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46 |
46 |
47 #include "../include/ecrt.h" |
47 #include "../include/ecrt.h" |
48 |
48 |
49 #include "globals.h" |
49 #include "globals.h" |
50 #include "datagram.h" |
50 #include "datagram.h" |
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51 #include "pdo.h" |
51 |
52 |
52 /*****************************************************************************/ |
53 /*****************************************************************************/ |
53 |
54 |
54 /** |
55 /** |
55 State of an EtherCAT slave. |
56 State of an EtherCAT slave. |
116 uint16_t est_length; /**< Estimated length. This is no field of the SII, |
117 uint16_t est_length; /**< Estimated length. This is no field of the SII, |
117 but it is used to calculate the length via |
118 but it is used to calculate the length via |
118 PDO ranges */ |
119 PDO ranges */ |
119 } |
120 } |
120 ec_sync_t; |
121 ec_sync_t; |
121 |
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122 /*****************************************************************************/ |
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123 |
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124 /** |
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125 PDO type. |
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126 */ |
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127 |
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128 typedef enum |
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129 { |
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130 EC_RX_PDO, /**< Reveive PDO */ |
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131 EC_TX_PDO /**< Transmit PDO */ |
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132 } |
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133 ec_pdo_type_t; |
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134 |
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135 /*****************************************************************************/ |
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136 |
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137 /** |
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138 PDO description. |
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139 */ |
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140 |
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141 typedef struct |
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142 { |
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143 struct list_head list; /**< list item */ |
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144 ec_pdo_type_t type; /**< PDO type */ |
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145 uint16_t index; /**< PDO index */ |
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146 uint8_t sync_index; /**< assigned sync manager */ |
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147 char *name; /**< PDO name */ |
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148 struct list_head entries; /**< entry list */ |
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149 } |
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150 ec_pdo_t; |
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151 |
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152 /*****************************************************************************/ |
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153 |
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154 /** |
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155 PDO entry description. |
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156 */ |
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157 |
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158 typedef struct |
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159 { |
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160 struct list_head list; /**< list item */ |
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161 uint16_t index; /**< PDO index */ |
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162 uint8_t subindex; /**< entry subindex */ |
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163 char *name; /**< entry name */ |
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164 uint8_t bit_length; /**< entry length in bit */ |
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165 } |
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166 ec_pdo_entry_t; |
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167 |
122 |
168 /*****************************************************************************/ |
123 /*****************************************************************************/ |
169 |
124 |
170 /** |
125 /** |
171 FMMU configuration. |
126 FMMU configuration. |