1

/******************************************************************************

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH

     6

 *

     7

 *  This file is part of the IgH EtherCAT Master.

     8

 *

     9

 *  The IgH EtherCAT Master is free software; you can redistribute it

    10

 *  and/or modify it under the terms of the GNU General Public License

    11

 *  as published by the Free Software Foundation; either version 2 of the

    12

 *  License, or (at your option) any later version.

    13

 *

    14

 *  The IgH EtherCAT Master is distributed in the hope that it will be

    15

 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of

    16

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    17

 *  GNU General Public License for more details.

    18

 *

    19

 *  You should have received a copy of the GNU General Public License

    20

 *  along with the IgH EtherCAT Master; if not, write to the Free Software

    21

 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

    22

 *

    23

 *  The right to use EtherCAT Technology is granted and comes free of

    24

 *  charge under condition of compatibility of product made by

    25

 *  Licensee. People intending to distribute/sell products based on the

    26

 *  code, have to sign an agreement to guarantee that products using

    27

 *  software based on IgH EtherCAT master stay compatible with the actual

    28

 *  EtherCAT specification (which are released themselves as an open

    29

 *  standard) as the (only) precondition to have the right to use EtherCAT

    30

 *  Technology, IP and trade marks.

    31

 *

    32

 *****************************************************************************/

    33

    34

/**

    35

   \file

    36

   EtherCAT sync manager.

    37

*/

    38

    39

/*****************************************************************************/

    40

    41

#ifndef _EC_SYNC_H_

    42

#define _EC_SYNC_H_

    43

    44

#include <linux/list.h>

    45

    46

#include "../include/ecrt.h"

    47

#include "globals.h"

    48

    49

/*****************************************************************************/

    50

    51

/** size of a sync manager configuration page */

    52

#define EC_SYNC_SIZE 8

    53

    54

/*****************************************************************************/

    55

    56

/**

    57

 * EtherCAT sync manager PDO mapping information source.

    58

 */

    59

    60

typedef enum {

    61

    EC_SYNC_MAPPING_NONE, /**< No PDO mapping information */

    62

    EC_SYNC_MAPPING_SII, /**< PDO mapping information from SII */

    63

    EC_SYNC_MAPPING_COE /**< PDO mapping information from CoE dictionary */

    64

}

    65

ec_sync_mapping_source_t;

    66

    67

/*****************************************************************************/

    68

    69

/**

    70

 * Sync manager.

    71

 */

    72

    73

typedef struct

    74

{

    75

    ec_slave_t *slave; /**< slave, the sync manager belongs to */

    76

    unsigned int index; /**< sync manager index */

    77

    uint16_t physical_start_address; /**< physical start address */

    78

    uint16_t length; /**< data length in bytes */

    79

    uint8_t control_register; /**< control register value */

    80

    uint8_t enable; /**< enable bit */

    81

    82

    uint16_t est_length; /**< used to calculate the length via PDO ranges */

    83

    struct list_head pdos; /**< list of mapped PDOs */

    84

    unsigned int alt_mapping; /**< alternative mapping configured */

    85

    ec_sync_mapping_source_t mapping_source; /**< pdo mapping source */

    86

}

    87

ec_sync_t;

    88

    89

/*****************************************************************************/

    90

    91

void ec_sync_init(ec_sync_t *, ec_slave_t *, unsigned int);

    92

void ec_sync_clear(ec_sync_t *);

    93

    94

uint16_t ec_sync_size(const ec_sync_t *);

    95

void ec_sync_config(const ec_sync_t *, uint8_t *);

    96

    97

int ec_sync_add_pdo(ec_sync_t *, const ec_pdo_t *);

    98

void ec_sync_clear_pdos(ec_sync_t *);

    99

   100

ec_pdo_type_t ec_sync_get_pdo_type(const ec_sync_t *);

   101

   102

/*****************************************************************************/

   103

   104

#endif