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109 lines
4.1 KiB
C
109 lines
4.1 KiB
C
/******************************************************************************
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*
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* $Id$
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*
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* Copyright (C) 2006-2008 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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* The license mentioned above concerns the source code only. Using the
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* EtherCAT technology and brand is only permitted in compliance with the
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* industrial property and similar rights of Beckhoff Automation GmbH.
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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 "globals.h"
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#include "slave.h"
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#include "sync_config.h"
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#include "fmmu_config.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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uint16_t watchdog_divider; /**< Watchdog divider as a number of 40ns
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intervals (see spec. reg. 0x0400). */
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uint16_t watchdog_intervals; /**< Process data watchdog intervals (see
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spec. reg. 0x0420). */
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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_sync_config_t sync_configs[EC_MAX_SYNC_MANAGERS]; /**< Sync manager
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configurations. */
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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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uint16_t dc_assign_activate; /**< Vendor-specific AssignActivate word. */
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ec_sync_signal_t dc_sync[EC_SYNC_SIGNAL_COUNT]; /**< DC sync signals. */
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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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struct list_head voe_handlers; /**< List of VoE handlers. */
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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_sync_config(ec_slave_config_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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ec_sdo_request_t *ec_slave_config_find_sdo_request(ec_slave_config_t *,
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unsigned int);
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ec_voe_handler_t *ec_slave_config_find_voe_handler(ec_slave_config_t *,
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unsigned int);
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ec_sdo_request_t *ecrt_slave_config_create_sdo_request_err(
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ec_slave_config_t *, uint16_t, uint8_t, size_t);
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ec_voe_handler_t *ecrt_slave_config_create_voe_handler_err(
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ec_slave_config_t *, size_t);
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/*****************************************************************************/
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#endif
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