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1 /****************************************************************************** |
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2 * |
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3 * $Id$ |
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4 * |
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5 * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH |
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6 * |
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7 * This file is part of the IgH EtherCAT Master. |
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8 * |
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9 * The IgH EtherCAT Master is free software; you can redistribute it |
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10 * and/or modify it under the terms of the GNU General Public License |
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11 * as published by the Free Software Foundation; either version 2 of the |
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12 * License, or (at your option) any later version. |
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13 * |
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14 * The IgH EtherCAT Master is distributed in the hope that it will be |
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15 * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of |
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16 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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17 * GNU General Public License for more details. |
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18 * |
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19 * You should have received a copy of the GNU General Public License |
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20 * along with the IgH EtherCAT Master; if not, write to the Free Software |
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21 * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
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22 * |
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23 * The right to use EtherCAT Technology is granted and comes free of |
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24 * charge under condition of compatibility of product made by |
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25 * Licensee. People intending to distribute/sell products based on the |
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26 * code, have to sign an agreement to guarantee that products using |
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27 * software based on IgH EtherCAT master stay compatible with the actual |
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28 * EtherCAT specification (which are released themselves as an open |
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29 * standard) as the (only) precondition to have the right to use EtherCAT |
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30 * Technology, IP and trade marks. |
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31 * |
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32 *****************************************************************************/ |
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33 |
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34 /** |
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35 \file |
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36 EtherCAT slave configuration structure. |
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37 */ |
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38 |
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39 /*****************************************************************************/ |
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40 |
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41 #ifndef _EC_SLAVE_CONFIG_H_ |
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42 #define _EC_SLAVE_CONFIG_H_ |
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43 |
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44 #include <linux/list.h> |
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45 #include <linux/kobject.h> |
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46 |
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47 #include "../include/ecrt.h" |
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48 |
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49 #include "globals.h" |
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50 #include "slave.h" |
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51 #include "fmmu_config.h" |
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52 #include "pdo_mapping.h" |
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53 |
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54 /*****************************************************************************/ |
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55 |
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56 /** EtherCAT slave configuration. |
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57 */ |
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58 struct ec_slave_config { |
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59 struct list_head list; /**< List item. */ |
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60 struct kobject kobj; /**< kobject. */ |
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61 ec_master_t *master; /**< Master owning the slave configuration. */ |
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62 |
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63 uint16_t alias; /**< Slave alias. */ |
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64 uint16_t position; /**< Index after alias. If alias is zero, this is the |
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65 ring position. */ |
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66 uint32_t vendor_id; /**< Slave vendor ID. */ |
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67 uint32_t product_code; /**< Slave product code. */ |
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68 |
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69 ec_slave_t *slave; /**< Slave pointer. This is \a NULL, if the slave is |
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70 offline. */ |
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71 |
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72 ec_pdo_mapping_t mapping[2]; /**< Output and input PDO mapping. */ |
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73 |
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74 struct list_head sdo_configs; /**< SDO configurations. */ |
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75 |
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76 ec_fmmu_config_t fmmu_configs[EC_MAX_FMMUS]; /**< FMMU configurations. */ |
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77 uint8_t used_fmmus; /**< Number of FMMUs used. */ |
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78 }; |
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79 |
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80 /*****************************************************************************/ |
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81 |
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82 int ec_slave_config_init(ec_slave_config_t *, ec_master_t *, uint16_t, |
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83 uint16_t, uint32_t, uint32_t); |
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84 void ec_slave_config_destroy(ec_slave_config_t *); |
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85 |
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86 int ec_slave_config_reg_pdo_entry(ec_slave_config_t *, ec_domain_t *, |
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87 uint16_t, uint8_t); |
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88 |
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89 int ec_slave_config_attach(ec_slave_config_t *); |
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90 void ec_slave_config_detach(ec_slave_config_t *); |
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91 |
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92 void ec_slave_config_load_default_mapping(ec_slave_config_t *); |
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93 |
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94 /*****************************************************************************/ |
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95 |
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96 #endif |