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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 userspace library.

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 *  

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 *  The IgH EtherCAT master userspace library is free software; you can

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 *  redistribute it and/or modify it under the terms of the GNU Lesser General

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 *  Public License as published by the Free Software Foundation; version 2.1

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 *  of the License.

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 *

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 *  The IgH EtherCAT master userspace library is distributed in the hope that

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 *  it will be useful, but WITHOUT ANY WARRANTY; without even the implied

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 *  warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

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 *  GNU Lesser General Public License for more details.

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 *

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 *  You should have received a copy of the GNU Lesser General Public License

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 *  along with the IgH EtherCAT master userspace library. If not, see

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 *  <http://www.gnu.org/licenses/>.

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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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 *

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 * EtherCAT master application interface.

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 *

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 * \defgroup ApplicationInterface EtherCAT Application Interface

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 *

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 * EtherCAT interface for realtime applications. This interface is designed

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 * for realtime modules that want to use EtherCAT. There are functions to

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 * request a master, to map process data, to communicate with slaves via CoE

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 * and to configure and activate the bus.

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 *

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 * Changes in version 1.5:

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 *

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 * - Added the distributed clocks feature and the respective method

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 *   ecrt_slave_config_dc() to configure a slave for cyclic

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 *   operation, and ecrt_master_application_time(),

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 *   ecrt_master_sync_reference_clock() and  ecrt_master_sync_slave_clocks()

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 *   for offset and drift compensation. The EC_TIMEVAL2NANO() macro can be

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 *   used for epoch time conversion.

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 * - Changed the meaning of the negative return values of

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 *   ecrt_slave_config_reg_pdo_entry() and ecrt_slave_config_sdo*().

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 * - Imlemented the Vendor-specific over EtherCAT mailbox protocol. See

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 *   ecrt_slave_config_create_voe_handler().

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 * - Renamed ec_sdo_request_state_t to ec_request_state_t, because it is also

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 *   used by VoE handlers.

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 * - Added ecrt_master_slave() to get information about a certain slave.

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 * - Added ecrt_slave_sdo_upload() and ecrt_slave_sdo_download() methods to

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 *   let an application transfer SDOs before activating the master.

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 * - Removed 'const' from argument of ecrt_sdo_request_state(), because the

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 *   userspace library has to modify object internals.

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 * - Added 64-bit data access macros.

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 *

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 * @{

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 */

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

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    68

#ifndef __ECRT_H__

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#define __ECRT_H__

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#ifdef __KERNEL__

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#include <asm/byteorder.h>

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#include <linux/types.h>

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#include <linux/time.h>

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#else

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#include <stdlib.h> // for size_t

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#include <stdint.h>

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#include <sys/time.h> // for struct timeval

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#endif

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

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 * Global definitions

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

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/** EtherCAT realtime interface major version number.

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 */

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#define ECRT_VER_MAJOR 1

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/** EtherCAT realtime interface minor version number.

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 */

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#define ECRT_VER_MINOR 5

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/** EtherCAT realtime interface version word generator.

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 */

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#define ECRT_VERSION(a, b) (((a) << 8) + (b))

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/** EtherCAT realtime interface version word.

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 */

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#define ECRT_VERSION_MAGIC ECRT_VERSION(ECRT_VER_MAJOR, ECRT_VER_MINOR)

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

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/** End of list marker.

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 *

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 * This can be used with ecrt_slave_config_pdos().

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 */

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#define EC_END ~0U

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/** Maximum number of sync managers per slave.

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 */

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#define EC_MAX_SYNC_MANAGERS 16

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   113

/** Maximum string length.

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 *

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 * Used in ec_slave_info_t.

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 */

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#define EC_MAX_STRING_LENGTH 64

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/** Timeval to nanoseconds conversion.

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 *

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 * This macro converts a unix epoch time to EtherCAT DC time.

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 *

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 * \see ecrt_master_sync_reference_clock()

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 *

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 * \param TV Pointer to struct timeval.

