62 lines
938 B
C
Executable File
62 lines
938 B
C
Executable File
#pragma once
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#include <stdint.h>
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#include <stdio.h>
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#include <util/list.h>
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#include <sys/spinlock.h>
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/***********************************
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rb2/instance.h
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RegisteredBus2
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Paketorientierte Kommunikation via Serielle Verbindungen mit Adressierung
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***********************************/
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struct _rb2_instance
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{
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uint8_t ax; // Achsnummer dieses Endpunktes
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uint16_t idmask; // 0x02 Maske aller eigenen IDs
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uint8_t enabled:1; // 0x04 Endpunkt ist aktiv
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uint8_t ringmaster:1; // Dieser Knoten ist der Master des RING-BUS
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uint8_t reserve:6;
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uint8_t axes; // Anzahl angeschlossener Achsen
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struct {
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spinlock_t lock;
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list_t list; //
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RB2_LINK *ringlink;
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} links;
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avrWAIT ident_timeout;
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uint32_t timeout;
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struct {
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spinlock_t sl_router;
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spinlock_t sl_pending;
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volatile list_t router;
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volatile list_t pending;
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} queues;
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list_t proxy;
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struct {
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THREAD *router;
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} threads;
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};
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