author | Florian Pose <fp@igh-essen.com> |
Tue, 02 Feb 2010 14:10:52 +0100 | |
changeset 1797 | 5bf740cd1599 |
parent 1509 | a864688e7de5 |
child 1798 | e7733f825982 |
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) 2006-2008 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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/** 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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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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}; |
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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 |