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453 */ |
453 */ |
454 void ecrt_release_master( |
454 void ecrt_release_master( |
455 ec_master_t *master /**< EtherCAT master */ |
455 ec_master_t *master /**< EtherCAT master */ |
456 ); |
456 ); |
457 |
457 |
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458 |
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459 #ifdef __KERNEL__ |
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460 /** Attach to a running master |
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461 * |
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462 * This function returns the master handle for the RTDM-Interface |
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463 * |
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464 * \return Pointer to the opened master, otherwise \a NULL. |
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465 */ |
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466 ec_master_t *ecrt_attach_master( |
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467 unsigned int master_index /**< Index of the master to request. */ |
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468 ); |
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469 |
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470 #endif // #ifdef __KERNEL__ |
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471 |
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472 |
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473 |
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474 |
458 /****************************************************************************** |
475 /****************************************************************************** |
459 * Master methods |
476 * Master methods |
460 *****************************************************************************/ |
477 *****************************************************************************/ |
461 |
478 |
462 #ifndef __KERNEL__ |
479 #ifndef __KERNEL__ |
498 void (*receive_cb)(void *), /**< Receive callback. */ |
515 void (*receive_cb)(void *), /**< Receive callback. */ |
499 void *cb_data /**< Arbitraty pointer passed to the callback functions. |
516 void *cb_data /**< Arbitraty pointer passed to the callback functions. |
500 */ |
517 */ |
501 ); |
518 ); |
502 |
519 |
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520 |
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521 /** Returns domain structure pointer |
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522 * |
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523 * This functions return the domain structure pointer for usage inside the |
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524 * RTDM-Interface. |
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525 * |
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526 * \return Pointer to the domain on success, else NULL. |
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527 */ |
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528 ec_domain_t *ecrt_master_find_domain( |
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529 ec_master_t *master, |
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530 unsigned int index); |
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531 |
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532 |
503 #endif /* __KERNEL__ */ |
533 #endif /* __KERNEL__ */ |
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534 |
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535 |
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536 #ifndef __KERNEL__ |
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537 /** Return the domain index of a given domain strucure |
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538 * |
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539 * Return the domain index of a given domain strucure. Usage inside of the |
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540 * RTDM Interface |
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541 * |
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542 * \return Index of the domain strucure |
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543 * |
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544 */ |
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545 unsigned int ecrt_domain_index( |
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546 ec_domain_t *domain |
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547 ); |
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548 |
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549 #endif // #ifndef __KERNEL__ |
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550 |
504 |
551 |
505 /** Creates a new process data domain. |
552 /** Creates a new process data domain. |
506 * |
553 * |
507 * For process data exchange, at least one process data domain is needed. |
554 * For process data exchange, at least one process data domain is needed. |
508 * This method creates a new process data domain and returns a pointer to the |
555 * This method creates a new process data domain and returns a pointer to the |
512 * \return Pointer to the new domain on success, else NULL. |
559 * \return Pointer to the new domain on success, else NULL. |
513 */ |
560 */ |
514 ec_domain_t *ecrt_master_create_domain( |
561 ec_domain_t *ecrt_master_create_domain( |
515 ec_master_t *master /**< EtherCAT master. */ |
562 ec_master_t *master /**< EtherCAT master. */ |
516 ); |
563 ); |
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564 |
517 |
565 |
518 /** Obtains a slave configuration. |
566 /** Obtains a slave configuration. |
519 * |
567 * |
520 * Creates a slave configuration object for the given \a alias and \a position |
568 * Creates a slave configuration object for the given \a alias and \a position |
521 * tuple and returns it. If a configuration with the same \a alias and \a |
569 * tuple and returns it. If a configuration with the same \a alias and \a |