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

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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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/** Convenience macro for printing configuration-specific information to

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 * syslog.

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 *

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 * This will print the message in \a fmt with a prefixed

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 * "EtherCAT <INDEX> <ALIAS>:<POSITION>: ", where INDEX is the master index

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 * and ALIAS and POSITION identify the configuration.

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 *

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 * \param sc EtherCAT slave configuration

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 * \param fmt format string (like in printf())

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 * \param args arguments (optional)

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 */

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#define EC_CONFIG_INFO(sc, fmt, args...) \

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    printk(KERN_INFO "EtherCAT %u %u:%u: " fmt, sc->master->index, \

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            sc->alias, sc->position, ##args)

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/** Convenience macro for printing configuration-specific errors to syslog.

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 *

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 * This will print the message in \a fmt with a prefixed

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 * "EtherCAT <INDEX> <ALIAS>:<POSITION>: ", where INDEX is the master index

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 * and ALIAS and POSITION identify the configuration.

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 *

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 * \param sc EtherCAT slave configuration

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 * \param fmt format string (like in printf())

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 * \param args arguments (optional)

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 */

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#define EC_CONFIG_ERR(sc, fmt, args...) \

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    printk(KERN_ERR "EtherCAT ERROR %u %u:%u: " fmt, sc->master->index, \

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            sc->alias, sc->position, ##args)

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/** Convenience macro for printing configuration-specific warnings to syslog.

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 *

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 * This will print the message in \a fmt with a prefixed

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 * "EtherCAT <INDEX> <ALIAS>:<POSITION>: ", where INDEX is the master index

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 * and ALIAS and POSITION identify the configuration.

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 *

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 * \param sc EtherCAT slave configuration

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 * \param fmt format string (like in printf())

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 * \param args arguments (optional)

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 */

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#define EC_CONFIG_WARN(sc, fmt, args...) \

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    printk(KERN_WARNING "EtherCAT WARNING %u %u:%u: " fmt, \

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            sc->master->index, sc->alias, sc->position, ##args)

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/** Convenience macro for printing configuration-specific debug messages to

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 * syslog.

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 *

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 * This will print the message in \a fmt with a prefixed

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 * "EtherCAT <INDEX> <ALIAS>:<POSITION>: ", where INDEX is the master index

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 * and ALIAS and POSITION identify the configuration.

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 *

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 * \param sc EtherCAT slave configuration

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 * \param fmt format string (like in printf())

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 * \param args arguments (optional)

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 */

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#define EC_CONFIG_DBG(sc, level, fmt, args...) \

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    do { \

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        if (sc->master->debug_level >= level) { \

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            printk(KERN_DEBUG "EtherCAT DEBUG %u %u:%u: " fmt, \

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                    sc->master->index, sc->alias, sc->position, ##args); \

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        } \

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    } while (0)

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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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    unsigned int used_for_fmmu_datagram[EC_DIR_COUNT]; /**< Number of FMMUs

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                                                         used for process data

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                                                         exchange datagrams. */

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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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    struct list_head soe_configs; /**< List of SoE configurations. */

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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