ethercatdc.h

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00001 /*
00002  * Simple Open EtherCAT Master Library 
00003  *
00004  * File    : ethercatdc.h
00005  * Version : 1.2.5
00006  * Date    : 09-04-2011
00007  * Copyright (C) 2005-2011 Speciaal Machinefabriek Ketels v.o.f.
00008  * Copyright (C) 2005-2011 Arthur Ketels
00009  * Copyright (C) 2008-2009 TU/e Technische Universiteit Eindhoven 
00010  *
00011  * SOEM is free software; you can redistribute it and/or modify it under
00012  * the terms of the GNU General Public License version 2 as published by the Free
00013  * Software Foundation.
00014  *
00015  * SOEM is distributed in the hope that it will be useful, but WITHOUT ANY
00016  * WARRANTY; without even the implied warranty of MERCHANTABILITY or
00017  * FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License
00018  * for more details.
00019  *
00020  * As a special exception, if other files instantiate templates or use macros
00021  * or inline functions from this file, or you compile this file and link it
00022  * with other works to produce a work based on this file, this file does not
00023  * by itself cause the resulting work to be covered by the GNU General Public
00024  * License. However the source code for this file must still be made available
00025  * in accordance with section (3) of the GNU General Public License.
00026  *
00027  * This exception does not invalidate any other reasons why a work based on
00028  * this file might be covered by the GNU General Public License.
00029  *
00030  * The EtherCAT Technology, the trade name and logo “EtherCAT” are the intellectual
00031  * property of, and protected by Beckhoff Automation GmbH. You can use SOEM for
00032  * the sole purpose of creating, using and/or selling or otherwise distributing
00033  * an EtherCAT network master provided that an EtherCAT Master License is obtained
00034  * from Beckhoff Automation GmbH.
00035  *
00036  * In case you did not receive a copy of the EtherCAT Master License along with
00037  * SOEM write to Beckhoff Automation GmbH, Eiserstraße 5, D-33415 Verl, Germany
00038  * (www.beckhoff.com).
00039  */
00040 
00041 /** \file 
00042  * \brief
00043  * Headerfile for ethercatdc.c 
00044  */
00045 
00046 #ifndef _EC_ECATDC_H
00047 #define _EC_ECATDC_H
00048 
00049 extern uint16 DCrefSlave;
00050 extern uint16 DClistN;
00051 
00052 /**
00053  * Set DC's of all slaves to sync with the first, measure propagation delays.
00054  *
00055  * return DCfound
00056  */
00057 boolean ec_configdc();
00058 
00059 void ec_dcsync0(uint16 slave, boolean act, uint32 CyclTime, uint32 CyclShift);
00060 void ec_dcsync01(uint16 slave, boolean act, uint32 CyclTime0, uint32 CyclTime1, uint32 CyclShift);
00061 
00062 #endif /* _EC_ECATDC_H */