master/sync.h
author Florian Pose <fp@igh-essen.com>
Wed, 13 Jan 2010 00:04:47 +0100
branchstable-1.4
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parent 1686 e206f4485f60
permissions -rw-r--r--
merge
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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