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 */

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#define EC_TIMEVAL2NANO(TV) \

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    (((TV)->tv_sec - 946684800ULL) * 1000000000ULL + (TV)->tv_usec * 1000ULL)

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

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 * Data types 

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

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struct ec_master;

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typedef struct ec_master ec_master_t; /**< \see ec_master */

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struct ec_slave_config;

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typedef struct ec_slave_config ec_slave_config_t; /**< \see ec_slave_config */

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struct ec_domain;

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typedef struct ec_domain ec_domain_t; /**< \see ec_domain */

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struct ec_sdo_request;

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typedef struct ec_sdo_request ec_sdo_request_t; /**< \see ec_sdo_request. */

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struct ec_voe_handler;

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typedef struct ec_voe_handler ec_voe_handler_t; /**< \see ec_voe_handler. */

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

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/** Master state.

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 *

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 * This is used for the output parameter of ecrt_master_state().

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 *

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 * \see ecrt_master_state().

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 */

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typedef struct {

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    unsigned int slaves_responding; /**< Number of slaves in the bus. */

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    unsigned int al_states : 4; /**< Application-layer states of all slaves.

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                                  The states are coded in the lower 4 bits.

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                                  If a bit is set, it means that at least one

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                                  slave in the bus is in the corresponding

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                                  state:

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                                  - Bit 0: \a INIT

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                                  - Bit 1: \a PREOP

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                                  - Bit 2: \a SAFEOP

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                                  - Bit 3: \a OP */

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    unsigned int link_up : 1; /**< \a true, if the network link is up. */

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} ec_master_state_t;

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

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/** Slave configuration state.

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 *

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 * This is used as an output parameter of ecrt_slave_config_state().

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 * 

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 * \see ecrt_slave_config_state().

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 */

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typedef struct  {

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    unsigned int online : 1; /**< The slave is online. */

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    unsigned int operational : 1; /**< The slave was brought into \a OP state

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                                    using the specified configuration. */

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    unsigned int al_state : 4; /**< The application-layer state of the slave.

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                                 - 1: \a INIT

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                                 - 2: \a PREOP

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                                 - 4: \a SAFEOP

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                                 - 8: \a OP

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                                 Note that each state is coded in a different

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                                 bit! */

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} ec_slave_config_state_t;

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

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/** Slave information.

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 *

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 * This is used as an output parameter of ecrt_master_slave().

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 *

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 * \see ecrt_master_slave().

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 */

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typedef struct {

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    uint16_t position; /**< Offset of the slave in the ring. */

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    uint32_t vendor_id; /**< Vendor-ID stored on the slave. */

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    uint32_t product_code; /**< Product-Code stored on the slave. */

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    uint32_t revision_number; /**< Revision-Number stored on the slave. */

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    uint32_t serial_number; /**< Serial-Number stored on the slave. */

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    uint16_t alias; /**< The slaves alias if not equal to 0. */

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    int16_t current_on_ebus;

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    uint8_t al_state; /**< Current state of the slave. */

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    uint8_t error_flag; /**< Error flag for that slave. */

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    uint8_t sync_count; /**< Number of sync managers. */

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    uint16_t sdo_count; /**< Number of SDO's. */

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    char name[EC_MAX_STRING_LENGTH]; /**< Name of the slave. */

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} ec_slave_info_t;

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

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/** Domain working counter interpretation.

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 *

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 * This is used in ec_domain_state_t.

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 */

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typedef enum {

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    EC_WC_ZERO = 0,   /**< No registered process data were exchanged. */

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    EC_WC_INCOMPLETE, /**< Some of the registered process data were

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                        exchanged. */

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    EC_WC_COMPLETE    /**< All registered process data were exchanged. */

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} ec_wc_state_t;

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

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/** Domain state.

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 *

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 * This is used for the output parameter of ecrt_domain_state().

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 */

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typedef struct {

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    unsigned int working_counter; /**< Value of the last working counter. */

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    ec_wc_state_t wc_state; /**< Working counter interpretation. */

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} ec_domain_state_t;

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

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/** Direction type for PDO assignment functions.

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 */

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typedef enum {

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    EC_DIR_INVALID, /**< Invalid direction. Do not use this value. */

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    EC_DIR_OUTPUT, /**< Values written by the master. */

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    EC_DIR_INPUT, /**< Values read by the master. */

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    EC_DIR_COUNT /**< Number of directions. For internal use only. */

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} ec_direction_t;

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   251

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

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/** PDO entry configuration information.

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 *

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 * This is the data type of the \a entries field in ec_pdo_info_t.

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 *

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 * \see ecrt_slave_config_pdos().

