author | Florian Pose <fp@igh-essen.com> |
Thu, 03 Apr 2008 15:31:34 +0000 | |
changeset 882 | a7222d7fb7a8 |
parent 879 | 9b395c5646ab |
child 883 | 4963e22a267a |
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 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 |
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* and/or modify it under the terms of the GNU General Public License |
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* as published by the Free Software Foundation; either version 2 of the |
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* License, or (at your option) any later version. |
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* |
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* The IgH EtherCAT Master is distributed in the hope that it will be |
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* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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* GNU General 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 |
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* along 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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* The right to use EtherCAT Technology is granted and comes free of |
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* charge under condition of compatibility of product made by |
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* Licensee. People intending to distribute/sell products based on the |
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* code, have to sign an agreement to guarantee that products using |
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* software based on IgH EtherCAT master stay compatible with the actual |
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* EtherCAT specification (which are released themselves as an open |
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* standard) as the (only) precondition to have the right to use EtherCAT |
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* Technology, IP and trade marks. |
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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 <linux/kobject.h> |
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#include "../include/ecrt.h" |
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#include "globals.h" |
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#include "slave.h" |
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#include "fmmu_config.h" |
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#include "pdo_list.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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struct kobject kobj; /**< kobject. */ |
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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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ec_slave_t *slave; /**< Slave pointer. This is \a NULL, if the slave is |
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offline. */ |
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ec_pdo_list_t pdos[2]; /**< Output and input Pdo assignment / mapping. */ |
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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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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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}; |
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/*****************************************************************************/ |
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int 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_destroy(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_assignment(ec_slave_config_t *); |
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void ec_slave_config_load_default_mapping(const ec_slave_config_t *, |
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ec_pdo_t *); |
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/*****************************************************************************/ |
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#endif |