master/domain.h
author Florian Pose <fp@igh-essen.com>
Thu, 02 Oct 2008 09:56:39 +0000
branchstable-1.3
changeset 1760 036f19bde00b
parent 1739 5fcbd29151d2
permissions -rw-r--r--
Fixed lsec for terminals that do not support getting the terminal width.
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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 domain structure.
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*/
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/*****************************************************************************/
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#ifndef _EC_DOMAIN_H_
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#define _EC_DOMAIN_H_
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#include <linux/list.h>
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#include <linux/kobject.h>
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#include "globals.h"
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#include "datagram.h"
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#include "master.h"
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/*****************************************************************************/
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/**
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   EtherCAT domain.
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   Handles the process data and the therefore needed datagrams of a certain
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   group of slaves.
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*/
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struct ec_domain
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{
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    struct kobject kobj; /**< kobject */
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    struct list_head list; /**< list item */
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    unsigned int index; /**< domain index (just a number) */
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    ec_master_t *master; /**< EtherCAT master owning the domain */
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    size_t data_size; /**< size of the process data */
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    struct list_head datagrams; /**< process data datagrams */
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    uint32_t base_address; /**< logical offset address of the process data */
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    unsigned int response_count; /**< number of responding slaves */
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    unsigned int state; /**< domain error state */
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    struct list_head data_regs; /**< PDO data registrations */
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    unsigned int working_counter_changes; /**< working counter changes
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                                             since last notification */
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    unsigned long notify_jiffies; /**< time of last notification */
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};
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/*****************************************************************************/
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int ec_domain_init(ec_domain_t *, ec_master_t *, unsigned int);
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void ec_domain_destroy(ec_domain_t *);
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int ec_domain_alloc(ec_domain_t *, uint32_t);
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/*****************************************************************************/
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#endif