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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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 *

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 * EtherCAT Realtime Interface.

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 *

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 * \defgroup RealtimeInterface EtherCAT Realtime 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 1.4:

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 *

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 * - Replaced ec_slave_t with ec_slave_config_t, separating the slave objects

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 *   from the requested bus configuration. Therefore, renamed

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 *   ecrt_master_get_slave() to ecrt_master_slave_config().

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 * - Replaced slave address string with alias and position values. See

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 *   ecrt_master_slave_config().

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 * - Removed ecrt_master_get_slave_by_pos(), because it is no longer

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 *   necessary due to alias/position addressing.

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 * - Added ec_slave_config_state_t for the new method

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 *   ecrt_slave_config_state().

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 * - Process data memory for a domain can now be allocated externally. This

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 *   offers the possibility to use a shared-memory region. Therefore,

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 *   added the domain methods ecrt_domain_size() and

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 *   ecrt_domain_external_memory().

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 * - Pdo entry registration functions do not return a process data pointer,

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 *   but an offset in the domain's process data. In addition, an optional bit

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 *   position can be requested. This was necessary for the external domain

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 *   memory. An additional advantage is, that the returned offset is

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 *   immediately valid. If the domain's process data is allocated internally,

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 *   the start address can be retrieved with ecrt_domain_data().

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 * - Replaced ecrt_slave_pdo_mapping/add/clear() with

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 *   ecrt_slave_config_pdo_assign_add() to add a Pdo to a sync manager's Pdo

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 *   assignment and ecrt_slave_config_pdo_mapping_add() to add a Pdo entry to a

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 *   Pdo's mapping. ecrt_slave_config_pdos() is a convenience function

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 *   for both, that uses the new data types ec_pdo_info_t and

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 *   ec_pdo_entry_info_t. Pdo entries, that are mapped with these functions

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 *   can now immediately be registered, even if the bus is offline.

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 * - Renamed ec_bus_status_t, ec_master_status_t to ec_bus_state_t and

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 *   ec_master_state_t, respectively. Renamed ecrt_master_get_status() to

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 *   ecrt_master_state(), for consistency reasons.

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 * - Added ec_domain_state_t and ec_wc_state_t for a new output parameter

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 *   of ecrt_domain_state(). The domain state object does now contain

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 *   information, if the process data was exchanged completely.

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 * - Former "Pdo registration" meant Pdo entry registration in fact, therefore

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 *   renamed ec_pdo_reg_t to ec_pdo_entry_reg_t and ecrt_domain_register_pdo()

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 *   to ecrt_slave_config_reg_pdo_entry().

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 * - Removed ecrt_domain_register_pdo_range(), because it's functionality can

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 *   be reached by specifying an explicit Pdo assignment/mapping and

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 *   registering the mapped Pdo entries.

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 * - Added an Sdo access interface, working with Sdo requests. These can be

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 *   scheduled for reading and writing during realtime operation.

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 * - Exported ecrt_slave_config_sdo(), the generic Sdo configuration function.

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 * - Removed the bus_state and bus_tainted flags from ec_master_state_t.

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 *

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 * @{

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 */

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

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#ifndef __ECRT_H__

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#define __ECRT_H__

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#include <asm/byteorder.h>

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#ifdef __KERNEL__

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#include <linux/types.h>

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#else

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#include <stdint.h>

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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 4

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

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/** End of the Pdo entry list.

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 *

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 * This is used in ecrt_slave_config_pdos().

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 */

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#define EC_END ~0U

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

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 * Data types 

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

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

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

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

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

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

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/** Direction type for Pdo assignment functions.

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 */

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typedef enum {

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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_direction_t;

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

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/** Pdo entry information.

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 *

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 * This can be used to map multiple Pdo entries into a given Pdo using

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 * ecrt_slave_config_pdos().

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 */

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typedef struct {

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    uint16_t index; /**< Index of the Pdo entry to add to the Pdo

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                            mapping. */

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    uint8_t subindex; /**< Subindex of the Pdo entry. */

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

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/** Pdo information.

