IgH EtherCAT Master: sync.h Source File

00001 /******************************************************************************
00002  *
00003  *  $Id$
00004  *
00005  *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
00006  *
00007  *  This file is part of the IgH EtherCAT Master.
00008  *
00009  *  The IgH EtherCAT Master is free software; you can redistribute it and/or
00010  *  modify it under the terms of the GNU General Public License version 2, as
00011  *  published by the Free Software Foundation.
00012  *
00013  *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
00014  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00015  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
00016  *  Public License for more details.
00017  *
00018  *  You should have received a copy of the GNU General Public License along
00019  *  with the IgH EtherCAT Master; if not, write to the Free Software
00020  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
00021  *
00022  *  ---
00023  *
00024  *  The license mentioned above concerns the source code only. Using the
00025  *  EtherCAT technology and brand is only permitted in compliance with the
00026  *  industrial property and similar rights of Beckhoff Automation GmbH.
00027  *
00028  *****************************************************************************/
00029 
00034 /*****************************************************************************/
00035 
00036 #ifndef __EC_SYNC_H__
00037 #define __EC_SYNC_H__
00038 
00039 #include "globals.h"
00040 #include "pdo_list.h"
00041 #include "sync_config.h"
00042 
00043 /*****************************************************************************/
00044 
00047 typedef struct {
00048     ec_slave_t *slave; 
00049     uint16_t physical_start_address; 
00050     uint16_t default_length; 
00051     uint8_t control_register; 
00052     uint8_t enable; 
00053     ec_pdo_list_t pdos; 
00054 } ec_sync_t;
00055 
00056 /*****************************************************************************/
00057 
00058 void ec_sync_init(ec_sync_t *, ec_slave_t *);
00059 void ec_sync_init_copy(ec_sync_t *, const ec_sync_t *);
00060 void ec_sync_clear(ec_sync_t *);
00061 void ec_sync_page(const ec_sync_t *, uint8_t, uint16_t,
00062         const ec_sync_config_t *, uint8_t, uint8_t *);
00063 int ec_sync_add_pdo(ec_sync_t *, const ec_pdo_t *);
00064 ec_direction_t ec_sync_default_direction(const ec_sync_t *);
00065 
00066 /*****************************************************************************/
00067 
00068 #endif