author | Florian Pose <fp@igh-essen.com> |
Fri, 01 Feb 2008 20:26:26 +0000 | |
changeset 779 | b39a6a4d3671 |
parent 758 | 8fa6f825eb7d |
child 791 | 3b81d074735c |
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 stave structure. |
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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 "../include/ecrt.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 "fmmu.h" |
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/*****************************************************************************/ |
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/** maximum number of FMMUs per slave */ |
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#define EC_MAX_FMMUS 16 |
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/*****************************************************************************/ |
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/** |
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* State of an EtherCAT slave. |
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*/ |
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typedef enum |
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{ |
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EC_SLAVE_STATE_UNKNOWN = 0x00, |
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/**< unknown state */ |
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EC_SLAVE_STATE_INIT = 0x01, |
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/**< INIT state (no mailbox communication, no IO) */ |
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EC_SLAVE_STATE_PREOP = 0x02, |
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/**< PREOP state (mailbox communication, no IO) */ |
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EC_SLAVE_STATE_SAVEOP = 0x04, |
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/**< SAVEOP (mailbox communication and input update) */ |
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EC_SLAVE_STATE_OP = 0x08, |
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/**< OP (mailbox communication and input/output update) */ |
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EC_SLAVE_STATE_ACK_ERR = 0x10 |
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/**< Acknowledge/Error bit (no actual state) */ |
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} |
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ec_slave_state_t; |
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/*****************************************************************************/ |
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/** |
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* EtherCAT slave online state. |
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*/ |
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typedef enum { |
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EC_SLAVE_OFFLINE, |
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EC_SLAVE_ONLINE |
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} |
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ec_slave_online_state_t; |
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/*****************************************************************************/ |
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/** |
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* Supported mailbox protocols. |
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*/ |
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enum |
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{ |
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EC_MBOX_AOE = 0x01, /**< ADS-over-EtherCAT */ |
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EC_MBOX_EOE = 0x02, /**< Ethernet-over-EtherCAT */ |
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EC_MBOX_COE = 0x04, /**< CANopen-over-EtherCAT */ |
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EC_MBOX_FOE = 0x08, /**< File-Access-over-EtherCAT */ |
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EC_MBOX_SOE = 0x10, /**< Servo-Profile-over-EtherCAT */ |
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EC_MBOX_VOE = 0x20 /**< Vendor specific */ |
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}; |
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/*****************************************************************************/ |
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/** |
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* EtherCAT slave. |
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*/ |
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116 |
|
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struct ec_slave |
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{ |
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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 */ |
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122 |
|
610
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ec_slave_state_t requested_state; /**< requested application state */ |
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ec_slave_state_t current_state; /**< current application state */ |
611
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ec_slave_online_state_t online_state; /**< online state */ |
523
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unsigned int self_configured; /**< slave was configured by this master */ |
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unsigned int error_flag; /**< stop processing after an error */ |
612
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unsigned int pdos_registered; /**< non-zero, if PDOs were registered */ |
325
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129 |
|
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130 |
// 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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133 |
|
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134 |
// base data |
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uint8_t base_type; /**< slave type */ |
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136 |
uint8_t base_revision; /**< revision */ |
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137 |
uint16_t base_build; /**< build number */ |
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138 |
uint16_t base_fmmu_count; /**< number of supported FMMUs */ |
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139 |
|
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140 |
// data link status |
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|
141 |
uint8_t dl_link[4]; /**< link detected */ |
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|
142 |
uint8_t dl_loop[4]; /**< loop closed */ |
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uint8_t dl_signal[4]; /**< detected signal on RX port */ |
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|
144 |
|
325
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145 |
// EEPROM |
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uint8_t *eeprom_data; /**< Complete EEPROM image */ |
601
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|
147 |
size_t eeprom_size; /**< size of the EEPROM contents in bytes */ |
325
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148 |
|
195
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|
149 |
// slave information interface |
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150 |
uint16_t sii_alias; /**< configured station alias */ |
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|
151 |
uint32_t sii_vendor_id; /**< vendor id */ |
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152 |
uint32_t sii_product_code; /**< vendor's product code */ |
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153 |
uint32_t sii_revision_number; /**< revision number */ |
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|
154 |
uint32_t sii_serial_number; /**< serial number */ |
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|
155 |
uint16_t sii_rx_mailbox_offset; /**< mailbox address (master to slave) */ |
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|
156 |
uint16_t sii_rx_mailbox_size; /**< mailbox size (master to slave) */ |
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|
157 |
uint16_t sii_tx_mailbox_offset; /**< mailbox address (slave to master) */ |
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|
158 |
uint16_t sii_tx_mailbox_size; /**< mailbox size (slave to master) */ |
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|
159 |
uint16_t sii_mailbox_protocols; /**< supported mailbox protocols */ |
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|
160 |
uint8_t sii_physical_layer[4]; /**< port media */ |
624
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|
161 |
char **sii_strings; /**< strings in EEPROM categories */ |
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|
162 |
unsigned int sii_string_count; /**< number of EEPROM strings */ |
626
a5e838c30733
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|
163 |
ec_sync_t *sii_syncs; /**< EEPROM SYNC MANAGER categories */ |
618
e4b89c862c43
SII sync managers as array instead of list, removed sync manager
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|
164 |
unsigned int sii_sync_count; /**< number of sync managers in EEPROM */ |
325
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165 |
struct list_head sii_pdos; /**< EEPROM [RT]XPDO categories */ |
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166 |
char *sii_group; /**< slave group acc. to EEPROM */ |
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char *sii_image; /**< slave image name acc. to EEPROM */ |
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168 |
char *sii_order; /**< slave order number acc. to EEPROM */ |
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char *sii_name; /**< slave name acc. to EEPROM */ |
499
fb005e975181
Current consumption in sysfs; "lsec -c" shows current consumption and remaining current.
