author | Florian Pose <fp@igh-essen.com> |
Mon, 30 Nov 2009 18:02:29 +0100 | |
changeset 1565 | 8c526cfe1399 |
parent 1465 | 3099d78343ea |
child 1583 | 017fa8fd9ac1 |
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 structure. |
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*/ |
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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 "globals.h" |
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#include "datagram.h" |
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#include "pdo.h" |
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#include "sync.h" |
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#include "sdo.h" |
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/*****************************************************************************/ |
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/** Slave port. |
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*/ |
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typedef struct { |
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ec_slave_port_desc_t desc; /**< Port descriptors. */ |
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ec_slave_port_link_t link; /**< Port link status. */ |
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ec_slave_t *next_slave; /**< Connected slaves. */ |
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uint32_t receive_time; /**< Port receive times for delay |
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measurement. */ |
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uint32_t delay_to_next_dc; /**< Delay to next slave with DC support behind |
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this port [ns]. */ |
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} ec_slave_port_t; |
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/*****************************************************************************/ |
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/** Slave information interface data. |
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*/ |
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typedef struct { |
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// Non-category data |
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uint16_t alias; /**< Configured station alias. */ |
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uint32_t vendor_id; /**< Vendor ID. */ |
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uint32_t product_code; /**< Vendor-specific product code. */ |
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uint32_t revision_number; /**< Revision number. */ |
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uint32_t serial_number; /**< Serial number. */ |
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uint16_t boot_rx_mailbox_offset; /**< Bootstrap receive mailbox address. */ |
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uint16_t boot_rx_mailbox_size; /**< Bootstrap receive mailbox size. */ |
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uint16_t boot_tx_mailbox_offset; /**< Bootstrap transmit mailbox address. */ |
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uint16_t boot_tx_mailbox_size; /**< Bootstrap transmit mailbox size. */ |
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uint16_t std_rx_mailbox_offset; /**< Standard receive mailbox address. */ |
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uint16_t std_rx_mailbox_size; /**< Standard receive mailbox size. */ |
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uint16_t std_tx_mailbox_offset; /**< Standard transmit mailbox address. */ |
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uint16_t std_tx_mailbox_size; /**< Standard transmit mailbox size. */ |
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uint16_t mailbox_protocols; /**< Supported mailbox protocols. */ |
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// Strings |
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char **strings; /**< Strings in SII categories. */ |
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unsigned int string_count; /**< Number of SII strings. */ |
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// General |
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unsigned int has_general; /**< General category present. */ |
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char *group; /**< Group name. */ |
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char *image; /**< Image name. */ |
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char *order; /**< Order number. */ |
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char *name; /**< Slave name. */ |
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uint8_t physical_layer[EC_MAX_PORTS]; /**< Port media. */ |
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ec_sii_coe_details_t coe_details; /**< CoE detail flags. */ |
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ec_sii_general_flags_t general_flags; /**< General flags. */ |
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int16_t current_on_ebus; /**< Power consumption in mA. */ |
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// SyncM |
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ec_sync_t *syncs; /**< SYNC MANAGER categories. */ |
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unsigned int sync_count; /**< Number of sync managers. */ |
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// [RT]XPDO |
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struct list_head pdos; /**< SII [RT]XPDO categories. */ |
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} ec_sii_t; |
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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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ec_master_t *master; /**< Master owning the slave. */ |
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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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118 |
|
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ec_slave_port_t ports[EC_MAX_PORTS]; /**< Ports. */ |
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|
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// configuration |
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ec_slave_config_t *config; /**< Current configuration. */ |
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123 |
ec_slave_state_t requested_state; /**< Requested application state. */ |
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ec_slave_state_t current_state; /**< Current application state. */ |
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unsigned int error_flag; /**< Stop processing after an error. */ |
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unsigned int force_config; /**< Force (re-)configuration. */ |
1465 | 127 |
uint16_t configured_rx_mailbox_offset; /**< Configured receive mailbox |
128 |
offset. */ |
|
