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) 2012 Florian Pose <fp@igh-essen.com>
*
* 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 as published
* by the Free Software Foundation; version 2 of the License.
*
* 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, see <http://www.gnu.org/licenses/>.
*
* 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
* RTDM interface.
*/
#ifndef __EC_RTDM_H__
#define __EC_RTDM_H__
#include "../include/ecrt.h" /* ec_master_t */
/*****************************************************************************/
struct rtdm_device;
/*****************************************************************************/
/** EtherCAT RTDM device.
*/
typedef struct ec_rtdm_dev {
ec_master_t *master; /**< Master pointer. */
struct rtdm_device *dev; /**< RTDM device. */
} ec_rtdm_dev_t;
/*****************************************************************************/
int ec_rtdm_dev_init(ec_rtdm_dev_t *, ec_master_t *);
void ec_rtdm_dev_clear(ec_rtdm_dev_t *);
/****************************************************************************/
#endif