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

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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 stave 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 "command.h"

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#include "types.h"

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

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/**

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   State of an EtherCAT slave.

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*/

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typedef enum

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{

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    EC_SLAVE_STATE_UNKNOWN = 0x00,

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    /**< unknown state */

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    EC_SLAVE_STATE_INIT = 0x01,

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    /**< INIT state (no mailbox communication, no IO) */

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    EC_SLAVE_STATE_PREOP = 0x02,

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    /**< PREOP state (mailbox communication, no IO) */

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    EC_SLAVE_STATE_SAVEOP = 0x04,

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    /**< SAVEOP (mailbox communication and input update) */

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    EC_SLAVE_STATE_OP = 0x08,

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    /**< OP (mailbox communication and input/output update) */

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    EC_ACK = 0x10

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    /**< Acknoledge bit (no state) */

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}

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ec_slave_state_t;

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

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/**

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   Supported mailbox protocols.

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*/

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enum

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{

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    EC_MBOX_AOE = 0x01, /**< ADS-over-EtherCAT */

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    EC_MBOX_EOE = 0x02, /**< Ethernet-over-EtherCAT */

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    EC_MBOX_COE = 0x04, /**< CANopen-over-EtherCAT */

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    EC_MBOX_FOE = 0x08, /**< File-Access-over-EtherCAT */

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    EC_MBOX_SOE = 0x10, /**< Servo-Profile-over-EtherCAT */

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    EC_MBOX_VOE = 0x20  /**< Vendor specific */

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};

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

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/**

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   FMMU configuration.

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*/

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typedef struct

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{

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    const ec_domain_t *domain; /**< domain */

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    const ec_sync_t *sync; /**< sync manager */

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    uint32_t logical_start_address; /**< logical start address */

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}

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ec_fmmu_t;

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

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/**

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   String object (EEPROM).

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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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    size_t size; /**< size in bytes */

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    char *data; /**< string data */

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}

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ec_eeprom_string_t;

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

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/**

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   Sync manager configuration (EEPROM).

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

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

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

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

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    uint8_t enable; /**< enable bit */

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}

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ec_eeprom_sync_t;

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

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/**

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   PDO type.

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*/

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typedef enum

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{

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    EC_RX_PDO, /**< Reveive PDO */

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    EC_TX_PDO /**< Transmit PDO */

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}

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ec_pdo_type_t;

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

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/**

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   PDO description (EEPROM).

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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_pdo_type_t type; /**< PDO type */

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    uint16_t index; /**< PDO index */

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    uint8_t sync_manager; /**< assigned sync manager */

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    char *name; /**< PDO name */

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    struct list_head entries; /**< entry list */

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}

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ec_eeprom_pdo_t;

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

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/**

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   PDO entry description (EEPROM).

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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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    uint16_t index; /**< PDO index */

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    uint8_t subindex; /**< entry subindex */

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    char *name; /**< entry name */

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    uint8_t bit_length; /**< entry length in bit */

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}

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ec_eeprom_pdo_entry_t;

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

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/**

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   CANopen SDO.

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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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    uint16_t index; /**< SDO index */

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    //uint16_t type;

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    uint8_t object_code; /**< object code */

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    char *name; /**< SDO name */

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    struct list_head entries; /**< entry list */

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}

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ec_sdo_t;

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

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/**

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   CANopen SDO entry.

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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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    uint8_t subindex; /**< entry subindex */

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    uint16_t data_type; /**< entry data type */

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    uint16_t bit_length; /**< entry length in bit */

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    char *name; /**< entry name */

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}

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ec_sdo_entry_t;

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

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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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    struct list_head list; /**< list item */

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    struct kobject kobj; /**< kobject */

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    ec_master_t *master; /**< master owning the slave */

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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 coupler_index; /**< index of the last bus coupler */

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    uint16_t coupler_subindex; /**< index of this slave after last coupler */

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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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    uint16_t base_fmmu_count; /**< number of supported FMMUs */

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    uint16_t base_sync_count; /**< number of supported sync managers */

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    // data link status

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    uint8_t dl_link[4]; /**< link detected */

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    uint8_t dl_loop[4]; /**< loop closed */

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    uint8_t dl_signal[4]; /**< detected signal on RX port */

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    // slave information interface

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    uint16_t sii_alias; /**< configured station alias */

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    uint32_t sii_vendor_id; /**< vendor id */

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    uint32_t sii_product_code; /**< vendor's product code */

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    uint32_t sii_revision_number; /**< revision number */

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    uint32_t sii_serial_number; /**< serial number */

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    uint16_t sii_rx_mailbox_offset; /**< mailbox address (master to slave) */

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    uint16_t sii_rx_mailbox_size; /**< mailbox size (master to slave) */

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    uint16_t sii_tx_mailbox_offset; /**< mailbox address (slave to master) */

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    uint16_t sii_tx_mailbox_size; /**< mailbox size (slave to master) */

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    uint16_t sii_mailbox_protocols; /**< supported mailbox protocols */

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    uint8_t sii_physical_layer[4]; /**< port media */

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    const ec_slave_type_t *type; /**< pointer to slave type object */

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    uint8_t registered; /**< true, if slave has been registered */

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    ec_fmmu_t fmmus[EC_MAX_FMMUS]; /**< FMMU configurations */

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    uint8_t fmmu_count; /**< number of FMMUs used */

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    struct list_head eeprom_strings; /**< EEPROM STRING categories */

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    struct list_head eeprom_syncs; /**< EEPROM SYNC MANAGER categories */

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    struct list_head eeprom_pdos; /**< EEPROM [RT]XPDO categories */

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    char *eeprom_name; /**< slave name acc. to EEPROM */

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    char *eeprom_group; /**< slave group acc. to EEPROM */

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    char *eeprom_desc; /**< slave description acc. to EEPROM */

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    struct list_head sdo_dictionary; /**< SDO directory list */

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    ec_command_t mbox_command; /**< mailbox command */

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    ec_slave_state_t requested_state; /**< requested slave state */

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    ec_slave_state_t current_state; /**< current slave state */

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    unsigned int state_error; /**< a state error has happened */

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};

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

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// slave construction/destruction

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int ec_slave_init(ec_slave_t *, ec_master_t *, uint16_t, uint16_t);

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void ec_slave_clear(struct kobject *);

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// slave control

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int ec_slave_fetch(ec_slave_t *);

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int ec_slave_sii_read16(ec_slave_t *, uint16_t, uint16_t *);

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int ec_slave_sii_read32(ec_slave_t *, uint16_t, uint32_t *);

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int ec_slave_sii_write16(ec_slave_t *, uint16_t, uint16_t);

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int ec_slave_state_change(ec_slave_t *, uint8_t);

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int ec_slave_prepare_fmmu(ec_slave_t *, const ec_domain_t *,

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                          const ec_sync_t *);

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// CoE

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int ec_slave_fetch_sdo_list(ec_slave_t *);

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// state machine

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int ec_slave_fetch_strings(ec_slave_t *, const uint8_t *);

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int ec_slave_fetch_general(ec_slave_t *, const uint8_t *);

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int ec_slave_fetch_sync(ec_slave_t *, const uint8_t *, size_t);

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int ec_slave_fetch_pdo(ec_slave_t *, const uint8_t *, size_t, ec_pdo_type_t);

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int ec_slave_locate_string(ec_slave_t *, unsigned int, char **);

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// misc.

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void ec_slave_print(const ec_slave_t *, unsigned int);

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int ec_slave_check_crc(ec_slave_t *);

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

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#endif