equal
deleted
inserted
replaced
97 unsigned int index; /**< master index */ |
97 unsigned int index; /**< master index */ |
98 |
98 |
99 struct kobject kobj; /**< kobject */ |
99 struct kobject kobj; /**< kobject */ |
100 |
100 |
101 ec_device_t *device; /**< EtherCAT device */ |
101 ec_device_t *device; /**< EtherCAT device */ |
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102 const ec_device_id_t *main_device_id; /**< ID of main device */ |
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103 const ec_device_id_t *backup_device_id; /**< ID of backup device */ |
102 struct semaphore device_sem; /**< device semaphore */ |
104 struct semaphore device_sem; /**< device semaphore */ |
103 |
105 |
104 ec_fsm_master_t fsm; /**< master state machine */ |
106 ec_fsm_master_t fsm; /**< master state machine */ |
105 ec_datagram_t fsm_datagram; /**< datagram used for state machines */ |
107 ec_datagram_t fsm_datagram; /**< datagram used for state machines */ |
106 ec_master_mode_t mode; /**< master mode */ |
108 ec_master_mode_t mode; /**< master mode */ |
145 }; |
147 }; |
146 |
148 |
147 /*****************************************************************************/ |
149 /*****************************************************************************/ |
148 |
150 |
149 // master creation/deletion |
151 // master creation/deletion |
150 int ec_master_init(ec_master_t *, unsigned int, unsigned int); |
152 int ec_master_init(ec_master_t *, unsigned int, |
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153 const ec_device_id_t *, const ec_device_id_t *, unsigned int); |
151 void ec_master_destroy(ec_master_t *); |
154 void ec_master_destroy(ec_master_t *); |
152 |
155 |
153 // mode transitions |
156 // mode transitions |
154 int ec_master_enter_idle_mode(ec_master_t *); |
157 int ec_master_enter_idle_mode(ec_master_t *); |
155 void ec_master_leave_idle_mode(ec_master_t *); |
158 void ec_master_leave_idle_mode(ec_master_t *); |