author | Florian Pose <fp@igh-essen.com> |
Thu, 28 Feb 2008 11:07:40 +0000 | |
changeset 837 | 133528cfd528 |
parent 814 | a51f857b1b2d |
child 873 | ec01ba291896 |
permissions | -rw-r--r-- |
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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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/** \file |
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* EtherCAT sync manager. |
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*/ |
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/*****************************************************************************/ |
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#ifndef _EC_SYNC_H_ |
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#define _EC_SYNC_H_ |
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#include <linux/list.h> |
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#include "../include/ecrt.h" |
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#include "globals.h" |
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#include "pdo_mapping.h" |
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/*****************************************************************************/ |
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/** EtherCAT sync manager Pdo mapping information source. |
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*/ |
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typedef enum { |
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EC_SYNC_MAPPING_NONE, /**< No Pdo mapping information. */ |
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EC_SYNC_MAPPING_SII, /**< Pdo mapping information from SII. */ |
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EC_SYNC_MAPPING_COE, /**< Pdo mapping information from CoE dictionary. */ |
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EC_SYNC_MAPPING_CUSTOM, /**< Pdo mapping configured externally. */ |
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} ec_sync_mapping_source_t; |
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/*****************************************************************************/ |
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/** Sync manager. |
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*/ |
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typedef struct { |
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ec_slave_t *slave; /**< Slave, the sync manager belongs to. */ |
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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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ec_pdo_mapping_t mapping; /**< Current Pdo mapping. */ |
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ec_sync_mapping_source_t mapping_source; /**< Pdo mapping source. */ |
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} ec_sync_t; |
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/*****************************************************************************/ |
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void ec_sync_init(ec_sync_t *, ec_slave_t *, unsigned int); |
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void ec_sync_clear(ec_sync_t *); |
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void ec_sync_config(const ec_sync_t *, uint16_t, uint8_t *); |
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int ec_sync_add_pdo(ec_sync_t *, const ec_pdo_t *); |
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ec_direction_t ec_sync_direction(const ec_sync_t *); |
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/*****************************************************************************/ |
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#endif |