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39 /*****************************************************************************/ |
39 /*****************************************************************************/ |
40 |
40 |
41 #ifndef __EC_FSM_MASTER_H__ |
41 #ifndef __EC_FSM_MASTER_H__ |
42 #define __EC_FSM_MASTER_H__ |
42 #define __EC_FSM_MASTER_H__ |
43 |
43 |
44 #include "../include/ecrt.h" |
|
45 |
|
46 #include "globals.h" |
44 #include "globals.h" |
47 #include "datagram.h" |
45 #include "datagram.h" |
48 #include "sdo_request.h" |
46 #include "sdo_request.h" |
49 #include "fsm_slave_config.h" |
47 #include "fsm_slave_config.h" |
50 #include "fsm_slave_scan.h" |
48 #include "fsm_slave_scan.h" |
58 struct list_head list; /**< List head. */ |
56 struct list_head list; /**< List head. */ |
59 ec_slave_t *slave; /**< EtherCAT slave. */ |
57 ec_slave_t *slave; /**< EtherCAT slave. */ |
60 uint16_t offset; /**< SII word offset. */ |
58 uint16_t offset; /**< SII word offset. */ |
61 size_t nwords; /**< Number of words. */ |
59 size_t nwords; /**< Number of words. */ |
62 const uint16_t *words; /**< Pointer to the data words. */ |
60 const uint16_t *words; /**< Pointer to the data words. */ |
63 ec_request_state_t state; /**< State of the request. */ |
61 ec_internal_request_state_t state; /**< State of the request. */ |
64 } ec_sii_write_request_t; |
62 } ec_sii_write_request_t; |
65 |
63 |
66 /*****************************************************************************/ |
64 /*****************************************************************************/ |
67 |
65 |
68 /** Physical memory request. |
66 /** Physical memory request. |
72 ec_slave_t *slave; /**< EtherCAT slave. */ |
70 ec_slave_t *slave; /**< EtherCAT slave. */ |
73 ec_direction_t dir; /**< Direction. */ |
71 ec_direction_t dir; /**< Direction. */ |
74 uint16_t offset; /**< Physical memory offset. */ |
72 uint16_t offset; /**< Physical memory offset. */ |
75 size_t length; /**< Number of bytes. */ |
73 size_t length; /**< Number of bytes. */ |
76 uint8_t *data; |
74 uint8_t *data; |
77 ec_request_state_t state; /**< State of the request. */ |
75 ec_internal_request_state_t state; /**< State of the request. */ |
78 } ec_phy_request_t; |
76 } ec_phy_request_t; |
79 |
77 |
80 /*****************************************************************************/ |
78 /*****************************************************************************/ |
81 |
79 |
82 /** Slave/Sdo request record for master's Sdo request list. |
80 /** Slave/Sdo request record for master's Sdo request list. |