etherlabmaster: master/sync.h@2be8918682fa (annotated)

628 e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	1	/******************************************************************************
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	2	*
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	3	* $Id$
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	4	*
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	5	* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	6	*
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	7	* This file is part of the IgH EtherCAT Master.
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	8	*
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	9	* The IgH EtherCAT Master is free software; you can redistribute it
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	10	* and/or modify it under the terms of the GNU General Public License
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	11	* as published by the Free Software Foundation; either version 2 of the
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	12	* License, or (at your option) any later version.
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	13	*
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	14	* The IgH EtherCAT Master is distributed in the hope that it will be
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	15	* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	16	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	17	* GNU General Public License for more details.
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	18	*
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	19	* You should have received a copy of the GNU General Public License
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	20	* along with the IgH EtherCAT Master; if not, write to the Free Software
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	21	* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	22	*
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	23	* The right to use EtherCAT Technology is granted and comes free of
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	24	* charge under condition of compatibility of product made by
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	25	* Licensee. People intending to distribute/sell products based on the
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	26	* code, have to sign an agreement to guarantee that products using
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	27	* software based on IgH EtherCAT master stay compatible with the actual
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	28	* EtherCAT specification (which are released themselves as an open
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	29	* standard) as the (only) precondition to have the right to use EtherCAT
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	30	* Technology, IP and trade marks.
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	31	*
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	32	*****************************************************************************/
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	33
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	34	/** \file
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	35	* EtherCAT sync manager.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	36	*/
628 e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	37
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	38	/*****************************************************************************/
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	39
883 4963e22a267a Equalized defines against duplicated header inclusion. Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	40	#ifndef __EC_SYNC_H__
4963e22a267a Equalized defines against duplicated header inclusion. Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	41	#define __EC_SYNC_H__
628 e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	42
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	43	#include "../include/ecrt.h"
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	44
628 e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	45	#include "globals.h"
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 873 diff changeset	46	#include "pdo_list.h"
628 e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	47
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	48	/*****************************************************************************/
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	49
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 873 diff changeset	50	/** EtherCAT Pdo assignment source.
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	51	*/
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	52	typedef enum {
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 873 diff changeset	53	EC_ASSIGN_NONE, /*< No Pdos assigned. /
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 873 diff changeset	54	EC_ASSIGN_SII, /*< Pdo assignment read from SII. /
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 873 diff changeset	55	EC_ASSIGN_COE, /*< Pdo assignment read via CoE. /
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 873 diff changeset	56	EC_ASSIGN_CUSTOM, /*< Pdos assignment set by application. /
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 873 diff changeset	57	} ec_assign_source_t;
629 84a64efca00d Moved a few constants to the files they are needed in. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	58
84a64efca00d Moved a few constants to the files they are needed in. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	59	/*****************************************************************************/
84a64efca00d Moved a few constants to the files they are needed in. Florian Pose <fp@igh-essen.com> parents: 628 diff changeset	60
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	61	/** Sync manager.
762 15214036c72a Store PDO mapping source in sync manager. Florian Pose <fp@igh-essen.com> parents: 748 diff changeset	62	*/
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	63	typedef struct {
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	64	ec_slave_t slave; /< Slave, the sync manager belongs to. /
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	65	uint16_t physical_start_address; /*< Physical start address. /
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 883 diff changeset	66	uint16_t default_length; /*< Data length in bytes. /
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	67	uint8_t control_register; /*< Control register value. /
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	68	uint8_t enable; /*< Enable bit. /
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 873 diff changeset	69	ec_pdo_list_t pdos; /*< Current Pdo assignment. /
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 873 diff changeset	70	ec_assign_source_t assign_source; /*< Pdo assignment source. /
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	71	} ec_sync_t;
628 e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	72
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	73	/*****************************************************************************/
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	74
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 883 diff changeset	75	void ec_sync_init(ec_sync_t , ec_slave_t );
873 ec01ba291896 Fixed bug in copying sync managers. Now making a deep copy. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	76	void ec_sync_init_copy(ec_sync_t , const ec_sync_t );
628 e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	77	void ec_sync_clear(ec_sync_t *);
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 883 diff changeset	78	void ec_sync_page(const ec_sync_t *, uint8_t, uint16_t, ec_direction_t,
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 883 diff changeset	79	uint8_t *);
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 629 diff changeset	80	int ec_sync_add_pdo(ec_sync_t , const ec_pdo_t );
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 883 diff changeset	81	ec_direction_t ec_sync_default_direction(const ec_sync_t *);
748 6c8801bd547f Added ec_sync_get_pdo_type(). Florian Pose <fp@igh-essen.com> parents: 635 diff changeset	82
628 e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	83	/*****************************************************************************/
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	84
e94a16bc52ce Layed out sync manager structures and methods into own files. Florian Pose <fp@igh-essen.com> parents: diff changeset	85	#endif

author	Florian Pose <fp@igh-essen.com>
	Thu, 26 Jun 2008 13:16:15 +0000
changeset 1055	2be8918682fa
parent 883	4963e22a267a
child 1183	d77f634ab0b5
permissions	-rw-r--r--