41 #define _EC_FMMU_CONFIG_H_ |
41 #define _EC_FMMU_CONFIG_H_ |
42 |
42 |
43 #include "../include/ecrt.h" |
43 #include "../include/ecrt.h" |
44 |
44 |
45 #include "globals.h" |
45 #include "globals.h" |
|
46 #include "sync.h" |
46 |
47 |
47 /*****************************************************************************/ |
48 /*****************************************************************************/ |
48 |
49 |
49 /** FMMU configuration. |
50 /** FMMU configuration. |
50 */ |
51 */ |
51 typedef struct |
52 typedef struct { |
52 { |
|
53 const ec_slave_config_t *sc; /**< EtherCAT slave config. */ |
53 const ec_slave_config_t *sc; /**< EtherCAT slave config. */ |
54 const ec_domain_t *domain; /**< Domain. */ |
54 const ec_domain_t *domain; /**< Domain. */ |
55 ec_direction_t dir; /**< Pdo direction. */ |
55 ec_direction_t dir; /**< Pdo direction. */ |
56 |
56 |
57 uint32_t logical_start_address; /**< Logical start address. */ |
57 uint32_t logical_start_address; /**< Logical start address. */ |
58 unsigned int data_size; /**< Covered Pdo size. */ |
58 unsigned int data_size; /**< Covered Pdo size. */ |
59 } |
59 } ec_fmmu_config_t; |
60 ec_fmmu_config_t; |
|
61 |
60 |
62 /*****************************************************************************/ |
61 /*****************************************************************************/ |
63 |
62 |
64 void ec_fmmu_config_init(ec_fmmu_config_t *, ec_slave_config_t *, |
63 void ec_fmmu_config_init(ec_fmmu_config_t *, ec_slave_config_t *, |
65 ec_domain_t *, ec_direction_t); |
64 ec_domain_t *, ec_direction_t); |