1 /******************************************************************************

     2  *

     3  *  $Id$

     4  *

     5  *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH

     6  *

     7  *  This file is part of the IgH EtherCAT Master.

     8  *

     9  *  The IgH EtherCAT Master is free software; you can redistribute it

    10  *  and/or modify it under the terms of the GNU General Public License

    11  *  as published by the Free Software Foundation; either version 2 of the

    12  *  License, or (at your option) any later version.

    13  *

    14  *  The IgH EtherCAT Master is distributed in the hope that it will be

    15  *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of

    16  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    17  *  GNU General Public License for more details.

    18  *

    19  *  You should have received a copy of the GNU General Public License

    20  *  along with the IgH EtherCAT Master; if not, write to the Free Software

    21  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

    22  *

    23  *  The right to use EtherCAT Technology is granted and comes free of

    24  *  charge under condition of compatibility of product made by

    25  *  Licensee. People intending to distribute/sell products based on the

    26  *  code, have to sign an agreement to guarantee that products using

    27  *  software based on IgH EtherCAT master stay compatible with the actual

    28  *  EtherCAT specification (which are released themselves as an open

    29  *  standard) as the (only) precondition to have the right to use EtherCAT

    30  *  Technology, IP and trade marks.

    31  *

    32  *****************************************************************************/

    33 

    34 /**

    35    \file

    36    EtherCAT sync manager.

    37 */

    38 

    39 /*****************************************************************************/

    40 

    41 #ifndef _EC_SYNC_H_

    42 #define _EC_SYNC_H_

    43 

    44 #include <linux/list.h>

    45 

    46 #include "../include/ecrt.h"

    47 #include "globals.h"

    48 

    49 /*****************************************************************************/

    50 

    51 /**

    52  * Sync manager.

    53  */

    54 

    55 typedef struct

    56 {

    57     const ec_slave_t *slave; /**< slave, the sync manager belongs to */

    58     unsigned int index; /**< sync manager index */

    59     uint16_t physical_start_address; /**< physical start address */

    60     uint16_t length; /**< data length in bytes */

    61     uint8_t control_register; /**< control register value */

    62     uint8_t enable; /**< enable bit */

    63 

    64     uint16_t est_length; /**< Estimated length. This is no field of the SII,

    65                            but it is used to calculate the length via

    66                            PDO ranges */

    67 }

    68 ec_sync_t;

    69 

    70 /*****************************************************************************/

    71 

    72 void ec_sync_init(ec_sync_t *, const ec_slave_t *, unsigned int);

    73 void ec_sync_clear(ec_sync_t *);

    74 

    75 void ec_sync_config(const ec_sync_t *, uint8_t *);

    76 

    77 /*****************************************************************************/

    78 

    79 #endif