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75 |
75 |
76 struct ec_slave; |
76 struct ec_slave; |
77 typedef struct ec_slave ec_slave_t; /**< \see ec_slave */ |
77 typedef struct ec_slave ec_slave_t; /**< \see ec_slave */ |
78 |
78 |
79 /** |
79 /** |
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80 * Bus status. |
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81 */ |
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82 |
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83 typedef enum { |
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84 EC_BUS_FAILURE, // some slaves offline |
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85 EC_BUS_OK, // all slaves online |
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86 EC_BUS_REDUNDANCY // bus interrupted, but redundancy active |
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87 } |
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88 ec_bus_status_t; |
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89 |
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90 /** |
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91 * Master status. |
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92 * This is used for the output parameter of ecrt_master_get_status(). |
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93 */ |
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94 |
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95 typedef struct { |
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96 ec_bus_status_t bus_status; |
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97 unsigned int bus_tainted; |
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98 unsigned int slaves_responding; |
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99 } |
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100 ec_master_status_t; |
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101 |
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102 /** |
80 Initialization type for PDO registrations. |
103 Initialization type for PDO registrations. |
81 This type is used as a parameter for the ec_domain_register_pdo_list() |
104 This type is used as a parameter for the ecrt_domain_register_pdo_list() |
82 function. |
105 function. |
83 */ |
106 */ |
84 |
107 |
85 typedef struct |
108 typedef struct |
86 { |
109 { |
93 void **data_ptr; /**< address of the process data pointer */ |
116 void **data_ptr; /**< address of the process data pointer */ |
94 } |
117 } |
95 ec_pdo_reg_t; |
118 ec_pdo_reg_t; |
96 |
119 |
97 /** |
120 /** |
98 Direction type for ec_domain_register_pdo_range() |
121 Direction type for ecrt_domain_register_pdo_range() |
99 */ |
122 */ |
100 |
123 |
101 typedef enum {EC_DIR_INPUT, EC_DIR_OUTPUT} ec_direction_t; |
124 typedef enum {EC_DIR_INPUT, EC_DIR_OUTPUT} ec_direction_t; |
102 |
125 |
103 /****************************************************************************** |
126 /****************************************************************************** |
125 |
148 |
126 void ecrt_master_run(ec_master_t *master); |
149 void ecrt_master_run(ec_master_t *master); |
127 |
150 |
128 ec_slave_t *ecrt_master_get_slave(const ec_master_t *, const char *); |
151 ec_slave_t *ecrt_master_get_slave(const ec_master_t *, const char *); |
129 |
152 |
130 /** \cond */ |
153 void ecrt_master_get_status(const ec_master_t *master, ec_master_status_t *); |
131 int ecrt_master_state(const ec_master_t *master); |
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132 /** \endcond */ |
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133 |
154 |
134 /****************************************************************************** |
155 /****************************************************************************** |
135 * Domain Methods |
156 * Domain Methods |
136 *****************************************************************************/ |
157 *****************************************************************************/ |
137 |
158 |