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int16_t sii_current_on_ebus; /**< power consumption */ |
195
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|
171 |
|
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ec_fmmu_t fmmus[EC_MAX_FMMUS]; /**< FMMU configurations */ |
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uint8_t fmmu_count; /**< number of FMMUs used */ |
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|
174 |
|
419
cf724fc82a00
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|
175 |
struct kobject sdo_kobj; /**< kobject for SDOs */ |
399 | 176 |
struct list_head sdo_dictionary; /**< SDO dictionary list */ |
329
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SDO configuration interface, SDO download state machine.
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|
177 |
struct list_head sdo_confs; /**< list of SDO configurations */ |
419
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|
178 |
uint8_t sdo_dictionary_fetched; /**< dictionary has been fetched */ |
742
03d2fe3d4a93
Improved checking of EEPROM data while reading.
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|
179 |
unsigned long jiffies_preop; /**< time, the slave went to PREOP */ |
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|
180 |
|
741
aece53f82df3
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|
181 |
uint8_t pdo_mapping_fetched; /**< PDO mapping has been fetched */ |
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182 |
}; |
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|
183 |
|
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|
184 |
/*****************************************************************************/ |
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|
185 |
|
195
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|
186 |
// slave construction/destruction |
182
8c0bc99229a9
Slaves stored in list, slaves in SysFS
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|
187 |
int ec_slave_init(ec_slave_t *, ec_master_t *, uint16_t, uint16_t); |
448
e4b76dc7910c
FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
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|
188 |
void ec_slave_destroy(ec_slave_t *); |
73
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|
189 |
|
446 | 190 |
void ec_slave_reset(ec_slave_t *); |
191 |
||
160
7ddf8367196a
Renamed slave_set_fmmu() to slave_prepare_fmmu().
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|
192 |
int ec_slave_prepare_fmmu(ec_slave_t *, const ec_domain_t *, |
626
a5e838c30733
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|
193 |
const ec_sync_t *); |
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diff
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|
194 |
|
446 | 195 |
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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|
196 |
void ec_slave_set_state(ec_slave_t *, ec_slave_state_t); |
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|
197 |
void ec_slave_set_online_state(ec_slave_t *, ec_slave_online_state_t); |
446 | 198 |
|
325
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|
199 |
// SII categories |
742
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|
200 |
int ec_slave_fetch_sii_strings(ec_slave_t *, const uint8_t *, size_t); |
03d2fe3d4a93
Improved checking of EEPROM data while reading.
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|
201 |
int ec_slave_fetch_sii_general(ec_slave_t *, const uint8_t *, size_t); |
620
4f76acbf54a0
Renamed SII fetching functions (non-functional).
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|
202 |
int ec_slave_fetch_sii_syncs(ec_slave_t *, const uint8_t *, size_t); |
4f76acbf54a0
Renamed SII fetching functions (non-functional).
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changeset
|
203 |
int ec_slave_fetch_sii_pdos(ec_slave_t *, const uint8_t *, size_t, |
625
ec69acbbd156
Renamed ec_sii_pdo_t and ec_sii_pdo_entry_t to ec_pdo_t and
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diff
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|
204 |
ec_pdo_type_t); |
238
b4960499098f
Added finite state machine (FSM) processing.
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|
205 |
|
195
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|
206 |
// misc. |
626
a5e838c30733
Renamed ec_sii_sync_t to ec_sync_t.
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diff
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|
207 |
ec_sync_t *ec_slave_get_pdo_sync(ec_slave_t *, ec_direction_t); |
410 | 208 |
int ec_slave_validate(const ec_slave_t *, uint32_t, uint32_t); |
423
862ff892cf18
Better debugging output for SDO dictionaries.
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diff
changeset
|
209 |
void ec_slave_sdo_dict_info(const ec_slave_t *, |
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
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|
210 |
unsigned int *, unsigned int *); |
740
68d83b45dfa2
Added ec_slave_get_sdo() and ec_sdo_get_entry().
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diff
changeset
|
211 |
ec_sdo_t *ec_slave_get_sdo(ec_slave_t *, uint16_t); |
423
862ff892cf18
Better debugging output for SDO dictionaries.
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diff
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|
212 |
|
39
6965c23a6826
likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
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|
213 |
/*****************************************************************************/ |
0 | 214 |
|
215 |
#endif |