129 |
uint16_t configured_rx_mailbox_size; /**< Configured receive mailbox size. |
|
130 |
*/ |
|
131 |
uint16_t configured_tx_mailbox_offset; /**< Configured send mailbox |
|
132 |
offset. */ |
|
133 |
uint16_t configured_tx_mailbox_size; /**< Configured send mailbox size. */ |
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134 |
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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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uint8_t base_fmmu_count; /**< Number of supported FMMUs. */ |
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uint8_t base_sync_count; /**< Number of supported sync managers. */ |
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141 |
uint8_t base_fmmu_bit_operation; /**< FMMU bit operation is supported. */ |
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uint8_t base_dc_supported; /**< Distributed clocks are supported. */ |
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ec_slave_dc_range_t base_dc_range; /**< DC range. */ |
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uint8_t has_dc_system_time; /**< The slave supports the DC system time |
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145 |
register. Otherwise it can only be used for |
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146 |
delay measurement. */ |
1426 | 147 |
uint32_t transmission_delay; /**< DC system time transmission delay |
148 |
(offset from reference clock). */ |
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149 |
|
872 | 150 |
// SII |
977 | 151 |
uint16_t *sii_words; /**< Complete SII image. */ |
152 |
size_t sii_nwords; /**< Size of the SII contents in words. */ |
|
325
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153 |
|
1000
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154 |
// Slave information interface |
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ec_sii_t sii; /**< Extracted SII data. */ |
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156 |
|
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157 |
struct list_head sdo_dictionary; /**< SDO dictionary list */ |
1000
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158 |
uint8_t sdo_dictionary_fetched; /**< Dictionary has been fetched. */ |
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159 |
unsigned long jiffies_preop; /**< Time, the slave went to PREOP. */ |
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160 |
}; |
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161 |
|
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162 |
/*****************************************************************************/ |
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163 |
|
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164 |
// slave construction/destruction |
992
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165 |
void ec_slave_init(ec_slave_t *, ec_master_t *, uint16_t, uint16_t); |
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166 |
void ec_slave_clear(ec_slave_t *); |
73
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167 |
|
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168 |
void ec_slave_clear_sync_managers(ec_slave_t *); |
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169 |
|
446 | 170 |
void ec_slave_request_state(ec_slave_t *, ec_slave_state_t); |
610
29489a43ecee
Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
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|
171 |
void ec_slave_set_state(ec_slave_t *, ec_slave_state_t); |
446 | 172 |
|
325
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173 |
// SII categories |
742
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Improved checking of EEPROM data while reading.
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174 |
int ec_slave_fetch_sii_strings(ec_slave_t *, const uint8_t *, size_t); |
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175 |
int ec_slave_fetch_sii_general(ec_slave_t *, const uint8_t *, size_t); |
620
4f76acbf54a0
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176 |
int ec_slave_fetch_sii_syncs(ec_slave_t *, const uint8_t *, size_t); |
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177 |
int ec_slave_fetch_sii_pdos(ec_slave_t *, const uint8_t *, size_t, |
792
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178 |
ec_direction_t); |
238
b4960499098f
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179 |
|
195
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180 |
// misc. |
1055
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181 |
ec_sync_t *ec_slave_get_sync(ec_slave_t *, uint8_t); |
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|
182 |
|
423
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Better debugging output for SDO dictionaries.
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|
183 |
void ec_slave_sdo_dict_info(const ec_slave_t *, |
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
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|
184 |
unsigned int *, unsigned int *); |
740
68d83b45dfa2
Added ec_slave_get_sdo() and ec_sdo_get_entry().
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|
185 |
ec_sdo_t *ec_slave_get_sdo(ec_slave_t *, uint16_t); |
967
93807963b906
Added ec_slave_get_sdo_const().
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|
186 |
const ec_sdo_t *ec_slave_get_sdo_const(const ec_slave_t *, uint16_t); |
964
957f21465052
Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
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|
187 |
const ec_sdo_t *ec_slave_get_sdo_by_pos_const(const ec_slave_t *, uint16_t); |
957f21465052
Added ec_slave_get_sdo_by_pos_const() and ec_slave_sdo_count().
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|
188 |
uint16_t ec_slave_sdo_count(const ec_slave_t *); |
799 | 189 |
const ec_pdo_t *ec_slave_find_pdo(const ec_slave_t *, uint16_t); |
1186
ff481f097c97
Attach Pdo names from dictionary.
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diff
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|
190 |
void ec_slave_attach_pdo_names(ec_slave_t *); |
423
862ff892cf18
Better debugging output for SDO dictionaries.
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421
diff
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|
191 |
|
1425
c1322a8793c0
Transition delay calculation. TBC...
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|
192 |
void ec_slave_calc_port_delays(ec_slave_t *); |
1426 | 193 |
void ec_slave_calc_transmission_delays_rec(ec_slave_t *, uint32_t *); |
1425
c1322a8793c0
Transition delay calculation. TBC...
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diff
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|
194 |
|
39
6965c23a6826
likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
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5
diff
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|
195 |
/*****************************************************************************/ |
0 | 196 |
|
197 |
#endif |