1 /******************************************************************************

     2  *

     3  *  $Id$

     4  *

     5  *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH

     6  *

     7  *  This file is part of the IgH EtherCAT Master.

     8  *

     9  *  The IgH EtherCAT Master is free software; you can redistribute it

    10  *  and/or modify it under the terms of the GNU General Public License

    11  *  as published by the Free Software Foundation; either version 2 of the

    12  *  License, or (at your option) any later version.

    13  *

    14  *  The IgH EtherCAT Master is distributed in the hope that it will be

    15  *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of

    16  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    17  *  GNU General Public License for more details.

    18  *

    19  *  You should have received a copy of the GNU General Public License

    20  *  along with the IgH EtherCAT Master; if not, write to the Free Software

    21  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

    22  *

    23  *  The right to use EtherCAT Technology is granted and comes free of

    24  *  charge under condition of compatibility of product made by

    25  *  Licensee. People intending to distribute/sell products based on the

    26  *  code, have to sign an agreement to guarantee that products using

    27  *  software based on IgH EtherCAT master stay compatible with the actual

    28  *  EtherCAT specification (which are released themselves as an open

    29  *  standard) as the (only) precondition to have the right to use EtherCAT

    30  *  Technology, IP and trade marks.

    31  *

    32  *****************************************************************************/

    33 

    34 /** \file

    35  * EtherCAT FMMU configuration structure.

    36  */

    37 

    38 /*****************************************************************************/

    39 

    40 #ifndef _EC_FMMU_CONFIG_H_

    41 #define _EC_FMMU_CONFIG_H_

    42 

    43 #include "../include/ecrt.h"

    44 

    45 #include "globals.h"

    46 

    47 /*****************************************************************************/

    48 

    49 /** FMMU configuration.

    50  */

    51 typedef struct

    52 {

    53     const ec_slave_config_t *sc; /**< EtherCAT slave config. */

    54     const ec_domain_t *domain; /**< Domain. */

    55     ec_direction_t dir; /**< PDO direction. */

    56 

    57     uint32_t logical_start_address; /**< Logical start address. */

    58     unsigned int data_size; /**< Covered PDO size. */

    59 }

    60 ec_fmmu_config_t;

    61 

    62 /*****************************************************************************/

    63 

    64 void ec_fmmu_config_init(ec_fmmu_config_t *, ec_slave_config_t *,

    65         ec_domain_t *, ec_direction_t);

    66 

    67 void ec_fmmu_config_page(const ec_fmmu_config_t *, const ec_sync_t *,

    68         uint8_t *);

    69 

    70 /*****************************************************************************/

    71 

    72 #endif