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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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 *  Using the EtherCAT technology and brand is permitted in compliance with

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 *  the 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 "../include/ecrt.h"

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#include "globals.h"

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#include "pdo_list.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, ec_direction_t,

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        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