36  *

    36  *

    37  * EtherCAT interface for realtime applications. This interface is designed

    37  * EtherCAT interface for realtime applications. This interface is designed

    38  * for realtime modules that want to use EtherCAT. There are functions to

    38  * for realtime modules that want to use EtherCAT. There are functions to

    39  * request a master, to map process data, to communicate with slaves via CoE

    39  * request a master, to map process data, to communicate with slaves via CoE

    40  * and to configure and activate the bus.

    40  * and to configure and activate the bus.

    41  *

    45  *

    42  * Changes in version 1.5:

    46  * Changes in version 1.5:

    43  *

    47  *

    44  * - Added the distributed clocks feature and the respective method

    48  * - Added the distributed clocks feature and the respective method

    45  *   ecrt_slave_config_dc() to configure a slave for cyclic operation, and

    49  *   ecrt_slave_config_dc() to configure a slave for cyclic operation, and

   302  * This is used for the output parameter of ecrt_domain_state().

   306  * This is used for the output parameter of ecrt_domain_state().

   303  */

   307  */

   304 typedef struct {

   308 typedef struct {

   305     unsigned int working_counter; /**< Value of the last working counter. */

   309     unsigned int working_counter; /**< Value of the last working counter. */

   306     ec_wc_state_t wc_state; /**< Working counter interpretation. */

   310     ec_wc_state_t wc_state; /**< Working counter interpretation. */

   307 } ec_domain_state_t;

   312 } ec_domain_state_t;

   308 

   313 

   309 /*****************************************************************************/

   314 /*****************************************************************************/

   310 

   315 

   311 /** Direction type for PDO assignment functions.

   316 /** Direction type for PDO assignment functions.