author | Martin Troxler <ch1010277@ch10lt194> |
Tue, 19 Jan 2010 19:31:55 +0100 | |
changeset 1776 | 65786b1d3043 |
parent 1509 | a864688e7de5 |
child 1801 | 31af610f1639 |
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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/** \file |
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* EtherCAT sync manager methods. |
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*/ |
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/*****************************************************************************/ |
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#include "globals.h" |
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#include "slave.h" |
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#include "master.h" |
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#include "pdo.h" |
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#include "sync.h" |
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/*****************************************************************************/ |
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/** Constructor. |
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*/ |
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void ec_sync_init( |
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ec_sync_t *sync, /**< EtherCAT sync manager. */ |
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ec_slave_t *slave /**< EtherCAT slave. */ |
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) |
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{ |
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sync->slave = slave; |
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sync->physical_start_address = 0x0000; |
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sync->default_length = 0x0000; |
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sync->control_register = 0x00; |
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sync->enable = 0x00; |
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ec_pdo_list_init(&sync->pdos); |
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} |
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/*****************************************************************************/ |
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/** Copy constructor. |
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*/ |
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void ec_sync_init_copy( |
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ec_sync_t *sync, /**< EtherCAT sync manager. */ |
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const ec_sync_t *other /**< Sync manager to copy from. */ |
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) |
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{ |
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sync->slave = other->slave; |
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sync->physical_start_address = other->physical_start_address; |
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sync->default_length = other->default_length; |
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sync->control_register = other->control_register; |
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sync->enable = other->enable; |
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ec_pdo_list_init(&sync->pdos); |
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ec_pdo_list_copy(&sync->pdos, &other->pdos); |
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} |
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/*****************************************************************************/ |
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/** Destructor. |
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*/ |
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void ec_sync_clear( |
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ec_sync_t *sync /**< EtherCAT sync manager. */ |
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) |
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{ |
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ec_pdo_list_clear(&sync->pdos); |
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} |
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/*****************************************************************************/ |
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/** Initializes a sync manager configuration page. |
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* |
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* The referenced memory (\a data) must be at least \a EC_SYNC_SIZE bytes. |
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*/ |
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void ec_sync_page( |
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const ec_sync_t *sync, /**< Sync manager. */ |
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uint8_t sync_index, /**< Index of the sync manager. */ |
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uint16_t data_size, /**< Data size. */ |
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const ec_sync_config_t *sync_config, /**< Configuration. */ |
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uint8_t *data /**> Configuration memory. */ |
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{ |
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// enable only if SII enable is set and size is > 0. |
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uint16_t enable = sync->enable && data_size; |
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uint8_t control = sync->control_register; |
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if (sync_config) { |
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switch (sync_config->dir) { |
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case EC_DIR_OUTPUT: |
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case EC_DIR_INPUT: |
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EC_WRITE_BIT(&control, 2, |
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112 |
sync_config->dir == EC_DIR_OUTPUT ? 1 : 0); |
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Added watchdog configuration via application interface (thanks to J. Mohre).
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|
113 |
EC_WRITE_BIT(&control, 3, 0); |
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|
114 |
break; |
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Added watchdog configuration via application interface (thanks to J. Mohre).
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|
115 |
default: |
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Added watchdog configuration via application interface (thanks to J. Mohre).
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|
116 |
break; |
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|
117 |
} |
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|
118 |
|
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Added watchdog configuration via application interface (thanks to J. Mohre).
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|
119 |
switch (sync_config->watchdog_mode) { |
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Added watchdog configuration via application interface (thanks to J. Mohre).
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|
120 |
case EC_WD_ENABLE: |
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Added watchdog configuration via application interface (thanks to J. Mohre).
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|
121 |
case EC_WD_DISABLE: |
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|
122 |
EC_WRITE_BIT(&control, 6, |
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Added watchdog configuration via application interface (thanks to J. Mohre).
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|
123 |
sync_config->watchdog_mode == EC_WD_ENABLE); |
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|
124 |
break; |
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|
125 |
default: |
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Added watchdog configuration via application interface (thanks to J. Mohre).
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|
126 |
break; |
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|
127 |
} |
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|
128 |
} |
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|
129 |
|
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|
130 |
if (sync->slave->master->debug_level) |
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diff
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|
131 |
EC_DBG("SM%u: Addr 0x%04X, Size %3u, Ctrl 0x%02X, En %u\n", |
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|
132 |
sync_index, sync->physical_start_address, |
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Store sync manager configurations in ec_slave_config_t instead of Pdo
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|
133 |
data_size, control, enable); |
628
e94a16bc52ce
Layed out sync manager structures and methods into own files.
