Moved every command into a separate file.
/******************************************************************************
*
* $Id$
*
* Copyright (C) 2006 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
* as published by the Free Software Foundation; either version 2 of the
* License, or (at your option) any later version.
*
* 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 right to use EtherCAT Technology is granted and comes free of
* charge under condition of compatibility of product made by
* Licensee. People intending to distribute/sell products based on the
* code, have to sign an agreement to guarantee that products using
* software based on IgH EtherCAT master stay compatible with the actual
* EtherCAT specification (which are released themselves as an open
* standard) as the (only) precondition to have the right to use EtherCAT
* Technology, IP and trade marks.
*
*****************************************************************************/
/** \file
* EtherCAT sync manager.
*/
/*****************************************************************************/
#ifndef __EC_SYNC_H__
#define __EC_SYNC_H__
#include "../include/ecrt.h"
#include "globals.h"
#include "pdo_list.h"
/*****************************************************************************/
/** EtherCAT Pdo assignment source.
*/
typedef enum {
EC_ASSIGN_NONE, /**< No Pdos assigned. */
EC_ASSIGN_SII, /**< Pdo assignment read from SII. */
EC_ASSIGN_COE, /**< Pdo assignment read via CoE. */
EC_ASSIGN_CUSTOM, /**< Pdos assignment set by application. */
} ec_assign_source_t;
/*****************************************************************************/
/** Sync manager.
*/
typedef struct {
ec_slave_t *slave; /**< Slave, the sync manager belongs to. */
uint16_t physical_start_address; /**< Physical start address. */
uint16_t default_length; /**< Data length in bytes. */
uint8_t control_register; /**< Control register value. */
uint8_t enable; /**< Enable bit. */
ec_pdo_list_t pdos; /**< Current Pdo assignment. */
ec_assign_source_t assign_source; /**< Pdo assignment source. */
} ec_sync_t;
/*****************************************************************************/
void ec_sync_init(ec_sync_t *, ec_slave_t *);
void ec_sync_init_copy(ec_sync_t *, const ec_sync_t *);
void ec_sync_clear(ec_sync_t *);
void ec_sync_page(const ec_sync_t *, uint8_t, uint16_t, ec_direction_t,
uint8_t *);
int ec_sync_add_pdo(ec_sync_t *, const ec_pdo_t *);
ec_direction_t ec_sync_default_direction(const ec_sync_t *);
/*****************************************************************************/
#endif