fp@792: /******************************************************************************
fp@792:  *
fp@792:  *  $Id$
fp@792:  *
fp@792:  *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
fp@792:  *
fp@792:  *  This file is part of the IgH EtherCAT Master.
fp@792:  *
fp@792:  *  The IgH EtherCAT Master is free software; you can redistribute it
fp@792:  *  and/or modify it under the terms of the GNU General Public License
fp@792:  *  as published by the Free Software Foundation; either version 2 of the
fp@792:  *  License, or (at your option) any later version.
fp@792:  *
fp@792:  *  The IgH EtherCAT Master is distributed in the hope that it will be
fp@792:  *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@792:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
fp@792:  *  GNU General Public License for more details.
fp@792:  *
fp@792:  *  You should have received a copy of the GNU General Public License
fp@792:  *  along with the IgH EtherCAT Master; if not, write to the Free Software
fp@792:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@792:  *
fp@792:  *  The right to use EtherCAT Technology is granted and comes free of
fp@792:  *  charge under condition of compatibility of product made by
fp@792:  *  Licensee. People intending to distribute/sell products based on the
fp@792:  *  code, have to sign an agreement to guarantee that products using
fp@792:  *  software based on IgH EtherCAT master stay compatible with the actual
fp@792:  *  EtherCAT specification (which are released themselves as an open
fp@792:  *  standard) as the (only) precondition to have the right to use EtherCAT
fp@792:  *  Technology, IP and trade marks.
fp@792:  *
fp@792:  *****************************************************************************/
fp@792: 
fp@792: /**
fp@792:    \file
fp@792:    EtherCAT slave configuration structure.
fp@792: */
fp@792: 
fp@792: /*****************************************************************************/
fp@792: 
fp@792: #ifndef _EC_SLAVE_CONFIG_H_
fp@792: #define _EC_SLAVE_CONFIG_H_
fp@792: 
fp@792: #include <linux/list.h>
fp@792: #include <linux/kobject.h>
fp@792: 
fp@792: #include "../include/ecrt.h"
fp@792: 
fp@792: #include "globals.h"
fp@792: #include "slave.h"
fp@792: #include "fmmu_config.h"
fp@879: #include "pdo_list.h"
fp@792: 
fp@792: /*****************************************************************************/
fp@792: 
fp@792: /** EtherCAT slave configuration.
fp@792:  */
fp@792: struct ec_slave_config {
fp@792:     struct list_head list; /**< List item. */
fp@792:     struct kobject kobj; /**< kobject. */
fp@792:     ec_master_t *master; /**< Master owning the slave configuration. */
fp@792: 
fp@792:     uint16_t alias; /**< Slave alias. */
fp@792:     uint16_t position; /**< Index after alias. If alias is zero, this is the
fp@792:                          ring position. */
fp@792:     uint32_t vendor_id; /**< Slave vendor ID. */
fp@792:     uint32_t product_code; /**< Slave product code. */
fp@792: 
fp@792:     ec_slave_t *slave; /**< Slave pointer. This is \a NULL, if the slave is
fp@792:                          offline. */
fp@792: 
fp@879:     ec_pdo_list_t pdos[2]; /**< Output and input Pdo assignment / mapping. */
fp@792: 
fp@858:     struct list_head sdo_configs; /**< List of Sdo configurations. */
fp@858:     struct list_head sdo_requests; /**< List of Sdo requests. */
fp@792: 
fp@792:     ec_fmmu_config_t fmmu_configs[EC_MAX_FMMUS]; /**< FMMU configurations. */
fp@792:     uint8_t used_fmmus; /**< Number of FMMUs used. */
fp@792: };
fp@792: 
fp@792: /*****************************************************************************/
fp@792: 
fp@792: int ec_slave_config_init(ec_slave_config_t *, ec_master_t *, uint16_t,
fp@792:         uint16_t, uint32_t, uint32_t);
fp@792: void ec_slave_config_destroy(ec_slave_config_t *);
fp@792: 
fp@792: int ec_slave_config_attach(ec_slave_config_t *);
fp@792: void ec_slave_config_detach(ec_slave_config_t *);
fp@792: 
fp@879: void ec_slave_config_load_default_assignment(ec_slave_config_t *);
fp@879: void ec_slave_config_load_default_mapping(const ec_slave_config_t *,
fp@842:         ec_pdo_t *);
fp@792: 
fp@792: /*****************************************************************************/
fp@792: 
fp@792: #endif