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 */

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typedef struct {

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    uint16_t index; /**< PDO entry index. */

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    uint8_t subindex; /**< PDO entry subindex. */

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    uint8_t bit_length; /**< Size of the PDO entry in bit. */

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} ec_pdo_entry_info_t;

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

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/** PDO configuration information.

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 * 

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 * This is the data type of the \a pdos field in ec_sync_info_t.

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 * 

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 * \see ecrt_slave_config_pdos().

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 */

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typedef struct {

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    uint16_t index; /**< PDO index. */

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    unsigned int n_entries; /**< Number of PDO entries in \a entries to map.

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                              Zero means, that the default mapping shall be

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                              used (this can only be done if the slave is

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                              present at bus configuration time). */

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    ec_pdo_entry_info_t *entries; /**< Array of PDO entries to map. Can either

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                                    be \a NULL, or must contain at

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                                    least \a n_entries values. */

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} ec_pdo_info_t;

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

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/** Sync manager configuration information.

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 *

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 * This can be use to configure multiple sync managers including the PDO

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 * assignment and PDO mapping. It is used as an input parameter type in

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 * ecrt_slave_config_pdos().

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 */

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typedef struct {

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    uint8_t index; /**< Sync manager index. Must be less

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                     than #EC_MAX_SYNC_MANAGERS for a valid sync manager,

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                     but can also be \a 0xff to mark the end of the list. */

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    ec_direction_t dir; /**< Sync manager direction. */

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    unsigned int n_pdos; /**< Number of PDOs in \a pdos. */

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    ec_pdo_info_t *pdos; /**< Array with PDOs to assign. This must contain

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                            at least \a n_pdos PDOs. */

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} ec_sync_info_t;

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

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/** List record type for PDO entry mass-registration.

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 *

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 * This type is used for the array parameter of the

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 * ecrt_domain_reg_pdo_entry_list()

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 */

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typedef struct {

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    uint16_t alias; /**< Slave alias address. */

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    uint16_t position; /**< Slave 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 index; /**< PDO entry index. */

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    uint8_t subindex; /**< PDO entry subindex. */

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    unsigned int *offset; /**< Pointer to a variable to store the PDO entry's

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                       (byte-)offset in the process data. */

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    unsigned int *bit_position; /**< Pointer to a variable to store a bit 

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                                  position (0-7) within the \a offset. Can be

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                                  NULL, in which case an error is raised if the

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                                  PDO entry does not byte-align. */

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} ec_pdo_entry_reg_t;

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

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/** Request state.

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 *

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 * This is used as return type for ecrt_sdo_request_state() and

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 * ecrt_voe_handler_state().

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 */

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typedef enum {

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    EC_REQUEST_UNUSED, /**< Not requested. */

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    EC_REQUEST_BUSY, /**< Request is being processed. */

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    EC_REQUEST_SUCCESS, /**< Request was processed successfully. */

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    EC_REQUEST_ERROR, /**< Request processing failed. */

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} ec_request_state_t;

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

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 * Global functions

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

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   342

#ifdef __cplusplus

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extern "C" {

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#endif

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/** Returns the version magic of the realtime interface.

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 *

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 * \return Value of ECRT_VERSION_MAGIC() at EtherCAT master compile time.

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 */

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unsigned int ecrt_version_magic(void);

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   352

/** Requests an EtherCAT master for realtime operation.

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 * 

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 * Before an application can access an EtherCAT master, it has to reserve one

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 * for exclusive use.

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 *

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 * This function has to be the first function an application has to call to

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 * use EtherCAT. The function takes the index of the master as its argument.

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 * The first master has index 0, the n-th master has index n - 1. The number

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 * of masters has to be specified when loading the master module.

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 *

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 * \return Pointer to the reserved master, otherwise \a NULL.

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 */

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ec_master_t *ecrt_request_master(

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        unsigned int master_index /**< Index of the master to request. */

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        );

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/** Releases a requested EtherCAT master.

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 *

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 * After use, a master it has to be released to make it available for other

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 * applications.

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 */

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void ecrt_release_master(

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        ec_master_t *master /**< EtherCAT master */

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        );

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   377

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

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 * Master methods

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

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   381

#ifdef __KERNEL__

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/** Sets the locking callbacks.

