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

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 *

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 *  $Id: ecrt.h,v ebda087981e1 2011/09/15 13:58:58 fp $

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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.

    13

 *

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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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 *

    23

 *  ---

    24

 *

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

    30

    31

/** \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 operation, and

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 *   ecrt_master_application_time(), ecrt_master_sync_reference_clock() and

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 *   ecrt_master_sync_slave_clocks() for offset and drift compensation. The

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 *   EC_TIMEVAL2NANO() macro can be used for epoch time conversion, while the

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 *   ecrt_master_sync_monitor_queue() and ecrt_master_sync_monitor_process()

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 *   methods can be used to monitor the synchrony.

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 * - Improved the callback mechanism. ecrt_master_callbacks() now takes two

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 *   callback functions for locking and unlocking the fsm datagram queue.

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 * - Added watchdog configuration (method ecrt_slave_config_watchdog(),

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 *   #ec_watchdog_mode_t, \a watchdog_mode parameter in ec_sync_info_t and

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 *   ecrt_slave_config_sync_manager()).

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 * - Added ecrt_slave_config_complete_sdo() method to download an SDO during

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 *   configuration via CompleteAccess.

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 * - Added ecrt_master_deactivate() to remove the bus configuration.

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 * - Added ecrt_open_master() and ecrt_master_reserve() separation for

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 *   userspace.

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 * - Added bus information interface (methods ecrt_master(),

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 *   ecrt_master_get_slave(), ecrt_master_get_sync_manager(),

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 *   ecrt_master_get_pdo() and ecrt_master_get_pdo_entry()) to get information

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 *   about the currently connected slaves and the PDO entries provided.

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 * - Added ecrt_master_sdo_download(), ecrt_master_sdo_download_complete() and

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 *   ecrt_master_sdo_upload() methods to let an application transfer SDOs

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 *   before activating the master.

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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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 * - Implemented 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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 * - 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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 * - Added ecrt_slave_config_idn() method for storing SoE IDN configurations,

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 *   and ecrt_master_read_idn() and ecrt_master_write_idn() to read/write IDNs

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 *   ad-hoc via the user-space library.

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 * - Added ecrt_master_reset() to initiate retrying to configure slaves.

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 * - Added support for overlapping PDOs which allows inputs to use the same

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 *   space as outputs on the frame. This reduces the frame length.

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 *

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 *

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 * @{

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 */

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

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    90

#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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   123

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

   124

   125

/** 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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   131

/** 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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   135

/** 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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/** Maximum number of slave ports. */

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#define EC_MAX_PORTS 4

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   144

/** 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 void ecrt_master_application_time()

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 *

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 * \param TV struct timeval containing epoch time.

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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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   155

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

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 * Data types

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

   158

   159

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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   174

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

   175

   176

/** 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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   196

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

   197

   198

/** 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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   214

                                 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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   218

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

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   220

/** Master information.

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 *

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

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 *

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 * \see ecrt_master().

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 */

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typedef struct {

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

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

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   uint8_t scan_busy; /**< \a true, while the master is scanning the bus */

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   uint64_t app_time; /**< Application time. */

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} ec_master_info_t;

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   233

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

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   235

/** EtherCAT slave port descriptor.

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 */

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typedef enum {

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    EC_PORT_NOT_IMPLEMENTED, /**< Port is not implemented. */

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    EC_PORT_NOT_CONFIGURED, /**< Port is not configured. */

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    EC_PORT_EBUS, /**< Port is an e-bus. */

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    EC_PORT_MII /**< Port is a mii. */

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} ec_slave_port_desc_t;

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

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/** EtherCAT slave port information.

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 */

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typedef struct {

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    uint8_t link_up; /**< Link detected. */

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    uint8_t loop_closed; /**< Loop closed. */

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    uint8_t signal_detected; /**< Detected signal on RX port. */

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} ec_slave_port_link_t;

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   254

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

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/** Slave information.

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 *

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

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 *

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 * \see ecrt_master_get_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; /**< Used current in mA. */

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    struct {

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        ec_slave_port_desc_t desc;

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        ec_slave_port_link_t link;

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        uint32_t receive_time;

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        uint16_t next_slave;

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        uint32_t delay_to_next_dc;

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    } ports[EC_MAX_PORTS];

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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 SDOs. */

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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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   284

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

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   286

/** 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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   297

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

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   299

/** 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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   308

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

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   310

/** 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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   319

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

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   321

/** Watchdog mode for sync manager configuration.

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 *

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 * Used to specify, if a sync manager's watchdog is to be enabled.

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 */

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typedef enum {

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    EC_WD_DEFAULT, /**< Use the default setting of the sync manager. */

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    EC_WD_ENABLE, /**< Enable the watchdog. */

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    EC_WD_DISABLE, /**< Disable the watchdog. */

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} ec_watchdog_mode_t;

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   331

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

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   333

/** 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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   345

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

   346

   347

/** 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. */

   362

} ec_pdo_info_t;

   363

   364

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

   365

   366

/** 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_watchdog_mode_t watchdog_mode; /**< Watchdog mode. */

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} ec_sync_info_t;

   382

   383

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

   384

   385

/** 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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 */

   390

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;

   404

   405

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

   406

   407

/** Request state.

   408

 *

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

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 * ecrt_voe_handler_state().

   411

 */

   412

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. */

   417

} ec_request_state_t;

   418

   419

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

   420

   421

/** Application-layer state.

   422

 */

   423

typedef enum {

   424

    EC_AL_STATE_INIT = 1, /**< Init. */

   425

    EC_AL_STATE_PREOP = 2, /**< Pre-operational. */

   426

    EC_AL_STATE_SAFEOP = 4, /**< Safe-operational. */

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    EC_AL_STATE_OP = 8, /**< Operational. */

   428

} ec_al_state_t;

   429

   430

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

   431

 * Global functions

   432

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

   433

   434

#ifdef __cplusplus

   435

extern "C" {

   436

#endif

   437

   438

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

   439

 *

   440

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

   441

 */

   442

unsigned int ecrt_version_magic(void);

   443

   444

/** Requests an EtherCAT master for realtime operation.

   445

 *

   446

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

   447

 * for exclusive use.

   448

 *

   449

 * In userspace, this is a convenience function for ecrt_open_master() and

   450

 * ecrt_master_reserve().

   451

 *

   452

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

   453

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

   454

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

   455

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

   456

 *

   457

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

   458

 */

   459

ec_master_t *ecrt_request_master(

   460

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

   461

        );

   462

   463

#ifndef __KERNEL__

   464

   465

/** Opens an EtherCAT master for userspace access.

   466

 *

   467

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

   468

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

   469

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

   470

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

   471

 *

   472

 * For convenience, the function ecrt_request_master() can be used.

   473

 *

   474

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

   475

 */

   476

ec_master_t *ecrt_open_master(

   477

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

   478

        );

   479

   480

#endif // #ifndef __KERNEL__

   481

   482

/** Releases a requested EtherCAT master.

   483

 *

   484

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

   485

 * applications.