1

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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH

     6

 *

     7

 *  This file is part of the IgH EtherCAT Master.

     8

 *

     9

 *  The IgH EtherCAT Master is free software; you can redistribute it

    10

 *  and/or modify it under the terms of the GNU General Public License

    11

 *  as published by the Free Software Foundation; either version 2 of the

    12

 *  License, or (at your option) any later version.

    13

 *

    14

 *  The IgH EtherCAT Master is distributed in the hope that it will be

    15

 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of

    16

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    17

 *  GNU General Public License for more details.

    18

 *

    19

 *  You should have received a copy of the GNU General Public License

    20

 *  along with the IgH EtherCAT Master; if not, write to the Free Software

    21

 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

    22

 *

    23

 *  The right to use EtherCAT Technology is granted and comes free of

    24

 *  charge under condition of compatibility of product made by

    25

 *  Licensee. People intending to distribute/sell products based on the

    26

 *  code, have to sign an agreement to guarantee that products using

    27

 *  software based on IgH EtherCAT master stay compatible with the actual

    28

 *  EtherCAT specification (which are released themselves as an open

    29

 *  standard) as the (only) precondition to have the right to use EtherCAT

    30

 *  Technology, IP and trade marks.

    31

 *

    32

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

    33

    34

/**

    35

   \file

    36

   EtherCAT CANopen structures.

    37

*/

    38

    39

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

    40

    41

#ifndef _EC_CANOPEN_H_

    42

#define _EC_CANOPEN_H_

    43

    44

#include <linux/list.h>

    45

#include <linux/kobject.h>

    46

    47

#include "globals.h"

    48

#include "slave.h"

    49

    50

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

    51

    52

/** CANopen Sdo.

    53

 */

    54

struct ec_sdo {

    55

    struct kobject kobj; /**< kobject */

    56

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

    57

    ec_slave_t *slave; /**< parent slave */

    58

    uint16_t index; /**< Sdo index */

    59

    uint8_t object_code; /**< object code */

    60

    char *name; /**< Sdo name */

    61

    uint8_t subindices; /**< subindices */

    62

    struct list_head entries; /**< entry list */

    63

};

    64

    65

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

    66

    67

/** CANopen Sdo entry.

    68

 */

    69

typedef struct {

    70

    struct kobject kobj; /**< kobject */

    71

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

    72

    ec_sdo_t *sdo; /**< parent Sdo */

    73

    uint8_t subindex; /**< entry subindex */

    74

    uint16_t data_type; /**< entry data type */

    75

    uint16_t bit_length; /**< entry length in bit */

    76

    char *description; /**< entry description */

    77

} ec_sdo_entry_t;

    78

    79

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

    80

    81

/** CANopen Sdo configuration data.

    82

 */

    83

typedef struct {

    84

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

    85

    uint16_t index; /**< Sdo index */

    86

    uint8_t subindex; /**< Sdo subindex */

    87

    uint8_t *data; /**< pointer to Sdo data */

    88

    size_t size; /**< size of Sdo data */

    89

}

    90

ec_sdo_data_t;

    91

    92

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

    93

    94

/**

    95

   CANopen Sdo request.

    96

*/

    97

    98

typedef struct {

    99

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

   100

    ec_slave_t *slave; /**< Slave owning the Sdo. */

   101

    uint16_t index; /**< Sdo index. */

   102

    uint8_t subindex; /**< Sdo subindex. */

   103

    uint8_t *data; /**< pointer to Sdo data */

   104

    size_t size; /**< size of Sdo data */

   105

    ec_request_state_t state; /**< Sdo request state */

   106

} ec_sdo_request_t;

   107

   108

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

   109

   110

int ec_sdo_init(ec_sdo_t *, uint16_t, ec_slave_t *);

   111

void ec_sdo_destroy(ec_sdo_t *);

   112

ec_sdo_entry_t *ec_sdo_get_entry(ec_sdo_t *, uint8_t);

   113

   114

int ec_sdo_entry_init(ec_sdo_entry_t *, uint8_t, ec_sdo_t *);

   115

void ec_sdo_entry_destroy(ec_sdo_entry_t *);

   116

   117

void ec_sdo_request_init_read(ec_sdo_request_t *, ec_slave_t *, uint16_t,

   118

        uint8_t);

   119

void ec_sdo_request_clear(ec_sdo_request_t *);

   120

   121

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

   122

   123

#endif