master/slave.h
author Florian Pose <fp@igh-essen.com>
Thu, 28 Feb 2008 11:07:40 +0000
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parent 836 860a5bacea6a
child 847 92266462d411
permissions -rw-r--r--
NEWS.
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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 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 "../include/ecrt.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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/*****************************************************************************/
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/** Slave state mask.
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 *
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 * Apply this mask to a slave state byte to get the slave state without
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 * the error flag.
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 */
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#define EC_SLAVE_STATE_MASK 0x0F
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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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    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_SAFEOP = 0x04,
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    /**< SAFEOP (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_SLAVE_STATE_ACK_ERR = 0x10
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    /**< Acknowledge/Error bit (no actual state) */
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} ec_slave_state_t;
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/*****************************************************************************/
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/** EtherCAT slave online state.
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 */
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typedef enum {
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    EC_SLAVE_OFFLINE,
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    EC_SLAVE_ONLINE
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} ec_slave_online_state_t;
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/*****************************************************************************/
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/** Supported mailbox protocols.
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 */
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enum {
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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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/** Slave information interface CANopen-over-EtherCAT details flags.
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 */
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typedef struct {
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    uint8_t enable_sdo : 1; /**< Enable Sdo access. */
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    uint8_t enable_sdo_info : 1; /**< SDO information service available. */
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    uint8_t enable_pdo_assign : 1; /**< Pdo mapping configurable. */
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    uint8_t enable_pdo_configuration : 1; /**< Pdo configuration possible. */
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    uint8_t enable_upload_at_startup : 1; /**< ?. */
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    uint8_t enable_sdo_complete_access : 1; /**< Complete access possible. */
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} ec_sii_coe_details_t;
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/*****************************************************************************/
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/** Slave information interface general flags.
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 */
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typedef struct {
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    uint8_t enable_safeop : 1; /**< ?. */
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    uint8_t enable_not_lrw : 1; /**< Slave does not support LRW. */
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} ec_sii_general_flags_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 rx_mailbox_offset; /**< Mailbox address (master to slave). */
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    uint16_t rx_mailbox_size; /**< Mailbox size (master to slave). */
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    uint16_t tx_mailbox_offset; /**< Mailbox address (slave to master). */
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    uint16_t tx_mailbox_size; /**< Mailbox size (slave to master). */
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    uint16_t mailbox_protocols; /**< Supported mailbox protocols. */
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    // Strings
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    char **strings; /**< Strings in EEPROM categories. */
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    unsigned int string_count; /**< number of EEPROM strings */
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    // General
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    unsigned int has_general; /**< General category present. */
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    char *group; /**< slave group acc. to EEPROM */
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    char *image; /**< slave image name acc. to EEPROM */
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    char *order; /**< slave order number acc. to EEPROM */
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    char *name; /**< slave name acc. to EEPROM */
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    uint8_t physical_layer[4]; /**< 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 */
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    // SyncM
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    ec_sync_t *syncs; /**< EEPROM SYNC MANAGER categories */
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    unsigned int sync_count; /**< number of sync managers in EEPROM */
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    // [RT]XPDO
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    struct list_head pdos; /**< EEPROM [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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    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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    // 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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    ec_slave_online_state_t online_state; /**< online state */
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    unsigned int self_configured; /**< Slave was configured by this master. */
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    unsigned int error_flag; /**< Stop processing after an error. */
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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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    // 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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    // EEPROM
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    uint8_t *eeprom_data; /**< Complete EEPROM image */
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    size_t eeprom_size; /**< size of the EEPROM contents in bytes */
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    // slave information interface
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    ec_sii_t sii; /**< SII data. */
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    struct kobject sdo_kobj; /**< kobject for Sdos */
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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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};
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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_destroy(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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void ec_slave_set_online_state(ec_slave_t *, ec_slave_online_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_pdo_sync(ec_slave_t *, ec_direction_t); 
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int ec_slave_validate(const ec_slave_t *, uint32_t, uint32_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_pdo_t *ec_slave_find_pdo(const ec_slave_t *, uint16_t);
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/*****************************************************************************/
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#endif