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parents:
diff
changeset
|
134 |
|
e94a16bc52ce
Layed out sync manager structures and methods into own files.
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parents:
diff
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|
135 |
EC_WRITE_U16(data, sync->physical_start_address); |
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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diff
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|
136 |
EC_WRITE_U16(data + 2, data_size); |
1055
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parents:
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diff
changeset
|
137 |
EC_WRITE_U8 (data + 4, control); |
628
e94a16bc52ce
Layed out sync manager structures and methods into own files.
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parents:
diff
changeset
|
138 |
EC_WRITE_U8 (data + 5, 0x00); // status byte (read only) |
943
1d9e2663e087
Enable sync managers only if SII enable is set and size is greater zero.
Florian Pose <fp@igh-essen.com>
parents:
912
diff
changeset
|
139 |
EC_WRITE_U16(data + 6, enable); |
628
e94a16bc52ce
Layed out sync manager structures and methods into own files.
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parents:
diff
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|
140 |
} |
e94a16bc52ce
Layed out sync manager structures and methods into own files.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
141 |
|
e94a16bc52ce
Layed out sync manager structures and methods into own files.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
142 |
/*****************************************************************************/ |
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
628
diff
changeset
|
143 |
|
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
144 |
/** Adds a PDO to the list of known mapped PDOs. |
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
762
diff
changeset
|
145 |
* |
758
8fa6f825eb7d
Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents:
748
diff
changeset
|
146 |
* \return 0 on success, else < 0 |
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
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parents:
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diff
changeset
|
147 |
*/ |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
628
diff
changeset
|
148 |
int ec_sync_add_pdo( |
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
149 |
ec_sync_t *sync, /**< EtherCAT sync manager. */ |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
150 |
const ec_pdo_t *pdo /**< PDO to map. */ |
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
628
diff
changeset
|
151 |
) |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
628
diff
changeset
|
152 |
{ |
879
9b395c5646ab
Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents:
873
diff
changeset
|
153 |
return ec_pdo_list_add_pdo_copy(&sync->pdos, pdo); |
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
628
diff
changeset
|
154 |
} |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
628
diff
changeset
|
155 |
|
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
628
diff
changeset
|
156 |
/*****************************************************************************/ |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
628
diff
changeset
|
157 |
|
1055
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
943
diff
changeset
|
158 |
/** Determines the default direction from the control register. |
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
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parents:
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diff
changeset
|
159 |
*/ |
1055
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
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parents:
943
diff
changeset
|
160 |
ec_direction_t ec_sync_default_direction( |
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
762
diff
changeset
|
161 |
const ec_sync_t *sync /**< EtherCAT sync manager. */ |
748
6c8801bd547f
Added ec_sync_get_pdo_type().
Florian Pose <fp@igh-essen.com>
parents:
746
diff
changeset
|
162 |
) |
6c8801bd547f
Added ec_sync_get_pdo_type().
Florian Pose <fp@igh-essen.com>
parents:
746
diff
changeset
|
163 |
{ |
1055
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
943
diff
changeset
|
164 |
switch ((sync->control_register & 0x0C) >> 2) { |
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
943
diff
changeset
|
165 |
case 0x0: return EC_DIR_INPUT; |
1060
5e51425da89f
Fixed sync manager direction bug.
Florian Pose <fp@igh-essen.com>
parents:
1055
diff
changeset
|
166 |
case 0x1: return EC_DIR_OUTPUT; |
1055
2be8918682fa
Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents:
943
diff
changeset
|
167 |
default: return EC_DIR_INVALID; |
748
6c8801bd547f
Added ec_sync_get_pdo_type().
Florian Pose <fp@igh-essen.com>
parents:
746
diff
changeset
|
168 |
} |
6c8801bd547f
Added ec_sync_get_pdo_type().
Florian Pose <fp@igh-essen.com>
parents:
746
diff
changeset
|
169 |
} |
6c8801bd547f
Added ec_sync_get_pdo_type().
Florian Pose <fp@igh-essen.com>
parents:
746
diff
changeset
|
170 |
|
6c8801bd547f
Added ec_sync_get_pdo_type().
Florian Pose <fp@igh-essen.com>
parents:
746
diff
changeset
|
171 |
/*****************************************************************************/ |