************************************************/
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#ifndef __EC_SLAVE_H__
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#define __EC_SLAVE_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 "datagram.h"
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#include "pdo.h"
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#include "sync.h"
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#include "sdo.h"
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#include "fsm_slave.h"
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/****************************************************************************/
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/** Convenience macro for printing slave-specific information to syslog.
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*
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* This will print the message in \a fmt with a prefixed
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* "EtherCAT <INDEX>-<POSITION>: ", where INDEX is the master index and
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* POSITION is the slave's ring position.
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*
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* \param slave EtherCAT slave
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* \param fmt format string (like in printf())
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* \param args arguments (optional)
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*/
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#define EC_SLAVE_INFO(slave, fmt, args...) \
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printk(KERN_INFO "EtherCAT %u-%u: " fmt, slave->master->index, \
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slave->ring_position, ##args)
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/** Convenience macro for printing slave-specific errors to syslog.
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*
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* This will print the message in \a fmt with a prefixed
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* "EtherCAT <INDEX>-<POSITION>: ", where INDEX is the master index and
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* POSITION is the slave's ring position.
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*
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* \param slave EtherCAT slave
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* \param fmt format string (like in printf())
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* \param args arguments (optional)
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*/
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#define EC_SLAVE_ERR(slave, fmt, args...) \
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printk(KERN_ERR "EtherCAT ERROR %u-%u: " fmt, slave->master->index, \
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slave->ring_position, ##args)
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/** Convenience macro for printing slave-specific warnings to syslog.
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*
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* This will print the message in \a fmt with a prefixed
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* "EtherCAT <INDEX>-<POSITION>: ", where INDEX is the master index and
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* POSITION is the slave's ring position.
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*
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* \param slave EtherCAT slave
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* \param fmt format string (like in printf())
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* \param args arguments (optional)
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*/
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#define EC_SLAVE_WARN(slave, fmt, args...) \
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printk(KERN_WARNING "EtherCAT WARNING %u-%u: " fmt, \
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slave->master->index, slave->ring_position, ##args)
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/** Convenience macro for printing slave-specific debug messages to syslog.
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*
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* This will print the message in \a fmt with a prefixed
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* "EtherCAT <INDEX>-<POSITION>: ", where INDEX is the master index and
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* POSITION is the slave's ring position.
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*
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* \param slave EtherCAT slave
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* \param level Debug level. Master's debug level must be >= \a level for
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* output.
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* \param fmt format string (like in printf())
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* \param args arguments (optional)
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*/
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#define EC_SLAVE_DBG(slave, level, fmt, args...) \
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do { \
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if (slave->master->debug_level >= level) { \
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printk(KERN_DEBUG "EtherCAT DEBUG %u-%u: " fmt, \
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slave->master->index, slave->ring_position, ##args); \
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} \
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} while (0)
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/****************************************************************************/
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/** Slave port.
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*/
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typedef struct {
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ec_slave_port_desc_t desc; /**< Port descriptors. */
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ec_slave_port_link_t link; /**< Port link status. */
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ec_slave_t *next_slave; /**< Connected slaves. */
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uint32_t receive_time; /**< Port receive times for delay
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measurement. */
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uint32_t delay_to_next_dc; /**< Delay to next slave with DC support behind
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this port [ns]. */
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} ec_slave_port_t;
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/****************************************************************************/
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/** Slave information interface data.
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*/
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typedef struct {
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// Non-category data
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uint16_t alias; /**< Configured station alias. */
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uint32_t vendor_id; /**< Vendor ID. */
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uint32_t product_code; /**< Vendor-specific product code. */
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uint32_t revision_number; /**< Revision number. */
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uint32_t serial_number; /**< Serial number. */
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uint16_t boot_rx_mailbox_offset; /**< Bootstrap receive mailbox address. */
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uint16_t boot_rx_mailbox_size; /**< Bootstrap receive mailbox size. */
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uint16_t boot_tx_mailbox_offset; /**< Bootstrap transmit mailbox address. */
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uint16_t boot_tx_mailbox_size; /**< Bootstrap transmit mailbox size. */
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uint16_t std_rx_mailbox_offset; /**< Standard receive mailbox address. */
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uint16_t std_rx_mailbox_size; /**< Standard receive mailbox size. */
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uint16_t std_tx_mailbox_offset; /**< Standard transmit mailbox address. */
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uint16_t std_tx_mailbox_size; /**< Standard transmit mailbox size. */
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uint16_t mailbox_protocols; /**< Supported mailbox protocols. */
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// Strings
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char **strings; /**< Strings in SII categories. */
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unsigned int string_count; /**< Number of SII strings. */
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// General
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unsigned int has_general; /**< General category present. */
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char *group; /**< Group name. */
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char *image; /**< Image name. */
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char *order; /**< Order number. */
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char *name; /**< Slave name. */
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uint8_t physical_layer[EC_MAX_PORTS]; /**< Port media. */
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ec_sii_coe_details_t coe_details; /**< CoE detail flags. */
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ec_sii_general_flags_t general_flags; /**< General flags. */
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int16_t current_on_ebus; /**< Power consumption in mA. */
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// SyncM
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ec_sync_t *syncs; /**< SYNC MANAGER categories. */
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unsigned int sync_count; /**< Number of sync managers. */
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// [RT]XPDO
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struct list_head pdos; /**< SII [RT]XPDO categories. */
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} ec_sii_t;
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/****************************************************************************/
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/** EtherCAT slave.
