61 lines
2.2 KiB
C
61 lines
2.2 KiB
C
/*****************************************************************************
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*
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* Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH
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*
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* This file is part of the IgH EtherCAT Master.
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*
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* The IgH EtherCAT Master is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License version 2, as
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* published by the Free Software Foundation.
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*
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* The IgH EtherCAT Master is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
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* Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with the IgH EtherCAT Master; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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*
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****************************************************************************/
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/** \file
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* EtherCAT sync manager.
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*/
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/****************************************************************************/
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#ifndef __EC_SYNC_H__
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#define __EC_SYNC_H__
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#include "globals.h"
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#include "pdo_list.h"
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#include "sync_config.h"
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/****************************************************************************/
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/** Sync manager.
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*/
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typedef struct {
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ec_slave_t *slave; /**< Slave, the sync manager belongs to. */
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uint16_t physical_start_address; /**< Physical start address. */
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uint16_t default_length; /**< Data length in bytes. */
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uint8_t control_register; /**< Control register value. */
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uint8_t enable; /**< Enable bit. */
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ec_pdo_list_t pdos; /**< Current PDO assignment. */
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} ec_sync_t;
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/****************************************************************************/
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void ec_sync_init(ec_sync_t *, ec_slave_t *);
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void ec_sync_init_copy(ec_sync_t *, const ec_sync_t *);
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void ec_sync_clear(ec_sync_t *);
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void ec_sync_page(const ec_sync_t *, uint8_t, uint16_t,
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const ec_sync_config_t *, uint8_t, uint8_t *);
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int ec_sync_add_pdo(ec_sync_t *, const ec_pdo_t *);
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ec_direction_t ec_sync_default_direction(const ec_sync_t *);
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/****************************************************************************/
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#endif
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