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 *

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 * This can be use to assign multiple Pdos to a sync manager using

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 * ecrt_slave_config_pdos().

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 */

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typedef struct {

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    ec_direction_t dir; /**< Pdo direction (input/output). */

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    uint16_t index; /**< Index of the Pdo to assign. */

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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. This must

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                                    contain at least \a n_entries values. */

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} ec_pdo_info_t;

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

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/** 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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 */

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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;

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

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/** Sdo request state.

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 *

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 * This is used as return type of ecrt_sdo_request_state().

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 */

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typedef enum {

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    EC_SDO_REQUEST_UNUSED, /**< Not requested. */

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    EC_SDO_REQUEST_BUSY, /**< Request is being processed. */

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    EC_SDO_REQUEST_SUCCESS, /**< Request was processed successfully. */

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    EC_SDO_REQUEST_ERROR, /**< Request processing failed. */

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} ec_sdo_request_state_t;

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   294

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

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 * Global functions

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

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   298

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

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 *

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

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 */

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unsigned int ecrt_version_magic(void);

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/** Requests an EtherCAT master for realtime operation.

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 * 

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 * \return pointer to reserved master, or NULL on error

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 */

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ec_master_t *ecrt_request_master(

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

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        );

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/** Releases a requested EtherCAT master.

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 */

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void ecrt_release_master(

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        ec_master_t *master /**< EtherCAT master */

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        );

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

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 * Master methods

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

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/** Sets the locking callbacks.

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 *

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 * The request_cb function must return zero, to allow another instance

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 * (the EoE process for example) to access the master. Non-zero means,

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 * that access is forbidden at this time.

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 */

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void ecrt_master_callbacks(

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        ec_master_t *master, /**< EtherCAT master */

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        int (*request_cb)(void *), /**< Lock request function. */

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        void (*release_cb)(void *), /**< Lock release function. */

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        void *cb_data /**< Arbitrary user data. */

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        );

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/** Creates a new domain.

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 *

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 * \return Pointer to the new domain on success, else NULL.

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 */

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ec_domain_t *ecrt_master_create_domain(

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        ec_master_t *master /**< EtherCAT master. */

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        );

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/** Obtains a slave configuration.

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 *

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 * Creates a slave configuration object for the given \a alias and \a position

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 * tuple and returns it. If a configuration with the same \a alias and \a

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 * position already exists, it will be re-used. In the latter case, the given

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 * vendor ID and product code are compared to the stored ones. On mismatch, an

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 * error message is raised and the function returns \a NULL.

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 *

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 * Slaves are addressed with the \a alias and \a position parameters.

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 * - If \a alias is zero, \a position is interpreted as the desired slave's

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 *   ring position.

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 * - If \a alias is non-zero, it matches a slave with the given alias. In this

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 *   case, \a position is interpreted as ring offset, starting from the

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 *   aliased slave, so a position of zero means the aliased slave itself and a

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 *   positive value matches the n-th slave behind the aliased one.

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 *

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 * If the slave with the given address is found during the bus configuration,

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 * its vendor ID and product code are matched against the given value. On

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 * mismatch, the slave is not configured and an error message is raised.

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 *

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 * If different slave configurations are pointing to the same slave during bus

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 * configuration, a warning is raised and only the first configuration is

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 * applied.

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 *

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 * \retval >0 Pointer to the slave configuration structure.

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 * \retval NULL in the error case.

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 */

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ec_slave_config_t *ecrt_master_slave_config(

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        ec_master_t *master, /**< EtherCAT master */

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        uint16_t alias, /**< Slave alias. */

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        uint16_t position, /**< Slave position. */

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        uint32_t vendor_id, /**< Expected vendor ID. */

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        uint32_t product_code /**< Expected product code. */

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        );

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/** Finishes the configuration phase and prepares for realtime mode.

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 *

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 * This function tells the master that the configuration phase is finished and

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 * the realtime operation will begin. The function allocates internal memory

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 * for the domains and calculates the logical FMMU addresses for domain

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 * members. It tells the master state machine that the bus configuration is

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 * now to be applied.

