dc.h

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/*
 * This file is part of libethercat.
 *
 * libethercat is free software; you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public
 * License as published by the Free Software Foundation; either
 * version 3 of the License, or (at your option) any later version.
 * 
 * libethercat 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
 * Lesser General Public License for more details.
 * 
 * You should have received a copy of the GNU Lesser General Public 
 * License along with libethercat (LICENSE.LGPL-V3); if not, write 
 * to the Free Software Foundation, Inc., 51 Franklin Street, Fifth 
 * Floor, Boston, MA  02110-1301, USA.
 * 
 * Please note that the use of the EtherCAT technology, the EtherCAT 
 * brand name and the EtherCAT logo is only permitted if the property 
 * rights of Beckhoff Automation GmbH are observed. For further 
 * information please contact Beckhoff Automation GmbH & Co. KG, 
 * Hülshorstweg 20, D-33415 Verl, Germany (www.beckhoff.com) or the 
 * EtherCAT Technology Group, Ostendstraße 196, D-90482 Nuremberg, 
 * Germany (ETG, www.ethercat.org).
 *
 */
 
#ifndef LIBETHERCAT_DC_H
#define LIBETHERCAT_DC_H
 
#include <libosal/types.h>
 
#include "libethercat/common.h"
#include "libethercat/idx.h"
#include "libethercat/pool.h"
#include "libethercat/datagram.h"
 
#define EC_REG_DCSYNCACT__SYNC_OUT_UNIT_ACTIVATION              ( 0x01u )
#define EC_REG_DCSYNCACT__SYNC_OUT_UNIT_SYNC0                   ( 0x02u )
#define EC_REG_DCSYNCACT__SYNC_OUT_UNIT_SYNC1                   ( 0x04u )
#define EC_REG_DCSYNCACT__SYNC_OUT_UNIT_AUTO_ACTIVATION         ( 0x08u )
#define EC_REG_DCSYNCACT__SYNC_OUT_UNIT_EXT_64BIT               ( 0x10u )
#define EC_REG_DCSYNCACT__SYNC_OUT_UNIT_START_TIME_CHECK        ( 0x20u )
#define EC_REG_DCSYNCACT__SYNC_OUT_UNIT_NEAR_FUTURE_CONFIG      ( 0x40u )
#define EC_REG_DCSYNCACT__SYNC_OUT_UNIT_DEBUG_PULSE             ( 0x80u )
 
#define EC_DC_ACTIVATION_REG_SYNC0                              ( 0x3 )
#define EC_DC_ACTIVATION_REG_SYNC1                              ( 0x5 )
#define EC_DC_ACTIVATION_REG_SYNC01                             ( 0x7 )
 
typedef struct ec_dc_info_slave {
    int use_dc;                     
    int next;                       
    int prev;                       
 
    osal_uint8_t available_ports;   
    osal_uint32_t receive_times[4]; 
 
    osal_int32_t t_delay_childs;
    osal_int32_t t_delay_with_childs;
    osal_int32_t t_delay_slave;
    osal_int32_t t_delay_parent_previous;
                 
    int activation_reg;             
    osal_uint32_t cycle_time_0;     
    osal_uint32_t cycle_time_1;     
    osal_int32_t cycle_shift;       
} ec_dc_info_slave_t;
    
typedef enum ec_dc_mode {
    dc_mode_master_clock = 0,
    dc_mode_ref_clock,
    dc_mode_master_as_ref_clock
} ec_dc_mode_t;
 
typedef struct ec_dc_info {
    osal_uint16_t master_address;
    int have_dc;                    
    int next;                       
    int prev;
    int have_64bit;
 
    osal_uint64_t dc_time;          
    osal_int64_t dc_sto;            
    osal_uint64_t rtc_time;         
    osal_int64_t rtc_sto;           
    osal_int64_t act_diff;          
    osal_uint64_t packet_duration;  
 
    double timer_correction;        
    
    struct {
        double p_part;
        double i_part;
        double i_part_limit;
 
        double kp;
        double ki;
        double kd;
    } control;                   
 
    osal_uint64_t sent_time_nsec;
 
    ec_dc_mode_t mode;
 
    ec_cyclic_datagram_t cdg;       
} ec_dc_info_t;
 
struct ec;
 
#ifdef __cplusplus
extern "C" {
#endif
 
 
int ec_dc_config(struct ec *pec);
 
 
int ec_dc_sync(struct ec *pec, osal_uint16_t slave, osal_uint8_t dc_active, 
        osal_uint32_t cycle_time_0, osal_uint32_t cycle_time_1, osal_int32_t cycle_shift);
 
#ifdef __cplusplus
}
#endif
 
#endif // LIBETHERCAT_DC_H