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 *

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 * For concurrent master access, the application has to provide a locking

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 * mechanism (see section FIXME in the docs). The method takes two function

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 * pointers and a data value as its parameters. The arbitrary \a cb_data value

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 * will be passed as argument on every callback. Asynchronous master access

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 * (like EoE processing) is only possible if the callbacks have been set.

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 *

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 * The request_cb function must return zero, to allow another instance

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 * (an EoE process for example) to access the master. Non-zero means,

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 * that access is currently forbidden.

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 */

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void ecrt_master_callbacks(

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        ec_master_t *master, /**< EtherCAT master */

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        int (*request_cb)(void *), /**< Lock request function. */

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        void (*release_cb)(void *), /**< Lock release function. */

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        void *cb_data /**< Arbitrary user data. */

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        );

   401

   402

#endif /* __KERNEL__ */

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   404

/** Creates a new process data domain.

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 *

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 * For process data exchange, at least one process data domain is needed.

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 * This method creates a new process data domain and returns a pointer to the

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 * new domain object. This object can be used for registering PDOs and

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 * exchanging them in cyclic operation.

   410

 *

   411

 * \return Pointer to the new domain on success, else NULL.

   412

 */

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ec_domain_t *ecrt_master_create_domain(

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        ec_master_t *master /**< EtherCAT master. */

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        );

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   417

/** Obtains a slave configuration.

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 *

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 * Creates a slave configuration object for the given \a alias and \a position

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 * tuple and returns it. If a configuration with the same \a alias and \a

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 * position already exists, it will be re-used. In the latter case, the given

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 * vendor ID and product code are compared to the stored ones. On mismatch, an

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 * error message is raised and the function returns \a NULL.

   424

 *

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 * Slaves are addressed with the \a alias and \a position parameters.

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 * - If \a alias is zero, \a position is interpreted as the desired slave's

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 *   ring position.

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 * - If \a alias is non-zero, it matches a slave with the given alias. In this

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 *   case, \a position is interpreted as ring offset, starting from the

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 *   aliased slave, so a position of zero means the aliased slave itself and a

   431

 *   positive value matches the n-th slave behind the aliased one.

   432

 *

   433

 * If the slave with the given address is found during the bus configuration,

   434

 * its vendor ID and product code are matched against the given value. On

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 * mismatch, the slave is not configured and an error message is raised.

   436

 *

   437

 * If different slave configurations are pointing to the same slave during bus

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 * configuration, a warning is raised and only the first configuration is

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 * applied.

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 *

   441

 * \retval >0 Pointer to the slave configuration structure.

   442

 * \retval NULL in the error case.

   443

 */

   444

ec_slave_config_t *ecrt_master_slave_config(

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        ec_master_t *master, /**< EtherCAT master */

   446

        uint16_t alias, /**< Slave alias. */

   447

        uint16_t position, /**< Slave position. */

   448

        uint32_t vendor_id, /**< Expected vendor ID. */

   449

        uint32_t product_code /**< Expected product code. */

   450

        );

   451

   452

#ifndef __KERNEL__

   453

   454

/** Obtains slave information.

   455

 *

   456

 * Tries to find the slave with the given ring position. The obtained

   457

 * information is stored in a structure. No memory is allocated on the heap in

   458

 * this function.

   459

 *

   460

 * \attention The pointer to this structure must point to a valid variable.

   461

 *

   462

 * \return 0 in case of success, else < 0

   463

 */

   464

int ecrt_master_slave(

   465

        ec_master_t *master, /**< EtherCAT master */

   466

        uint16_t position, /**< Slave position. */

   467

        ec_slave_info_t *slave_info /**< Structure that will output the

   468

                                      information */

   469

        );

   470

   471

#endif /* ifndef __KERNEL__ */

   472

   473

/** Finishes the configuration phase and prepares for cyclic operation.

   474

 *

   475

 * This function tells the master that the configuration phase is finished and

   476

 * the realtime operation will begin. The function allocates internal memory

   477

 * for the domains and calculates the logical FMMU addresses for domain

   478

 * members. It tells the master state machine that the bus configuration is

   479

 * now to be applied.

   480

 *

   481

 * \attention After this function has been called, the realtime application is

   482

 * in charge of cyclically calling ecrt_master_send() and

   483

 * ecrt_master_receive() to ensure bus communication. Before calling this

   484

 * function, the master thread is responsible for that, so these functions may

   485

 * not be called!

   486

 *

   487

 * \return 0 in case of success, else < 0