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/******************************************************************************

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 *

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 *  $Id$

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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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 *

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 *  The license mentioned above concerns the source code only. Using the

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 *  EtherCAT technology and brand is only permitted in compliance with the

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 *  industrial property and similar rights of Beckhoff Automation GmbH.

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 *

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 *****************************************************************************/

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/**

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   \file

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   EtherCAT SoE request structure.

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*/

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/*****************************************************************************/

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#ifndef __EC_SOE_REQUEST_H__

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#define __EC_SOE_REQUEST_H__

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#include <linux/list.h>

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#include "globals.h"

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/*****************************************************************************/

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/** Sercos-over-EtherCAT request.

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 */

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typedef struct {

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    struct list_head list; /**< List item. */

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    uint8_t drive_no; /**< Drive number. */

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    uint16_t idn; /**< Sercos ID-Number. */

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    ec_al_state_t al_state; /**< AL state (only valid for IDN config). */

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    uint8_t *data; /**< Pointer to SDO data. */

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    size_t mem_size; /**< Size of SDO data memory. */

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    size_t data_size; /**< Size of SDO data. */

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    ec_direction_t dir; /**< Direction. EC_DIR_OUTPUT means writing to the

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                          slave, EC_DIR_INPUT means reading from the slave. */

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    ec_internal_request_state_t state; /**< Request state. */

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    unsigned long jiffies_sent; /**< Jiffies, when the upload/download

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                                     request was sent. */

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    uint16_t error_code; /**< SoE error code. */

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} ec_soe_request_t;

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/*****************************************************************************/

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void ec_soe_request_init(ec_soe_request_t *);

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void ec_soe_request_clear(ec_soe_request_t *);

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int ec_soe_request_copy(ec_soe_request_t *, const ec_soe_request_t *);

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void ec_soe_request_set_drive_no(ec_soe_request_t *, uint8_t);

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void ec_soe_request_set_idn(ec_soe_request_t *, uint16_t);

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int ec_soe_request_alloc(ec_soe_request_t *, size_t);

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int ec_soe_request_copy_data(ec_soe_request_t *, const uint8_t *, size_t);

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int ec_soe_request_append_data(ec_soe_request_t *, const uint8_t *, size_t);

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void ec_soe_request_read(ec_soe_request_t *);

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void ec_soe_request_write(ec_soe_request_t *);

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/*****************************************************************************/

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#endif