39 * request a master, to map process data, to communicate with slaves via CoE |
39 * request a master, to map process data, to communicate with slaves via CoE |
40 * and to configure and activate the bus. |
40 * and to configure and activate the bus. |
41 * |
41 * |
42 * Changes in version 1.5: |
42 * Changes in version 1.5: |
43 * |
43 * |
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44 * - Added the distributed clocks feature and the respective methods |
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45 * ecrt_slave_config_dc_assign_activate() and |
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46 * ecrt_slave_config_dc_sync_cycle_times() to configure a slave for cyclic |
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47 * operation. |
44 * - Changed the meaning of the negative return values of |
48 * - Changed the meaning of the negative return values of |
45 * ecrt_slave_config_reg_pdo_entry() and ecrt_slave_config_sdo*(). |
49 * ecrt_slave_config_reg_pdo_entry() and ecrt_slave_config_sdo*(). |
46 * - Imlemented the Vendor-specific over EtherCAT mailbox protocol. See |
50 * - Imlemented the Vendor-specific over EtherCAT mailbox protocol. See |
47 * ecrt_slave_config_create_voe_handler(). |
51 * ecrt_slave_config_create_voe_handler(). |
48 * - Renamed ec_sdo_request_state_t to ec_request_state_t, because it is also |
52 * - Renamed ec_sdo_request_state_t to ec_request_state_t, because it is also |
669 ec_domain_t *domain, /**< Domain. */ |
673 ec_domain_t *domain, /**< Domain. */ |
670 unsigned int *bit_position /**< Optional address if bit addressing |
674 unsigned int *bit_position /**< Optional address if bit addressing |
671 is desired */ |
675 is desired */ |
672 ); |
676 ); |
673 |
677 |
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678 /** Sets the AssignActivate word necessary for DC operation. |
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679 * |
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680 * The AssignActivate word is vendor-specific and can be taken from the XML |
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681 * device description file (Device -> Dc -> AssignActivate). Set this to zero, |
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682 * if the slave shall be not operated without distributed clocks (default). |
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683 */ |
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684 void ecrt_slave_config_dc_assign_activate( |
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685 ec_slave_config_t *sc, /**< Slave configuration. */ |
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686 uint16_t assign_activate /**< AssignActivate word. */ |
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687 ); |
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688 |
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689 /** Sets the cylce times for the SYNC0 and SYNC1 signals. |
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690 */ |
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691 void ecrt_slave_config_dc_sync_cycle_times( |
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692 ec_slave_config_t *sc, /**< Slave configuration. */ |
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693 uint32_t sync0_cycle_time, /**< SYNC0 cycle time [ns]. */ |
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694 uint32_t sync1_cycle_time /**< SYNC1 cycle time [ns]. */ |
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695 ); |
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696 |
674 /** Add an SDO configuration. |
697 /** Add an SDO configuration. |
675 * |
698 * |
676 * An SDO configuration is stored in the slave configuration object and is |
699 * An SDO configuration is stored in the slave configuration object and is |
677 * downloaded to the slave whenever the slave is being configured by the |
700 * downloaded to the slave whenever the slave is being configured by the |
678 * master. This usually happens once on master activation, but can be repeated |
701 * master. This usually happens once on master activation, but can be repeated |