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*/
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struct ec_slave
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{
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ec_master_t *master; /**< Master owning the slave. */
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ec_device_index_t device_index; /**< Index of device the slave responds
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on. */
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// addresses
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uint16_t ring_position; /**< Ring position. */
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uint16_t station_address; /**< Configured station address. */
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uint16_t effective_alias; /**< Effective alias address. */
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ec_slave_port_t ports[EC_MAX_PORTS]; /**< Ports. */
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// configuration
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ec_slave_config_t *config; /**< Current configuration. */
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ec_slave_state_t requested_state; /**< Requested application state. */
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ec_slave_state_t current_state; /**< Current application state. */
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unsigned int error_flag; /**< Stop processing after an error. */
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unsigned int force_config; /**< Force (re-)configuration. */
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uint16_t configured_rx_mailbox_offset; /**< Configured receive mailbox
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offset. */
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uint16_t configured_rx_mailbox_size; /**< Configured receive mailbox size.
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*/
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uint16_t configured_tx_mailbox_offset; /**< Configured send mailbox
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offset. */
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uint16_t configured_tx_mailbox_size; /**< Configured send mailbox size. */
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// base data
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uint8_t base_type; /**< Slave type. */
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uint8_t base_revision; /**< Revision. */
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uint16_t base_build; /**< Build number. */
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uint8_t base_fmmu_count; /**< Number of supported FMMUs. */
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uint8_t base_sync_count; /**< Number of supported sync managers. */
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uint8_t base_fmmu_bit_operation; /**< FMMU bit operation is supported. */
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uint8_t base_dc_supported; /**< Distributed clocks are supported. */
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ec_slave_dc_range_t base_dc_range; /**< DC range. */
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uint8_t has_dc_system_time; /**< The slave supports the DC system time
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register. Otherwise it can only be used for
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delay measurement. */
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uint32_t transmission_delay; /**< DC system time transmission delay
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(offset from reference clock). */
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// SII
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uint16_t *sii_words; /**< Complete SII image. */
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size_t sii_nwords; /**< Size of the SII contents in words. */
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// Slave information interface
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ec_sii_t sii; /**< Extracted SII data. */
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struct list_head sdo_dictionary; /**< SDO dictionary list */
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uint8_t sdo_dictionary_fetched; /**< Dictionary has been fetched. */
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unsigned long jiffies_preop; /**< Time, the slave went to PREOP. */
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struct list_head sdo_requests; /**< SDO access requests. */
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struct list_head reg_requests; /**< Register access requests. */
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struct list_head foe_requests; /**< FoE requests. */
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struct list_head soe_requests; /**< SoE requests. */
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struct list_head eoe_requests; /**< EoE set IP parameter requests. */
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ec_fsm_slave_t fsm; /**< Slave state machine. */
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};
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/****************************************************************************/
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// slave construction/destruction
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void ec_slave_init(ec_slave_t *, ec_master_t *, ec_device_index_t,
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uint16_t, uint16_t);
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void ec_slave_clear(ec_slave_t *);
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void ec_slave_clear_sync_managers(ec_slave_t *);
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void ec_slave_request_state(ec_slave_t *, ec_slave_state_t);
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void ec_slave_set_state(ec_slave_t *, ec_slave_state_t);
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// SII categories
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int ec_slave_fetch_sii_strings(ec_slave_t *, const uint8_t *, size_t);
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int ec_slave_fetch_sii_general(ec_slave_t *, const uint8_t *, size_t);
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int ec_slave_fetch_sii_syncs(ec_slave_t *, const uint8_t *, size_t);
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int ec_slave_fetch_sii_pdos(ec_slave_t *, const uint8_t *, size_t,
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ec_direction_t);
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// misc.
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ec_sync_t *ec_slave_get_sync(ec_slave_t *, uint8_t);
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void ec_slave_sdo_dict_info(const ec_slave_t *,
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unsigned int *, unsigned int *);
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ec_sdo_t *ec_slave_get_sdo(ec_slave_t *, uint16_t);
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const ec_sdo_t *ec_slave_get_sdo_const(const ec_slave_t *, uint16_t);
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const ec_sdo_t *ec_slave_get_sdo_by_pos_const(const ec_slave_t *, uint16_t);
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uint16_t ec_slave_sdo_count(const ec_slave_t *);
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const ec_pdo_t *ec_slave_find_pdo(const ec_slave_t *, uint16_t);
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void ec_slave_attach_pdo_names(ec_slave_t *);
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void ec_slave_calc_port_delays(ec_slave_t *);
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void ec_slave_calc_transmission_delays_rec(ec_slave_t *, uint32_t *);
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/****************************************************************************/
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#endif
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