fp@1744: /******************************************************************************
fp@1744:  *
fp@1744:  *  $Id$
fp@1744:  *
fp@1744:  *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
fp@1744:  *
fp@1744:  *  This file is part of the IgH EtherCAT Master.
fp@1744:  *
fp@1744:  *  The IgH EtherCAT Master is free software; you can redistribute it
fp@1744:  *  and/or modify it under the terms of the GNU General Public License
fp@1744:  *  as published by the Free Software Foundation; either version 2 of the
fp@1744:  *  License, or (at your option) any later version.
fp@1744:  *
fp@1744:  *  The IgH EtherCAT Master is distributed in the hope that it will be
fp@1744:  *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@1744:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
fp@1744:  *  GNU General Public License for more details.
fp@1744:  *
fp@1744:  *  You should have received a copy of the GNU General Public License
fp@1744:  *  along with the IgH EtherCAT Master; if not, write to the Free Software
fp@1744:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@1744:  *
fp@1744:  *  The right to use EtherCAT Technology is granted and comes free of
fp@1744:  *  charge under condition of compatibility of product made by
fp@1744:  *  Licensee. People intending to distribute/sell products based on the
fp@1744:  *  code, have to sign an agreement to guarantee that products using
fp@1744:  *  software based on IgH EtherCAT master stay compatible with the actual
fp@1744:  *  EtherCAT specification (which are released themselves as an open
fp@1744:  *  standard) as the (only) precondition to have the right to use EtherCAT
fp@1744:  *  Technology, IP and trade marks.
fp@1744:  *
fp@1744:  *****************************************************************************/
fp@1744: 
fp@1744: /**
fp@1744:    \file
fp@1744:    EtherCAT sync manager.
fp@1744: */
fp@1744: 
fp@1744: /*****************************************************************************/
fp@1744: 
fp@1744: #ifndef _EC_SYNC_H_
fp@1744: #define _EC_SYNC_H_
fp@1744: 
fp@1744: #include <linux/list.h>
fp@1744: 
fp@1744: #include "../include/ecrt.h"
fp@1744: #include "globals.h"
fp@1744: 
fp@1744: /*****************************************************************************/
fp@1744: 
fp@1744: /** size of a sync manager configuration page */
fp@1744: #define EC_SYNC_SIZE 8
fp@1744: 
fp@1744: /*****************************************************************************/
fp@1744: 
fp@1744: /**
fp@1749:  * EtherCAT sync manager PDO mapping information source.
fp@1749:  */
fp@1749: 
fp@1749: typedef enum {
fp@1749:     EC_SYNC_MAPPING_NONE, /**< No PDO mapping information */
fp@1749:     EC_SYNC_MAPPING_SII, /**< PDO mapping information from SII */
fp@1749:     EC_SYNC_MAPPING_COE /**< PDO mapping information from CoE dictionary */
fp@1749: }
fp@1749: ec_sync_mapping_source_t;
fp@1749: 
fp@1749: /*****************************************************************************/
fp@1749: 
fp@1749: /**
fp@1744:  * Sync manager.
fp@1744:  */
fp@1744: 
fp@1744: typedef struct
fp@1744: {
fp@1744:     ec_slave_t *slave; /**< slave, the sync manager belongs to */
fp@1744:     unsigned int index; /**< sync manager index */
fp@1744:     uint16_t physical_start_address; /**< physical start address */
fp@1744:     uint16_t length; /**< data length in bytes */
fp@1744:     uint8_t control_register; /**< control register value */
fp@1744:     uint8_t enable; /**< enable bit */
fp@1744: 
fp@1744:     uint16_t est_length; /**< used to calculate the length via PDO ranges */
fp@1744:     struct list_head pdos; /**< list of mapped PDOs */
fp@1744:     unsigned int alt_mapping; /**< alternative mapping configured */
fp@1749:     ec_sync_mapping_source_t mapping_source; /**< pdo mapping source */
fp@1744: }
fp@1744: ec_sync_t;
fp@1744: 
fp@1744: /*****************************************************************************/
fp@1744: 
fp@1744: void ec_sync_init(ec_sync_t *, ec_slave_t *, unsigned int);
fp@1744: void ec_sync_clear(ec_sync_t *);
fp@1744: 
fp@1744: uint16_t ec_sync_size(const ec_sync_t *);
fp@1744: void ec_sync_config(const ec_sync_t *, uint8_t *);
fp@1744: 
fp@1744: int ec_sync_add_pdo(ec_sync_t *, const ec_pdo_t *);
fp@1744: void ec_sync_clear_pdos(ec_sync_t *);
fp@1744: 
fp@1746: ec_pdo_type_t ec_sync_get_pdo_type(const ec_sync_t *);
fp@1746: 
fp@1744: /*****************************************************************************/
fp@1744: 
fp@1744: #endif