equal
deleted
inserted
replaced
58 #define EC_MAX_FMMUS 16 |
58 #define EC_MAX_FMMUS 16 |
59 |
59 |
60 /*****************************************************************************/ |
60 /*****************************************************************************/ |
61 |
61 |
62 /** |
62 /** |
63 State of an EtherCAT slave. |
63 * State of an EtherCAT slave. |
64 */ |
64 */ |
65 |
65 |
66 typedef enum |
66 typedef enum |
67 { |
67 { |
68 EC_SLAVE_STATE_UNKNOWN = 0x00, |
68 EC_SLAVE_STATE_UNKNOWN = 0x00, |
69 /**< unknown state */ |
69 /**< unknown state */ |
92 ec_slave_online_state_t; |
92 ec_slave_online_state_t; |
93 |
93 |
94 /*****************************************************************************/ |
94 /*****************************************************************************/ |
95 |
95 |
96 /** |
96 /** |
97 Supported mailbox protocols. |
97 * Supported mailbox protocols. |
98 */ |
98 */ |
99 |
99 |
100 enum |
100 enum |
101 { |
101 { |
102 EC_MBOX_AOE = 0x01, /**< ADS-over-EtherCAT */ |
102 EC_MBOX_AOE = 0x01, /**< ADS-over-EtherCAT */ |
103 EC_MBOX_EOE = 0x02, /**< Ethernet-over-EtherCAT */ |
103 EC_MBOX_EOE = 0x02, /**< Ethernet-over-EtherCAT */ |
108 }; |
108 }; |
109 |
109 |
110 /*****************************************************************************/ |
110 /*****************************************************************************/ |
111 |
111 |
112 /** |
112 /** |
113 EtherCAT slave. |
113 * EtherCAT slave. |
114 */ |
114 */ |
115 |
115 |
116 struct ec_slave |
116 struct ec_slave |
117 { |
117 { |
118 struct list_head list; /**< list item */ |
118 struct list_head list; /**< list item */ |
119 struct kobject kobj; /**< kobject */ |
119 struct kobject kobj; /**< kobject */ |
202 int ec_slave_fetch_sii_pdos(ec_slave_t *, const uint8_t *, size_t, |
202 int ec_slave_fetch_sii_pdos(ec_slave_t *, const uint8_t *, size_t, |
203 ec_pdo_type_t); |
203 ec_pdo_type_t); |
204 |
204 |
205 // misc. |
205 // misc. |
206 ec_sync_t *ec_slave_get_pdo_sync(ec_slave_t *, ec_direction_t); |
206 ec_sync_t *ec_slave_get_pdo_sync(ec_slave_t *, ec_direction_t); |
207 uint16_t ec_slave_calc_sync_size(const ec_slave_t *, const ec_sync_t *); |
|
208 |
|
209 int ec_slave_is_coupler(const ec_slave_t *); |
207 int ec_slave_is_coupler(const ec_slave_t *); |
210 |
|
211 int ec_slave_validate(const ec_slave_t *, uint32_t, uint32_t); |
208 int ec_slave_validate(const ec_slave_t *, uint32_t, uint32_t); |
212 |
|
213 void ec_slave_sdo_dict_info(const ec_slave_t *, |
209 void ec_slave_sdo_dict_info(const ec_slave_t *, |
214 unsigned int *, unsigned int *); |
210 unsigned int *, unsigned int *); |
215 |
211 |
216 /*****************************************************************************/ |
212 /*****************************************************************************/ |
217 |
213 |
218 #endif |
214 #endif |