DC sync reference clock to application time. TBC...
/******************************************************************************
*
* $Id$
*
* Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT Master.
*
* The IgH EtherCAT Master is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License version 2, as
* published by the Free Software Foundation.
*
* The IgH EtherCAT Master is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
* Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
* ---
*
* The license mentioned above concerns the source code only. Using the
* EtherCAT technology and brand is only permitted in compliance with the
* industrial property and similar rights of Beckhoff Automation GmbH.
*
*****************************************************************************/
/**
\file
EtherCAT slave configuration structure.
*/
/*****************************************************************************/
#ifndef __EC_SLAVE_CONFIG_H__
#define __EC_SLAVE_CONFIG_H__
#include <linux/list.h>
#include "globals.h"
#include "slave.h"
#include "sync_config.h"
#include "fmmu_config.h"
/*****************************************************************************/
/** EtherCAT slave configuration.
*/
struct ec_slave_config {
struct list_head list; /**< List item. */
ec_master_t *master; /**< Master owning the slave configuration. */
uint16_t alias; /**< Slave alias. */
uint16_t position; /**< Index after alias. If alias is zero, this is the
ring position. */
uint32_t vendor_id; /**< Slave vendor ID. */
uint32_t product_code; /**< Slave product code. */
ec_slave_t *slave; /**< Slave pointer. This is \a NULL, if the slave is
offline. */
ec_sync_config_t sync_configs[EC_MAX_SYNC_MANAGERS]; /**< Sync manager
configurations. */
ec_fmmu_config_t fmmu_configs[EC_MAX_FMMUS]; /**< FMMU configurations. */
uint8_t used_fmmus; /**< Number of FMMUs used. */
uint16_t dc_assign_activate; /**< Vendor-specific AssignActivate word. */
uint32_t dc_sync_cycle_times[2]; /**< SYNC[0,1] cycle times. */
struct list_head sdo_configs; /**< List of SDO configurations. */
struct list_head sdo_requests; /**< List of SDO requests. */
struct list_head voe_handlers; /**< List of VoE handlers. */
};
/*****************************************************************************/
void ec_slave_config_init(ec_slave_config_t *, ec_master_t *, uint16_t,
uint16_t, uint32_t, uint32_t);
void ec_slave_config_clear(ec_slave_config_t *);
int ec_slave_config_attach(ec_slave_config_t *);
void ec_slave_config_detach(ec_slave_config_t *);
void ec_slave_config_load_default_sync_config(ec_slave_config_t *);
unsigned int ec_slave_config_sdo_count(const ec_slave_config_t *);
const ec_sdo_request_t *ec_slave_config_get_sdo_by_pos_const(
const ec_slave_config_t *, unsigned int);
ec_sdo_request_t *ec_slave_config_find_sdo_request(ec_slave_config_t *,
unsigned int);
ec_voe_handler_t *ec_slave_config_find_voe_handler(ec_slave_config_t *,
unsigned int);
ec_sdo_request_t *ecrt_slave_config_create_sdo_request_err(
ec_slave_config_t *, uint16_t, uint8_t, size_t);
ec_voe_handler_t *ecrt_slave_config_create_voe_handler_err(
ec_slave_config_t *, size_t);
/*****************************************************************************/
#endif