47 struct list_head list; /**< List node used by domain. */ |
47 struct list_head list; /**< List node used by domain. */ |
48 const ec_slave_config_t *sc; /**< EtherCAT slave config. */ |
48 const ec_slave_config_t *sc; /**< EtherCAT slave config. */ |
49 const ec_domain_t *domain; /**< Domain. */ |
49 const ec_domain_t *domain; /**< Domain. */ |
50 uint8_t sync_index; /**< Index of sync manager to use. */ |
50 uint8_t sync_index; /**< Index of sync manager to use. */ |
51 ec_direction_t dir; /**< FMMU direction. */ |
51 ec_direction_t dir; /**< FMMU direction. */ |
52 uint32_t logical_start_address; /**< Logical start address. */ |
52 uint32_t logical_domain_offset; /**< Logical offset address relative to |
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53 domain->logical_base_address. */ |
53 unsigned int data_size; /**< Covered PDO size. */ |
54 unsigned int data_size; /**< Covered PDO size. */ |
54 } ec_fmmu_config_t; |
55 } ec_fmmu_config_t; |
55 |
56 |
56 /*****************************************************************************/ |
57 /*****************************************************************************/ |
57 |
58 |
58 void ec_fmmu_config_init(ec_fmmu_config_t *, ec_slave_config_t *, |
59 void ec_fmmu_config_init(ec_fmmu_config_t *, ec_slave_config_t *, |
59 ec_domain_t *, uint8_t, ec_direction_t); |
60 ec_domain_t *, uint8_t, ec_direction_t); |
60 |
61 |
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62 /** |
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63 * @param fmmu EtherCAT FMMU configuration. |
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64 * @param logical_domain_offset Logical offset address |
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65 relative to domain->logical_base_address. |
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66 * @param data_size Covered PDO size. |
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67 */ |
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68 void ec_fmmu_set_domain_offset_size(ec_fmmu_config_t *fmmu, |
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69 uint32_t logical_domain_offset, unsigned data_size); |
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70 |
61 void ec_fmmu_config_page(const ec_fmmu_config_t *, const ec_sync_t *, |
71 void ec_fmmu_config_page(const ec_fmmu_config_t *, const ec_sync_t *, |
62 uint8_t *); |
72 uint8_t *); |
63 |
73 |
64 /*****************************************************************************/ |
74 /*****************************************************************************/ |
65 |
75 |