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 *

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 * \attention After this function has been called, the realtime application is

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 * in charge of cyclically calling ecrt_master_send() and

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 * ecrt_master_receive() to ensure bus communication. Before calling this

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 * function, the master thread is responsible for that, so these functions may

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 * not be called!

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 *

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 * \return 0 in case of success, else < 0

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 */

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int ecrt_master_activate(

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        ec_master_t *master /**< EtherCAT master. */

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        );

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/** Sends all datagrams in the queue.

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 *

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 * This has to be called cyclically by the realtime application after

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 * ecrt_master_activate() has returned.

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 */

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void ecrt_master_send(

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        ec_master_t *master /**< EtherCAT master. */

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        );

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/** Fetches received frames from the hardware and processes the datagrams.

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 *

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 * This has to be called cyclically by the realtime application after

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 * ecrt_master_activate() has returned.

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 */

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void ecrt_master_receive(

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        ec_master_t *master /**< EtherCAT master. */

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        );

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/** Reads the current master state.

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 *

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 * Stores the master state information in the given \a state structure.

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 */

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void ecrt_master_state(

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        const ec_master_t *master, /**< EtherCAT master. */

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        ec_master_state_t *state /**< Structure to store the information. */

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        );

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   425

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

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 * Slave configuration methods

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

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/** Add a Pdo to a sync manager's Pdo assignment.

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 *

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 * \see ecrt_slave_config_pdos()

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 * \return zero on success, else non-zero

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 */

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int ecrt_slave_config_pdo_assign_add(

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        ec_slave_config_t *sc, /**< Slave configuration. */

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        ec_direction_t dir, /**< Sync manager direction (input/output). */

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        uint16_t index /**< Index of the Pdo to assign. */

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        );

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   440

/** Clear a sync manager's Pdo assignment.

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 *

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 * This can be called before assigning Pdos via

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 * ecrt_slave_config_pdo_assign_add(), to clear the default assignment.

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 */

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void ecrt_slave_config_pdo_assign_clear(

   446

        ec_slave_config_t *sc, /**< Slave configuration. */

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        ec_direction_t dir /**< Sync manager direction (input/output). */

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        );

   449

   450

/** Add a Pdo entry to the given Pdo's mapping.

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 *

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 * \see ecrt_slave_config_pdos()

   453

 * \return zero on success, else non-zero

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 */

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int ecrt_slave_config_pdo_mapping_add(

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        ec_slave_config_t *sc, /**< Slave configuration. */

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        uint16_t pdo_index, /**< Index of the Pdo. */

   458

        uint16_t entry_index, /**< Index of the Pdo entry to add to the Pdo's

   459

                                mapping. */

   460

        uint8_t entry_subindex, /**< Subindex of the Pdo entry to add to the

   461

                                  Pdo's mapping. */

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        uint8_t entry_bit_length /**< Size of the Pdo entry in bit. */

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        );

   464

   465

/** Clear the mapping of a given Pdo.

   466

 *

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 * This can be called before mapping Pdo entries via

   468

 * ecrt_slave_config_pdo_mapping_add(), to clear the default mapping.

   469

 */

   470

void ecrt_slave_config_pdo_mapping_clear(

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        ec_slave_config_t *sc, /**< Slave configuration. */

   472

        uint16_t pdo_index /**< Index of the Pdo. */

   473

        );

   474

   475

/** Specify the Pdo assignment and (optionally) the Pdo mappings.

   476

 *

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 * This function is a convenience wrapper for the functions

   478

 * ecrt_slave_config_pdo_assign_clear(), ecrt_slave_config_pdo_assign_add(),

   479

 * ecrt_slave_config_pdo_mapping_clear() and

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 * ecrt_slave_config_pdo_mapping_add(), that are better suitable for automatic

   481

 * code generation.

   482

 *

   483

 * The following example shows, how to specify a complete Pdo assignment

   484

 * including the Pdo mappings. With this information, the master is able to

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 * reserve the complete process data, even if the slave is not present at

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 * configuration time:

   487

 *

   488

 * \code