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90 struct list_head pdos; /**< SII [RT]XPDO categories. */ |
90 struct list_head pdos; /**< SII [RT]XPDO categories. */ |
91 } ec_sii_t; |
91 } ec_sii_t; |
92 |
92 |
93 /*****************************************************************************/ |
93 /*****************************************************************************/ |
94 |
94 |
95 /** EtherCAT slave port information. |
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96 */ |
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97 typedef struct { |
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98 uint8_t dl_link; /**< Link detected. */ |
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99 uint8_t dl_loop; /**< Loop closed. */ |
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100 uint8_t dl_signal; /**< Detected signal on RX port. */ |
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101 } ec_slave_port_t; |
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102 |
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103 /*****************************************************************************/ |
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104 |
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105 /** EtherCAT slave. |
95 /** EtherCAT slave. |
106 */ |
96 */ |
107 struct ec_slave |
97 struct ec_slave |
108 { |
98 { |
109 ec_master_t *master; /**< Master owning the slave. */ |
99 ec_master_t *master; /**< Master owning the slave. */ |
134 uint8_t base_dc_supported; /**< Distributed clocks are supported. */ |
124 uint8_t base_dc_supported; /**< Distributed clocks are supported. */ |
135 ec_slave_dc_range_t base_dc_range; /**< DC range. */ |
125 ec_slave_dc_range_t base_dc_range; /**< DC range. */ |
136 uint8_t has_dc_system_time; /**< The slave supports the DC system time |
126 uint8_t has_dc_system_time; /**< The slave supports the DC system time |
137 register. Otherwise it can only be used for |
127 register. Otherwise it can only be used for |
138 delay measurement. */ |
128 delay measurement. */ |
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129 uint32_t dc_receive_times[EC_MAX_PORTS]; /**< Port receive times for delay |
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130 measurement. */ |
139 |
131 |
140 // data link status |
132 // data link status |
141 ec_slave_port_t ports[EC_MAX_PORTS]; /**< Port link status. */ |
133 ec_slave_port_t ports[EC_MAX_PORTS]; /**< Port link status. */ |
142 |
134 |
143 // SII |
135 // SII |