author | Florian Pose <fp@igh-essen.com> |
Tue, 01 Jun 2010 22:51:51 +0200 | |
changeset 1935 | 8ea1033bd4c2 |
parent 1509 | a864688e7de5 |
child 2123 | 4c335a1d4db0 |
child 2149 | 98e1e773bed0 |
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. |
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*/ |
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/*****************************************************************************/ |
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#ifndef __EC_SYNC_H__ |
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#define __EC_SYNC_H__ |
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#include "globals.h" |
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#include "pdo_list.h" |
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#include "sync_config.h" |
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/*****************************************************************************/ |
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/** Sync manager. |
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*/ |
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typedef struct { |
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ec_slave_t *slave; /**< Slave, the sync manager belongs to. */ |
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uint16_t physical_start_address; /**< Physical start address. */ |
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uint16_t default_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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ec_pdo_list_t pdos; /**< Current PDO assignment. */ |
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} ec_sync_t; |
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/*****************************************************************************/ |
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void ec_sync_init(ec_sync_t *, ec_slave_t *); |
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void ec_sync_init_copy(ec_sync_t *, const ec_sync_t *); |
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void ec_sync_clear(ec_sync_t *); |
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void ec_sync_page(const ec_sync_t *, uint8_t, uint16_t, |
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const ec_sync_config_t *, uint8_t *); |
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int ec_sync_add_pdo(ec_sync_t *, const ec_pdo_t *); |
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ec_direction_t ec_sync_default_direction(const ec_sync_t *); |
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/*****************************************************************************/ |
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#endif |