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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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/** \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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/** EtherCAT Pdo assignment source.

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 */

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typedef enum {

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    EC_ASSIGN_NONE, /**< No Pdos assigned. */

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    EC_ASSIGN_SII, /**< Pdo assignment read from SII. */

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    EC_ASSIGN_COE, /**< Pdo assignment read via CoE. */

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    EC_ASSIGN_CUSTOM, /**< Pdos assignment set by application. */

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} ec_assign_source_t;

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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_assign_source_t assign_source; /**< Pdo assignment source. */

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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