43 #include "globals.h" |
43 #include "globals.h" |
44 #include "datagram.h" |
44 #include "datagram.h" |
45 #include "pdo.h" |
45 #include "pdo.h" |
46 #include "sync.h" |
46 #include "sync.h" |
47 #include "sdo.h" |
47 #include "sdo.h" |
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48 |
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49 /*****************************************************************************/ |
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50 |
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51 /** Slave port. |
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52 */ |
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53 typedef struct { |
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54 ec_slave_port_desc_t desc; /**< Port descriptors. */ |
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55 ec_slave_port_link_t link; /**< Port link status. */ |
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56 ec_slave_t *next_slave; /**< Connected slaves. */ |
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57 uint32_t receive_time; /**< Port receive times for delay |
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58 measurement. */ |
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59 uint32_t delay_to_next_dc; /**< Delay to next slave with DC support behind |
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60 this port [ns]. */ |
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61 } ec_slave_port_t; |
48 |
62 |
49 /*****************************************************************************/ |
63 /*****************************************************************************/ |
50 |
64 |
51 /** Slave information interface data. |
65 /** Slave information interface data. |
52 */ |
66 */ |
100 |
114 |
101 // addresses |
115 // addresses |
102 uint16_t ring_position; /**< Ring position. */ |
116 uint16_t ring_position; /**< Ring position. */ |
103 uint16_t station_address; /**< Configured station address. */ |
117 uint16_t station_address; /**< Configured station address. */ |
104 |
118 |
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119 ec_slave_port_t ports[EC_MAX_PORTS]; /**< Ports. */ |
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120 |
105 // configuration |
121 // configuration |
106 ec_slave_config_t *config; /**< Current configuration. */ |
122 ec_slave_config_t *config; /**< Current configuration. */ |
107 ec_slave_state_t requested_state; /**< Requested application state. */ |
123 ec_slave_state_t requested_state; /**< Requested application state. */ |
108 ec_slave_state_t current_state; /**< Current application state. */ |
124 ec_slave_state_t current_state; /**< Current application state. */ |
109 unsigned int error_flag; /**< Stop processing after an error. */ |
125 unsigned int error_flag; /**< Stop processing after an error. */ |
117 uint8_t base_type; /**< Slave type. */ |
133 uint8_t base_type; /**< Slave type. */ |
118 uint8_t base_revision; /**< Revision. */ |
134 uint8_t base_revision; /**< Revision. */ |
119 uint16_t base_build; /**< Build number. */ |
135 uint16_t base_build; /**< Build number. */ |
120 uint8_t base_fmmu_count; /**< Number of supported FMMUs. */ |
136 uint8_t base_fmmu_count; /**< Number of supported FMMUs. */ |
121 uint8_t base_sync_count; /**< Number of supported sync managers. */ |
137 uint8_t base_sync_count; /**< Number of supported sync managers. */ |
122 ec_slave_port_desc_t base_ports[EC_MAX_PORTS]; /**< Port descriptors. */ |
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123 uint8_t base_fmmu_bit_operation; /**< FMMU bit operation is supported. */ |
138 uint8_t base_fmmu_bit_operation; /**< FMMU bit operation is supported. */ |
124 uint8_t base_dc_supported; /**< Distributed clocks are supported. */ |
139 uint8_t base_dc_supported; /**< Distributed clocks are supported. */ |
125 ec_slave_dc_range_t base_dc_range; /**< DC range. */ |
140 ec_slave_dc_range_t base_dc_range; /**< DC range. */ |
126 uint8_t has_dc_system_time; /**< The slave supports the DC system time |
141 uint8_t has_dc_system_time; /**< The slave supports the DC system time |
127 register. Otherwise it can only be used for |
142 register. Otherwise it can only be used for |
128 delay measurement. */ |
143 delay measurement. */ |
129 uint32_t dc_receive_times[EC_MAX_PORTS]; /**< Port receive times for delay |
144 uint32_t transition_delay; /**< DC transition delay (from reference |
130 measurement. */ |
145 clock). */ |
131 |
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132 // data link status |
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133 ec_slave_port_t ports[EC_MAX_PORTS]; /**< Port link status. */ |
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134 ec_slave_t *next_slave[EC_MAX_PORTS]; /**< Connected slaves. */ |
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135 |
146 |
136 // SII |
147 // SII |
137 uint16_t *sii_words; /**< Complete SII image. */ |
148 uint16_t *sii_words; /**< Complete SII image. */ |
138 size_t sii_nwords; /**< Size of the SII contents in words. */ |
149 size_t sii_nwords; /**< Size of the SII contents in words. */ |
139 |
150 |
173 const ec_sdo_t *ec_slave_get_sdo_by_pos_const(const ec_slave_t *, uint16_t); |
184 const ec_sdo_t *ec_slave_get_sdo_by_pos_const(const ec_slave_t *, uint16_t); |
174 uint16_t ec_slave_sdo_count(const ec_slave_t *); |
185 uint16_t ec_slave_sdo_count(const ec_slave_t *); |
175 const ec_pdo_t *ec_slave_find_pdo(const ec_slave_t *, uint16_t); |
186 const ec_pdo_t *ec_slave_find_pdo(const ec_slave_t *, uint16_t); |
176 void ec_slave_attach_pdo_names(ec_slave_t *); |
187 void ec_slave_attach_pdo_names(ec_slave_t *); |
177 |
188 |
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189 void ec_slave_calc_port_delays(ec_slave_t *); |
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190 void ec_slave_calc_transition_delays_rec(ec_slave_t *, uint32_t *); |
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191 |
178 /*****************************************************************************/ |
192 /*****************************************************************************/ |
179 |
193 |
180 #endif |
194 #endif |