master/slave.h
author Florian Pose <fp@igh-essen.com>
Sat, 23 Sep 2006 10:56:02 +0000
changeset 363 58588a3a1562
parent 343 b3858d25ba4b
child 394 ff1b018a9b09
permissions -rw-r--r--
Bugfix: ecrt_domain_state() always returned -1.
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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 "../include/ecrt.h"
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#include "globals.h"
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#include "datagram.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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   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_sii_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_sii_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_sii_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_sii_pdo_type_t type; /**< PDO type */
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    uint16_t index; /**< PDO index */
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    uint8_t sync_index; /**< 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_sii_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_sii_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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    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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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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    uint8_t subindex; /**< SDO subindex */
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    uint8_t *data; /**< pointer to SDO data */
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    size_t size; /**< size of SDO data */
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}
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ec_sdo_data_t;
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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_sii_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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   Variable-sized field information.
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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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    const ec_sii_pdo_t *pdo; /**< PDO */
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    size_t size; /**< field size */
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}
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ec_varsize_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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    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 error_flag; /**< stop processing after an error */
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    unsigned int online; /**< non-zero, if the slave responds. */
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    uint8_t registered; /**< true, if slave has been registered */
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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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    // EEPROM
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    uint8_t *eeprom_data; /**< Complete EEPROM image */
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    uint16_t eeprom_size; /**< size of the EEPROM contents in byte */
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    uint16_t *new_eeprom_data; /**< new EEPROM data to write */
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    uint16_t new_eeprom_size; /**< size of new EEPROM data in words */
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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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    struct list_head sii_strings; /**< EEPROM STRING categories */
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    struct list_head sii_syncs; /**< EEPROM SYNC MANAGER categories */
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    struct list_head sii_pdos; /**< EEPROM [RT]XPDO categories */
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    char *sii_group; /**< slave group acc. to EEPROM */
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    char *sii_image; /**< slave image name acc. to EEPROM */
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    char *sii_order; /**< slave order number acc. to EEPROM */
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    char *sii_name; /**< slave name acc. to EEPROM */
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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 sdo_dictionary; /**< SDO directory list */
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    struct list_head sdo_confs; /**< list of SDO configurations */
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    struct list_head varsize_fields; /**< size information for variable-sized
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                                        data fields. */
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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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int ec_slave_prepare_fmmu(ec_slave_t *, const ec_domain_t *,
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                          const ec_sii_sync_t *);
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// CoE
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//int ec_slave_fetch_sdo_list(ec_slave_t *);
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// SII categories
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int ec_slave_fetch_strings(ec_slave_t *, const uint8_t *);
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void 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,
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                       ec_sii_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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uint16_t ec_slave_calc_sync_size(const ec_slave_t *,
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                                 const ec_sii_sync_t *);
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int ec_slave_is_coupler(const ec_slave_t *);
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/*****************************************************************************/
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#endif