Internal SDO requests now synchronized with external requests.
Internal SDO requests are managed by master FSM and can conflict with
external requests managed by slave FSM. The internal SDO requests
includes SDO requests created by an application and external request are
typical created by EtherCAT Tool for SDO upload/download or a directory
fetch initiated with ethercat sdos command. The conflict will cause a
FPWR from an external request to be overwritten by a FPWR from an
internal SDO request (or oppersite) in the same "train" of datagrams.
/******************************************************************************
*
* $Id$
*
* 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 FMMU configuration structure.
*/
/*****************************************************************************/
#ifndef __EC_FMMU_CONFIG_H__
#define __EC_FMMU_CONFIG_H__
#include "globals.h"
#include "sync.h"
/*****************************************************************************/
/** FMMU configuration.
*/
typedef struct {
struct list_head list; /**< List node used by domain. */
const ec_slave_config_t *sc; /**< EtherCAT slave config. */
const ec_domain_t *domain; /**< Domain. */
uint8_t sync_index; /**< Index of sync manager to use. */
ec_direction_t dir; /**< FMMU direction. */
uint32_t logical_domain_offset; /**< Logical offset address relative to
domain->logical_base_address. */
unsigned int data_size; /**< Covered PDO size. */
} ec_fmmu_config_t;
/*****************************************************************************/
void ec_fmmu_config_init(ec_fmmu_config_t *, ec_slave_config_t *,
ec_domain_t *, uint8_t, ec_direction_t);
/**
* @param fmmu EtherCAT FMMU configuration.
* @param logical_domain_offset Logical offset address
relative to domain->logical_base_address.
* @param data_size Covered PDO size.
*/
void ec_fmmu_set_domain_offset_size(ec_fmmu_config_t *fmmu,
uint32_t logical_domain_offset, unsigned data_size);
void ec_fmmu_config_page(const ec_fmmu_config_t *, const ec_sync_t *,
uint8_t *);
/*****************************************************************************/
#endif